version: 66.12
glider: 401
mission: 20
dive: 246
start: 5 2 117 12 39 18
data:
$ID,401
$MISSION,20
$DIVE,246
$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,7
$R_STBD_OVSHOOT,27
$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
$GPS1,020517,123301,5705.3354,-16448.2793,1,0.8,36,11.1,0.0,0.0,11,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-32.3
$GPS2,020517,123813,5705.2988,-16448.2051,4,0.9,17,11.1,0.0,0.0,10,4.2
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5654.868,-16453.326
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.396784,-0.146357
$KALMAN_X,-8138.487305,975.783203,1014.792053,63446.082031,365.587708
$KALMAN_Y,19426.751953,-210.693665,-302.670837,-36080.437500,-241.837128
$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,-635.4,231,2177,1424,4094,0.0,0.0,0,36,0.00,0.00,-13.27,0.000,16390,0.000,0.000,231,2177,2922,2922,4094,0,0,0,0,0,0,26.01,24.47,26.02,9.89,36.33
$GC,38,-1.90,-635.4,231,2177,2922,4094,0.7,0.0,1,71,19.55,3.50,0.00,0.000,2308,0.415,0.298,1758,3354,2925,2925,4095,0,0,0,0,0,0,25.44,25.41,25.53,10.20,36.13
$GC,181,-1.90,-635.4,1757,3353,2928,4094,34.8,-13.3,12,200,0.00,3.15,0.00,0.000,1030,0.000,0.122,1758,2156,2928,2928,4094,0,0,0,0,0,0,25.77,25.74,25.81,10.19,35.98
$GC,264,-1.90,-635.4,1758,2155,2930,4094,46.5,-14.8,18,282,0.00,3.25,0.00,0.000,516,0.000,0.219,1758,981,2930,2930,4095,0,0,0,0,0,0,26.10,25.68,26.11,10.19,36.17
$GC,327,-1.90,-635.4,1757,981,2931,4094,55.9,-14.9,22,342,0.00,3.03,0.00,0.000,1030,0.000,0.139,1758,2128,2932,2932,4094,0,0,0,0,0,0,25.86,25.81,25.90,10.19,35.23
$STATE,357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,357,begin apogee
$GC,362,-0.50,0.0,1758,2049,2932,4094,60.1,-14.1,24,414,5.05,0.08,37.15,4.514,10244,0.219,0.372,2208,2091,2173,2173,4094,0,0,0,0,0,0,25.84,24.75,23.63,10.19,35.23
$STATE,415,end apogee,CONTROL_FINISHED_OK
$STATE,415,begin climb
$GC,416,1.90,635.4,2207,2091,2174,4094,64.1,0.0,27,481,8.70,3.45,37.10,4.397,10756,0.161,0.256,2987,911,1431,1431,4094,0,0,0,0,0,0,25.01,24.91,23.31,10.03,35.07
$GC,498,1.90,635.4,2986,911,1430,4094,58.5,10.1,32,517,0.00,3.12,0.00,0.000,1030,0.000,0.127,2987,2058,1430,1430,4094,0,0,0,0,0,0,24.87,24.84,24.90,9.88,33.77
$GC,579,1.90,635.4,2986,2059,1428,4094,48.0,13.3,38,598,0.00,3.58,0.00,0.000,260,0.000,0.268,2987,3269,1428,1428,4094,0,0,1,0,0,0,25.44,25.03,25.46,9.88,34.36
$GC,649,1.90,635.4,2986,3269,1426,4094,37.6,15.6,43,664,0.00,3.15,0.00,0.000,1030,0.000,0.119,2987,2099,1426,1426,4094,0,0,0,0,0,0,25.36,25.32,25.39,9.87,34.17
$GC,728,1.90,635.4,2986,2100,1423,4094,26.5,14.0,49,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2100,1423,1423,4094,0,0,0,0,0,0,25.74,25.76,25.75,9.88,34.24
$GC,805,1.90,635.4,2986,2100,1421,4094,15.9,13.7,55,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2100,1421,1421,4094,0,0,0,0,0,0,25.84,25.86,25.86,9.88,35.03
$GC,886,1.90,635.4,2986,2098,1419,4094,5.2,13.1,61,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2099,1418,1418,4094,0,0,0,0,0,0,25.94,25.96,25.96,9.89,34.99
$STATE,914,end climb,FINISH_DEPTH_REACHED
$STATE,914,begin subsurface finish
$FINISH1,1.1,1.025254,-158
$GC,919,-0.25,-157.7,2987,2096,1418,4094,1.1,13.4,63,939,7.10,0.00,-8.77,0.000,20486,0.107,0.000,2317,2097,2365,2365,4094,0,0,0,0,0,0,25.74,24.54,25.77,9.88,35.35
$FINISH2,0.0
$STATE,940,end subsurface finish,CONTROL_FINISHED_OK
$STATE,940,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,114841
$TT8_MAMPS,0.026215,0.259903
$HUMID,35.23
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.6,10.2
$24V_AH,23.31,24.096
$10V_AH,8.71,13.958
$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,40.400,26.500,74.250,0.000,0.000,22.581,18.640,175.045,0.500,0.000,19.256,241.467,0.000,117.502,862.019,58.610,33.438,386.498,0.000,633.820,0.000,8.704,0.000
$DEVICE_MAMPS,414.661,516.464,4514.094,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.182,81.914,137.606,354.745,609.393,0.000,0.000,0.000,0.000,0.000
$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,3930,64
$CAP_FILE_SIZE,25088,12
$CFSIZE,1024409600,1006419968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,123813,5705.299,-16448.205,4,0.9,17,11.1,0.0,0.0,10,4.2