version: 66.12
glider: 401
mission: 20
dive: 178
start: 5 1 117 11 29 49
data:
$ID,401
$MISSION,20
$DIVE,178
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,3
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,42
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,110
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2412
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2175
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.144318
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$SEABIRD_C_Z,2936.3699
$GPS1,010517,112312,5711.3882,-16458.9160,2,0.9,22,11.1,0.5,179.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-44.8
$GPS2,010517,112848,5711.3477,-16458.7949,3,1.0,49,11.1,0.0,0.0,9,5.1
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5707.654,-16440.100
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.356227,-0.080800
$KALMAN_X,-7966.664062,1857.712769,1543.006226,51247.855469,191.810059
$KALMAN_Y,13731.784180,717.470764,485.448425,-20904.888672,-129.213470
$MHEAD_RNG_PITCHd_Wd,98.9,20000,-11.2,-9.667,-14.82,6800
$D_GRID,58
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.72,-439.9,242,2006,1652,4094,0.0,0.0,0,34,0.00,0.00,-9.43,0.000,16390,0.000,0.000,242,2006,2684,2684,4094,0,0,0,0,0,0,26.08,25.23,26.09,9.91,35.66
$GC,36,-1.72,-439.9,242,2006,2684,4095,0.9,0.0,1,72,20.38,0.00,0.00,0.000,2054,0.417,0.000,1849,1999,2687,2687,4094,0,0,0,0,0,0,25.51,25.63,25.58,10.13,36.49
$GC,135,-1.72,-439.9,1848,2000,2689,4094,23.2,-13.2,8,150,0.00,3.95,0.00,0.000,516,0.000,0.258,1849,610,2689,2689,4094,0,0,0,0,0,0,26.01,25.57,26.02,10.13,35.66
$GC,177,-1.72,-439.9,1848,610,2690,4094,29.0,-13.6,11,196,0.00,3.72,0.00,0.000,1030,0.000,0.142,1849,2020,2690,2690,4094,0,0,0,0,0,0,25.79,25.72,25.79,10.13,35.23
$GC,262,-1.72,-439.9,1849,2020,2691,4094,39.7,-11.9,17,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2020,2692,2692,4095,0,0,0,0,0,0,26.12,26.14,26.14,10.12,34.83
$GC,336,-1.72,-439.9,1848,2019,2693,4094,48.9,-12.0,23,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2020,2695,2695,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.12,34.64
$STATE,408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,408,begin apogee
$GC,412,-0.45,0.0,1849,2020,2695,4095,58.1,-13.0,28,449,4.57,0.00,25.98,4.353,10244,0.223,0.000,2256,2020,2174,2174,4094,0,0,0,0,0,0,25.92,25.20,23.94,10.12,35.31
$STATE,450,end apogee,CONTROL_FINISHED_OK
$STATE,450,begin climb
$GC,452,1.72,439.9,2256,2020,2174,4094,61.0,0.0,30,489,7.55,0.00,25.83,4.261,11270,0.142,0.000,2944,2020,1661,1661,4094,0,0,0,0,0,0,25.33,25.53,23.56,10.01,34.72
$GC,552,1.72,439.9,2944,2020,1661,4094,52.1,12.3,37,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2020,1659,1659,4094,0,0,0,0,0,0,25.48,25.49,25.49,9.91,33.93
$GC,632,1.72,439.9,2944,2020,1657,4094,42.0,13.4,43,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2020,1657,1657,4094,0,0,0,0,0,0,25.70,25.72,25.71,9.91,35.03
$GC,708,1.72,439.9,2944,2020,1655,4094,31.6,13.7,49,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2020,1655,1655,4094,0,0,0,0,0,0,25.84,25.85,25.84,9.91,34.99
$GC,785,1.72,439.9,2944,2020,1653,4094,21.5,12.9,55,800,0.00,4.12,0.00,0.000,260,0.000,0.281,2944,3438,1652,1652,4094,0,0,0,0,0,0,25.94,25.49,25.95,9.91,34.95
$GC,816,1.72,439.9,2943,3438,1652,4094,17.3,13.3,57,835,0.00,3.83,0.00,0.000,1030,0.000,0.132,2944,2006,1651,1651,4094,0,0,0,0,0,0,25.70,25.65,25.73,9.91,34.44
$GC,900,1.72,439.9,2944,2006,1650,4094,5.8,12.9,63,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2006,1649,1649,4094,0,0,0,0,0,0,26.05,26.06,26.06,9.91,34.60
$STATE,930,end climb,FINISH_DEPTH_REACHED
$STATE,930,begin subsurface finish
$FINISH1,1.9,1.025304,-161
$GC,935,-0.26,-161.3,2944,2007,1649,4094,1.9,13.1,65,954,6.35,0.00,-6.65,0.000,20486,0.122,0.000,2344,2004,2370,2370,4094,0,0,0,0,0,0,25.84,24.44,25.86,9.92,34.72
$FINISH2,-0.0
$STATE,955,end subsurface finish,CONTROL_FINISHED_OK
$STATE,955,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,010517,103913
$TT8_MAMPS,0.026215,0.261401
$HUMID,35.19
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,8.5
$24V_AH,23.56,18.058
$10V_AH,8.76,12.065
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,38.850,15.625,51.800,0.000,0.000,20.666,17.312,177.900,0.500,0.000,50.806,229.930,0.000,108.209,918.188,49.595,33.435,363.530,0.000,659.264,0.000,7.314,0.000
$DEVICE_MAMPS,417.144,280.579,4352.699,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.886,84.577,141.955,374.194,634.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,3949,66
$CAP_FILE_SIZE,23936,13
$CFSIZE,1024409600,1009762304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,112848,5711.348,-16458.795,3,1.0,49,11.1,0.0,0.0,9,5.1