version: 66.12
glider: 401
mission: 20
dive: 188
start: 5 1 117 15 15 14
data:
$ID,401
$MISSION,20
$DIVE,188
$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,12
$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
$GPS1,010517,150902,5709.3906,-16455.0469,3,0.9,25,11.1,0.5,330.3,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-45.5
$GPS2,010517,151413,5709.3726,-16455.1016,3,0.8,18,11.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5705.679,-16436.422
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.336429,0.142366
$KALMAN_X,-8157.185547,2299.677002,1087.797974,55169.699219,-281.888977
$KALMAN_Y,11523.891602,-270.964996,-631.048401,-20253.123047,-215.387939
$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,-439.9,231,2010,1646,4094,0.0,0.0,0,37,0.00,0.00,-9.60,0.000,16390,0.000,0.000,231,2010,2690,2690,4094,0,0,0,0,0,0,26.03,25.18,26.05,9.90,35.82
$GC,39,-1.72,-439.9,231,2010,2690,4094,0.9,0.0,1,76,20.48,0.00,0.00,0.000,2054,0.405,0.000,1849,2003,2693,2693,4094,0,0,0,0,0,0,25.40,25.52,25.48,10.12,35.94
$GC,139,-1.72,-439.9,1848,2002,2695,4094,25.8,-13.3,8,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2002,2695,2695,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.13,35.46
$GC,221,-1.72,-439.9,1849,2002,2696,4094,35.6,-11.6,14,236,0.00,3.97,0.00,0.000,516,0.000,0.268,1850,605,2697,2697,4095,0,0,1,0,0,0,26.03,25.58,26.04,10.12,35.58
$GC,264,-1.72,-439.9,1849,604,2697,4094,41.0,-12.2,17,282,0.00,3.75,0.00,0.000,1030,0.000,0.142,1850,2024,2697,2697,4094,0,0,0,0,0,0,25.79,25.75,25.83,10.12,35.78
$GC,352,-1.72,-439.9,1849,2024,2699,4094,51.4,-12.0,23,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2024,2700,2700,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.12,34.80
$STATE,405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,405,begin apogee
$GC,409,-0.45,0.0,1850,2024,2701,4094,58.4,-12.2,27,455,4.60,0.00,26.15,4.392,10244,0.221,0.000,2259,2024,2177,2177,4094,0,0,0,0,0,0,25.85,24.68,23.89,10.12,35.43
$STATE,456,end apogee,CONTROL_FINISHED_OK
$STATE,456,begin climb
$GC,457,1.72,439.9,2259,2024,2177,4094,61.2,0.0,30,508,7.50,0.00,26.23,4.328,11270,0.137,0.000,2944,2024,1662,1662,4094,0,0,0,0,0,0,25.32,25.52,23.51,10.01,34.56
$GC,571,1.72,439.9,2943,2024,1660,4094,51.5,13.0,38,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2024,1658,1658,4094,0,0,0,0,0,0,25.50,25.51,25.51,9.91,34.52
$GC,652,1.72,439.9,2943,2024,1657,4094,40.5,13.3,44,670,0.00,4.10,0.00,0.000,516,0.000,0.268,2944,605,1657,1657,4094,0,0,1,0,0,0,25.70,25.29,25.72,9.90,34.40
$GC,699,1.72,439.9,2944,605,1656,4094,34.1,13.6,47,713,0.00,3.75,0.00,0.000,1030,0.000,0.134,2944,2015,1656,1656,4094,0,0,0,0,0,0,25.53,25.48,25.56,9.90,34.72
$GC,777,1.72,439.9,2943,2015,1654,4094,23.7,12.8,53,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2014,1653,1653,4094,0,0,0,0,0,0,25.89,25.91,25.90,9.91,34.52
$GC,854,1.72,439.9,2944,2015,1652,4094,13.7,13.1,59,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2015,1651,1651,4094,0,0,0,0,0,0,25.98,26.00,25.99,9.91,34.83
$GC,935,1.72,439.9,2944,2014,1649,4094,3.4,12.7,65,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2015,1649,1649,4094,0,0,0,0,0,0,26.06,26.07,26.07,9.91,35.15
$STATE,968,end climb,FINISH_DEPTH_REACHED
$STATE,968,begin subsurface finish
$FINISH1,-0.0,1.025338,-164
$GC,973,-0.26,-163.6,2944,2019,1649,4094,-0.0,11.6,67,994,6.30,4.40,-6.97,0.000,20740,0.114,4.236,2346,3441,2372,2372,4094,0,0,0,0,0,0,25.85,24.31,25.87,9.91,35.39
$FINISH2,0.0
$STATE,995,end subsurface finish,CONTROL_FINISHED_OK
$STATE,995,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,142529
$TT8_MAMPS,0.026215,0.257656
$HUMID,34.87
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,8.5
$24V_AH,23.51,18.802
$10V_AH,8.74,12.353
$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,38.875,19.975,52.375,0.000,0.000,24.084,26.113,171.378,0.500,0.000,19.932,245.869,0.000,120.788,911.389,51.600,33.430,392.494,0.000,677.919,0.000,7.323,0.000
$DEVICE_MAMPS,404.729,4235.998,4392.427,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.005,87.080,146.240,384.399,653.242,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344644
$DATA_FILE_SIZE,7435,68
$CAP_FILE_SIZE,24121,13
$CFSIZE,1024409600,1009270784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,010517,151413,5709.373,-16455.102,3,0.8,18,11.1,0.0,0.0,10,5.0