version: 66.12
glider: 401
mission: 20
dive: 224
start: 5 2 117 4 30 8
data:
$ID,401
$MISSION,20
$DIVE,224
$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,11
$R_STBD_OVSHOOT,24
$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
$GPS1,020517,042052,5707.6846,-16450.6582,3,0.8,69,11.1,0.0,0.0,9,10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-33.9
$GPS2,020517,042906,5707.6724,-16450.8359,4,0.8,15,11.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5657.241,-16455.961
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.322533,-0.277214
$KALMAN_X,-11295.654297,726.036926,-544.729370,65807.804688,-482.800903
$KALMAN_Y,16211.250977,-87.932892,-450.713104,-28452.820312,-26.300659
$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,-635.4,231,2181,1419,4094,0.0,0.0,0,34,0.00,0.00,-13.50,0.000,16390,0.000,0.000,231,2181,2921,2921,4095,0,0,0,0,0,0,26.02,24.49,26.03,9.88,35.82
$GC,36,-1.90,-635.4,230,2181,2921,4094,0.7,0.0,1,69,19.23,3.42,0.00,0.000,2308,0.407,0.288,1757,3353,2924,2924,4095,0,0,0,0,0,0,25.53,25.49,25.62,10.21,36.29
$GC,180,-1.90,-635.4,1757,3353,2927,4094,32.1,-13.6,12,194,0.00,3.12,0.00,0.000,1030,0.000,0.119,1757,2158,2927,2927,4095,0,0,0,0,0,0,25.83,25.79,25.86,10.19,35.62
$GC,257,-1.90,-635.4,1757,2156,2929,4095,43.1,-15.3,18,271,0.00,3.25,0.00,0.000,516,0.000,0.223,1757,985,2929,2929,4094,0,0,0,0,0,0,26.14,25.70,26.15,10.19,35.46
$GC,327,-1.90,-635.4,1757,985,2930,4094,53.4,-14.7,23,346,0.00,3.00,0.00,0.000,1030,0.000,0.139,1757,2123,2931,2931,4094,0,0,0,0,0,0,25.89,25.83,25.94,10.18,34.99
$STATE,360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,360,begin apogee
$GC,364,-0.50,0.0,1758,2065,2931,4094,58.4,-14.3,25,418,5.07,0.00,37.38,4.462,10244,0.219,0.000,2210,2065,2173,2173,4094,0,0,0,0,0,0,25.88,24.46,23.68,10.18,34.87
$STATE,419,end apogee,CONTROL_FINISHED_OK
$STATE,419,begin climb
$GC,421,1.90,635.4,2210,2065,2173,4094,61.9,0.0,28,472,8.38,0.00,37.05,4.373,11270,0.137,0.000,2970,2065,1432,1432,4094,0,0,0,0,0,0,25.15,25.32,23.33,10.03,34.72
$GC,534,1.90,635.4,2969,2065,1431,4094,52.6,12.8,36,553,0.00,3.38,0.00,0.000,516,0.000,0.241,2970,905,1430,1430,4094,0,0,0,0,0,0,25.31,24.92,25.32,9.88,33.73
$GC,580,1.90,635.4,2969,904,1429,4094,46.6,12.9,39,598,0.00,3.10,0.00,0.000,1030,0.000,0.129,2970,2059,1429,1429,4094,0,0,0,0,0,0,25.21,25.17,25.25,9.87,33.85
$GC,662,1.90,635.4,2969,2059,1427,4094,36.1,13.0,45,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2059,1427,1427,4094,0,0,0,0,0,0,25.65,25.66,25.66,9.87,34.20
$GC,738,1.90,635.4,2969,2059,1425,4094,26.7,12.3,51,757,0.00,3.53,0.00,0.000,260,0.000,0.276,2970,3262,1424,1424,4094,0,0,0,0,0,0,25.77,25.34,25.79,9.87,34.17
$GC,784,1.90,635.4,2969,3263,1424,4094,20.7,12.8,54,803,0.00,3.20,0.00,0.000,1030,0.000,0.122,2970,2065,1423,1423,4094,0,0,0,0,0,0,25.58,25.53,25.61,9.88,34.24
$GC,866,1.90,635.4,2969,2065,1421,4094,10.3,12.5,60,885,0.00,3.35,0.00,0.000,516,0.000,0.253,2970,881,1421,1421,4094,0,0,0,0,0,0,25.93,25.49,25.94,9.88,34.52
$GC,901,1.90,635.4,2969,880,1421,4094,5.9,12.8,62,919,0.00,3.05,0.00,0.000,1030,0.000,0.132,2970,2039,1420,1420,4094,0,0,0,0,0,0,25.70,25.65,25.72,9.88,34.40
$STATE,932,end climb,FINISH_DEPTH_REACHED
$STATE,932,begin subsurface finish
$FINISH1,1.6,1.025267,-159
$GC,938,-0.25,-158.7,2970,2092,1420,4094,1.6,12.6,64,969,6.93,3.55,-8.95,0.000,20740,0.107,4.206,2315,3254,2362,2362,4094,0,0,0,0,0,0,25.73,24.24,25.76,9.88,35.46
$FINISH2,0.0
$STATE,970,end subsurface finish,CONTROL_FINISHED_OK
$STATE,970,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,042206
$TT8_MAMPS,0.026215,0.247919
$HUMID,35.62
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.2,10.1
$24V_AH,23.33,21.812
$10V_AH,8.75,13.347
$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,39.600,36.150,74.425,0.000,0.000,49.871,36.350,242.941,0.500,0.000,16.280,246.452,59.926,124.219,996.495,60.800,33.442,407.491,0.000,649.371,0.000,11.950,0.000
$DEVICE_MAMPS,407.212,4206.202,4461.951,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.493,84.457,141.907,361.135,624.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7385,66
$CAP_FILE_SIZE,29343,14
$CFSIZE,1024409600,1007501312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,397.33,0x237eaa,2,24
$GPS,020517,042906,5707.672,-16450.836,4,0.8,15,11.1,0.0,0.0,11,4.9