version: 66.12
glider: 401
mission: 20
dive: 197
start: 5 1 117 18 30 41
data:
$ID,401
$MISSION,20
$DIVE,197
$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,33
$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
$GPS1,010517,181219,5709.5737,-16453.7227,4,0.8,14,11.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,1.3
$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,0.310296,-0.268431
$KALMAN_X,-9085.706055,1701.182983,187.717377,58982.171875,-38.177353
$KALMAN_Y,12261.594727,-323.517670,-230.311874,-20973.054688,200.021866
$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,16,-1.87,-586.5,2314,2118,2373,4094,0.0,0.0,0,33,0.00,0.00,-2.47,0.000,16390,0.000,0.000,2314,2118,2867,2867,4095,0,0,0,0,0,0,26.06,24.56,26.05,10.05,35.23
$GC,35,-1.87,-586.5,2314,2118,2867,4095,4.4,0.0,1,50,5.75,4.00,0.00,0.000,4612,0.144,0.243,1787,711,2867,2867,4094,0,0,0,0,0,0,25.48,25.34,25.53,10.16,35.74
$GC,65,-1.87,-586.5,1786,711,2867,4094,8.4,-12.2,3,84,0.00,3.65,0.00,0.000,1030,0.000,0.139,1786,2081,2868,2868,4095,0,0,0,0,0,0,25.54,25.51,25.58,10.16,35.86
$GC,150,-1.87,-586.5,1786,2081,2869,4094,19.5,-13.6,9,165,0.00,4.30,0.00,0.000,260,0.000,0.328,1786,3517,2869,2869,4095,0,0,0,0,0,0,25.93,25.49,25.94,10.16,35.03
$GC,194,-1.87,-586.5,1786,3517,2870,4095,25.6,-13.9,12,209,0.00,3.72,0.00,0.000,1030,0.000,0.137,1786,2120,2870,2870,4095,0,0,0,0,0,0,25.72,25.68,25.76,10.16,35.31
$GC,272,-1.87,-586.5,1786,2116,2872,4094,35.8,-13.3,18,290,0.00,4.05,0.00,0.000,516,0.000,0.256,1786,689,2873,2873,4094,0,0,0,0,0,0,26.05,25.60,26.06,10.16,35.27
$GC,319,-1.87,-586.5,1786,689,2873,4094,42.4,-14.0,21,337,0.00,3.75,0.00,0.000,1030,0.000,0.146,1786,2103,2874,2874,4095,0,0,0,0,0,0,25.80,25.75,25.84,10.16,34.99
$GC,408,-1.87,-586.5,1785,2103,2875,4094,54.0,-13.2,27,426,0.00,4.18,0.00,0.000,260,0.000,0.328,1786,3513,2875,2875,4094,0,0,0,0,0,0,26.15,25.67,26.16,10.15,34.72
$STATE,441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,441,begin apogee
$GC,448,-0.50,0.0,1786,2027,2876,4095,58.8,-13.6,29,493,4.75,0.00,34.70,4.484,10244,0.223,0.000,2210,2026,2174,2174,4094,0,0,0,0,0,0,25.82,24.79,23.69,10.15,34.80
$STATE,494,end apogee,CONTROL_FINISHED_OK
$STATE,494,begin climb
$GC,495,1.87,586.5,2210,2027,2174,4094,62.6,0.0,32,559,8.30,4.25,34.47,4.407,10500,0.156,0.291,2964,3437,1489,1489,4094,0,0,0,0,0,0,24.99,24.89,23.32,10.01,34.91
$GC,576,1.97,648.2,2964,3437,1489,4094,57.7,9.0,37,596,0.25,3.88,5.28,2.813,11270,0.129,0.127,2993,2032,1418,1418,4094,0,0,0,0,0,0,24.91,24.85,23.61,9.88,33.57
$GC,660,1.97,648.2,2992,2032,1416,4094,46.4,13.6,43,678,0.00,4.20,0.00,0.000,516,0.000,0.278,2993,606,1416,1416,4094,0,0,0,0,0,0,25.41,24.98,25.42,9.86,34.09
$GC,718,1.97,648.2,2993,606,1414,4094,38.3,14.0,47,733,0.00,3.85,0.00,0.000,1030,0.000,0.142,2993,2035,1414,1414,4094,0,0,0,0,0,0,25.27,25.26,25.34,9.85,34.09
$GC,796,1.97,648.2,2993,2035,1412,4094,28.2,13.5,53,814,0.00,4.18,0.00,0.000,260,0.000,0.298,2993,3441,1412,1412,4094,0,0,0,0,0,0,25.70,25.26,25.71,9.85,34.60
$GC,878,1.97,648.2,2993,3441,1410,4094,16.0,14.4,59,896,0.00,3.65,0.00,0.000,1030,0.000,0.129,2993,2080,1409,1409,4094,0,0,0,0,0,0,25.58,25.50,25.59,9.86,34.48
$GC,962,1.97,648.2,2993,2080,1406,4094,4.5,13.8,65,978,0.00,4.25,0.00,0.000,516,0.000,0.281,2993,607,1406,1406,4094,0,0,0,0,0,0,25.91,25.46,25.91,9.86,35.35
$STATE,992,end climb,SURFACE_DEPTH_REACHED
$STATE,992,begin surface coast
$FINISH,-0.0,1.015428
$STATE,1020,end surface coast,CONTROL_FINISHED_OK
$STATE,1020,begin surface
$SM_CCo,1120,0.00,0.000,0,0,1406,660.26
$SM_GC,0.89,29.42,4.00,0.00,0.092,0.144,0.000,231,2102,1406,-6.71,-0.82,660.26,0,0,1,0,0,0,25.38,25.65,25.63
$IRIDIUM_FIX,5554.28,-16557.83,010517,172145
$TT8_MAMPS,0.026215,0.26215
$HUMID,34.60
$INTERNAL_PRESSURE,9.79886
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,8.5
$24V_AH,23.32,19.631
$10V_AH,8.69,12.600
$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,48.475,63.950,74.450,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,259.559,59.885,151.682,678.500,26.613,33.411,431.040,0.000,691.194,0.000,5.447,0.000
$DEVICE_MAMPS,223.470,379.899,4484.298,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.593,88.335,148.357,393.582,668.339,0.000,0.000,0.000,0.000,0.000
$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,7370,69
$CAP_FILE_SIZE,24390,13
$CFSIZE,1024409600,1008828416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,010517,185008,5709.712,-16453.123,1,0.9,14,11.1,0.7,318.3,10,4.8