version: 66.12
glider: 401
mission: 20
dive: 242
start: 5 2 117 11 11 7
data:
$ID,401
$MISSION,20
$DIVE,242
$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,49
$R_STBD_OVSHOOT,40
$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
$GPS1,020517,110439,5706.3716,-16449.5078,1,0.8,16,11.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-32.2
$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,-0.119432,-0.406253
$KALMAN_X,-9632.233398,378.836517,460.686279,64885.066406,517.935669
$KALMAN_Y,19586.306641,118.219421,100.620209,-35003.007812,-167.122940
$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,-635.4,231,2180,1419,4094,0.0,0.0,0,34,0.00,0.00,-13.32,0.000,16390,0.000,0.000,231,2181,2923,2923,4094,0,0,0,0,0,0,26.00,24.47,26.01,9.89,36.25
$GC,36,-1.90,-635.4,231,2181,2923,4095,0.7,0.0,1,65,19.55,3.42,0.00,0.000,2308,0.417,0.298,1758,3337,2926,2926,4094,0,0,0,0,0,0,25.51,25.47,25.58,10.20,36.57
$GC,81,-1.90,-635.4,1757,3337,2926,4095,18.0,-38.1,4,99,0.00,3.00,0.00,0.000,1030,0.000,0.124,1758,2197,2927,2927,4095,0,0,0,0,0,0,25.72,25.67,25.73,10.20,37.08
$GC,162,-1.90,-635.4,1757,2197,2928,4095,31.0,-15.1,10,177,0.00,3.35,0.00,0.000,260,0.000,0.303,1758,3334,2928,2928,4094,0,0,0,0,0,0,26.04,25.57,26.05,10.19,35.50
$GC,228,-1.90,-635.4,1757,3334,2931,4094,40.6,-14.2,15,247,0.00,3.15,0.00,0.000,1030,0.000,0.127,1758,2138,2930,2930,4094,0,0,0,0,0,0,25.85,25.82,25.87,10.19,35.23
$GC,315,-1.90,-635.4,1758,2135,2931,4094,52.6,-14.3,21,330,0.00,3.22,0.00,0.000,516,0.000,0.233,1758,978,2932,2932,4095,0,0,0,0,0,0,26.16,25.73,26.17,10.18,35.19
$STATE,357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,357,begin apogee
$GC,364,-0.50,0.0,1758,2053,2933,4094,59.5,-15.3,24,410,5.07,0.00,37.42,4.517,10244,0.221,0.000,2209,2054,2174,2174,4094,0,0,0,0,0,0,25.90,24.76,23.65,10.19,35.66
$STATE,411,end apogee,CONTROL_FINISHED_OK
$STATE,412,begin climb
$GC,413,1.90,635.4,2209,2054,2174,4094,63.8,0.0,27,473,8.50,0.00,36.97,4.405,11270,0.139,0.000,2973,2058,1435,1435,4094,0,0,0,0,0,0,25.10,25.25,23.34,10.02,34.80
$GC,537,1.90,635.4,2972,2057,1434,4094,53.0,12.5,36,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2057,1433,1433,4094,0,0,0,0,0,0,25.34,25.35,25.35,9.88,34.13
$GC,613,1.90,635.4,2972,2057,1431,4094,42.9,13.8,42,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2057,1431,1431,4094,0,0,0,0,0,0,25.56,25.57,25.57,9.87,34.95
$GC,691,1.90,635.4,2972,2057,1429,4094,32.4,13.3,48,709,0.00,3.55,0.00,0.000,260,0.000,0.266,2973,3269,1428,1428,4094,0,0,0,0,0,0,25.70,25.27,25.72,9.87,34.56
$GC,737,1.90,635.4,2972,3269,1427,4094,25.5,14.5,51,756,0.00,3.12,0.00,0.000,1030,0.000,0.119,2973,2098,1427,1427,4094,0,0,0,0,0,0,25.53,25.48,25.55,9.88,34.68
$GC,819,1.90,635.4,2973,2098,1425,4094,14.9,12.7,57,833,0.00,3.45,0.00,0.000,516,0.000,0.253,2973,883,1425,1425,4094,0,0,0,0,0,0,25.88,25.44,25.89,9.88,34.64
$GC,873,1.90,635.4,2973,883,1423,4094,8.1,12.6,61,891,0.00,3.17,0.00,0.000,1030,0.000,0.134,2973,2084,1423,1423,4094,0,0,0,0,0,0,25.67,25.62,25.72,9.89,34.95
$STATE,904,end climb,FINISH_DEPTH_REACHED
$STATE,904,begin subsurface finish
$FINISH1,3.8,1.025259,-158
$GC,909,-0.25,-158.1,2973,2084,1422,4094,3.8,12.4,63,941,7.50,3.65,-7.10,0.000,20740,0.236,4.214,2317,3266,2367,2367,4094,0,0,0,0,0,0,25.67,24.18,25.72,9.88,35.66
$FINISH2,1.2
$STATE,942,end subsurface finish,CONTROL_FINISHED_OK
$STATE,942,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,102108
$TT8_MAMPS,0.026215,0.253162
$HUMID,35.43
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,9.6
$24V_AH,23.34,23.676
$10V_AH,8.74,13.847
$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,40.625,35.925,74.400,0.000,0.000,24.320,21.734,182.463,0.500,0.000,17.279,241.822,0.000,113.830,879.557,57.685,33.438,400.038,0.000,638.584,0.000,8.694,0.000
$DEVICE_MAMPS,417.144,4213.651,4516.577,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.657,83.124,139.741,356.923,613.633,0.000,0.000,0.000,0.000,0.000
$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,3896,65
$CAP_FILE_SIZE,25393,11
$CFSIZE,1024409600,1006616576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,111004,5706.364,-16449.402,4,0.8,15,11.1,0.6,99.8,11,5.0