version: 66.12
glider: 401
mission: 20
dive: 267
start: 5 2 117 20 18 34
data:
$ID,401
$MISSION,20
$DIVE,267
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,020517,200027,5701.3408,-16451.1699,4,0.9,23,11.1,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.8
$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,-0.039958,-0.497886
$KALMAN_X,-8419.985352,206.289001,-961.360291,63512.550781,-43.177307
$KALMAN_Y,21087.187500,-520.531738,433.037048,-45517.695312,253.778107
$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,-977.5,2318,2182,2357,4094,0.0,0.0,0,34,0.00,0.00,-6.30,0.000,16390,0.000,0.000,2319,2182,3319,3319,4094,0,0,0,0,0,0,25.72,24.88,25.74,10.08,35.86
$GC,36,-2.28,-977.5,2319,2182,3320,4095,2.0,0.0,1,55,7.50,2.12,0.00,0.000,4356,0.184,0.251,1653,2913,3319,3319,4095,0,0,0,0,0,0,25.28,25.13,25.31,10.29,36.13
$GC,95,-2.28,-977.5,1653,2913,3320,4094,10.2,-13.6,5,109,0.00,1.95,0.00,0.000,1030,0.000,0.114,1653,2162,3321,3321,4095,0,0,0,0,0,0,25.44,25.39,25.45,10.29,36.10
$GC,172,-2.28,-977.5,1653,2162,3322,4095,22.8,-16.8,11,186,0.00,1.98,0.00,0.000,516,0.000,0.161,1653,1429,3323,3323,4094,0,0,0,0,0,0,25.77,25.43,25.79,10.28,36.69
$GC,227,-2.28,-977.5,1652,1429,3323,4094,31.4,-16.1,15,242,0.00,1.98,0.00,0.000,1030,0.000,0.134,1653,2177,3324,3324,4094,0,0,0,0,0,0,25.58,25.51,25.60,10.27,36.02
$GC,305,-2.28,-977.5,1652,2178,3325,4095,43.6,-15.9,21,324,0.00,2.15,0.00,0.000,260,0.000,0.268,1653,2922,3326,3326,4095,0,0,0,0,0,0,25.94,25.53,25.95,10.27,35.90
$GC,339,-2.28,-977.5,1652,2922,3326,4094,49.2,-16.3,23,360,0.00,1.88,0.00,0.000,1030,0.000,0.117,1653,2183,3327,3327,4095,0,0,0,0,0,0,25.76,25.73,25.77,10.28,35.46
$STATE,398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,398,begin apogee
$GC,403,-0.56,0.0,1653,2081,3328,4095,58.7,-15.7,27,477,6.07,0.00,56.28,4.494,10244,0.206,0.000,2192,2081,2173,2173,4094,0,0,0,0,0,0,25.71,24.06,23.33,10.28,35.62
$STATE,478,end apogee,CONTROL_FINISHED_OK
$STATE,479,begin climb
$GC,480,2.28,977.5,2192,2080,2172,4094,63.8,0.0,32,559,9.93,2.20,55.78,4.378,10500,0.119,0.214,3089,2837,1038,1038,4094,0,0,0,0,0,0,24.70,24.63,22.82,10.03,35.27
$GC,588,2.28,977.5,3089,2837,1037,4094,53.6,15.5,39,603,0.00,2.08,0.00,0.000,1030,0.000,0.102,3090,2084,1037,1037,4094,0,0,0,0,0,0,24.42,24.39,24.48,9.80,33.65
$GC,666,2.28,977.5,3089,2084,1034,4094,42.0,14.7,45,684,0.00,2.15,0.00,0.000,516,0.000,0.191,3090,1321,1034,1034,4094,0,0,0,0,0,0,25.01,24.68,25.02,9.80,34.48
$GC,700,2.28,977.5,3089,1321,1033,4094,37.0,14.5,47,716,0.00,2.08,0.00,0.000,1030,0.000,0.119,3090,2092,1033,1033,4094,0,0,0,0,0,0,24.87,24.82,24.91,9.80,34.17
$GC,779,2.28,977.5,3089,2092,1030,4094,25.9,14.4,53,798,0.00,2.15,0.00,0.000,260,0.000,0.241,3090,2829,1030,1030,4094,0,0,0,0,0,0,25.33,25.00,25.34,9.79,34.13
$GC,851,2.28,977.5,3089,2829,1028,4094,15.7,14.0,58,867,0.00,1.92,0.00,0.000,1030,0.000,0.107,3090,2099,1028,1028,4094,0,0,0,0,0,0,25.25,25.22,25.28,9.80,34.44
$GC,930,2.28,977.5,3089,2096,1025,4094,4.9,14.4,64,948,0.00,2.15,0.00,0.000,516,0.000,0.196,3090,1322,1025,1025,4094,0,0,0,0,0,0,25.61,25.24,25.63,9.81,34.83
$STATE,962,end climb,SURFACE_DEPTH_REACHED
$STATE,962,begin surface coast
$FINISH,0.1,1.013593
$STATE,989,end surface coast,CONTROL_FINISHED_OK
$STATE,989,begin surface
$SM_CCo,1089,0.00,0.000,0,0,1025,988.25
$SM_GC,0.68,30.85,2.25,0.00,0.092,0.114,0.000,232,2178,1025,-6.71,-0.77,988.25,0,0,1,0,0,0,25.21,25.40,25.41
$IRIDIUM_FIX,5554.28,-16557.83,020517,191240
$TT8_MAMPS,0.026964,0.260652
$HUMID,35.07
$INTERNAL_PRESSURE,9.75003
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,12.6
$24V_AH,22.82,26.875
$10V_AH,8.64,14.517
$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,54.350,29.500,112.050,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,242.586,59.802,155.728,659.009,28.065,33.416,451.239,0.000,671.304,0.000,5.453,0.000
$DEVICE_MAMPS,206.089,268.164,4494.230,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.641,86.966,146.186,378.387,648.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,7310,68
$CAP_FILE_SIZE,23009,11
$CFSIZE,1024409600,1005387776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,203751,5701.211,-16451.102,1,0.8,34,11.1,0.0,0.0,10,5.0