version: 66.12
glider: 401
mission: 20
dive: 238
start: 5 2 117 9 42 11
data:
$ID,401
$MISSION,20
$DIVE,238
$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,14
$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
$GPS1,020517,093543,5707.0796,-16451.3301,2,0.8,19,11.1,0.0,0.0,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-36.7
$GPS2,020517,094108,5707.0947,-16451.2305,5,0.8,20,11.1,0.0,0.0,11,4.8
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.664,-16456.354
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.370423,-0.212764
$KALMAN_X,-11793.659180,-200.054138,-288.965515,66546.664062,413.426544
$KALMAN_Y,19985.615234,185.680008,196.713867,-34221.269531,137.997971
$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,-635.4,231,2172,1418,4094,0.0,0.0,0,34,0.00,0.00,-13.45,0.000,16390,0.000,0.000,231,2172,2921,2921,4094,0,0,0,0,0,0,25.99,24.46,26.01,9.88,35.98
$GC,36,-1.90,-635.4,231,2172,2921,4095,0.8,0.0,1,73,19.38,3.53,0.00,0.000,2308,0.415,0.295,1758,3364,2924,2924,4094,0,0,0,0,0,0,25.51,25.46,25.59,10.20,36.17
$GC,160,-1.90,-635.4,1757,3364,2926,4094,30.1,-14.1,10,175,0.00,3.17,0.00,0.000,1030,0.000,0.122,1758,2159,2926,2926,4094,0,0,0,0,0,0,25.81,25.77,25.83,10.20,35.94
$GC,238,-1.90,-635.4,1757,2159,2928,4094,41.1,-14.7,16,253,0.00,3.28,0.00,0.000,516,0.000,0.228,1758,982,2928,2928,4095,0,0,0,0,0,0,26.11,25.68,26.12,10.19,35.78
$GC,307,-1.90,-635.4,1757,982,2930,4094,50.8,-14.5,21,326,0.00,3.08,0.00,0.000,1030,0.000,0.137,1758,2154,2930,2930,4095,0,0,0,0,0,0,25.89,25.82,25.91,10.19,35.07
$STATE,364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,364,begin apogee
$GC,369,-0.50,0.0,1758,2047,2931,4094,59.5,-14.0,25,417,5.07,0.10,37.15,4.512,10244,0.221,0.313,2210,2099,2174,2174,4094,0,0,0,0,0,0,25.86,24.77,23.65,10.19,34.99
$STATE,418,end apogee,CONTROL_FINISHED_OK
$STATE,418,begin climb
$GC,420,1.90,635.4,2209,2099,2174,4094,63.2,0.0,28,476,8.55,3.45,36.78,4.385,10756,0.142,0.246,2985,914,1433,1433,4094,0,0,0,0,0,0,25.01,24.93,23.31,10.02,34.95
$GC,492,1.90,635.4,2985,914,1432,4094,58.6,9.5,32,506,0.00,3.10,0.00,0.000,1030,0.000,0.132,2986,2050,1432,1432,4094,0,0,0,0,0,0,24.82,24.77,24.84,9.89,34.72
$GC,570,1.90,635.4,2985,2049,1430,4095,47.4,14.1,38,584,0.00,3.62,0.00,0.000,260,0.000,0.276,2986,3265,1429,1429,4094,0,0,0,0,0,0,25.41,25.04,25.43,9.88,34.13
$GC,624,1.90,635.4,2985,3265,1428,4094,39.6,14.6,42,642,0.00,3.08,0.00,0.000,1030,0.000,0.119,2986,2123,1428,1428,4094,0,0,0,0,0,0,25.32,25.27,25.34,9.88,34.60
$GC,706,1.90,635.4,2985,2123,1426,4094,27.5,14.1,48,724,0.00,3.55,0.00,0.000,516,0.000,0.256,2986,884,1425,1425,4094,0,0,0,0,0,0,25.71,25.27,25.72,9.87,34.32
$GC,764,1.90,635.4,2985,884,1424,4094,19.7,13.4,52,782,0.00,3.10,0.00,0.000,1030,0.000,0.134,2986,2053,1423,1423,4094,0,0,0,0,0,0,25.54,25.48,25.57,9.88,34.32
$GC,846,1.90,635.4,2985,2053,1421,4094,8.9,13.6,58,864,0.00,3.55,0.00,0.000,260,0.000,0.278,2986,3268,1421,1421,4094,0,0,0,0,0,0,25.89,25.45,25.91,9.88,34.91
$STATE,880,end climb,FINISH_DEPTH_REACHED
$STATE,880,begin subsurface finish
$FINISH1,3.9,1.025264,-158
$GC,889,-0.25,-158.4,2986,2075,1420,4094,3.9,14.3,60,920,7.53,0.00,-8.40,0.000,20486,0.216,0.000,2320,2072,2361,2361,4094,0,0,0,0,0,0,25.65,25.14,25.69,9.89,35.46
$FINISH2,0.5
$STATE,921,end subsurface finish,CONTROL_FINISHED_OK
$STATE,921,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,085236
$TT8_MAMPS,0.026215,0.268142
$HUMID,35.11
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,10.1
$24V_AH,23.31,23.262
$10V_AH,8.72,13.735
$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,40.525,39.975,73.925,0.000,0.000,24.346,23.511,173.750,0.500,0.000,21.735,237.772,0.000,120.266,856.948,57.079,33.436,388.637,0.000,615.431,0.000,8.701,0.000
$DEVICE_MAMPS,414.661,312.858,4511.611,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.764,79.327,133.312,344.316,591.088,0.000,0.000,0.000,0.000,0.000
$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,3882,62
$CAP_FILE_SIZE,25579,13
$CFSIZE,1024409600,1006813184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,094108,5707.095,-16451.230,5,0.8,20,11.1,0.0,0.0,11,4.8