version: 66.12
glider: 401
mission: 20
dive: 243
start: 5 2 117 11 28 44
data:
$ID,401
$MISSION,20
$DIVE,243
$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,24
$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
$GPS1,020517,111004,5706.3638,-16449.4023,4,0.8,15,11.1,0.6,99.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,2.0
$GPS2,020517,111004,5706.3638,-16449.4023,4,0.8,15,11.1,0.6,99.8,11,5.0
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5655.933,-16454.525
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.400085,-0.143421
$KALMAN_X,-9657.162109,494.391205,599.880005,64680.308594,403.685089
$KALMAN_Y,19992.673828,118.878754,46.332199,-35379.660156,-114.883530
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.90,-635.4,2316,2154,2368,4094,0.0,0.0,0,32,0.00,0.00,-2.33,0.000,16390,0.000,0.000,2317,2154,2928,2928,4095,0,0,0,0,0,0,25.88,24.40,25.86,10.08,35.46
$GC,34,-1.90,-635.4,2317,2154,2927,4095,7.2,0.0,1,53,5.93,3.33,0.00,0.000,4612,0.134,0.219,1776,978,2928,2928,4095,0,0,0,0,0,0,25.34,25.21,25.37,10.20,35.90
$GC,128,-1.90,-635.4,1775,978,2930,4095,19.4,-12.7,8,143,0.00,3.17,0.00,0.000,1030,0.000,0.142,1776,2164,2930,2930,4095,0,0,0,0,0,0,25.53,25.46,25.56,10.20,35.78
$GC,206,-1.90,-635.4,1775,2165,2932,4094,29.8,-13.7,14,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2165,2931,2931,4095,0,0,0,0,0,0,25.91,25.92,25.92,10.20,35.50
$GC,283,-1.90,-635.4,1775,2165,2933,4095,40.7,-13.9,20,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2165,2934,2934,4095,0,0,0,0,0,0,26.00,26.01,26.01,10.19,35.39
$GC,366,-1.90,-635.4,1775,2165,2935,4095,51.5,-13.6,26,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,2165,2936,2936,4095,0,0,0,0,0,0,26.06,26.08,26.07,10.19,35.19
$STATE,411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,411,begin apogee
$GC,416,-0.50,0.0,1775,2047,2936,4095,58.1,-13.6,29,467,4.90,0.10,37.40,4.442,10244,0.219,0.303,2210,2100,2174,2174,4094,0,0,0,0,0,0,25.82,24.71,23.62,10.18,35.23
$STATE,468,end apogee,CONTROL_FINISHED_OK
$STATE,468,begin climb
$GC,470,1.90,635.4,2210,2100,2174,4094,61.8,0.0,32,531,8.35,3.40,37.25,4.355,10500,0.134,0.263,2973,3250,1432,1432,4094,0,0,0,0,0,0,24.97,24.87,23.27,10.02,34.95
$GC,549,2.07,741.3,2973,3250,1431,4094,57.5,8.6,37,568,0.52,3.12,7.62,3.250,11270,0.119,0.114,3024,2105,1309,1309,4094,0,0,0,0,0,0,24.82,24.79,23.50,9.88,34.48
$GC,632,2.07,741.3,3024,2105,1307,4094,45.7,15.0,43,647,0.00,3.55,0.00,0.000,516,0.000,0.243,3024,883,1306,1306,4094,0,0,0,0,0,0,25.31,24.91,25.32,9.85,33.73
$GC,675,2.07,741.3,3024,883,1306,4094,39.6,14.2,46,693,0.00,3.17,0.00,0.000,1030,0.000,0.132,3024,2060,1306,1306,4094,0,0,0,0,0,0,25.18,25.14,25.20,9.85,33.77
$GC,757,2.07,741.3,3024,2060,1303,4094,28.1,14.4,52,772,0.00,3.60,0.00,0.000,260,0.000,0.278,3025,3276,1303,1303,4094,0,0,0,0,0,0,25.60,25.16,25.61,9.85,34.05
$GC,834,2.07,741.3,3024,3276,1300,4094,16.5,15.0,58,849,0.00,3.10,0.00,0.000,1030,0.000,0.119,3025,2117,1300,1300,4094,0,0,0,0,0,0,25.48,25.44,25.51,9.85,34.68
$GC,912,2.07,741.3,3024,2114,1298,4094,5.8,13.8,64,926,0.00,3.50,0.00,0.000,516,0.000,0.243,3024,881,1298,1298,4094,0,0,0,0,0,0,25.82,25.39,25.84,9.86,35.46
$STATE,941,end climb,SURFACE_DEPTH_REACHED
$STATE,941,begin surface coast
$FINISH,0.1,1.024102
$STATE,968,end surface coast,CONTROL_FINISHED_OK
$STATE,968,begin surface
$SM_CCo,1069,0.00,0.000,0,0,1297,753.85
$SM_GC,0.92,29.88,3.47,0.00,0.092,0.142,0.000,232,2178,1297,-6.71,-0.46,753.85,0,0,1,0,0,0,25.38,25.58,25.58
$IRIDIUM_FIX,5554.28,-16557.83,020517,102108
$TT8_MAMPS,0.026964,0.263648
$HUMID,34.99
$INTERNAL_PRESSURE,9.79886
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,9.5
$24V_AH,23.27,23.778
$10V_AH,8.67,13.872
$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,49.575,36.650,82.275,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,252.519,60.395,136.910,652.307,25.897,33.413,391.306,0.000,664.756,0.000,5.450,0.000
$DEVICE_MAMPS,218.504,302.926,4442.087,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.100,87.128,146.190,369.589,641.256,0.000,0.000,0.000,0.000,0.000
$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,7385,68
$CAP_FILE_SIZE,21764,8
$CFSIZE,1024409600,1006567424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,114728,5705.932,-16448.852,3,0.8,21,11.1,0.5,135.5,11,5.0