version: 66.12
glider: 401
mission: 20
dive: 266
start: 5 2 117 20 1 30
data:
$ID,401
$MISSION,20
$DIVE,266
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$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,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,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,24
$R_STBD_OVSHOOT,18
$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
$GPS1,020517,195456,5701.3091,-16451.1406,1,0.9,22,11.1,0.5,55.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-26.5
$GPS2,020517,200027,5701.3408,-16451.1699,4,0.9,23,11.1,0.0,0.0,9,4.8
$SPEED_LIMITS,0.097,0.500
$TGT_NAME,HEADING
$TGT_LATLONG,5650.910,-16456.281
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.007868,-0.498302
$KALMAN_X,-8463.081055,268.497620,-972.802002,63507.093750,-78.949280
$KALMAN_Y,20704.345703,-669.717957,424.888245,-44977.304688,264.720367
$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,-977.5,232,2173,1023,4094,0.0,0.0,0,35,0.00,0.00,-16.77,0.000,16386,0.000,0.000,232,2173,2976,2976,4094,0,0,0,0,0,0,25.90,28.83,25.91,9.81,36.29
$GC,37,-2.28,-977.5,231,2173,2976,4094,0.5,0.0,1,67,18.12,2.33,-1.10,0.000,18692,0.425,4.199,1639,2924,3325,3325,4095,0,0,0,0,0,0,25.49,24.08,25.57,10.23,36.69
$GC,165,-2.28,-977.5,1638,2924,3328,4095,32.3,-16.5,11,180,0.00,1.95,0.00,0.000,1030,0.000,0.109,1639,2165,3329,3329,4094,0,0,0,0,0,0,25.67,25.64,25.70,10.29,36.96
$GC,242,-2.28,-977.5,1639,2164,3330,4095,45.3,-17.1,17,257,0.00,1.98,0.00,0.000,516,0.000,0.159,1639,1424,3331,3331,4094,0,0,0,0,0,0,25.98,25.63,25.99,10.28,36.10
$GC,291,-2.28,-977.5,1638,1424,3331,4095,53.2,-16.7,20,309,0.00,1.92,0.00,0.000,1030,0.000,0.134,1639,2161,3332,3332,4095,0,0,0,0,0,0,25.74,25.70,25.79,10.28,35.98
$STATE,322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,322,begin apogee
$GC,327,-0.56,0.0,1639,2067,3332,4095,58.8,-16.0,22,400,6.22,0.00,56.08,4.509,10246,0.209,0.000,2192,2067,2175,2175,4094,0,0,0,0,0,0,25.75,24.08,23.30,10.28,35.54
$STATE,401,end apogee,CONTROL_FINISHED_OK
$STATE,401,begin climb
$GC,402,2.28,977.5,2192,2067,2176,4094,63.2,0.0,26,476,10.02,2.10,55.83,4.365,10756,0.129,0.189,3089,1337,1034,1034,4094,0,0,0,0,0,0,24.87,23.80,22.90,10.04,35.03
$GC,493,2.28,977.5,3088,1337,1033,4094,55.4,11.3,31,512,0.00,2.03,0.00,0.000,1030,0.000,0.119,3089,2076,1033,1033,4094,0,0,0,0,0,0,24.35,24.31,24.38,9.80,34.20
$GC,576,2.28,977.5,3088,2075,1030,4094,43.4,14.8,37,594,0.00,2.25,0.00,0.000,260,0.000,0.236,3089,2837,1029,1029,4094,0,0,0,0,0,0,25.02,24.67,25.03,9.80,33.77
$GC,647,2.28,977.5,3088,2837,1028,4094,32.4,15.3,42,663,0.00,1.92,0.00,0.000,1030,0.000,0.109,3089,2112,1027,1027,4094,0,0,0,0,0,0,25.03,24.98,25.05,9.80,34.13
$GC,727,2.28,977.5,3088,2110,1025,4094,21.4,13.3,48,745,0.00,2.17,0.00,0.000,516,0.000,0.191,3089,1329,1025,1025,4094,0,0,0,0,0,0,25.42,25.06,25.44,9.80,34.95
$GC,760,2.28,977.5,3088,1329,1024,4094,16.7,13.4,50,776,0.00,2.05,0.00,0.000,1030,0.000,0.122,3089,2103,1024,1024,4094,0,0,0,0,0,0,25.24,25.19,25.26,9.80,34.40
$GC,840,2.28,977.5,3088,2103,1022,4094,6.5,13.4,56,854,0.00,2.10,0.00,0.000,260,0.000,0.236,3089,2833,1021,1021,4094,0,0,0,0,0,0,25.62,25.23,25.63,9.81,35.11
$STATE,870,end climb,FINISH_DEPTH_REACHED
$STATE,870,begin subsurface finish
$FINISH1,2.3,1.025201,-154
$GC,878,-0.25,-154.1,3089,2066,1021,4094,2.3,13.6,58,911,8.25,0.00,-12.18,0.000,20486,0.099,0.000,2319,2064,2357,2357,4094,0,0,0,0,0,0,25.44,24.91,25.47,9.81,35.23
$FINISH2,0.1
$STATE,912,end subsurface finish,CONTROL_FINISHED_OK
$STATE,912,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,191240
$TT8_MAMPS,0.026215,0.249417
$HUMID,36.17
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,13.3
$24V_AH,22.90,26.733
$10V_AH,8.73,14.491
$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,42.625,25.000,111.900,0.000,0.000,23.443,18.213,184.723,0.500,0.000,25.198,225.863,0.000,134.365,844.292,63.408,33.444,421.925,0.000,602.697,0.000,8.713,0.000
$DEVICE_MAMPS,424.593,4198.753,4509.128,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,40.126,76.666,128.992,340.772,578.683,0.000,0.000,0.000,0.000,0.000
$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,3929,60
$CAP_FILE_SIZE,25819,15
$CFSIZE,1024409600,1005436928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,200027,5701.341,-16451.170,4,0.9,23,11.1,0.0,0.0,9,4.8