version: 66.12
glider: 401
mission: 20
dive: 295
start: 5 3 117 6 17 18
data:
$ID,401
$MISSION,20
$DIVE,295
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$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,600
$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,9
$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,35
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,20
$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
$GPS1,030517,055920,5656.7192,-16456.6602,4,0.9,17,11.1,0.0,0.0,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,2.5
$GPS2,030517,055920,5656.7192,-16456.6602,4,0.9,17,11.1,0.0,0.0,9,4.7
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5646.288,-16501.760
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.194082,-0.358522
$KALMAN_X,-10783.041016,-1270.010498,-1085.580566,61974.773438,-305.999268
$KALMAN_Y,25874.792969,-1087.674072,-529.665222,-57333.660156,153.887482
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-9.4,-9.667,-13.26,9003
$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,-1.98,-586.5,2321,2171,2350,4094,0.0,0.0,0,33,0.00,0.00,-2.78,0.000,16390,0.000,0.000,2321,2172,2870,2870,4095,0,0,0,0,0,0,25.89,24.37,25.88,10.08,35.78
$GC,36,-1.98,-586.5,2321,2172,2870,4094,3.6,0.0,1,54,6.30,2.17,0.00,0.000,4356,0.154,0.246,1750,2924,2870,2870,4095,0,0,0,0,0,0,25.37,25.22,25.40,10.19,36.29
$GC,140,-1.98,-586.5,1749,2925,2872,4095,18.0,-14.7,9,158,0.00,1.95,0.00,0.000,1030,0.000,0.109,1750,2170,2872,2872,4094,0,0,0,0,0,0,25.61,25.58,25.63,10.19,35.90
$GC,221,-1.98,-586.5,1749,2168,2874,4094,30.6,-16.0,15,236,0.00,2.00,0.00,0.000,516,0.000,0.169,1750,1424,2874,2874,4094,0,0,0,0,0,0,25.95,25.58,25.96,10.18,35.50
$GC,311,-1.98,-586.5,1749,1424,2876,4095,44.0,-14.7,22,330,0.00,1.80,0.00,0.000,1030,0.000,0.124,1750,2122,2876,2876,4095,0,0,0,0,0,0,25.81,25.72,25.83,10.18,35.46
$GC,398,-1.98,-586.5,1749,2121,2879,4095,56.5,-14.1,28,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,2121,2879,2879,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.18,36.13
$STATE,430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,436,-0.56,0.0,1750,2062,2880,4094,61.7,-15.1,30,487,5.00,0.00,34.67,4.596,10244,0.223,0.000,2192,2062,2174,2174,4094,0,0,0,0,0,0,25.81,24.42,23.61,10.18,36.13
$STATE,488,end apogee,CONTROL_FINISHED_OK
$STATE,488,begin climb
$GC,490,1.98,586.5,2191,2062,2174,4094,66.1,0.0,33,541,8.77,2.20,34.35,4.509,10500,0.124,0.216,2996,2829,1490,1490,4094,0,0,0,0,0,0,25.05,24.97,23.27,10.04,34.91
$GC,558,1.98,586.5,2996,2829,1489,4094,62.4,8.0,37,573,0.00,2.00,0.00,0.000,1030,0.000,0.102,2997,2091,1489,1489,4094,0,0,0,0,0,0,24.82,24.79,24.84,9.90,34.24
$GC,637,1.98,586.5,2996,2090,1487,4094,50.5,15.6,43,655,0.00,2.15,0.00,0.000,516,0.000,0.204,2997,1322,1486,1486,4094,0,0,0,0,0,0,25.40,25.04,25.41,9.90,34.60
$GC,694,1.98,586.5,2996,1321,1485,4094,41.6,15.3,47,709,0.00,1.95,0.00,0.000,1030,0.000,0.112,2997,2068,1484,1484,4094,0,0,0,0,0,0,25.30,25.25,25.33,9.90,34.56
$GC,773,1.98,586.5,2996,2068,1482,4094,29.4,15.8,53,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2067,1482,1482,4094,0,0,0,0,0,0,25.70,25.71,25.71,9.89,34.80
$GC,854,1.98,586.5,2996,2068,1480,4094,18.1,13.9,59,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2068,1479,1479,4094,0,0,0,0,0,0,25.82,25.84,25.83,9.89,34.60
$GC,931,1.98,586.5,2996,2068,1477,4094,7.9,13.5,65,946,0.00,2.17,0.00,0.000,260,0.000,0.226,2997,2836,1477,1477,4094,0,0,0,0,0,0,25.92,25.52,25.92,9.90,35.66
$GC,962,1.98,586.5,2996,2836,1476,4094,3.4,13.8,67,980,0.00,2.08,0.00,0.000,1030,0.000,0.107,2996,2033,1476,1476,4094,0,0,0,0,0,0,25.70,25.65,25.72,9.90,35.19
$STATE,993,end climb,SURFACE_DEPTH_REACHED
$STATE,993,begin surface coast
$FINISH,0.1,1.011595
$STATE,1021,end surface coast,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$SM_CCo,1119,0.00,0.000,0,0,1475,601.02
$SM_GC,0.99,29.42,0.35,0.00,0.084,0.181,0.000,231,2174,1475,-6.71,-0.87,601.02,0,0,1,0,0,0,25.41,25.70,25.67
$IRIDIUM_FIX,5554.28,-16557.83,030517,051100
$TT8_MAMPS,0.026964,0.241178
$HUMID,35.46
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,9.5
$24V_AH,23.27,29.545
$10V_AH,8.69,15.256
$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,49.500,23.125,69.025,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,261.436,59.773,141.989,684.151,29.574,33.423,403.038,0.000,696.265,0.000,5.448,0.000
$DEVICE_MAMPS,223.470,255.749,4596.033,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.298,91.014,152.687,389.203,671.845,0.000,0.000,0.000,0.000,0.000
$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,7427,71
$CAP_FILE_SIZE,22287,11
$CFSIZE,1024409600,1004011520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030517,063646,5656.547,-16457.236,2,0.9,15,11.1,0.0,0.0,10,4.6