version: 66.12
glider: 401
mission: 20
dive: 201
start: 5 1 117 19 57 12
data:
$ID,401
$MISSION,20
$DIVE,201
$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,18
$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
$GPS1,010517,193839,5710.0479,-16452.2773,3,0.9,16,11.1,0.0,0.0,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,1.5
$GPS2,010517,193839,5710.0479,-16452.2773,3,0.9,16,11.1,0.0,0.0,10,4.5
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5706.354,-16433.592
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168818,-0.342021
$KALMAN_X,-8798.545898,1658.376831,227.085922,60146.515625,95.872330
$KALMAN_Y,13641.177734,43.233295,212.161285,-22283.802734,301.403992
$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,-488.8,2315,2167,2365,4094,0.0,0.0,0,20,0.00,0.00,-1.90,0.000,16390,0.000,0.000,2315,2167,2755,2755,4094,0,0,0,0,0,0,25.94,24.46,25.91,10.06,35.66
$GC,22,-1.83,-488.8,2315,2167,2755,4095,0.0,0.0,0,40,5.75,0.00,0.00,0.000,4102,0.199,0.000,1800,2167,2755,2755,4094,0,0,0,0,0,0,25.66,25.72,25.70,10.15,35.27
$GC,103,-1.83,-488.8,1799,2167,2756,4095,13.0,-12.0,6,121,0.00,3.38,0.00,0.000,516,0.000,0.221,1800,959,2757,2757,4095,0,0,0,0,0,0,26.02,25.60,26.03,10.14,35.03
$GC,196,-1.83,-488.8,1799,959,2759,4095,26.5,-15.2,13,211,0.00,3.08,0.00,0.000,1030,0.000,0.139,1800,2125,2759,2759,4094,0,0,0,0,0,0,25.80,25.77,25.85,10.14,35.43
$GC,273,-1.83,-488.8,1799,2125,2761,4094,36.8,-12.5,19,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2125,2761,2761,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.13,34.83
$GC,353,-1.83,-488.8,1799,2125,2763,4094,47.3,-13.4,25,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2125,2763,2763,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.13,35.19
$STATE,438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,438,begin apogee
$GC,443,-0.50,0.0,1800,1994,2765,4094,59.6,-14.6,31,486,4.62,0.08,29.12,4.487,10244,0.228,0.186,2211,2047,2174,2174,4094,0,0,0,0,0,0,25.92,24.67,23.86,10.13,34.60
$STATE,488,end apogee,CONTROL_FINISHED_OK
$STATE,488,begin climb
$GC,489,1.83,488.8,2211,2047,2174,4094,63.5,0.0,34,536,8.07,0.00,28.62,4.410,11270,0.134,0.000,2946,2048,1604,1604,4094,0,0,0,0,0,0,25.31,25.49,23.47,10.01,34.40
$GC,598,1.83,488.8,2946,2048,1602,4094,54.6,12.7,42,613,0.00,3.40,0.00,0.000,260,0.000,0.263,2946,3197,1601,1601,4094,0,0,0,0,0,0,25.44,25.05,25.46,9.90,33.97
$GC,653,1.83,488.8,2946,3197,1601,4094,46.9,13.8,46,668,0.00,3.05,0.00,0.000,1030,0.000,0.122,2947,2067,1601,1601,4094,0,0,0,0,0,0,25.36,25.32,25.39,9.90,34.28
$GC,731,1.83,488.8,2946,2067,1599,4094,36.0,13.6,52,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2067,1598,1598,4094,0,0,0,0,0,0,25.75,25.77,25.76,9.90,33.97
$GC,808,1.83,488.8,2946,2067,1596,4094,25.0,14.1,58,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2066,1596,1596,4094,0,0,0,0,0,0,25.86,25.89,25.88,9.90,34.36
$GC,889,1.83,488.8,2945,2066,1594,4094,14.6,12.8,64,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2066,1594,1594,4094,0,0,0,0,0,0,25.96,25.98,25.97,9.90,34.76
$GC,967,1.83,488.8,2946,2066,1592,4094,4.8,12.8,70,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2066,1591,1591,4094,0,0,0,0,0,0,26.03,26.06,26.05,9.90,35.70
$STATE,999,end climb,SURFACE_DEPTH_REACHED
$STATE,999,begin surface coast
$FINISH,0.0,1.025284
$STATE,1026,end surface coast,CONTROL_FINISHED_OK
$STATE,1026,begin surface
$SM_CCo,1123,0.00,0.000,0,0,1590,502.28
$SM_GC,0.87,28.88,0.17,0.00,0.097,0.219,0.000,231,2158,1590,-6.71,-1.69,502.28,0,0,1,0,0,0,25.56,25.83,25.77
$IRIDIUM_FIX,5554.28,-16557.83,010517,185117
$TT8_MAMPS,0.026964,0.259903
$HUMID,35.35
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.9,8.5
$24V_AH,23.47,19.955
$10V_AH,8.70,12.709
$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,47.325,13.750,57.750,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,266.214,59.884,119.728,707.889,24.590,33.412,359.177,0.000,720.422,0.000,5.445,0.000
$DEVICE_MAMPS,228.436,263.198,4486.781,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.622,94.962,159.092,401.813,696.342,0.000,0.000,0.000,0.000,0.000
$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,7412,74
$CAP_FILE_SIZE,20550,7
$CFSIZE,1024409600,1008631808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,010517,201645,5710.262,-16451.344,3,0.9,17,11.1,0.0,0.0,10,4.8