version: 66.12
glider: 401
mission: 20
dive: 231
start: 5 2 117 7 3 47
data:
$ID,401
$MISSION,20
$DIVE,231
$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,17
$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,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
$GPS1,020517,064518,5707.2671,-16452.8027,4,0.8,21,11.1,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,0.7
$GPS2,020517,064518,5707.2671,-16452.8027,4,0.8,21,11.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.836,-16457.928
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.051979,-0.416141
$KALMAN_X,-13352.327148,-356.816345,-1044.803833,67455.078125,-142.648621
$KALMAN_Y,18034.966797,-145.841187,-248.988495,-31181.820312,197.427582
$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,-635.4,2321,2187,2366,4094,0.0,0.0,0,37,0.00,0.00,-2.75,0.000,16390,0.000,0.000,2321,2187,2927,2927,4094,0,0,0,0,0,0,25.86,24.40,25.86,10.07,35.31
$GC,39,-1.90,-635.4,2321,2187,2927,4094,4.6,0.0,1,57,6.00,0.00,0.00,0.000,4102,0.137,0.000,1774,2187,2927,2927,4095,0,0,0,0,0,0,25.28,25.30,25.29,10.20,35.74
$GC,119,-1.90,-635.4,1773,2187,2929,4094,14.8,-12.1,7,134,0.00,3.42,0.00,0.000,516,0.000,0.219,1774,978,2929,2929,4094,0,0,0,0,0,0,25.72,25.32,25.73,10.19,35.39
$GC,174,-1.90,-635.4,1773,978,2930,4095,22.6,-14.2,11,189,0.00,3.12,0.00,0.000,1030,0.000,0.139,1773,2147,2930,2930,4095,0,0,0,0,0,0,25.54,25.48,25.58,10.19,35.27
$GC,252,-1.90,-635.4,1773,2146,2932,4094,33.3,-13.9,17,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,2147,2933,2933,4094,0,0,0,0,0,0,25.92,25.93,25.93,10.19,35.50
$GC,329,-1.90,-635.4,1773,2147,2934,4094,43.8,-13.5,23,347,0.00,3.25,0.00,0.000,516,0.000,0.209,1773,978,2934,2934,4094,0,0,0,0,0,0,26.00,25.59,26.01,10.18,35.11
$GC,378,-1.90,-635.4,1773,978,2935,4095,51.0,-15.0,26,396,0.00,3.03,0.00,0.000,1030,0.000,0.137,1773,2122,2936,2936,4095,0,0,0,0,0,0,25.77,25.72,25.79,10.18,34.95
$STATE,435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,440,-0.50,0.0,1773,2045,2937,4095,59.5,-13.9,30,488,4.93,0.10,37.60,4.474,10244,0.226,0.303,2209,2099,2174,2174,4094,0,0,0,0,0,0,25.76,24.68,23.58,10.18,35.50
$STATE,489,end apogee,CONTROL_FINISHED_OK
$STATE,489,begin climb
$GC,491,1.90,635.4,2209,2099,2174,4094,62.8,0.0,33,547,8.68,3.45,37.10,4.387,10756,0.161,0.238,2986,911,1433,1433,4094,0,0,0,0,0,0,24.93,24.83,23.24,10.02,34.68
$GC,563,1.90,635.4,2986,911,1432,4094,58.9,9.0,37,579,0.00,3.12,0.05,0.007,9222,0.000,0.127,2987,2053,1432,1432,4094,0,0,0,0,0,0,24.74,24.70,24.76,9.88,34.24
$GC,642,1.90,635.4,2986,2053,1430,4094,48.0,14.5,43,657,0.00,3.62,0.00,0.000,260,0.000,0.276,2987,3265,1430,1430,4094,0,0,0,0,0,0,25.33,24.94,25.34,9.87,33.61
$GC,720,1.90,635.4,2985,3265,1428,4094,35.9,15.6,49,739,0.00,3.10,0.00,0.000,1030,0.000,0.122,2987,2118,1426,1426,4094,0,0,0,0,0,0,25.29,25.24,25.32,9.87,34.68
$GC,803,1.90,635.4,2986,2117,1425,4094,24.3,13.6,55,821,0.00,3.55,0.00,0.000,516,0.000,0.253,2987,881,1424,1424,4094,0,0,0,0,0,0,25.67,25.27,25.69,9.87,34.44
$GC,849,1.90,635.4,2986,881,1423,4094,18.0,13.6,58,864,0.00,3.22,0.00,0.000,1030,0.000,0.137,2987,2087,1423,1423,4094,0,0,0,0,0,0,25.48,25.42,25.54,9.87,34.48
$GC,928,1.90,635.4,2986,2087,1421,4094,7.6,13.0,64,942,0.00,3.47,0.00,0.000,260,0.000,0.281,2987,3273,1421,1421,4094,0,0,0,0,0,0,25.84,25.41,25.85,9.88,34.87
$GC,959,1.90,635.4,2986,3273,1420,4094,3.1,14.0,66,978,0.00,3.15,0.00,0.000,1030,0.000,0.124,2987,2091,1420,1420,4094,0,0,0,0,0,0,25.62,25.56,25.64,9.88,34.76
$STATE,991,end climb,SURFACE_DEPTH_REACHED
$STATE,991,begin surface coast
$FINISH,0.0,1.000979
$STATE,1018,end surface coast,CONTROL_FINISHED_OK
$STATE,1019,begin surface
$SM_CCo,1116,0.00,0.000,0,0,1420,648.24
$SM_GC,0.67,29.38,0.20,0.00,0.094,0.214,0.000,231,2195,1420,-6.71,-0.73,648.24,0,0,1,0,0,0,25.42,25.67,25.63
$IRIDIUM_FIX,5554.28,-16557.83,020517,055722
$TT8_MAMPS,0.026215,0.260652
$HUMID,35.03
$INTERNAL_PRESSURE,9.80862
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,10.1
$24V_AH,23.24,22.535
$10V_AH,8.70,13.541
$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,48.975,40.250,74.750,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,262.622,60.466,143.817,677.306,27.785,33.416,414.480,0.000,689.361,0.000,5.452,0.000
$DEVICE_MAMPS,225.953,302.926,4474.366,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.442,89.663,150.504,386.867,665.507,0.000,0.000,0.000,0.000,0.000
$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,7442,70
$CAP_FILE_SIZE,23927,11
$CFSIZE,1024409600,1007157248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,072316,5707.246,-16452.773,2,0.8,20,11.1,0.0,0.0,10,4.9