version: 66.12
glider: 401
mission: 20
dive: 245
start: 5 2 117 12 11 40
data:
$ID,401
$MISSION,20
$DIVE,245
$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,14
$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
$GPS1,020517,115237,5705.9067,-16448.7559,4,0.8,22,11.1,0.8,8.5,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-0.2
$GPS2,020517,115237,5705.9067,-16448.7559,4,0.8,22,11.1,0.8,8.5,10,5.0
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5655.476,-16453.877
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.369863,-0.211214
$KALMAN_X,-8765.253906,820.799866,875.154724,63825.832031,346.262268
$KALMAN_Y,19887.507812,-50.861046,-144.976883,-35752.941406,-113.833984
$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,-635.4,2320,2168,2363,4094,0.0,0.0,0,37,0.00,0.00,-5.53,0.000,16390,0.000,0.000,2320,2168,2918,2918,4095,0,0,0,0,0,0,25.87,25.04,25.88,10.07,35.58
$GC,39,-1.90,-635.4,2319,2168,2919,4095,0.0,0.0,1,58,5.72,3.58,0.00,0.000,4356,0.109,0.293,1790,3368,2918,2918,4095,0,0,0,0,0,0,25.32,25.15,25.34,10.20,35.50
$GC,144,-1.90,-635.4,1790,3368,2920,4094,12.1,-12.6,9,159,0.00,3.20,0.00,0.000,1030,0.000,0.124,1790,2166,2921,2921,4095,0,0,0,0,0,0,25.56,25.53,25.58,10.20,36.02
$GC,221,-1.90,-635.4,1789,2165,2922,4094,21.7,-12.8,15,236,0.00,3.33,0.00,0.000,516,0.000,0.223,1790,978,2922,2922,4094,0,0,0,0,0,0,25.91,25.48,25.92,10.19,36.13
$GC,288,-1.90,-635.4,1790,978,2923,4094,30.7,-13.6,20,302,0.00,3.10,0.00,0.000,1030,0.000,0.137,1790,2149,2924,2924,4095,0,0,0,0,0,0,25.71,25.65,25.74,10.19,35.46
$GC,366,-1.90,-635.4,1789,2149,2925,4095,40.3,-12.7,26,384,0.00,3.60,0.00,0.000,260,0.000,0.310,1790,3371,2926,2926,4094,0,0,0,0,0,0,26.06,25.58,26.07,10.18,35.31
$GC,401,-1.90,-635.4,1789,3372,2926,4095,44.7,-12.6,28,419,0.00,3.22,0.00,0.000,1030,0.000,0.132,1790,2151,2926,2926,4094,0,0,0,0,0,0,25.82,25.78,25.83,10.18,35.11
$GC,484,-1.90,-635.4,1790,2148,2927,4095,54.9,-12.8,34,506,0.00,3.28,0.00,0.000,516,0.000,0.241,1790,977,2928,2928,4095,0,0,0,0,0,0,26.14,25.71,26.15,10.18,35.46
$STATE,521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,521,begin apogee
$GC,528,-0.50,0.0,1790,2082,2929,4094,59.9,-13.1,36,575,4.70,0.00,37.20,4.497,10244,0.211,0.000,2211,2083,2174,2174,4094,0,0,0,0,0,0,25.84,24.75,23.63,10.18,35.23
$STATE,576,end apogee,CONTROL_FINISHED_OK
$STATE,576,begin climb
$GC,577,1.90,635.4,2211,2083,2174,4095,63.5,0.0,39,638,8.43,0.00,36.92,4.387,11270,0.134,0.000,2973,2083,1437,1437,4094,0,0,0,0,0,0,25.08,25.24,23.28,10.02,35.35
$GC,701,1.90,635.4,2972,2083,1435,4094,52.5,13.4,48,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2083,1435,1435,4094,0,0,0,0,0,0,25.31,25.32,25.32,9.88,34.72
$GC,778,1.90,635.4,2972,2083,1432,4094,42.3,12.4,54,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2083,1433,1433,4094,0,0,0,0,0,0,25.53,25.54,25.54,9.88,34.05
$GC,856,1.90,635.4,2972,2083,1431,4094,31.9,13.3,60,874,0.00,3.47,0.00,0.000,260,0.000,0.268,2973,3269,1430,1430,4094,0,0,0,0,0,0,25.67,25.25,25.70,9.88,34.20
$GC,902,1.90,635.4,2972,3269,1429,4094,25.5,13.7,63,920,0.00,3.20,0.00,0.000,1030,0.000,0.119,2973,2078,1428,1428,4094,0,0,0,0,0,0,25.49,25.45,25.51,9.87,34.40
$GC,983,1.90,635.4,2973,2078,1427,4094,14.8,12.8,69,1001,0.00,3.42,0.00,0.000,516,0.000,0.256,2973,874,1426,1426,4094,0,0,0,0,0,0,25.86,25.42,25.86,9.88,35.23
$GC,1030,1.90,635.4,2973,874,1425,4094,8.7,13.0,72,1048,0.00,3.17,0.00,0.000,1030,0.000,0.137,2973,2074,1425,1425,4094,0,0,0,0,0,0,25.63,25.58,25.67,9.88,35.35
$STATE,1087,end climb,SURFACE_DEPTH_REACHED
$STATE,1087,begin surface coast
$FINISH,0.0,1.011988
$STATE,1114,end surface coast,CONTROL_FINISHED_OK
$STATE,1114,begin surface
$SM_CCo,1211,0.00,0.000,0,0,1423,644.81
$SM_GC,0.78,29.25,0.22,0.00,0.094,0.199,0.000,231,2183,1423,-6.71,-0.91,644.81,0,0,1,0,0,0,25.41,25.72,25.66
$IRIDIUM_FIX,5554.28,-16557.83,020517,110557
$TT8_MAMPS,0.026215,0.246421
$HUMID,34.83
$INTERNAL_PRESSURE,9.81839
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.9,12.7
$24V_AH,23.28,23.987
$10V_AH,8.71,13.929
$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,48.100,43.175,74.125,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,278.089,60.106,150.800,752.199,28.956,33.416,438.871,0.000,763.970,0.000,7.055,0.000
$DEVICE_MAMPS,211.055,310.375,4496.713,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,52.978,99.964,167.705,429.376,739.114,0.000,0.000,0.000,0.000,0.000
$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,7456,78
$CAP_FILE_SIZE,23967,13
$CFSIZE,1024409600,1006469120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,123301,5705.335,-16448.279,1,0.8,36,11.1,0.0,0.0,11,4.2