version: 66.12
glider: 401
mission: 20
dive: 85
start: 4 30 117 0 2 2
data:
$ID,401
$MISSION,20
$DIVE,85
$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,109
$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,9
$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
$GPS1,290417,234317,5713.0918,-16525.3965,4,0.9,23,10.9,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,6.3
$GPS2,290417,234317,5713.0918,-16525.3965,4,0.9,23,10.9,0.0,0.0,10,4.8
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5709.576,-16506.568
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.343068,0.126041
$KALMAN_X,-4407.507812,1446.513062,380.467773,22624.011719,-233.216736
$KALMAN_Y,5564.096680,309.894623,-203.553986,-8428.674805,-212.744568
$MHEAD_RNG_PITCHd_Wd,98.1,20000,-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,-439.9,2345,2015,2369,4094,0.0,0.0,0,19,0.00,0.00,-1.48,0.000,16390,0.000,0.000,2345,2015,2699,2699,4095,0,0,0,0,0,0,26.09,24.61,26.04,10.06,35.98
$GC,21,-1.72,-439.9,2345,2015,2699,4094,0.0,0.0,0,35,5.30,0.00,0.00,0.000,4102,0.211,0.000,1870,2015,2700,2700,4094,0,0,0,0,0,0,25.79,25.86,25.83,10.13,35.07
$GC,98,-1.72,-439.9,1869,2016,2701,4094,13.6,-11.5,6,113,0.00,4.15,0.00,0.000,260,0.000,0.300,1869,3434,2701,2701,4094,0,0,0,0,0,0,26.14,25.67,26.15,10.13,35.19
$GC,129,-1.72,-439.9,1869,3434,2702,4094,16.9,-10.8,8,148,0.00,3.75,0.00,0.000,1030,0.000,0.129,1870,2015,2702,2702,4094,0,0,0,0,0,0,25.90,25.85,25.92,10.13,35.58
$GC,214,-1.72,-439.9,1869,2015,2703,4095,27.1,-12.2,14,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2015,2704,2704,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,35.07
$GC,291,-1.72,-439.9,1868,2015,2705,4094,36.5,-11.9,20,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2015,2705,2705,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.12,35.03
$GC,367,-1.72,-439.9,1869,2015,2707,4094,45.0,-10.9,26,381,0.00,3.92,0.00,0.000,516,0.000,0.266,1870,616,2706,2706,4095,0,0,0,0,0,0,26.29,25.85,26.30,10.12,35.31
$GC,408,-1.72,-439.9,1869,616,2707,4095,50.0,-11.6,29,428,0.00,3.75,0.00,0.000,1030,0.000,0.144,1870,2049,2708,2708,4094,0,0,0,0,0,0,26.03,25.98,26.06,10.12,34.48
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,484,-0.45,0.0,1869,2049,2709,4094,58.3,-11.0,34,518,4.30,0.00,26.80,4.333,10244,0.219,0.000,2256,2049,2173,2173,4094,0,0,0,0,0,0,26.02,25.12,24.02,10.12,34.99
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,521,1.72,439.9,2256,2049,2173,4094,60.9,0.0,36,567,7.53,0.00,26.27,4.219,11270,0.144,0.000,2943,2050,1661,1661,4094,0,0,0,0,0,0,25.38,25.56,23.63,10.01,34.60
$GC,630,1.72,439.9,2943,2050,1659,4094,50.1,13.7,44,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2050,1659,1659,4094,0,0,0,0,0,0,25.53,25.55,25.54,9.91,33.97
$GC,707,1.72,439.9,2943,2050,1657,4094,39.7,13.1,50,722,0.00,4.18,0.00,0.000,516,0.000,0.271,2944,611,1657,1657,4094,0,0,0,0,0,0,25.73,25.32,25.75,9.90,34.80
$GC,749,1.72,439.9,2943,611,1657,4094,34.3,12.9,53,767,0.00,3.70,0.00,0.000,1030,0.000,0.139,2944,2002,1656,1656,4094,0,0,0,0,0,0,25.56,25.51,25.58,9.91,34.13
$GC,833,1.72,439.9,2943,2002,1654,4094,24.2,12.3,59,849,0.00,4.20,0.00,0.000,260,0.000,0.288,2944,3439,1653,1653,4094,0,0,0,0,0,0,25.92,25.49,25.94,9.90,34.36
$GC,900,1.72,439.9,2943,3439,1652,4094,15.0,14.2,64,915,0.00,3.75,0.00,0.000,1030,0.000,0.134,2944,2035,1651,1651,4094,0,0,0,0,0,0,25.73,25.69,25.76,9.91,34.40
$GC,978,1.72,439.9,2943,2035,1649,4094,4.5,12.7,70,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2030,1649,1649,4094,0,0,0,0,0,0,26.06,26.08,26.08,9.91,34.87
$STATE,1010,end climb,SURFACE_DEPTH_REACHED
$STATE,1010,begin surface coast
$FINISH,0.0,1.025231
$STATE,1037,end surface coast,CONTROL_FINISHED_OK
$STATE,1037,begin surface
$SM_CCo,1132,0.00,0.000,0,0,1649,451.62
$SM_GC,0.88,28.75,0.00,0.00,0.102,0.000,0.000,231,2032,1649,-6.81,0.32,451.62,0,0,0,0,0,0,25.49,26.13,25.77
$IRIDIUM_FIX,5744.64,-16600.79,290417,225435
$TT8_MAMPS,0.026964,0.26215
$HUMID,35.07
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.8,8.5
$24V_AH,23.63,11.021
$10V_AH,8.80,9.380
$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,45.875,31.400,53.075,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,264.871,59.985,120.928,718.496,20.542,33.410,374.826,0.000,731.502,0.000,5.434,0.000
$DEVICE_MAMPS,218.504,300.443,4332.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.539,94.938,159.115,414.849,707.502,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7424,74
$CAP_FILE_SIZE,21951,8
$CFSIZE,1024409600,1014333440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300417,002223,5712.807,-16525.834,11,1.0,57,10.9,0.8,306.1,9,5.0