version: 66.12
glider: 401
mission: 20
dive: 235
start: 5 2 117 8 31 48
data:
$ID,401
$MISSION,20
$DIVE,235
$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,15
$R_STBD_OVSHOOT,28
$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
$GPS1,020517,081305,5707.2827,-16452.4941,4,0.9,17,11.1,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,0.7
$GPS2,020517,081305,5707.2827,-16452.4941,4,0.9,17,11.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.852,-16457.619
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.169867,-0.391011
$KALMAN_X,-13033.188477,-455.936279,-746.059753,67245.773438,139.053497
$KALMAN_Y,19368.554688,68.424782,63.693073,-33011.171875,225.446487
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.90,-635.4,2322,2190,2367,4094,0.0,0.0,0,36,0.00,0.00,-2.62,0.000,16390,0.000,0.000,2322,2189,2925,2925,4095,0,0,0,0,0,0,25.88,24.40,25.86,10.07,36.21
$GC,38,-1.90,-635.4,2322,2190,2926,4094,5.2,0.0,1,56,6.03,0.00,0.00,0.000,4102,0.144,0.000,1775,2190,2926,2926,4094,0,0,0,0,0,0,25.27,25.32,25.29,10.20,35.90
$GC,119,-1.90,-635.4,1774,2190,2927,4094,16.6,-13.4,7,133,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,2190,2927,2927,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.20,35.31
$GC,196,-1.90,-635.4,1774,2190,2929,4094,27.5,-14.0,13,215,0.00,3.42,0.00,0.000,516,0.000,0.219,1775,973,2929,2929,4094,0,0,0,0,0,0,25.86,25.45,25.87,10.19,35.11
$GC,243,-1.90,-635.4,1774,973,2930,4094,34.4,-14.4,16,261,0.00,3.00,0.00,0.000,1030,0.000,0.134,1775,2106,2930,2930,4095,0,0,0,0,0,0,25.67,25.60,25.68,10.19,34.99
$GC,325,-1.90,-635.4,1774,2106,2932,4094,45.0,-13.6,22,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,2106,2932,2932,4095,0,0,0,0,0,0,26.01,26.02,26.02,10.19,35.11
$GC,407,-1.90,-635.4,1774,2106,2934,4095,55.8,-12.6,28,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2106,2934,2934,4095,0,0,0,0,0,0,26.08,26.10,26.09,10.18,34.87
$STATE,436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,436,begin apogee
$GC,441,-0.50,0.0,1774,2051,2934,4095,60.4,-14.5,30,492,4.93,0.00,37.42,4.494,10244,0.228,0.000,2211,2051,2174,2174,4094,0,0,0,0,0,0,25.77,24.69,23.59,10.19,34.83
$STATE,493,end apogee,CONTROL_FINISHED_OK
$STATE,493,begin climb
$GC,494,1.90,635.4,2210,2051,2174,4094,63.8,0.0,33,555,8.55,0.00,37.30,4.400,11270,0.134,0.000,2982,2050,1432,1432,4094,0,0,0,0,0,0,25.06,25.21,23.25,10.02,34.68
$GC,617,1.90,635.4,2982,2051,1430,4094,52.3,14.5,42,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2051,1430,1430,4094,0,0,0,0,0,0,25.27,25.27,25.27,9.87,33.69
$GC,693,1.90,635.4,2982,2051,1429,4095,42.0,13.3,48,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2051,1428,1428,4094,0,0,0,0,0,0,25.48,25.50,25.50,9.87,34.01
$GC,769,1.90,635.4,2982,2051,1426,4094,31.4,13.8,54,784,0.00,3.53,0.00,0.000,260,0.000,0.263,2982,3254,1426,1426,4094,0,0,0,0,0,0,25.64,25.21,25.65,9.87,34.20
$GC,813,1.90,635.4,2982,3253,1425,4094,25.3,13.9,57,831,0.00,3.03,0.00,0.000,1030,0.000,0.119,2982,2121,1424,1424,4094,0,0,0,0,0,0,25.46,25.41,25.48,9.87,34.48
$GC,895,1.90,635.4,2982,2118,1422,4094,14.5,12.8,63,913,0.00,3.53,0.00,0.000,516,0.000,0.253,2982,884,1422,1422,4094,0,0,0,0,0,0,25.82,25.39,25.83,9.88,34.91
$GC,942,1.90,635.4,2982,884,1421,4094,8.2,13.2,66,960,0.00,3.17,0.00,0.000,1030,0.000,0.137,2982,2080,1420,1420,4094,0,0,0,0,0,0,25.60,25.55,25.64,9.88,35.46
$STATE,999,end climb,SURFACE_DEPTH_REACHED
$STATE,999,begin surface coast
$FINISH,0.0,1.018900
$STATE,1027,end surface coast,CONTROL_FINISHED_OK
$STATE,1027,begin surface
$SM_CCo,1124,0.00,0.000,0,0,1419,649.10
$SM_GC,0.81,29.33,0.20,0.00,0.094,0.181,0.000,231,2184,1419,-6.71,-0.82,649.10,0,0,1,0,0,0,25.40,25.73,25.64
$IRIDIUM_FIX,5554.28,-16557.83,020517,072429
$TT8_MAMPS,0.026215,0.263648
$HUMID,35.19
$INTERNAL_PRESSURE,9.81839
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,9.5
$24V_AH,23.25,22.943
$10V_AH,8.67,13.651
$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,48.825,20.175,74.725,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,260.002,59.859,140.315,693.332,27.067,33.416,408.556,0.000,705.352,0.000,5.448,0.000
$DEVICE_MAMPS,228.436,263.198,4494.230,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.845,92.248,154.778,397.222,681.084,0.000,0.000,0.000,0.000,0.000
$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,7382,72
$CAP_FILE_SIZE,21533,10
$CFSIZE,1024409600,1006960640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,085123,5707.232,-16452.064,2,1.0,18,11.1,0.0,0.0,9,4.8