version: 66.12
glider: 401
mission: 20
dive: 229
start: 5 2 117 6 19 53
data:
$ID,401
$MISSION,20
$DIVE,229
$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,18
$R_STBD_OVSHOOT,17
$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
$GPS1,020517,060111,5707.3184,-16452.4590,4,0.9,17,11.1,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,1.8
$GPS2,020517,060111,5707.3184,-16452.4590,4,0.9,17,11.1,0.0,0.0,9,4.7
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.887,-16457.584
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160052,-0.391764
$KALMAN_X,-12985.629883,-125.690376,-1007.041199,67164.398438,-272.072632
$KALMAN_Y,17429.996094,-205.289810,-383.398987,-30288.589844,169.164810
$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,-635.4,2320,2175,2367,4094,0.0,0.0,0,33,0.00,0.00,-2.40,0.000,16390,0.000,0.000,2321,2175,2927,2927,4094,0,0,0,0,0,0,25.83,24.37,25.82,10.07,35.39
$GC,35,-1.90,-635.4,2320,2175,2927,4094,6.7,0.0,1,54,5.97,3.53,0.00,0.000,4356,0.142,0.288,1776,3363,2927,2927,4095,0,0,0,0,0,0,25.30,25.14,25.33,10.19,35.70
$GC,117,-1.90,-635.4,1775,3363,2928,4094,17.0,-12.9,7,132,0.00,3.20,0.00,0.000,1030,0.000,0.124,1776,2167,2929,2929,4094,0,0,0,0,0,0,25.52,25.48,25.52,10.20,36.06
$GC,196,-1.90,-635.4,1775,2165,2930,4095,27.2,-13.5,13,211,0.00,3.33,0.00,0.000,516,0.000,0.226,1776,980,2931,2931,4094,0,0,0,0,0,0,25.86,25.44,25.88,10.19,36.02
$GC,287,-1.90,-635.4,1775,979,2932,4094,39.8,-13.2,20,305,0.00,3.10,0.00,0.000,1030,0.000,0.137,1776,2151,2933,2933,4095,0,0,0,0,0,0,25.70,25.65,25.74,10.18,35.46
$GC,371,-1.90,-635.4,1775,2151,2933,4094,50.7,-13.6,26,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2151,2935,2935,4095,0,0,0,0,0,0,26.03,26.05,26.05,10.18,35.23
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,427,begin apogee
$GC,431,-0.50,0.0,1776,2048,2937,4095,58.8,-13.6,30,487,4.85,0.08,37.22,4.447,10244,0.216,0.201,2209,2100,2177,2177,4095,0,0,0,0,0,0,25.77,24.39,23.61,10.18,35.03
$STATE,488,end apogee,CONTROL_FINISHED_OK
$STATE,488,begin climb
$GC,490,1.90,635.4,2208,2100,2176,4094,62.4,0.0,33,541,8.43,0.00,37.12,4.355,11270,0.137,0.000,2972,2100,1433,1433,4094,0,0,0,0,0,0,25.09,25.25,23.28,10.03,34.83
$GC,604,1.90,635.4,2971,2100,1431,4094,52.0,13.6,41,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2100,1431,1431,4094,0,0,0,0,0,0,25.23,25.25,25.25,9.88,33.97
$GC,681,1.90,635.4,2971,2100,1429,4094,41.7,13.5,47,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2100,1428,1428,4094,0,0,0,0,0,0,25.47,25.48,25.48,9.87,33.81
$GC,762,1.90,635.4,2971,2100,1426,4094,30.9,13.3,53,781,0.00,3.45,0.00,0.000,516,0.000,0.246,2972,905,1426,1426,4094,0,0,0,0,0,0,25.63,25.22,25.65,9.87,34.13
$GC,797,1.90,635.4,2971,905,1426,4094,26.7,12.5,55,816,0.00,3.08,0.00,0.000,1030,0.000,0.129,2972,2062,1425,1425,4094,0,0,0,0,0,0,25.44,25.39,25.46,9.88,34.09
$GC,880,1.90,635.4,2971,2062,1423,4094,16.4,13.0,61,898,0.00,3.53,0.00,0.000,260,0.000,0.278,2972,3265,1422,1422,4094,0,0,0,0,0,0,25.80,25.36,25.82,9.88,35.07
$GC,926,1.90,635.4,2971,3265,1422,4094,10.0,13.5,64,941,0.00,3.08,0.00,0.000,1030,0.000,0.124,2972,2111,1422,1422,4094,0,0,0,0,0,0,25.60,25.56,25.64,9.88,34.60
$STATE,991,end climb,SURFACE_DEPTH_REACHED
$STATE,992,begin surface coast
$FINISH,0.1,1.015800
$STATE,1019,end surface coast,CONTROL_FINISHED_OK
$STATE,1019,begin surface
$SM_CCo,1116,0.00,0.000,0,0,1420,648.24
$SM_GC,0.81,28.98,0.17,0.00,0.089,0.266,0.000,241,2180,1420,-6.67,-0.55,648.24,0,0,1,0,0,0,25.70,25.67,25.76
$IRIDIUM_FIX,5554.28,-16557.83,020517,051336
$TT8_MAMPS,0.026215,0.259154
$HUMID,34.83
$INTERNAL_PRESSURE,9.81839
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,9.5
$24V_AH,23.28,22.327
$10V_AH,8.71,13.486
$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,48.225,30.150,74.350,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,258.905,59.829,140.481,689.109,26.266,33.419,392.522,0.000,701.575,0.000,5.447,0.000
$DEVICE_MAMPS,216.021,288.028,4447.053,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.377,91.044,152.650,395.060,677.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,7442,71
$CAP_FILE_SIZE,21539,12
$CFSIZE,1024409600,1007255552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,063917,5707.239,-16452.764,2,0.8,15,11.1,0.8,286.4,11,5.0