version: 66.12
glider: 401
mission: 20
dive: 260
start: 5 2 117 17 53 13
data:
$ID,401
$MISSION,20
$DIVE,260
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,1
$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,1000
$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,0
$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,9
$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,35
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,15
$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
$GPS1,020517,174748,5701.6582,-16450.2051,2,0.7,16,11.1,1.0,163.7,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-32.5
$GPS2,020517,175210,5701.6641,-16450.2598,4,0.8,27,11.1,0.6,56.5,9,5.0
$SPEED_LIMITS,0.097,0.500
$TGT_NAME,HEADING
$TGT_LATLONG,5651.233,-16455.371
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.417119,-0.276878
$KALMAN_X,-7828.432129,929.495667,-203.793732,62358.097656,-530.382568
$KALMAN_Y,19395.994141,-1074.201294,-277.869019,-41954.160156,219.787323
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-6.5,-9.667,-10.94,14737
$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,-2.28,-977.5,241,2172,1134,4094,0.0,0.0,0,47,0.00,0.00,-18.73,0.000,16390,0.000,0.000,242,2172,3319,3319,4094,0,0,0,0,0,0,25.98,25.15,26.00,9.83,36.02
$GC,49,-2.28,-977.5,242,2172,3320,4095,2.2,-12.1,2,82,17.92,2.20,0.00,0.000,2308,0.407,0.253,1639,2931,3323,3323,4094,0,0,0,0,0,0,25.34,25.33,25.41,10.29,36.37
$GC,169,-2.28,-977.5,1638,2931,3326,4094,44.3,-16.7,11,184,0.00,1.92,0.00,0.000,1030,0.000,0.112,1639,2177,3326,3326,4095,0,0,0,0,0,0,25.70,25.68,25.72,10.28,35.94
$STATE,251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,251,begin apogee
$GC,256,-0.56,0.0,1639,2070,3328,4095,58.1,-17.0,17,321,6.25,0.00,54.80,4.522,10244,0.209,0.000,2192,2070,2174,2174,4094,0,0,0,0,0,0,25.70,24.39,23.31,10.28,36.57
$STATE,322,end apogee,CONTROL_FINISHED_OK
$STATE,322,begin climb
$GC,324,2.28,977.5,2192,2069,2174,4094,62.5,0.0,21,398,10.07,2.22,55.80,4.350,10500,0.124,0.216,3104,2831,1034,1034,4094,0,0,0,0,0,0,24.65,24.59,22.92,10.03,35.31
$GC,414,2.28,977.5,3103,2831,1034,4094,54.8,11.6,26,429,0.00,2.05,0.00,0.000,1030,0.000,0.104,3105,2093,1034,1034,4094,0,0,0,0,0,0,24.35,24.32,24.37,9.81,34.05
$GC,492,2.28,977.5,3103,2090,1031,4094,42.7,15.1,32,507,0.00,2.20,0.00,0.000,516,0.000,0.196,3104,1314,1030,1030,4094,0,0,0,0,0,0,25.01,24.65,25.02,9.80,34.05
$GC,534,2.28,977.5,3103,1314,1029,4094,36.3,15.1,35,549,0.00,2.08,0.00,0.000,1030,0.000,0.119,3104,2087,1029,1029,4094,0,0,0,0,0,0,24.91,24.86,24.94,9.80,34.05
$GC,612,2.28,977.5,3103,2087,1027,4094,25.3,14.7,41,626,0.00,2.20,0.00,0.000,260,0.000,0.236,3104,2843,1028,1028,4094,0,0,0,0,0,0,25.35,24.98,25.37,9.80,34.68
$GC,654,2.28,977.5,3103,2844,1025,4094,19.0,14.4,44,672,0.00,2.03,0.00,0.000,1030,0.000,0.109,3104,2083,1024,1024,4094,0,0,0,0,0,0,25.22,25.18,25.23,9.80,34.24
$GC,736,2.28,977.5,3103,2082,1023,4094,6.9,14.5,50,749,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2082,1023,1023,4094,0,0,0,0,0,0,25.59,25.60,25.60,9.81,35.07
$STATE,775,end climb,SURFACE_DEPTH_REACHED
$STATE,775,begin surface coast
$FINISH,0.1,1.014682
$STATE,803,end surface coast,CONTROL_FINISHED_OK
$STATE,803,begin surface
$SM_CCo,902,0.00,0.000,0,0,1022,989.97
$SM_GC,0.52,30.95,0.25,0.00,0.089,0.204,0.000,231,2183,1022,-6.71,-0.64,989.97,0,0,1,0,0,0,25.14,25.42,25.39
$IRIDIUM_FIX,5554.28,-16557.83,020517,172621
$TT8_MAMPS,0.026215,0.259903
$HUMID,35.46
$INTERNAL_PRESSURE,9.74026
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,12.6
$24V_AH,22.92,25.828
$10V_AH,8.74,14.333
$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,65.200,17.400,110.600,0.000,0.000,24.873,35.738,107.836,0.500,0.000,28.896,217.855,60.168,138.654,732.268,43.290,33.440,383.858,0.000,541.328,0.000,8.708,0.000
$DEVICE_MAMPS,407.212,479.219,4521.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,36.911,70.319,118.254,299.096,517.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344680
$DATA_FILE_SIZE,3924,55
$CAP_FILE_SIZE,23137,8
$CFSIZE,1024409600,1005731840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,180906,5701.580,-16450.510,2,0.7,17,11.1,0.6,111.3,11,5.0