version: 66.12
glider: 401
mission: 20
dive: 196
start: 5 1 117 18 13 22
data:
$ID,401
$MISSION,20
$DIVE,196
$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,46
$R_STBD_OVSHOOT,45
$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
$GPS1,010517,180705,5709.5327,-16453.6973,2,1.1,45,11.1,0.0,0.0,9,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-39.8
$GPS2,010517,181219,5709.5737,-16453.7227,4,0.8,14,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5705.880,-16435.041
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.308971,-0.270391
$KALMAN_X,-8956.492188,1810.377441,279.736725,58643.175781,-183.670197
$KALMAN_Y,12105.065430,-373.826691,-341.260437,-20661.916016,256.206146
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.87,-586.5,241,2058,1480,4094,0.0,0.0,0,36,0.00,0.00,-12.45,0.000,16390,0.000,0.000,242,2058,2861,2861,4094,0,0,0,0,0,0,25.99,25.16,26.01,9.88,35.78
$GC,38,-1.87,-586.5,241,2058,2861,4094,0.8,0.0,1,72,19.40,3.78,0.00,0.000,2564,0.415,0.221,1765,712,2864,2864,4095,0,0,0,0,0,0,25.41,25.40,25.53,10.16,35.82
$GC,134,-1.87,-586.5,1765,712,2866,4094,28.8,-16.9,8,149,0.00,3.60,0.00,0.000,1030,0.000,0.139,1765,2068,2866,2866,4094,0,0,0,0,0,0,25.67,25.61,25.70,10.16,35.23
$GC,212,-1.87,-586.5,1764,2068,2868,4095,39.9,-13.8,14,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,2068,2868,2868,4095,0,0,0,0,0,0,26.03,26.04,26.04,10.16,35.23
$GC,296,-1.87,-586.5,1765,2068,2870,4094,51.6,-14.3,20,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,2068,2870,2870,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.16,35.58
$STATE,340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,341,begin apogee
$GC,344,-0.50,0.0,1765,2068,2871,4094,58.7,-14.7,23,399,5.03,0.00,34.17,4.482,10244,0.223,0.000,2211,2068,2176,2176,4094,0,0,0,0,0,0,25.80,24.46,23.67,10.15,35.07
$STATE,400,end apogee,CONTROL_FINISHED_OK
$STATE,400,begin climb
$GC,401,1.87,586.5,2211,2068,2176,4094,62.8,0.0,26,452,8.27,0.00,34.38,4.407,11270,0.139,0.000,2961,2068,1489,1489,4094,0,0,0,0,0,0,25.15,25.34,23.32,10.01,34.80
$GC,515,1.87,586.5,2961,2068,1488,4094,53.4,12.8,34,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2068,1487,1487,4094,0,0,0,0,0,0,25.32,25.34,25.33,9.87,34.20
$GC,592,1.87,586.5,2961,2068,1486,4094,43.1,13.0,40,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2068,1485,1485,4094,0,0,0,0,0,0,25.55,25.56,25.56,9.87,34.76
$GC,669,1.87,586.5,2961,2068,1483,4094,32.8,13.1,46,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2068,1483,1483,4094,0,0,0,0,0,0,25.70,25.72,25.71,9.87,34.52
$GC,746,1.87,586.5,2961,2068,1481,4094,22.5,13.3,52,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2068,1480,1480,4094,0,0,0,0,0,0,25.81,25.83,25.82,9.87,35.15
$GC,827,1.87,586.5,2961,2068,1479,4094,12.2,12.9,58,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2068,1478,1478,4094,0,0,0,0,0,0,25.91,25.92,25.92,9.88,34.40
$STATE,902,end climb,FINISH_DEPTH_REACHED
$STATE,902,begin subsurface finish
$FINISH1,2.3,1.025324,-163
$GC,907,-0.26,-162.7,2961,2068,1476,4094,2.3,12.9,64,927,6.88,0.00,-8.00,0.000,20486,0.117,0.000,2314,2069,2371,2371,4094,0,0,0,0,0,0,25.76,24.58,25.78,9.87,35.31
$FINISH2,-0.0
$STATE,928,end subsurface finish,CONTROL_FINISHED_OK
$STATE,928,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,172145
$TT8_MAMPS,0.026215,0.250915
$HUMID,35.27
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.6,8.5
$24V_AH,23.32,19.536
$10V_AH,8.75,12.574
$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,39.575,7.375,68.550,0.000,0.000,25.163,19.087,182.713,0.500,0.000,16.023,234.777,0.000,107.827,875.176,50.063,33.434,355.445,0.000,638.875,0.000,7.322,0.000
$DEVICE_MAMPS,414.661,220.987,4481.815,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.148,83.288,139.771,356.962,614.660,0.000,0.000,0.000,0.000,0.000
$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,3933,65
$CAP_FILE_SIZE,22059,11
$CFSIZE,1024409600,1008877568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010517,181219,5709.574,-16453.723,4,0.8,14,11.1,0.0,0.0,10,4.9