version: 66.12
glider: 401
mission: 20
dive: 195
start: 5 1 117 17 46 2
data:
$ID,401
$MISSION,20
$DIVE,195
$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,600
$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,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,10
$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,2100
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,20
$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
$GPS1,010517,172620,5709.3848,-16454.2754,3,0.9,17,11.1,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,2.2
$GPS2,010517,172620,5709.3848,-16454.2754,3,0.9,17,11.1,0.0,0.0,9,4.7
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5705.691,-16435.596
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.352269,-0.210185
$KALMAN_X,-9044.512695,1801.509277,279.435120,58194.730469,-133.415070
$KALMAN_Y,11736.636719,-452.915710,-443.881348,-20454.720703,146.503357
$MHEAD_RNG_PITCHd_Wd,98.9,20000,-9.4,-9.667,-13.26,9003
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.87,-586.5,2315,2102,2372,4094,0.0,0.0,0,36,0.00,0.00,-2.12,0.000,16390,0.000,0.000,2316,2102,2870,2870,4095,0,0,0,0,0,0,25.82,24.39,25.81,10.05,35.54
$GC,38,-1.87,-586.5,2315,2102,2870,4094,6.8,0.0,1,56,5.88,4.22,0.00,0.000,4356,0.149,0.303,1784,3509,2870,2870,4094,0,0,0,0,0,0,25.25,25.07,25.27,10.17,35.31
$GC,119,-1.87,-586.5,1784,3510,2872,4094,17.9,-13.0,7,137,0.00,3.80,0.00,0.000,1030,0.000,0.132,1784,2098,2873,2873,4094,0,0,0,0,0,0,25.46,25.41,25.48,10.16,36.02
$GC,203,-1.87,-586.5,1784,2096,2874,4095,29.2,-13.9,13,219,0.00,4.03,0.00,0.000,516,0.000,0.258,1785,689,2874,2874,4094,0,0,0,0,0,0,25.83,25.40,25.84,10.16,35.23
$GC,247,-1.87,-586.5,1784,689,2875,4095,35.3,-13.8,16,262,0.00,3.72,0.00,0.000,1030,0.000,0.144,1784,2083,2875,2875,4094,0,0,0,0,0,0,25.61,25.56,25.65,10.16,35.27
$GC,326,-1.87,-586.5,1784,2083,2877,4094,45.6,-12.9,22,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2083,2877,2877,4094,0,0,0,0,0,0,25.98,25.98,25.98,10.16,35.35
$GC,411,-1.87,-586.5,1784,2083,2879,4094,57.1,-13.6,28,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2083,2879,2879,4094,0,0,0,0,0,0,26.06,26.07,26.06,10.15,35.19
$STATE,444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,444,begin apogee
$GC,449,-0.50,0.0,1785,1986,2880,4094,61.5,-13.4,30,500,4.82,0.10,34.85,4.581,10244,0.226,0.196,2211,2055,2175,2175,4095,0,0,0,0,0,0,25.75,24.39,23.59,10.16,34.64
$STATE,501,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,503,1.87,586.5,2211,2055,2175,4094,65.3,0.0,33,557,8.30,0.00,34.28,4.492,11270,0.137,0.000,2961,2055,1494,1494,4094,0,0,0,0,0,0,25.06,25.24,23.23,10.01,34.24
$GC,620,1.87,586.5,2960,2055,1493,4094,55.4,13.1,41,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2055,1492,1492,4094,0,0,0,0,0,0,25.26,25.27,25.27,9.87,33.69
$GC,700,1.87,586.5,2960,2055,1490,4094,44.5,13.5,47,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2055,1490,1490,4094,0,0,0,0,0,0,25.49,25.51,25.51,9.87,34.01
$GC,780,1.87,586.5,2960,2055,1488,4094,33.9,13.2,53,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2055,1487,1487,4094,0,0,0,0,0,0,25.65,25.67,25.66,9.87,34.72
$GC,861,1.87,586.5,2960,2055,1486,4094,23.2,13.0,59,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2055,1486,1486,4094,0,0,0,0,0,0,25.77,25.79,25.79,9.87,34.36
$GC,938,1.87,586.5,2960,2055,1483,4094,13.5,13.1,65,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2055,1483,1483,4094,0,0,0,0,0,0,25.86,25.88,25.88,9.87,34.52
$GC,1018,1.87,586.5,2960,2055,1481,4094,3.1,13.3,71,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2055,1481,1481,4094,0,0,0,0,0,0,25.95,25.97,25.96,9.87,34.99
$STATE,1050,end climb,SURFACE_DEPTH_REACHED
$STATE,1050,begin surface coast
$FINISH,-0.0,1.025321
$STATE,1089,end surface coast,CONTROL_FINISHED_OK
$STATE,1089,begin surface
$SM_CCo,1185,0.00,0.000,0,0,1480,596.73
$SM_GC,0.79,28.98,0.00,0.00,0.097,0.000,0.000,242,2055,1480,-6.67,-2.05,596.73,0,0,0,0,0,0,25.75,26.03,25.81
$IRIDIUM_FIX,5554.28,-16557.83,010517,163727
$TT8_MAMPS,0.026964,0.260652
$HUMID,35.43
$INTERNAL_PRESSURE,9.80862
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,8.5
$24V_AH,23.23,19.435
$10V_AH,8.71,12.546
$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,47.975,20.025,69.125,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,267.963,60.209,151.824,737.976,26.413,33.414,421.185,0.000,750.151,0.000,5.445,0.000
$DEVICE_MAMPS,225.953,302.926,4581.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.842,97.457,163.433,423.043,726.661,0.000,0.000,0.000,0.000,0.000
$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,7358,76
$CAP_FILE_SIZE,21659,16
$CFSIZE,1024409600,1008926720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010517,180705,5709.533,-16453.697,2,1.1,45,11.1,0.0,0.0,9,3.0