version: 66.12
glider: 401
mission: 20
dive: 199
start: 5 1 117 19 14 5
data:
$ID,401
$MISSION,20
$DIVE,199
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,010517,185516,5709.7612,-16453.1309,3,0.8,14,11.1,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,1.4
$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,0.243050,-0.294117
$KALMAN_X,-9068.059570,1649.785278,171.288589,59624.714844,-12.268936
$KALMAN_Y,12869.553711,-167.569290,-19.611685,-21600.386719,250.872940
$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,16,-1.83,-488.8,2316,2163,2367,4094,0.0,0.0,0,20,0.00,0.00,-1.67,0.000,16390,0.000,0.000,2316,2163,2754,2754,4094,0,0,0,0,0,0,25.94,24.47,25.90,10.05,35.03
$GC,22,-1.83,-488.8,2316,2163,2753,4094,0.0,0.0,0,40,5.78,0.00,0.00,0.000,4102,0.201,0.000,1799,2163,2754,2754,4094,0,0,0,0,0,0,25.65,25.72,25.70,10.14,35.35
$GC,103,-1.83,-488.8,1799,2163,2755,4094,14.7,-11.6,6,118,0.00,3.35,0.00,0.000,516,0.000,0.221,1799,967,2755,2755,4094,0,0,0,0,0,0,26.02,25.61,26.03,10.14,35.03
$GC,194,-1.83,-488.8,1799,966,2757,4094,27.8,-14.9,13,208,0.00,3.08,0.00,0.000,1030,0.000,0.137,1799,2130,2757,2757,4095,0,0,0,0,0,0,25.82,25.76,25.86,10.13,35.07
$GC,271,-1.83,-488.8,1799,2130,2759,4094,38.2,-13.0,19,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2130,2759,2759,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.14,35.15
$GC,351,-1.83,-488.8,1799,2130,2761,4095,48.9,-13.1,25,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2130,2761,2761,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.13,35.66
$STATE,420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,420,begin apogee
$GC,425,-0.50,0.0,1799,2002,2763,4094,58.5,-13.5,30,468,4.62,0.00,28.98,4.427,10244,0.233,0.000,2209,2003,2175,2175,4094,0,0,0,0,0,0,25.90,24.68,23.86,10.13,35.03
$STATE,469,end apogee,CONTROL_FINISHED_OK
$STATE,469,begin climb
$GC,470,1.83,488.8,2209,2002,2175,4095,62.0,0.0,33,521,8.10,0.05,28.62,4.348,11270,0.139,0.402,2946,2049,1604,1604,4094,0,0,0,0,0,0,25.29,25.29,23.48,10.01,34.64
$GC,584,1.83,488.8,2946,2049,1602,4094,52.8,12.3,41,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2049,1602,1602,4094,0,0,0,0,0,0,25.46,25.47,25.47,9.89,34.76
$GC,660,1.83,488.8,2946,2049,1600,4094,42.4,14.0,47,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2049,1600,1600,4094,0,0,0,0,0,0,25.66,25.67,25.67,9.89,34.13
$GC,740,1.83,488.8,2946,2049,1597,4095,31.6,13.5,53,754,0.00,3.35,0.00,0.000,260,0.000,0.263,2946,3200,1597,1597,4094,0,0,0,0,0,0,25.80,25.38,25.82,9.89,34.95
$GC,818,1.83,488.8,2946,3200,1595,4094,20.2,14.6,59,832,0.00,3.03,0.00,0.000,1030,0.000,0.119,2947,2068,1595,1595,4094,0,0,0,0,0,0,25.68,25.60,25.68,9.90,34.64
$GC,895,1.83,488.8,2946,2067,1592,4094,9.9,13.1,65,910,0.00,3.53,0.00,0.000,516,0.000,0.261,2946,825,1592,1592,4094,0,0,0,0,0,0,25.98,25.57,25.99,9.90,35.03
$GC,937,1.83,488.8,2946,825,1591,4094,4.3,13.1,68,955,0.00,3.12,0.00,0.000,1030,0.000,0.129,2946,2015,1591,1591,4094,0,0,0,0,0,0,25.75,25.70,25.79,9.90,34.80
$STATE,968,end climb,SURFACE_DEPTH_REACHED
$STATE,968,begin surface coast
$FINISH,-0.0,1.020673
$STATE,995,end surface coast,CONTROL_FINISHED_OK
$STATE,995,begin surface
$SM_CCo,1092,0.00,0.000,0,0,1590,501.42
$SM_GC,1.08,28.85,0.32,0.00,0.094,0.194,0.000,232,2157,1590,-6.71,-1.14,501.42,0,0,1,0,0,0,25.53,25.78,25.75
$IRIDIUM_FIX,5554.28,-16557.83,010517,180814
$TT8_MAMPS,0.026964,0.256907
$HUMID,35.11
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.9,8.5
$24V_AH,23.48,19.792
$10V_AH,8.70,12.655
$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,47.350,20.450,57.600,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,259.794,59.865,119.471,683.526,24.286,33.410,359.210,0.000,696.242,0.000,5.435,0.000
$DEVICE_MAMPS,233.402,402.246,4427.189,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.187,92.374,154.818,385.456,672.048,0.000,0.000,0.000,0.000,0.000
$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,7437,72
$CAP_FILE_SIZE,20797,6
$CFSIZE,1024409600,1008730112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,010517,193305,5709.995,-16452.289,2,0.9,15,11.1,1.0,75.7,10,4.7