version: 66.12
glider: 401
mission: 20
dive: 198
start: 5 1 117 18 56 19
data:
$ID,401
$MISSION,20
$DIVE,198
$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,500
$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,55
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,10
$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
$GPS1,010517,185008,5709.7124,-16453.1230,1,0.9,14,11.1,0.7,318.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-38.8
$GPS2,010517,185516,5709.7612,-16453.1309,3,0.8,14,11.1,0.0,0.0,11,4.8
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5706.068,-16434.447
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.226445,-0.306940
$KALMAN_X,-8958.083008,1729.221191,216.442413,59381.996094,-96.466522
$KALMAN_Y,12683.089844,-236.626572,-127.110062,-21244.376953,304.392303
$MHEAD_RNG_PITCHd_Wd,98.9,20000,-10.5,-9.667,-14.22,7537
$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,-1.83,-488.8,230,2143,1406,4094,0.0,0.0,0,36,0.00,0.00,-12.38,0.000,16390,0.000,0.000,231,2143,2746,2746,4094,0,0,0,0,0,0,25.96,25.13,25.98,9.86,35.86
$GC,38,-1.83,-488.8,230,2142,2747,4094,0.7,0.0,1,68,19.95,3.33,0.00,0.000,2564,0.420,0.199,1782,950,2749,2749,4094,0,0,0,0,0,0,25.39,25.39,25.51,10.14,36.17
$GC,131,-1.83,-488.8,1781,950,2751,4094,25.8,-17.3,8,149,0.00,3.17,0.00,0.000,1030,0.000,0.139,1781,2143,2752,2752,4094,0,0,0,0,0,0,25.63,25.58,25.67,10.15,35.74
$GC,213,-1.83,-488.8,1781,2143,2754,4094,37.7,-13.9,14,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2143,2754,2754,4095,0,0,0,0,0,0,26.01,26.03,26.02,10.14,35.11
$GC,294,-1.83,-488.8,1781,2143,2755,4094,49.4,-14.4,20,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2143,2756,2756,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.13,35.43
$STATE,363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,363,begin apogee
$GC,368,-0.50,0.0,1781,2005,2757,4095,59.6,-14.6,25,418,4.85,0.00,29.05,4.469,10244,0.231,0.000,2210,2004,2173,2173,4095,0,0,0,0,0,0,25.80,24.57,23.77,10.13,34.87
$STATE,419,end apogee,CONTROL_FINISHED_OK
$STATE,419,begin climb
$GC,421,1.83,488.8,2210,2004,2173,4094,64.0,0.0,28,472,8.02,3.60,28.85,4.425,10500,0.146,0.268,2950,3220,1605,1605,4094,0,0,0,0,0,0,25.15,25.05,23.42,10.01,34.64
$GC,489,1.83,488.8,2950,3220,1604,4094,60.3,8.3,32,507,0.00,3.22,0.00,0.000,1030,0.000,0.117,2950,2046,1603,1603,4094,0,0,0,0,0,0,24.96,24.92,25.01,9.90,34.13
$GC,570,1.83,488.8,2950,2046,1602,4094,49.7,13.0,38,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2047,1601,1601,4094,0,0,0,0,0,0,25.51,25.53,25.53,9.90,33.97
$GC,647,1.83,488.8,2950,2046,1599,4094,39.5,12.8,44,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2046,1599,1599,4094,0,0,0,0,0,0,25.69,25.70,25.70,9.90,34.76
$GC,723,1.83,488.8,2950,2046,1598,4094,29.3,13.3,50,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2046,1597,1597,4094,0,0,0,0,0,0,25.81,25.82,25.82,9.90,34.64
$GC,799,1.83,488.8,2950,2046,1595,4094,19.2,13.0,56,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2046,1595,1595,4094,0,0,0,0,0,0,25.91,25.92,25.92,9.90,34.36
$GC,876,1.83,488.8,2950,2046,1593,4094,8.9,13.2,62,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2046,1592,1592,4094,0,0,0,0,0,0,25.98,26.00,26.00,9.90,35.03
$STATE,920,end climb,FINISH_DEPTH_REACHED
$STATE,920,begin subsurface finish
$FINISH1,3.0,1.025310,-162
$GC,926,-0.26,-161.7,2950,2006,1591,4094,3.0,13.2,65,955,7.07,0.00,-7.50,0.000,20486,0.206,0.000,2316,2004,2366,2366,4094,0,0,0,0,0,0,25.78,25.24,25.81,9.90,35.54
$FINISH2,0.0
$STATE,956,end subsurface finish,CONTROL_FINISHED_OK
$STATE,956,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,180814
$TT8_MAMPS,0.026215,0.260652
$HUMID,35.78
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,8.4
$24V_AH,23.42,19.719
$10V_AH,8.70,12.629
$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,39.900,13.800,57.900,0.000,0.000,24.795,21.109,175.515,0.500,0.000,15.981,240.954,0.000,111.388,887.114,50.008,33.462,379.392,0.000,656.041,0.000,7.315,0.000
$DEVICE_MAMPS,419.627,461.838,4469.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.333,85.788,144.067,365.431,630.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,7376,67
$CAP_FILE_SIZE,23250,9
$CFSIZE,1024409600,1008779264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010517,185516,5709.761,-16453.131,3,0.8,14,11.1,0.0,0.0,11,4.8