version: 66.12
glider: 401
mission: 20
dive: 240
start: 5 2 117 10 26 29
data:
$ID,401
$MISSION,20
$DIVE,240
$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,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
$GPS1,020517,101956,5706.7871,-16450.4395,12,0.9,36,11.1,0.0,0.0,10,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-34.4
$GPS2,020517,102525,5706.7891,-16450.3164,4,0.7,16,11.1,0.0,0.0,12,4.5
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.358,-16455.439
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.424583,-0.021839
$KALMAN_X,-10753.761719,65.154984,89.310112,65776.125000,500.570160
$KALMAN_Y,19974.199219,190.531311,190.757233,-34769.597656,-7.526825
$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,-635.4,231,2188,1419,4094,0.0,0.0,0,37,0.00,0.00,-13.20,0.000,16390,0.000,0.000,231,2188,2920,2920,4095,0,0,0,0,0,0,26.00,25.16,26.01,9.89,35.82
$GC,39,-1.90,-635.4,230,2188,2920,4095,0.9,0.0,1,69,19.67,3.47,0.00,0.000,2308,0.420,0.300,1759,3357,2922,2922,4095,0,0,0,0,0,0,25.42,25.38,25.51,10.20,36.73
$GC,166,-1.90,-635.4,1758,3358,2925,4094,33.5,-14.4,11,181,0.00,3.15,0.00,0.000,1030,0.000,0.122,1759,2162,2926,2926,4094,0,0,0,0,0,0,25.74,25.70,25.76,10.19,36.41
$GC,243,-1.90,-635.4,1758,2158,2927,4094,44.4,-14.5,17,262,0.00,3.28,0.00,0.000,516,0.000,0.226,1759,983,2928,2928,4094,0,0,0,0,0,0,26.07,25.64,26.08,10.19,35.86
$GC,305,-1.90,-635.4,1758,983,2929,4094,53.1,-14.5,21,326,0.00,3.08,0.00,0.000,1030,0.000,0.146,1759,2140,2929,2929,4094,0,0,0,0,0,0,25.82,25.76,25.86,10.18,35.27
$STATE,341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,341,begin apogee
$GC,346,-0.50,0.0,1758,2052,2930,4094,58.3,-13.3,23,401,5.05,0.05,36.22,4.484,10244,0.221,0.216,2207,2101,2174,2174,4094,0,0,0,0,0,0,25.82,24.44,23.63,10.19,35.11
$STATE,402,end apogee,CONTROL_FINISHED_OK
$STATE,403,begin climb
$GC,404,1.90,635.4,2207,2100,2174,4094,62.6,0.0,26,456,8.50,3.45,36.58,4.355,10756,0.156,0.226,2973,893,1432,1432,4094,0,0,0,0,0,0,25.06,24.95,23.32,10.03,34.95
$GC,484,1.93,653.5,2973,893,1432,4094,56.6,9.5,31,503,0.00,3.15,2.97,1.502,9222,0.000,0.127,2974,2053,1410,1410,4094,0,0,0,0,0,0,24.87,24.83,23.62,9.89,34.36
$GC,567,1.93,653.5,2973,2053,1408,4094,45.7,13.7,37,585,0.00,3.58,0.00,0.000,260,0.000,0.261,2974,3265,1408,1408,4094,0,0,0,0,0,0,25.44,25.02,25.45,9.88,34.09
$GC,624,1.93,653.5,2973,3265,1406,4094,37.3,14.5,41,643,0.00,3.12,0.00,0.000,1030,0.000,0.122,2974,2105,1406,1406,4094,0,0,0,0,0,0,25.34,25.29,25.37,9.87,34.36
$GC,705,1.93,653.5,2973,2105,1404,4094,26.3,13.5,47,724,0.00,3.50,0.00,0.000,516,0.000,0.256,2974,881,1403,1403,4094,0,0,0,0,0,0,25.72,25.29,25.73,9.87,34.24
$GC,764,1.93,653.5,2973,882,1402,4094,18.7,12.9,51,779,0.00,3.12,0.00,0.000,1030,0.000,0.132,2974,2061,1401,1401,4094,0,0,0,0,0,0,25.53,25.49,25.58,9.88,34.32
$GC,842,1.93,653.5,2973,2061,1400,4094,9.2,12.4,57,857,0.00,3.50,0.00,0.000,260,0.000,0.276,2974,3262,1399,1399,4094,0,0,0,0,0,0,25.90,25.46,25.91,9.88,35.50
$STATE,883,end climb,FINISH_DEPTH_REACHED
$STATE,883,begin subsurface finish
$FINISH1,3.3,1.025268,-159
$GC,892,-0.25,-158.8,2974,2078,1398,4094,3.3,13.6,60,923,7.22,0.00,-9.02,0.000,20486,0.169,0.000,2316,2070,2362,2362,4094,0,0,0,0,0,0,25.70,25.16,25.72,9.88,35.50
$FINISH2,0.1
$STATE,924,end subsurface finish,CONTROL_FINISHED_OK
$STATE,924,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,093700
$TT8_MAMPS,0.026215,0.253162
$HUMID,35.46
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,23.32,23.466
$10V_AH,8.75,13.790
$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,40.450,39.800,75.775,0.000,0.000,22.925,23.870,187.756,1.000,0.000,18.023,240.508,0.000,122.323,859.625,57.823,33.437,394.678,0.000,610.830,0.000,12.863,0.000
$DEVICE_MAMPS,419.627,300.443,4484.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.770,79.328,133.313,339.324,587.133,0.000,0.000,0.000,0.000,0.000
$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,26158,14
$CFSIZE,1024409600,1006714880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,102525,5706.789,-16450.316,4,0.7,16,11.1,0.0,0.0,12,4.5