version: 66.12
glider: 401
mission: 20
dive: 265
start: 5 2 117 19 35 37
data:
$ID,401
$MISSION,20
$DIVE,265
$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,1000
$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,28
$R_STBD_OVSHOOT,15
$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
$GPS1,020517,191633,5701.3677,-16451.0352,4,1.0,22,11.1,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.8
$GPS2,020517,191633,5701.3677,-16451.0352,4,1.0,22,11.1,0.0,0.0,9,4.9
$SPEED_LIMITS,0.097,0.500
$TGT_NAME,HEADING
$TGT_LATLONG,5650.937,-16456.146
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.048867,-0.497397
$KALMAN_X,-8393.348633,339.344177,-923.712402,63450.527344,-170.300049
$KALMAN_Y,20244.640625,-695.696472,400.549133,-44416.257812,175.735474
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-6.5,-9.667,-10.94,14737
$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,-2.28,-977.5,2305,2168,2358,4094,0.0,0.0,0,36,0.00,0.00,-9.27,0.000,16390,0.000,0.000,2305,2168,3316,3316,4095,0,0,0,0,0,0,25.72,24.91,25.72,10.08,35.70
$GC,38,-2.28,-977.5,2304,2168,3316,4095,0.1,0.0,1,57,7.07,2.20,0.00,0.000,4356,0.156,0.246,1670,2926,3316,3316,4094,0,0,0,0,0,0,25.26,25.13,25.29,10.29,36.21
$GC,131,-2.28,-977.5,1670,2926,3318,4095,14.0,-14.7,8,146,0.00,1.98,0.00,0.000,1030,0.000,0.112,1670,2167,3318,3318,4095,0,0,0,0,0,0,25.49,25.46,25.51,10.29,36.06
$GC,209,-2.28,-977.5,1670,2166,3320,4094,26.3,-16.1,14,227,0.00,2.00,0.00,0.000,516,0.000,0.164,1670,1425,3320,3320,4095,0,0,0,0,0,0,25.82,25.47,25.84,10.29,36.37
$GC,267,-2.28,-977.5,1669,1425,3321,4095,35.1,-14.9,18,282,0.00,1.92,0.00,0.000,1030,0.000,0.132,1670,2159,3321,3321,4094,0,0,0,0,0,0,25.66,25.57,25.66,10.28,36.37
$GC,346,-2.28,-977.5,1670,2159,3323,4095,46.6,-15.1,24,360,0.00,2.22,0.00,0.000,260,0.000,0.271,1670,2929,3323,3323,4094,0,0,0,0,0,0,25.98,25.56,25.99,10.28,35.82
$GC,380,-2.28,-977.5,1670,2929,3324,4095,51.4,-15.1,26,395,0.00,2.00,0.00,0.000,1030,0.000,0.117,1670,2151,3324,3324,4095,0,0,0,0,0,0,25.78,25.75,25.81,10.28,35.58
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,426,-0.56,0.0,1670,2068,3325,4095,58.6,-15.6,29,505,5.88,0.00,55.88,4.499,10244,0.206,0.000,2192,2068,2178,2178,4094,0,0,0,0,0,0,25.74,24.07,23.29,10.27,35.74
$STATE,506,end apogee,CONTROL_FINISHED_OK
$STATE,506,begin climb
$GC,507,2.28,977.5,2192,2067,2178,4094,63.4,0.0,34,594,9.95,2.22,55.85,4.397,10500,0.122,0.209,3090,2835,1034,1034,4094,0,0,0,0,0,0,24.75,24.68,22.84,10.03,34.76
$GC,611,2.28,977.5,3090,2834,1034,4094,54.1,13.3,40,630,0.00,2.03,0.00,0.000,1030,0.000,0.104,3090,2094,1034,1034,4094,0,0,0,0,0,0,24.42,24.41,24.44,9.80,33.77
$GC,692,2.28,977.5,3090,2093,1031,4094,42.0,15.0,46,707,0.00,2.17,0.00,0.000,516,0.000,0.189,3090,1324,1030,1030,4094,0,0,0,0,0,0,25.02,24.66,25.03,9.80,33.93
$GC,724,2.28,977.5,3090,1324,1030,4094,37.5,14.6,48,742,0.00,2.08,0.00,0.000,1030,0.000,0.122,3091,2094,1029,1029,4094,0,0,0,0,0,0,24.88,24.84,24.91,9.80,34.83
$GC,807,2.28,977.5,3090,2094,1027,4094,25.7,14.4,54,825,0.00,2.15,0.00,0.000,260,0.000,0.243,3090,2831,1027,1027,4094,0,0,0,0,0,0,25.34,24.94,25.35,9.81,34.32
$GC,866,2.28,977.5,3090,2830,1026,4094,16.8,14.8,58,882,0.00,1.98,0.00,0.000,1030,0.000,0.109,3090,2085,1025,1025,4094,0,0,0,0,0,0,25.23,25.20,25.27,9.80,34.24
$GC,946,2.28,977.5,3090,2084,1023,4094,6.1,13.4,64,963,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2083,1023,1023,4094,0,0,0,0,0,0,25.60,25.61,25.61,9.81,34.64
$STATE,977,end climb,SURFACE_DEPTH_REACHED
$STATE,977,begin surface coast
$FINISH,0.0,1.003531
$STATE,1004,end surface coast,CONTROL_FINISHED_OK
$STATE,1004,begin surface
$SM_CCo,1103,0.00,0.000,0,0,1022,989.97
$SM_GC,0.75,30.77,0.22,0.00,0.089,0.228,0.000,232,2173,1022,-6.71,-0.96,989.97,0,0,1,0,0,0,25.13,25.41,25.38
$IRIDIUM_FIX,5554.28,-16557.83,020517,183247
$TT8_MAMPS,0.026215,0.259903
$HUMID,35.62
$INTERNAL_PRESSURE,9.74026
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,12.9
$24V_AH,22.84,26.576
$10V_AH,8.66,14.464
$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,53.675,27.575,111.725,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,245.851,59.988,165.445,661.536,28.559,33.417,462.698,0.000,673.615,0.000,5.461,0.000
$DEVICE_MAMPS,206.089,270.647,4499.196,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.639,86.962,146.192,379.318,650.081,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344764
$DATA_FILE_SIZE,7363,68
$CAP_FILE_SIZE,22929,14
$CFSIZE,1024409600,1005486080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,195456,5701.309,-16451.141,1,0.9,22,11.1,0.5,55.9,10,4.9