version: 66.12
glider: 401
mission: 20
dive: 271
start: 5 2 117 21 42 5
data:
$ID,401
$MISSION,20
$DIVE,271
$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,600
$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,20
$R_STBD_OVSHOOT,22
$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
$GPS1,020517,212501,5701.1538,-16451.0273,4,0.8,19,11.1,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.8
$GPS2,020517,212501,5701.1538,-16451.0273,4,0.8,19,11.1,0.0,0.0,10,4.8
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5650.723,-16456.137
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.149798,-0.382259
$KALMAN_X,-7966.200684,126.104584,-724.933044,63045.988281,106.972382
$KALMAN_Y,22372.087891,-252.529968,415.505981,-47397.710938,184.093018
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-9.4,-9.667,-13.26,9003
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.98,-586.5,2323,2173,2357,4095,0.0,0.0,0,33,0.00,0.00,-4.95,0.000,16390,0.000,0.000,2324,2174,2861,2861,4094,0,0,0,0,0,0,26.06,25.20,26.06,10.08,36.06
$GC,35,-1.98,-586.5,2324,2174,2862,4095,0.0,0.0,1,50,6.15,2.12,0.00,0.000,4356,0.122,0.236,1752,2920,2862,2862,4094,0,0,0,0,0,0,25.56,25.43,25.59,10.19,35.90
$GC,148,-1.98,-586.5,1752,2920,2864,4095,14.4,-15.2,10,167,0.00,1.95,0.00,0.000,1030,0.000,0.109,1752,2163,2864,2864,4094,0,0,0,0,0,0,25.78,25.72,25.77,10.19,36.17
$GC,231,-1.98,-586.5,1752,2160,2866,4094,27.0,-15.3,16,249,0.00,1.98,0.00,0.000,516,0.000,0.171,1752,1422,2867,2867,4095,0,0,0,0,0,0,26.07,25.70,26.08,10.19,36.17
$GC,313,-1.98,-586.5,1751,1422,2869,4094,39.1,-14.5,22,327,0.00,1.88,0.00,0.000,1030,0.000,0.132,1752,2145,2869,2869,4094,0,0,0,0,0,0,25.89,25.82,25.90,10.18,36.06
$GC,395,-1.98,-586.5,1751,2145,2871,4094,50.4,-14.5,28,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,2145,2871,2871,4095,0,0,0,0,0,0,26.18,26.20,26.19,10.17,36.29
$STATE,451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,451,begin apogee
$GC,456,-0.56,0.0,1752,2047,2872,4095,59.5,-14.7,32,511,4.95,0.05,34.00,4.484,10244,0.223,0.268,2192,2080,2175,2175,4094,0,0,0,0,0,0,25.89,24.53,23.72,10.18,35.94
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,514,1.98,586.5,2192,2080,2175,4094,63.7,0.0,35,569,8.75,2.12,34.10,4.378,10500,0.127,0.216,2997,2829,1489,1489,4094,0,0,0,0,0,0,25.16,25.08,23.43,10.02,34.76
$GC,586,1.98,586.5,2997,2829,1489,4094,59.2,9.2,39,604,0.00,1.98,0.00,0.000,1030,0.000,0.104,2998,2100,1488,1488,4094,0,0,0,0,0,0,24.93,24.89,24.95,9.90,34.95
$GC,668,1.98,586.5,2997,2100,1486,4094,47.2,14.9,45,683,0.00,2.17,0.00,0.000,516,0.000,0.201,2997,1316,1486,1486,4094,0,0,0,0,0,0,25.50,25.15,25.51,9.90,34.32
$GC,734,1.98,586.5,2997,1316,1484,4094,37.3,14.7,50,749,0.00,1.95,0.00,0.000,1030,0.000,0.117,2997,2065,1484,1484,4094,0,0,0,0,0,0,25.41,25.37,25.44,9.89,35.31
$GC,813,1.98,586.5,2997,2065,1482,4094,25.4,15.2,56,831,0.00,2.15,0.00,0.000,260,0.000,0.221,2997,2824,1481,1481,4094,0,0,0,0,0,0,25.79,25.41,25.80,9.89,34.76
$GC,847,1.98,586.5,2997,2824,1480,4095,20.2,15.0,58,862,0.00,2.05,0.00,0.000,1030,0.000,0.112,2997,2049,1479,1479,4094,0,0,0,0,0,0,25.59,25.54,25.61,9.90,34.68
$GC,926,1.98,586.5,2997,2049,1478,4094,9.1,13.8,64,944,0.00,2.00,0.00,0.000,516,0.000,0.206,2997,1315,1477,1477,4094,0,0,0,0,0,0,25.94,25.56,25.94,9.90,34.95
$GC,960,1.98,586.5,2997,1315,1477,4094,4.2,14.1,66,976,0.00,1.90,0.00,0.000,1030,0.000,0.117,2998,2053,1476,1476,4094,0,0,0,0,0,0,25.71,25.67,25.74,9.90,35.15
$STATE,991,end climb,SURFACE_DEPTH_REACHED
$STATE,991,begin surface coast
$FINISH,0.1,1.025139
$STATE,1019,end surface coast,CONTROL_FINISHED_OK
$STATE,1019,begin surface
$SM_CCo,1117,0.00,0.000,0,0,1476,600.16
$SM_GC,0.84,29.48,0.28,0.00,0.092,0.176,0.000,232,2183,1476,-6.71,-1.00,600.16,0,0,1,0,0,0,25.49,25.77,25.71
$IRIDIUM_FIX,5554.28,-16557.83,020517,203914
$TT8_MAMPS,0.026215,0.250166
$HUMID,36.06
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,9.4
$24V_AH,23.43,27.249
$10V_AH,8.71,14.621
$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,49.325,24.975,68.100,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,258.920,60.472,142.797,682.994,28.604,33.419,405.995,0.000,695.476,0.000,5.445,0.000
$DEVICE_MAMPS,223.470,268.164,4484.298,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.564,89.701,150.490,396.647,671.736,0.000,0.000,0.000,0.000,0.000
$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,7391,70
$CAP_FILE_SIZE,23304,14
$CFSIZE,1024409600,1005191168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,220134,5701.010,-16450.949,1,0.8,18,11.1,0.0,0.0,9,5.0