version: 66.12
glider: 401
mission: 20
dive: 248
start: 5 2 117 13 23 55
data:
$ID,401
$MISSION,20
$DIVE,248
$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,10
$R_STBD_OVSHOOT,50
$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
$GPS1,020517,131745,5704.6802,-16447.8691,1,0.9,18,11.1,0.5,35.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-38.3
$GPS2,020517,132251,5704.6309,-16447.8301,4,0.8,16,11.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5654.200,-16452.949
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.325986,-0.264393
$KALMAN_X,-7311.991211,1221.944336,1148.170776,62618.976562,243.695068
$KALMAN_Y,19110.328125,-435.042480,-527.108643,-36551.574219,-239.502014
$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,-635.4,231,2175,1421,4095,0.0,0.0,0,33,0.00,0.00,-13.10,0.000,16390,0.000,0.000,232,2175,2922,2922,4095,0,0,0,0,0,0,26.01,24.48,26.03,9.88,36.02
$GC,35,-1.90,-635.4,231,2175,2922,4095,0.8,0.0,1,72,19.30,3.42,0.00,0.000,2308,0.412,0.300,1758,3331,2925,2925,4095,0,0,0,0,0,0,25.53,25.48,25.64,10.20,36.33
$GC,182,-1.90,-635.4,1757,3331,2927,4095,33.0,-13.7,12,197,0.00,3.08,0.00,0.000,1030,0.000,0.119,1758,2159,2927,2927,4094,0,0,0,0,0,0,25.84,25.81,25.86,10.19,35.78
$GC,261,-1.90,-635.4,1758,2156,2930,4094,44.0,-14.6,18,279,0.00,3.22,0.00,0.000,516,0.000,0.209,1758,979,2930,2930,4094,0,0,0,0,0,0,26.15,25.75,26.17,10.19,35.94
$GC,325,-1.90,-635.4,1758,979,2931,4095,53.5,-14.9,22,345,0.00,2.97,0.00,0.000,1030,0.000,0.137,1758,2112,2931,2931,4094,0,0,0,0,0,0,25.91,25.85,25.95,10.19,35.15
$STATE,358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,358,begin apogee
$GC,363,-0.50,0.0,1758,2055,2932,4094,58.8,-14.5,24,417,5.05,0.00,36.95,4.469,10244,0.214,0.000,2209,2055,2173,2173,4094,0,0,0,0,0,0,25.88,24.47,23.66,10.19,35.39
$STATE,418,end apogee,CONTROL_FINISHED_OK
$STATE,419,begin climb
$GC,420,1.90,635.4,2209,2055,2173,4094,62.6,0.0,27,472,8.45,3.33,36.67,4.375,10756,0.159,0.246,2974,905,1433,1433,4094,0,0,0,0,0,0,25.07,24.98,23.34,10.03,34.87
$GC,488,1.90,635.4,2973,905,1432,4094,59.0,8.2,31,507,0.00,3.10,0.00,0.000,1030,0.000,0.127,2974,2040,1431,1431,4094,0,0,0,0,0,0,24.82,24.77,24.86,9.88,34.20
$GC,571,1.90,635.4,2974,2040,1429,4094,48.3,13.7,37,589,0.00,3.62,0.00,0.000,260,0.000,0.273,2974,3266,1430,1430,4094,0,0,1,0,0,0,25.44,25.03,25.45,9.88,34.13
$GC,617,1.90,635.4,2974,3266,1428,4094,41.7,13.9,40,632,0.00,3.12,0.00,0.000,1030,0.000,0.122,2975,2108,1428,1428,4094,0,0,0,0,0,0,25.33,25.27,25.35,9.87,34.20
$GC,695,1.90,635.4,2974,2108,1426,4094,31.4,13.2,46,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2108,1426,1426,4094,0,0,0,0,0,0,25.71,25.72,25.72,9.87,34.44
$GC,776,1.90,635.4,2974,2107,1423,4094,20.3,13.6,52,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2107,1423,1423,4094,0,0,0,0,0,0,25.83,25.84,25.84,9.88,34.48
$GC,853,1.90,635.4,2974,2107,1422,4094,10.3,12.9,58,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2106,1421,1421,4094,0,0,0,0,0,0,25.92,25.94,25.94,9.88,35.11
$STATE,909,end climb,FINISH_DEPTH_REACHED
$STATE,909,begin subsurface finish
$FINISH1,2.9,1.025249,-157
$GC,915,-0.25,-157.4,2974,2055,1420,4094,2.9,12.8,62,948,7.28,3.50,-8.55,0.000,20996,0.184,4.199,2317,890,2366,2366,4094,0,0,1,0,0,0,25.74,24.21,25.77,9.89,35.86
$FINISH2,0.3
$STATE,949,end subsurface finish,CONTROL_FINISHED_OK
$STATE,950,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,123414
$TT8_MAMPS,0.026215,0.248668
$HUMID,35.50
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.8,10.2
$24V_AH,23.34,24.300
$10V_AH,8.75,14.014
$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,40.075,29.675,73.625,0.000,0.000,24.343,18.933,166.788,1.000,0.000,18.152,240.527,0.000,123.995,858.352,59.064,33.438,396.883,0.000,634.858,0.000,13.001,0.000
$DEVICE_MAMPS,412.178,4198.753,4469.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.157,81.917,137.597,355.682,610.429,0.000,0.000,0.000,0.000,0.000
$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,3891,64
$CAP_FILE_SIZE,25128,13
$CFSIZE,1024409600,1006321664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,132251,5704.631,-16447.830,4,0.8,16,11.1,0.0,0.0,11,4.9