version: 66.12
glider: 401
mission: 20
dive: 241
start: 5 2 117 10 43 45
data:
$ID,401
$MISSION,20
$DIVE,241
$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,14
$R_STBD_OVSHOOT,22
$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
$GPS1,020517,102525,5706.7891,-16450.3164,4,0.7,16,11.1,0.0,0.0,12,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-0.9
$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,-0.405661,-0.126738
$KALMAN_X,-10498.649414,175.744720,245.587067,65271.117188,430.816681
$KALMAN_Y,19972.537109,206.817612,190.562714,-34791.195312,-58.572998
$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,-635.4,2316,2176,2362,4094,0.0,0.0,0,34,0.00,0.00,-5.53,0.000,16390,0.000,0.000,2316,2176,2917,2917,4095,0,0,0,0,0,0,25.89,25.06,25.89,10.07,36.02
$GC,36,-1.90,-635.4,2316,2176,2917,4095,0.1,0.0,1,54,6.20,3.50,0.00,0.000,4356,0.221,0.293,1775,3356,2917,2917,4094,0,0,0,0,0,0,25.37,25.22,25.41,10.19,35.39
$GC,94,-1.90,-635.4,1775,3356,2918,4094,4.9,-8.4,5,109,0.00,3.17,0.00,0.000,1030,0.000,0.127,1775,2169,2918,2918,4095,0,0,0,0,0,0,25.53,25.51,25.56,10.20,35.58
$GC,172,-1.90,-635.4,1775,2166,2920,4095,15.2,-13.5,11,187,0.00,3.35,0.00,0.000,516,0.000,0.226,1775,973,2920,2920,4095,0,0,0,0,0,0,25.89,25.46,25.90,10.20,35.23
$GC,237,-1.90,-635.4,1775,973,2921,4094,24.5,-14.4,16,252,0.00,3.08,0.00,0.000,1030,0.000,0.139,1775,2130,2921,2921,4094,0,0,0,0,0,0,25.69,25.63,25.72,10.19,35.35
$GC,315,-1.90,-635.4,1774,2131,2923,4094,34.8,-13.2,22,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,2130,2923,2923,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.19,35.90
$GC,393,-1.90,-635.4,1775,2130,2925,4094,45.5,-13.7,28,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,2130,2925,2925,4095,0,0,0,0,0,0,26.11,26.12,26.12,10.18,35.11
$GC,479,-1.90,-635.4,1775,2130,2927,4095,56.9,-12.2,34,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,2130,2927,2927,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.19,35.62
$STATE,508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,508,begin apogee
$GC,512,-0.50,0.0,1775,2029,2927,4094,61.4,-13.9,36,564,4.90,0.15,36.95,4.559,10244,0.221,0.256,2211,2099,2174,2174,4094,0,0,0,0,0,0,25.86,24.75,23.63,10.18,35.23
$STATE,565,end apogee,CONTROL_FINISHED_OK
$STATE,565,begin climb
$GC,567,1.90,635.4,2211,2099,2174,4094,65.3,0.0,39,623,8.55,0.00,37.05,4.457,11270,0.137,0.000,2982,2099,1433,1433,4094,0,0,0,0,0,0,25.11,25.28,23.27,10.03,34.52
$GC,685,1.90,635.4,2981,2098,1431,4094,54.5,13.5,48,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2098,1431,1431,4094,0,0,0,0,0,0,25.29,25.31,25.30,9.88,34.24
$GC,762,1.90,635.4,2981,2099,1429,4094,43.7,14.9,54,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2099,1428,1428,4094,0,0,0,0,0,0,25.52,25.53,25.53,9.88,34.01
$GC,838,1.90,635.4,2981,2099,1426,4094,33.2,13.9,60,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2099,1426,1426,4094,0,0,0,0,0,0,25.67,25.69,25.69,9.88,34.52
$GC,918,1.90,635.4,2981,2099,1424,4094,22.3,13.1,66,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2099,1423,1423,4094,0,0,0,0,0,0,25.79,25.81,25.81,9.88,35.11
$GC,999,1.90,635.4,2981,2099,1422,4094,11.3,13.5,72,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2099,1421,1421,4094,0,0,0,0,0,0,25.89,25.91,25.91,9.88,34.64
$STATE,1079,end climb,SURFACE_DEPTH_REACHED
$STATE,1079,begin surface coast
$FINISH,0.0,1.012786
$STATE,1106,end surface coast,CONTROL_FINISHED_OK
$STATE,1106,begin surface
$SM_CCo,1204,0.00,0.000,0,0,1419,649.10
$SM_GC,0.73,29.35,0.12,0.00,0.092,0.310,0.000,231,2173,1419,-6.71,-2.00,649.10,0,0,0,0,0,0,25.47,25.73,25.69
$IRIDIUM_FIX,5554.28,-16557.83,020517,093700
$TT8_MAMPS,0.026215,0.257656
$HUMID,34.95
$INTERNAL_PRESSURE,9.81839
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,9.6
$24V_AH,23.27,23.561
$10V_AH,8.70,13.819
$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,49.000,13.800,74.000,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,277.980,60.571,132.514,761.522,27.528,33.416,402.941,0.000,774.209,0.000,5.446,0.000
$DEVICE_MAMPS,220.987,310.375,4558.788,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.539,102.593,171.975,431.009,749.332,0.000,0.000,0.000,0.000,0.000
$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,7334,80
$CAP_FILE_SIZE,21521,7
$CFSIZE,1024409600,1006665728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,110439,5706.372,-16449.508,1,0.8,16,11.1,0.0,0.0,11,5.0