version: 66.12
glider: 401
mission: 20
dive: 239
start: 5 2 117 9 59 24
data:
$ID,401
$MISSION,20
$DIVE,239
$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,31
$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
$GPS1,020517,094108,5707.0947,-16451.2305,5,0.8,20,11.1,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,1.1
$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,-0.357630,-0.230417
$KALMAN_X,-11567.875000,-130.975983,-133.187851,66109.843750,376.379608
$KALMAN_Y,20126.023438,237.029037,236.890976,-34457.175781,77.888657
$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,-635.4,2320,2184,2362,4094,0.0,0.0,0,36,0.00,0.00,-2.55,0.000,16390,0.000,0.000,2320,2185,2929,2929,4094,0,0,0,0,0,0,25.87,24.39,25.86,10.08,35.66
$GC,38,-1.90,-635.4,2320,2184,2929,4095,5.9,0.0,1,57,5.93,0.00,0.00,0.000,4102,0.124,0.000,1776,2185,2930,2930,4094,0,0,0,0,0,0,25.27,25.33,25.34,10.20,35.43
$GC,120,-1.90,-635.4,1775,2184,2931,4094,16.7,-11.9,7,135,0.00,3.42,0.00,0.000,516,0.000,0.221,1776,974,2931,2931,4095,0,0,0,0,0,0,25.73,25.32,25.74,10.20,35.50
$GC,175,-1.90,-635.4,1775,974,2932,4094,24.7,-14.5,11,193,0.00,3.15,0.00,0.000,1030,0.000,0.137,1776,2153,2933,2933,4095,0,0,0,0,0,0,25.58,25.48,25.58,10.20,35.94
$GC,258,-1.90,-635.4,1775,2154,2934,4095,36.4,-13.9,17,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2154,2934,2934,4095,0,0,0,0,0,0,25.93,25.94,25.94,10.19,34.99
$GC,335,-1.90,-635.4,1775,2153,2935,4094,46.7,-13.7,23,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2154,2936,2936,4095,0,0,0,0,0,0,26.01,26.03,26.03,10.19,35.19
$GC,418,-1.90,-635.4,1775,2154,2938,4094,56.5,-10.9,29,432,0.00,3.28,0.00,0.000,516,0.000,0.211,1776,974,2938,2938,4095,0,0,0,0,0,0,26.09,25.67,26.10,10.19,34.91
$STATE,447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,447,begin apogee
$GC,454,-0.50,0.0,1775,2077,2938,4095,60.7,-11.9,31,501,4.88,0.00,37.80,4.522,10244,0.214,0.000,2210,2078,2174,2174,4094,0,0,0,0,0,0,25.79,24.68,23.58,10.18,35.03
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,504,1.90,635.4,2210,2078,2174,4095,64.3,0.0,34,555,8.45,0.00,36.83,4.395,11270,0.137,0.000,2970,2078,1433,1433,4094,0,0,0,0,0,0,25.03,25.17,23.25,10.02,34.48
$GC,618,1.90,635.4,2970,2078,1431,4094,54.0,12.3,42,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2078,1431,1431,4094,0,0,0,0,0,0,25.22,25.24,25.24,9.88,34.01
$GC,694,1.90,635.4,2970,2078,1429,4094,44.1,13.1,48,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2078,1429,1429,4094,0,0,0,0,0,0,25.46,25.48,25.48,9.87,33.93
$GC,771,1.90,635.4,2970,2078,1427,4094,34.0,13.4,54,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2078,1427,1427,4094,0,0,0,0,0,0,25.63,25.64,25.64,9.87,34.24
$GC,852,1.90,635.4,2970,2078,1424,4094,23.0,13.4,60,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2078,1424,1424,4094,0,0,0,0,0,0,25.75,25.77,25.77,9.88,34.72
$GC,929,1.90,635.4,2970,2078,1422,4094,13.2,12.6,66,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2078,1422,1422,4095,0,0,0,0,0,0,25.85,25.86,25.86,9.88,34.64
$GC,1006,1.90,635.4,2970,2077,1420,4094,3.2,13.2,72,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2078,1420,1420,4094,0,0,0,0,0,0,25.94,25.96,25.95,9.89,35.43
$STATE,1038,end climb,SURFACE_DEPTH_REACHED
$STATE,1038,begin surface coast
$FINISH,0.0,1.001200
$STATE,1066,end surface coast,CONTROL_FINISHED_OK
$STATE,1066,begin surface
$SM_CCo,1163,0.00,0.000,0,0,1420,649.10
$SM_GC,0.73,29.25,0.22,0.00,0.094,0.189,0.000,231,2180,1420,-6.71,-0.73,649.10,0,0,1,0,0,0,25.47,25.75,25.68
$IRIDIUM_FIX,5554.28,-16557.83,020517,085236
$TT8_MAMPS,0.026964,0.244923
$HUMID,35.35
$INTERNAL_PRESSURE,9.81839
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,9.7
$24V_AH,23.25,23.357
$10V_AH,8.72,13.762
$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,48.500,13.225,74.625,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,268.661,60.225,131.783,731.528,26.995,33.412,393.328,0.000,743.663,0.000,5.446,0.000
$DEVICE_MAMPS,213.538,220.987,4521.543,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,51.847,97.463,163.396,417.112,719.626,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,7399,76
$CAP_FILE_SIZE,21011,10
$CFSIZE,1024409600,1006764032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,101956,5706.787,-16450.439,12,0.9,36,11.1,0.0,0.0,10,4.0