version: 66.12
glider: 401
mission: 20
dive: 226
start: 5 2 117 5 19 2
data:
$ID,401
$MISSION,20
$DIVE,226
$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,16
$R_STBD_OVSHOOT,29
$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
$GPS1,020517,050914,5707.4165,-16451.6602,2,0.7,13,11.1,0.7,327.7,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-38.3
$GPS2,020517,051800,5707.4336,-16451.8086,4,0.9,49,11.1,0.0,0.0,8,3.0
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5657.002,-16456.934
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.291650,-0.308946
$KALMAN_X,-12214.563477,356.239075,-810.214722,66383.109375,-442.961853
$KALMAN_Y,16550.224609,-158.228760,-466.419556,-29152.164062,22.026367
$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,-635.4,231,2185,1419,4094,0.0,0.0,0,34,0.00,0.00,-13.52,0.000,16390,0.000,0.000,232,2185,2920,2920,4094,0,0,0,0,0,0,26.02,24.49,26.03,9.89,35.98
$GC,36,-1.90,-635.4,232,2185,2920,4094,0.6,0.0,1,69,19.42,3.40,0.00,0.000,2308,0.412,0.286,1759,3350,2923,2923,4094,0,0,0,0,0,0,25.54,25.48,25.62,10.20,36.25
$GC,179,-1.90,-635.4,1758,3350,2926,4095,32.2,-13.8,12,194,0.00,3.12,0.00,0.000,1030,0.000,0.122,1759,2157,2926,2926,4095,0,0,0,0,0,0,25.84,25.79,25.86,10.19,35.94
$GC,256,-1.90,-635.4,1758,2157,2927,4094,42.8,-14.0,18,271,0.00,3.28,0.00,0.000,516,0.000,0.236,1759,984,2928,2928,4095,0,0,0,0,0,0,26.15,25.71,26.15,10.18,35.78
$GC,327,-1.90,-635.4,1758,984,2929,4095,53.2,-15.1,23,341,0.00,3.03,0.00,0.000,1030,0.000,0.139,1759,2133,2930,2930,4094,0,0,0,0,0,0,25.91,25.84,25.94,10.18,35.46
$STATE,368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,368,begin apogee
$GC,373,-0.50,0.0,1758,2058,2930,4094,59.4,-14.3,26,430,5.03,0.00,36.97,4.479,10244,0.214,0.000,2211,2057,2177,2177,4095,0,0,0,0,0,0,25.89,24.50,23.70,10.18,35.43
$STATE,431,end apogee,CONTROL_FINISHED_OK
$STATE,431,begin climb
$GC,432,1.90,635.4,2210,2057,2177,4094,63.2,0.0,30,489,8.40,0.00,36.90,4.407,11270,0.144,0.000,2971,2057,1434,1434,4094,0,0,0,0,0,0,25.18,25.35,23.32,10.03,35.23
$GC,551,1.90,635.4,2971,2057,1432,4094,52.8,12.9,39,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2057,1432,1432,4094,0,0,0,0,0,0,25.34,25.36,25.36,9.88,33.73
$GC,627,1.90,635.4,2970,2055,1430,4094,42.7,13.7,45,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2055,1429,1429,4095,0,0,0,0,0,0,25.56,25.58,25.58,9.88,33.89
$GC,708,1.90,635.4,2970,2055,1428,4094,31.6,13.4,51,723,0.00,3.30,0.00,0.000,516,0.000,0.248,2971,902,1427,1427,4094,0,0,0,0,0,0,25.72,25.30,25.74,9.87,34.24
$GC,740,1.90,635.4,2970,902,1427,4094,27.6,12.9,53,754,0.00,3.10,0.00,0.000,1030,0.000,0.132,2971,2071,1426,1426,4094,0,0,0,0,0,0,25.51,25.46,25.55,9.87,34.09
$GC,817,1.90,635.4,2970,2072,1424,4094,17.9,12.8,59,831,0.00,3.50,0.00,0.000,260,0.000,0.278,2971,3270,1424,1424,4094,0,0,0,0,0,0,25.86,25.41,25.88,9.88,34.32
$GC,871,1.90,635.4,2970,3270,1423,4094,10.5,14.0,63,886,0.00,3.12,0.00,0.000,1030,0.000,0.122,2971,2093,1422,1422,4094,0,0,0,0,0,0,25.68,25.63,25.70,9.88,35.07
$STATE,924,end climb,FINISH_DEPTH_REACHED
$STATE,924,begin subsurface finish
$FINISH1,3.4,1.025273,-159
$GC,929,-0.25,-159.1,2970,2093,1421,4094,3.4,12.9,67,963,7.43,3.62,-7.72,0.000,20996,0.241,4.189,2320,878,2365,2365,4094,0,0,0,0,0,0,25.67,24.23,25.73,9.88,34.76
$FINISH2,0.8
$STATE,964,end subsurface finish,CONTROL_FINISHED_OK
$STATE,964,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,051028
$TT8_MAMPS,0.026215,0.281624
$HUMID,35.15
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,10.2
$24V_AH,23.32,22.024
$10V_AH,8.65,13.407
$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,40.275,29.625,73.875,0.000,0.000,49.130,46.209,214.197,0.500,0.000,50.842,247.416,59.588,102.536,1045.484,58.177,33.444,382.320,0.000,667.777,0.000,11.607,0.000
$DEVICE_MAMPS,412.178,4188.821,4479.332,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.493,88.296,148.360,367.925,642.336,0.000,0.000,0.000,0.000,0.000
$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,7344,69
$CAP_FILE_SIZE,26754,3
$CFSIZE,1024409600,1007403008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020517,051800,5707.434,-16451.809,4,0.9,49,11.1,0.0,0.0,8,3.0