version: 66.12
glider: 401
mission: 20
dive: 251
start: 5 2 117 14 25 30
data:
$ID,401
$MISSION,20
$DIVE,251
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,020517,140626,5703.9385,-16447.8496,4,0.8,28,11.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,2.9
$GPS2,020517,140626,5703.9385,-16447.8496,4,0.8,28,11.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5653.507,-16452.967
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.237262,-0.351746
$KALMAN_X,-6496.792969,1440.673828,1089.254761,61629.265625,131.695435
$KALMAN_Y,19282.457031,-730.858643,-772.109497,-37492.515625,-154.424744
$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,-635.4,2320,2158,2367,4094,0.0,0.0,0,37,0.00,0.00,-2.22,0.000,16390,0.000,0.000,2320,2158,2930,2930,4095,0,0,0,0,0,0,25.87,24.39,25.85,10.08,35.50
$GC,39,-1.90,-635.4,2320,2158,2930,4094,8.2,0.0,1,57,5.95,3.33,0.00,0.000,4612,0.132,0.219,1776,985,2931,2931,4094,0,0,0,0,0,0,25.27,25.14,25.30,10.20,36.37
$GC,167,-1.90,-635.4,1776,985,2933,4094,25.8,-13.4,11,186,0.00,3.12,0.00,0.000,1030,0.000,0.137,1776,2156,2934,2934,4094,0,0,0,0,0,0,25.55,25.49,25.58,10.20,35.58
$GC,250,-1.90,-635.4,1776,2156,2935,4094,37.0,-13.3,17,268,0.00,3.60,0.00,0.000,260,0.000,0.308,1776,3374,2936,2936,4095,0,0,0,0,0,0,25.92,25.46,25.94,10.19,35.39
$GC,297,-1.90,-635.4,1776,3374,2936,4094,43.3,-13.5,20,315,0.00,3.12,0.00,0.000,1030,0.000,0.122,1776,2192,2938,2938,4095,0,0,0,0,0,0,25.72,25.69,25.76,10.19,35.46
$GC,384,-1.90,-635.4,1775,2190,2939,4094,54.4,-13.1,26,402,0.00,3.40,0.00,0.000,516,0.000,0.241,1776,979,2939,2939,4094,0,0,0,0,0,0,26.06,25.67,26.07,10.19,35.31
$STATE,418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,418,begin apogee
$GC,425,-0.50,0.0,1776,2082,2939,4094,59.3,-13.6,28,471,4.85,0.00,37.50,4.482,10244,0.199,0.000,2211,2082,2174,2174,4095,0,0,0,0,0,0,25.77,24.68,23.58,10.19,34.99
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,473,begin climb
$GC,474,1.90,635.4,2212,2082,2174,4094,63.2,0.0,31,530,8.35,3.53,36.92,4.368,10500,0.139,0.273,2972,3266,1433,1433,4094,0,0,0,0,0,0,24.91,24.81,23.25,10.03,34.56
$GC,547,1.90,635.4,2972,3266,1432,4094,58.9,8.7,35,562,0.00,3.28,0.00,0.000,1030,0.000,0.122,2973,2084,1431,1431,4094,0,0,0,0,0,0,24.74,24.70,24.79,9.88,33.77
$GC,625,1.90,635.4,2972,2080,1430,4094,48.5,13.4,41,643,0.00,3.50,0.00,0.000,516,0.000,0.251,2973,878,1429,1429,4094,0,0,0,0,0,0,25.34,24.94,25.35,9.88,34.52
$GC,673,1.90,635.4,2972,878,1429,4094,42.3,13.3,44,687,0.00,3.25,0.00,0.000,1030,0.000,0.132,2973,2084,1428,1428,4094,0,0,0,0,0,0,25.21,25.20,25.25,9.88,34.05
$GC,751,1.90,635.4,2972,2084,1426,4094,32.6,12.0,50,769,0.00,3.47,0.00,0.000,260,0.000,0.276,2972,3266,1426,1426,4094,0,0,1,0,0,0,25.63,25.20,25.64,9.88,34.24
$GC,810,1.90,635.4,2972,3266,1425,4094,24.7,13.7,54,824,0.00,3.05,0.00,0.000,1030,0.000,0.119,2972,2125,1424,1424,4094,0,0,0,0,0,0,25.46,25.44,25.50,9.88,35.15
$GC,888,1.90,635.4,2972,2125,1423,4094,14.9,12.7,60,903,0.00,3.55,0.00,0.000,516,0.000,0.253,2973,880,1422,1422,4094,0,0,0,0,0,0,25.82,25.39,25.84,9.89,34.68
$GC,943,1.90,635.4,2972,880,1421,4094,7.9,12.7,64,957,0.00,3.25,0.00,0.000,1030,0.000,0.134,2973,2105,1421,1421,4094,0,0,0,0,0,0,25.61,25.57,25.65,9.89,34.80
$STATE,995,end climb,SURFACE_DEPTH_REACHED
$STATE,995,begin surface coast
$FINISH,0.1,1.022252
$STATE,1023,end surface coast,CONTROL_FINISHED_OK
$STATE,1023,begin surface
$SM_CCo,1120,0.00,0.000,0,0,1419,648.24
$SM_GC,0.70,29.30,0.17,0.00,0.094,0.248,0.000,232,2193,1419,-6.71,-0.36,648.24,0,0,1,0,0,0,25.48,25.70,25.67
$IRIDIUM_FIX,5554.28,-16557.83,020517,131900
$TT8_MAMPS,0.026964,0.250166
$HUMID,35.15
$INTERNAL_PRESSURE,9.80862
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,9.6
$24V_AH,23.25,24.601
$10V_AH,8.73,14.096
$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,48.450,49.450,74.425,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,263.204,59.862,144.413,682.585,28.265,33.414,407.555,0.000,695.099,0.000,5.449,0.000
$DEVICE_MAMPS,198.640,307.892,4481.815,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.503,89.716,150.488,395.684,671.649,0.000,0.000,0.000,0.000,0.000
$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,7297,70
$CAP_FILE_SIZE,23355,14
$CFSIZE,1024409600,1006174208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,020517,144532,5703.391,-16448.080,2,1.3,48,11.1,0.0,0.0,8,6.1