version: 66.12
glider: 401
mission: 20
dive: 233
start: 5 2 117 7 47 7
data:
$ID,401
$MISSION,20
$DIVE,233
$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,42
$R_STBD_OVSHOOT,29
$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
$GPS1,020517,072838,5707.2778,-16452.7832,4,0.8,24,11.1,0.5,244.7,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,1.9
$GPS2,020517,072838,5707.2778,-16452.7832,4,0.8,24,11.1,0.5,244.7,11,4.9
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.847,-16457.906
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.066715,-0.424655
$KALMAN_X,-13347.706055,-469.417877,-954.824280,67493.328125,11.648529
$KALMAN_Y,18735.718750,-53.317635,-96.529457,-32106.896484,252.173340
$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,-635.4,2323,2188,2366,4094,0.0,0.0,0,37,0.00,0.00,-3.00,0.000,16390,0.000,0.000,2323,2189,2925,2925,4094,0,0,0,0,0,0,26.06,24.53,26.04,10.07,35.74
$GC,39,-1.90,-635.4,2323,2188,2925,4094,3.6,0.0,1,54,6.00,0.00,0.00,0.000,4102,0.146,0.000,1775,2189,2926,2926,4095,0,0,0,0,0,0,25.41,25.45,25.45,10.19,36.02
$GC,117,-1.90,-635.4,1774,2188,2926,4094,12.8,-11.4,7,135,0.00,3.35,0.00,0.000,516,0.000,0.214,1775,999,2927,2927,4094,0,0,0,0,0,0,25.83,25.43,25.84,10.19,35.43
$GC,257,-1.90,-635.4,1774,999,2930,4094,32.7,-14.5,18,272,0.00,3.05,0.00,0.000,1030,0.000,0.134,1774,2151,2930,2930,4095,0,0,0,0,0,0,25.74,25.67,25.77,10.19,35.19
$GC,335,-1.90,-635.4,1774,2151,2932,4094,42.9,-12.6,24,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2151,2932,2932,4095,0,0,0,0,0,0,26.08,26.10,26.10,10.19,35.62
$GC,422,-1.90,-635.4,1774,2151,2934,4094,54.5,-13.5,30,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2151,2934,2934,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.18,35.86
$STATE,454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,454,begin apogee
$GC,459,-0.50,0.0,1774,2071,2934,4094,58.9,-13.5,32,510,4.82,0.00,37.22,4.469,10244,0.211,0.000,2207,2071,2173,2173,4094,0,0,0,0,0,0,25.89,24.75,23.63,10.19,35.27
$STATE,511,end apogee,CONTROL_FINISHED_OK
$STATE,511,begin climb
$GC,513,1.90,635.4,2207,2071,2174,4094,62.8,0.0,35,564,8.40,0.00,36.97,4.382,11270,0.139,0.000,2968,2071,1432,1432,4095,0,0,0,0,0,0,25.11,25.27,23.30,10.02,34.60
$GC,626,1.90,635.4,2967,2071,1431,4094,53.4,12.7,43,641,0.00,3.55,0.00,0.000,260,0.000,0.256,2968,3269,1431,1431,4094,0,0,0,0,0,0,25.27,24.89,25.29,9.88,34.05
$GC,658,1.90,635.4,2967,3269,1430,4094,49.4,13.2,45,672,0.00,3.12,0.00,0.000,1030,0.000,0.117,2968,2116,1430,1430,4094,0,0,0,0,0,0,25.15,25.11,25.21,9.87,34.13
$GC,736,1.90,635.4,2968,2116,1428,4094,38.7,12.9,51,750,0.00,3.55,0.00,0.000,516,0.000,0.251,2968,882,1428,1428,4094,0,0,0,0,0,0,25.58,25.16,25.59,9.87,34.76
$GC,779,1.90,635.4,2967,882,1427,4094,33.3,12.5,54,797,0.00,3.20,0.00,0.000,1030,0.000,0.139,2968,2077,1426,1426,4094,0,0,0,0,0,0,25.40,25.34,25.43,9.87,34.87
$GC,861,1.90,635.4,2968,2077,1424,4094,23.0,12.7,60,876,0.00,3.50,0.00,0.000,260,0.000,0.281,2968,3270,1424,1424,4094,0,0,0,0,0,0,25.78,25.34,25.79,9.88,34.64
$GC,891,1.90,635.4,2968,3270,1423,4094,18.8,13.2,62,906,0.00,3.20,0.00,0.000,1030,0.000,0.124,2968,2076,1423,1423,4094,0,0,0,0,0,0,25.56,25.52,25.59,9.88,34.40
$GC,970,1.90,635.4,2968,2075,1421,4094,9.2,12.0,68,985,0.00,3.40,0.00,0.000,516,0.000,0.256,2969,879,1421,1421,4094,0,0,0,0,0,0,25.91,25.49,25.92,9.87,34.95
$GC,1013,1.90,635.4,2968,879,1420,4095,3.7,12.6,71,1031,0.00,3.12,0.00,0.000,1030,0.000,0.129,2968,2067,1420,1420,4094,0,0,0,0,0,0,25.69,25.64,25.72,9.88,34.99
$STATE,1044,end climb,SURFACE_DEPTH_REACHED
$STATE,1044,begin surface coast
$FINISH,0.1,1.025279
$STATE,1072,end surface coast,CONTROL_FINISHED_OK
$STATE,1072,begin surface
$SM_CCo,1169,0.00,0.000,0,0,1420,649.10
$SM_GC,0.74,29.05,0.25,0.00,0.092,0.209,0.000,232,2175,1420,-6.71,-0.91,649.10,0,0,1,0,0,0,25.46,25.72,25.68
$IRIDIUM_FIX,5554.28,-16557.83,020517,064032
$TT8_MAMPS,0.026215,0.259903
$HUMID,34.99
$INTERNAL_PRESSURE,9.81839
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,9.7
$24V_AH,23.30,22.737
$10V_AH,8.73,13.596
$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,48.275,33.750,74.200,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,272.593,59.670,140.645,724.035,27.919,33.421,413.048,0.000,736.015,0.000,5.446,0.000
$DEVICE_MAMPS,211.055,280.579,4469.400,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.958,96.137,161.251,412.901,711.713,0.000,0.000,0.000,0.000,0.000
$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,7369,75
$CAP_FILE_SIZE,23291,10
$CFSIZE,1024409600,1007058944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,080740,5707.244,-16452.529,3,0.9,31,11.1,0.0,0.0,10,5.0