version: 66.12
glider: 401
mission: 20
dive: 223
start: 5 2 117 3 59 28
data:
$ID,401
$MISSION,20
$DIVE,223
$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,4
$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,650
$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,195
$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,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,24
$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,2
$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
$GPS1,020517,034044,5708.0620,-16449.6504,4,0.8,24,11.1,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-0.9
$GPS2,020517,034044,5708.0620,-16449.6504,4,0.8,24,11.1,0.0,0.0,11,4.8
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5657.631,-16454.775
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.234811,-0.346671
$KALMAN_X,-10427.205078,970.454163,-319.531799,65636.515625,-402.073303
$KALMAN_Y,16299.214844,7.016153,-368.713043,-28009.849609,-36.476494
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-8.9,-9.667,-12.86,9731
$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,-1.90,-635.4,2316,2179,2363,4094,0.0,0.0,0,37,0.00,0.00,-5.43,0.000,16390,0.000,0.000,2316,2179,2918,2918,4095,0,0,0,0,0,0,25.91,25.08,25.92,10.07,35.19
$GC,39,-1.90,-635.4,2315,2178,2918,4094,0.1,0.0,1,54,5.93,0.00,0.00,0.000,4102,0.144,0.000,1775,2179,2918,2918,4094,0,0,0,0,0,0,25.34,25.40,25.38,10.19,35.46
$GC,117,-1.90,-635.4,1775,2179,2920,4094,9.4,-11.4,7,132,0.00,3.38,0.00,0.000,516,0.000,0.216,1775,976,2920,2920,4094,0,0,1,0,0,0,25.77,25.37,25.79,10.19,35.19
$GC,184,-1.90,-635.4,1774,976,2921,4094,18.8,-14.4,12,202,0.00,3.05,0.00,0.000,1030,0.000,0.137,1775,2120,2922,2922,4094,0,0,0,0,0,0,25.60,25.54,25.64,10.19,35.58
$GC,265,-1.90,-635.4,1774,2120,2923,4095,30.2,-14.3,18,280,0.00,3.67,0.00,0.000,260,0.000,0.313,1775,3363,2923,2923,4095,0,0,0,0,0,0,25.98,25.51,25.98,10.18,34.95
$GC,308,-1.90,-635.4,1774,3363,2924,4095,36.2,-13.8,21,323,0.00,3.20,0.00,0.000,1030,0.000,0.127,1775,2155,2924,2924,4094,0,0,0,0,0,0,25.75,25.72,25.79,10.18,35.27
$GC,386,-1.90,-635.4,1774,2151,2926,4095,46.7,-13.9,27,404,0.00,3.28,0.00,0.000,516,0.000,0.231,1775,976,2926,2926,4095,0,0,0,0,0,0,26.08,25.65,26.09,10.18,34.60
$GC,461,-1.90,-635.4,1774,976,2927,4094,57.2,-14.2,32,479,0.00,3.03,0.00,0.000,1030,0.000,0.139,1775,2124,2928,2928,4095,0,0,0,0,0,0,25.86,25.79,25.89,10.17,34.56
$STATE,493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,493,begin apogee
$GC,497,-0.50,0.0,1774,2047,2929,4094,61.4,-13.1,34,546,4.85,0.08,37.25,4.556,10244,0.209,0.358,2212,2082,2174,2174,4094,0,0,0,0,0,0,25.83,24.72,23.61,10.17,34.56
$STATE,547,end apogee,CONTROL_FINISHED_OK
$STATE,547,begin climb
$GC,549,1.90,635.4,2211,2082,2174,4094,64.7,0.0,37,600,8.52,0.00,37.12,4.467,11270,0.132,0.000,2984,2082,1433,1433,4094,0,0,0,0,0,0,25.08,25.22,23.26,10.02,34.24
$GC,662,1.90,635.4,2983,2082,1431,4094,54.9,13.8,45,677,0.00,3.42,0.00,0.000,516,0.000,0.233,2984,906,1431,1431,4094,0,0,0,0,0,0,25.25,24.87,25.26,9.87,34.13
$GC,704,1.90,635.4,2983,906,1430,4094,49.4,13.1,48,723,0.00,3.08,0.00,0.000,1030,0.000,0.132,2984,2046,1429,1429,4094,0,0,0,0,0,0,25.14,25.09,25.15,9.87,33.77
$GC,786,1.90,635.4,2983,2046,1428,4094,38.0,13.9,54,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2046,1427,1427,4094,0,0,0,0,0,0,25.58,25.60,25.60,9.86,34.32
$GC,863,1.90,635.4,2983,2046,1425,4094,27.3,13.6,60,877,0.00,3.58,0.00,0.000,260,0.000,0.276,2984,3265,1425,1425,4094,0,0,0,0,0,0,25.72,25.27,25.73,9.86,34.24
$GC,905,1.90,635.4,2983,3265,1423,4094,21.4,14.0,63,920,0.00,3.20,0.00,0.000,1030,0.000,0.124,2984,2074,1423,1423,4094,0,0,0,0,0,0,25.52,25.48,25.56,9.87,34.17
$GC,982,1.90,635.4,2984,2074,1422,4094,11.0,13.3,69,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2074,1421,1421,4094,0,0,0,0,0,0,25.87,25.89,25.89,9.88,34.64
$STATE,1058,end climb,SURFACE_DEPTH_REACHED
$STATE,1058,begin surface coast
$FINISH,0.0,1.007650
$STATE,1085,end surface coast,CONTROL_FINISHED_OK
$STATE,1085,begin surface
$SM_CCo,1182,0.00,0.000,0,0,1420,649.10
$SM_GC,0.68,29.27,0.25,0.00,0.092,0.196,0.000,231,2179,1420,-6.71,-1.00,649.10,0,0,1,0,0,0,25.46,25.72,25.67
$IRIDIUM_FIX,5554.28,-16557.83,020517,025129
$TT8_MAMPS,0.026215,0.261401
$HUMID,34.99
$INTERNAL_PRESSURE,9.81839
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,9.9
$24V_AH,23.26,21.694
$10V_AH,8.69,13.316
$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,48.575,33.600,74.375,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,278.397,59.971,136.339,736.120,27.398,33.414,408.766,0.000,748.567,0.000,5.450,0.000
$DEVICE_MAMPS,208.572,357.552,4556.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.405,98.721,165.539,416.292,723.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,7475,77
$CAP_FILE_SIZE,23650,9
$CFSIZE,1024409600,1007550464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,042052,5707.685,-16450.658,3,0.8,69,11.1,0.0,0.0,9,10.3