version: 66.12
glider: 401
mission: 20
dive: 232
start: 5 2 117 7 29 41
data:
$ID,401
$MISSION,20
$DIVE,232
$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,20
$R_STBD_OVSHOOT,38
$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
$GPS1,020517,072316,5707.2456,-16452.7734,2,0.8,20,11.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-35.6
$GPS2,020517,072838,5707.2778,-16452.7832,4,0.8,24,11.1,0.5,244.7,11,4.9
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.847,-16457.906
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038262,-0.418149
$KALMAN_X,-13376.279297,-395.835907,-1034.915039,67527.984375,-20.196533
$KALMAN_Y,18411.861328,-101.021133,-185.166138,-31647.314453,253.014175
$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,-635.4,231,2196,1420,4094,0.0,0.0,0,34,0.00,0.00,-13.52,0.000,16390,0.000,0.000,231,2195,2921,2921,4095,0,0,0,0,0,0,25.98,24.46,26.00,9.89,36.02
$GC,36,-1.90,-635.4,231,2195,2922,4094,0.7,0.0,1,69,19.52,3.38,0.00,0.000,2308,0.415,0.295,1759,3344,2924,2924,4094,0,0,0,0,0,0,25.50,25.46,25.58,10.20,36.37
$GC,178,-1.90,-635.4,1758,3343,2927,4094,31.8,-14.1,12,196,0.00,3.08,0.00,0.000,1030,0.000,0.122,1759,2171,2927,2927,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.19,35.66
$GC,260,-1.90,-635.4,1758,2172,2929,4095,42.9,-14.3,18,278,0.00,3.30,0.00,0.000,516,0.000,0.226,1759,984,2929,2929,4094,0,0,0,0,0,0,26.12,25.70,26.13,10.19,35.82
$GC,321,-1.90,-635.4,1758,984,2931,4094,51.3,-14.5,22,339,0.00,3.00,0.00,0.000,1030,0.000,0.139,1759,2122,2931,2931,4095,0,0,0,0,0,0,25.88,25.82,25.91,10.19,35.39
$STATE,365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,365,begin apogee
$GC,370,-0.50,0.0,1759,2056,2931,4094,58.2,-14.1,25,424,5.07,0.00,37.10,4.447,10244,0.221,0.000,2212,2056,2174,2174,4094,0,0,0,0,0,0,25.86,24.45,23.66,10.18,35.03
$STATE,425,end apogee,CONTROL_FINISHED_OK
$STATE,425,begin climb
$GC,427,1.90,635.4,2212,2056,2174,4094,61.9,0.0,28,481,8.40,0.00,36.90,4.360,11270,0.139,0.000,2973,2056,1434,1434,4094,0,0,0,0,0,0,25.15,25.32,23.32,10.03,34.60
$GC,545,1.90,635.4,2972,2056,1432,4094,51.7,13.1,36,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2056,1432,1432,4094,0,0,0,0,0,0,25.32,25.34,25.33,9.88,34.09
$GC,626,1.90,635.4,2972,2056,1430,4094,40.9,13.5,42,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2056,1429,1429,4094,0,0,0,0,0,0,25.56,25.57,25.57,9.88,34.40
$GC,707,1.90,635.4,2972,2056,1427,4094,29.5,13.8,48,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2056,1426,1426,4095,0,0,0,0,0,0,25.71,25.72,25.72,9.87,34.24
$GC,788,1.90,635.4,2972,2056,1425,4094,19.2,12.7,54,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2056,1425,1425,4094,0,0,0,0,0,0,25.83,25.84,25.84,9.88,35.11
$GC,869,1.90,635.4,2972,2057,1423,4094,8.8,12.7,60,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2056,1422,1422,4094,0,0,0,0,0,0,25.93,25.94,25.94,9.88,35.19
$STATE,909,end climb,FINISH_DEPTH_REACHED
$STATE,909,begin subsurface finish
$FINISH1,3.4,1.025280,-160
$GC,914,-0.26,-159.6,2973,2056,1421,4094,3.4,13.0,63,934,7.38,0.00,-7.70,0.000,20486,0.231,0.000,2323,2056,2365,2365,4094,0,0,0,0,0,0,25.66,24.54,25.72,9.89,34.76
$FINISH2,1.0
$STATE,935,end subsurface finish,CONTROL_FINISHED_OK
$STATE,935,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,064032
$TT8_MAMPS,0.026215,0.259903
$HUMID,35.07
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,10.1
$24V_AH,23.32,22.642
$10V_AH,8.75,13.569
$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,40.375,12.875,74.000,0.000,0.000,22.897,17.926,181.334,0.500,0.000,25.504,234.541,0.000,118.093,873.844,56.043,33.436,371.161,0.000,634.625,0.000,8.700,0.000
$DEVICE_MAMPS,414.661,295.477,4447.053,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.424,81.994,137.604,354.731,610.503,0.000,0.000,0.000,0.000,0.000
$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,3921,64
$CAP_FILE_SIZE,23270,15
$CFSIZE,1024409600,1007108096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020517,072838,5707.278,-16452.783,4,0.8,24,11.1,0.5,244.7,11,4.9