version: 66.12
glider: 401
mission: 20
dive: 253
start: 5 2 117 15 14 7
data:
$ID,401
$MISSION,20
$DIVE,253
$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,800
$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,0
$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,9
$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,45
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,32
$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
$GPS1,020517,150857,5703.0513,-16448.2773,2,0.8,12,11.1,0.5,202.2,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-30.4
$GPS2,020517,151310,5703.0200,-16448.3008,4,1.0,49,11.1,0.0,0.0,8,3.0
$SPEED_LIMITS,0.097,0.460
$TGT_NAME,HEADING
$TGT_LATLONG,5652.589,-16453.416
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.079772,-0.455163
$KALMAN_X,-6376.850586,1449.689941,948.350159,61193.703125,-70.127258
$KALMAN_Y,18966.503906,-971.028381,-910.190308,-38488.539062,-78.661499
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-7.6,-9.667,-11.86,11961
$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,-2.10,-782.0,231,2195,1251,4094,0.0,0.0,0,37,0.00,0.00,-15.85,0.000,16390,0.000,0.000,231,2195,3090,3090,4095,0,0,0,0,0,0,26.04,24.51,26.06,9.85,36.06
$GC,39,-2.10,-782.0,231,2195,3091,4094,0.8,0.0,1,73,18.52,2.75,0.00,0.000,2308,0.412,0.278,1696,3134,3093,3093,4094,0,0,0,0,0,0,25.53,25.51,25.62,10.24,36.92
$GC,170,-2.10,-782.0,1695,3133,3097,4094,36.1,-16.1,11,188,0.00,2.53,0.00,0.000,1030,0.000,0.117,1696,2165,3097,3097,4094,0,0,0,0,0,0,25.85,25.82,25.86,10.24,36.10
$GC,252,-2.10,-782.0,1695,2162,3099,4095,49.3,-16.2,17,273,0.00,2.62,0.00,0.000,516,0.000,0.194,1696,1196,3099,3099,4094,0,0,0,0,0,0,26.14,25.74,26.15,10.23,35.66
$STATE,312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,312,begin apogee
$GC,319,-0.56,0.0,1696,2060,3100,4094,59.1,-15.8,21,385,5.55,0.00,45.22,4.517,10244,0.211,0.000,2192,2060,2174,2174,4094,0,0,0,0,0,0,25.85,24.32,23.52,10.23,35.11
$STATE,386,end apogee,CONTROL_FINISHED_OK
$STATE,386,begin climb
$GC,388,2.10,782.0,2191,2060,2174,4094,64.3,0.0,25,456,9.38,0.00,45.00,4.432,11270,0.142,0.000,3032,2061,1262,1262,4094,0,0,0,0,0,0,25.06,25.21,23.18,10.04,35.03
$GC,519,2.10,782.0,3031,2060,1260,4093,51.4,14.7,34,532,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2061,1260,1260,4094,0,0,0,0,0,0,25.20,25.21,25.21,9.85,33.85
$GC,596,2.10,782.0,3031,2060,1258,4094,39.9,14.9,40,610,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2061,1257,1257,4094,0,0,0,0,0,0,25.44,25.45,25.44,9.85,34.05
$GC,672,2.10,782.0,3031,2060,1255,4094,29.0,14.4,46,687,0.00,2.88,0.00,0.000,260,0.000,0.248,3032,3051,1255,1255,4094,0,0,0,0,0,0,25.60,25.19,25.60,9.85,34.24
$GC,727,2.10,782.0,3031,3050,1253,4094,21.0,14.5,50,742,0.00,2.55,0.00,0.000,1030,0.000,0.114,3032,2093,1253,1253,4094,0,0,0,0,0,0,25.44,25.40,25.47,9.85,34.68
$GC,804,2.10,782.0,3032,2090,1251,4094,10.1,14.2,56,818,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2091,1250,1250,4094,0,0,0,0,0,0,25.79,25.81,25.80,9.86,35.07
$STATE,868,end climb,SURFACE_DEPTH_REACHED
$STATE,868,begin surface coast
$FINISH,0.0,1.013274
$STATE,896,end surface coast,CONTROL_FINISHED_OK
$STATE,896,begin surface
$SM_CCo,994,0.00,0.000,0,0,1248,795.06
$SM_GC,0.63,29.88,0.20,0.00,0.089,0.256,0.000,232,2172,1248,-6.71,-1.09,795.06,0,0,1,0,0,0,25.34,25.61,25.58
$IRIDIUM_FIX,5554.28,-16557.83,020517,144651
$TT8_MAMPS,0.026964,0.246421
$HUMID,35.19
$INTERNAL_PRESSURE,9.78909
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.7,13.1
$24V_AH,23.18,24.854
$10V_AH,8.70,14.151
$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,63.325,15.775,90.225,0.000,0.000,23.017,17.208,100.043,0.500,0.000,50.787,227.868,60.071,136.669,802.532,42.317,33.436,383.510,0.000,618.927,0.000,8.701,0.000
$DEVICE_MAMPS,412.178,278.096,4516.577,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.664,80.703,135.448,345.609,594.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,3867,63
$CAP_FILE_SIZE,22697,10
$CFSIZE,1024409600,1006075904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,153128,5702.775,-16448.545,2,0.9,13,11.1,0.0,0.0,9,4.7