version: 66.12
glider: 401
mission: 20
dive: 236
start: 5 2 117 8 57 53
data:
$ID,401
$MISSION,20
$DIVE,236
$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,20
$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
$GPS1,020517,085123,5707.2319,-16452.0645,2,1.0,18,11.1,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-35.4
$GPS2,020517,085650,5707.2612,-16451.9863,4,0.9,34,11.1,0.0,0.0,9,4.8
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.830,-16457.111
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.286084,-0.312511
$KALMAN_X,-12598.454102,-373.043976,-619.454834,67101.507812,303.090363
$KALMAN_Y,19672.800781,116.170769,119.872620,-33458.835938,223.475647
$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,-635.4,231,2192,1419,4094,0.0,0.0,0,37,0.00,0.00,-13.30,0.000,16390,0.000,0.000,231,2192,2920,2920,4094,0,0,0,0,0,0,26.01,25.16,26.02,9.88,36.49
$GC,39,-1.90,-635.4,231,2192,2920,4094,0.8,0.0,1,72,19.52,3.42,0.00,0.000,2308,0.417,0.291,1752,3351,2923,2923,4095,0,0,0,0,0,0,25.44,25.39,25.54,10.20,36.02
$GC,171,-1.90,-635.4,1751,3351,2926,4094,33.4,-12.9,11,189,0.00,3.12,0.00,0.000,1030,0.000,0.122,1752,2163,2926,2926,4094,0,0,0,0,0,0,25.75,25.69,25.77,10.19,35.66
$GC,253,-1.90,-635.4,1751,2161,2927,4094,44.2,-13.6,17,268,0.00,3.28,0.00,0.000,516,0.000,0.226,1752,985,2927,2927,4094,0,0,0,0,0,0,26.08,25.65,26.09,10.19,35.50
$GC,298,-1.90,-635.4,1751,985,2928,4095,50.7,-15.0,20,316,0.00,3.08,0.00,0.000,1030,0.000,0.139,1752,2152,2929,2929,4094,0,0,0,0,0,0,25.83,25.77,25.86,10.19,35.31
$STATE,354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,354,begin apogee
$GC,359,-0.50,0.0,1752,2051,2930,4094,59.2,-14.2,24,407,5.18,0.08,37.28,4.477,10244,0.221,0.363,2211,2085,2174,2174,4094,0,0,0,0,0,0,25.82,24.74,23.63,10.18,35.58
$STATE,408,end apogee,CONTROL_FINISHED_OK
$STATE,408,begin climb
$GC,409,1.90,635.4,2211,2085,2174,4094,63.0,0.0,27,460,8.40,0.00,37.03,4.385,11270,0.137,0.000,2971,2085,1433,1433,4094,0,0,0,0,0,0,25.09,25.24,23.27,10.02,35.15
$GC,523,1.90,635.4,2971,2085,1431,4094,52.8,14.4,35,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2085,1430,1430,4094,0,0,0,0,0,0,25.28,25.29,25.29,9.88,33.89
$GC,603,1.90,635.4,2971,2085,1428,4094,41.7,13.6,41,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2085,1428,1428,4094,0,0,0,0,0,0,25.53,25.54,25.53,9.88,34.28
$GC,684,1.90,635.4,2971,2085,1426,4094,30.8,13.5,47,699,0.00,3.45,0.00,0.000,260,0.000,0.271,2971,3259,1426,1426,4094,0,0,0,0,0,0,25.68,25.26,25.70,9.87,34.95
$GC,714,1.90,635.4,2971,3259,1425,4094,26.5,14.0,49,729,0.00,3.08,0.00,0.000,1030,0.000,0.122,2971,2108,1425,1425,4094,0,0,0,0,0,0,25.48,25.44,25.51,9.88,35.11
$GC,792,1.90,635.4,2971,2108,1423,4094,16.6,12.3,55,806,0.00,3.50,0.00,0.000,516,0.000,0.258,2972,882,1422,1422,4094,0,0,0,0,0,0,25.84,25.40,25.84,9.88,34.83
$GC,834,1.90,635.4,2971,882,1422,4094,11.2,12.6,58,848,0.00,3.12,0.00,0.000,1030,0.000,0.132,2971,2065,1421,1421,4094,0,0,0,0,0,0,25.61,25.56,25.65,9.88,34.76
$STATE,898,end climb,FINISH_DEPTH_REACHED
$STATE,898,begin subsurface finish
$FINISH1,2.9,1.025275,-159
$GC,903,-0.25,-159.2,2971,2065,1420,4095,2.9,12.6,63,941,7.35,3.67,-8.40,0.000,20740,0.214,4.204,2318,3266,2367,2367,4094,0,0,2,0,0,0,25.69,24.17,25.72,9.88,34.76
$FINISH2,0.5
$STATE,942,end subsurface finish,CONTROL_FINISHED_OK
$STATE,942,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,080851
$TT8_MAMPS,0.026215,0.248668
$HUMID,35.19
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,10.1
$24V_AH,23.27,23.056
$10V_AH,8.76,13.680
$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,40.450,29.975,74.300,0.000,0.000,23.827,18.097,175.389,0.500,0.000,35.637,242.274,0.000,116.006,879.674,56.763,33.433,384.710,0.000,635.350,0.000,8.703,0.000
$DEVICE_MAMPS,417.144,4203.719,4476.849,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.910,83.210,139.755,352.038,610.708,0.000,0.000,0.000,0.000,0.000
$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,3894,65
$CAP_FILE_SIZE,24684,11
$CFSIZE,1024409600,1006911488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,020517,085650,5707.261,-16451.986,4,0.9,34,11.1,0.0,0.0,9,4.8