version: 66.12
glider: 401
mission: 20
dive: 272
start: 5 2 117 22 8 9
data:
$ID,401
$MISSION,20
$DIVE,272
$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,18
$R_STBD_OVSHOOT,31
$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
$GPS1,020517,220134,5701.0103,-16450.9492,1,0.8,18,11.1,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-35.5
$GPS2,020517,220706,5701.0425,-16450.9277,5,0.7,24,11.1,0.7,244.4,11,4.9
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5650.611,-16456.039
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228688,-0.343262
$KALMAN_X,-7789.191406,143.399109,-658.073853,62882.242188,201.444519
$KALMAN_Y,22580.482422,-221.188141,425.661011,-47849.589844,136.501495
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.98,-586.5,231,2185,1476,4094,0.0,0.0,0,37,0.00,0.00,-11.85,0.000,16390,0.000,0.000,231,2185,2862,2862,4095,0,0,0,0,0,0,26.03,25.18,26.05,9.91,36.29
$GC,39,-1.98,-586.5,231,2185,2862,4095,0.9,0.0,1,77,19.20,2.08,0.00,0.000,2308,0.420,0.253,1734,2907,2866,2866,4094,0,0,0,0,0,0,25.44,25.44,25.52,10.20,37.36
$GC,175,-1.98,-586.5,1733,2907,2869,4095,36.3,-14.7,11,194,0.00,1.92,0.00,0.000,1030,0.000,0.109,1734,2156,2869,2869,4095,0,0,0,0,0,0,25.79,25.75,25.82,10.18,36.21
$GC,257,-1.98,-586.5,1733,2156,2871,4094,48.9,-15.3,17,279,0.00,1.95,0.00,0.000,516,0.000,0.166,1734,1423,2871,2871,4095,0,0,0,0,0,0,26.10,25.74,26.11,10.18,36.10
$STATE,317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,317,begin apogee
$GC,323,-0.56,0.0,1734,2063,2872,4094,59.1,-16.3,21,375,5.20,0.00,34.47,4.487,10244,0.231,0.000,2192,2063,2173,2173,4094,0,0,0,0,0,0,25.81,24.46,23.65,10.18,35.50
$STATE,376,end apogee,CONTROL_FINISHED_OK
$STATE,377,begin climb
$GC,378,1.98,586.5,2192,2063,2173,4094,63.8,0.0,24,429,8.93,0.00,34.28,4.405,11270,0.144,0.000,2994,2063,1489,1489,4094,0,0,0,0,0,0,25.18,25.35,23.34,10.03,35.07
$GC,493,1.98,586.5,2993,2063,1487,4094,54.2,13.1,32,511,0.00,2.05,0.00,0.000,516,0.000,0.191,2994,1326,1487,1487,4094,0,0,1,0,0,0,25.34,25.01,25.36,9.90,35.19
$GC,538,1.98,586.5,2993,1326,1486,4094,47.0,14.9,35,556,0.00,1.95,0.00,0.000,1030,0.000,0.112,2994,2070,1485,1485,4094,0,0,0,0,0,0,25.25,25.20,25.27,9.90,34.36
$GC,620,1.98,586.5,2993,2071,1483,4094,35.1,15.2,41,635,0.00,2.15,0.00,0.000,260,0.000,0.219,2993,2828,1483,1483,4094,0,0,0,0,0,0,25.67,25.29,25.68,9.89,34.80
$GC,675,1.98,586.5,2993,2828,1482,4094,26.2,16.3,45,694,0.00,1.92,0.00,0.000,1030,0.000,0.104,2994,2093,1481,1481,4094,0,0,0,0,0,0,25.53,25.49,25.56,9.89,34.64
$GC,757,1.98,586.5,2993,2093,1479,4094,14.3,14.1,51,776,0.00,2.10,0.00,0.000,516,0.000,0.199,2994,1325,1478,1478,4094,0,0,0,0,0,0,25.88,25.50,25.89,9.90,35.50
$GC,816,1.98,586.5,2993,1325,1477,4094,6.5,13.3,55,835,0.00,1.92,0.00,0.000,1030,0.000,0.114,2994,2070,1476,1476,4094,0,0,0,0,0,0,25.68,25.64,25.72,9.90,34.99
$STATE,849,end climb,FINISH_DEPTH_REACHED
$STATE,849,begin subsurface finish
$FINISH1,1.7,1.025146,-150
$GC,854,-0.24,-150.2,2994,2074,1476,4094,1.7,13.6,57,888,7.15,2.30,-8.20,0.000,20740,0.109,4.179,2322,2837,2354,2354,4094,0,0,0,0,0,0,25.75,24.19,25.77,9.90,35.86
$FINISH2,0.1
$STATE,889,end subsurface finish,CONTROL_FINISHED_OK
$STATE,889,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,212111
$TT8_MAMPS,0.026964,0.262899
$HUMID,35.62
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,9.8
$24V_AH,23.34,27.353
$10V_AH,8.68,14.648
$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,40.475,22.000,68.750,0.000,0.000,23.538,22.538,180.499,0.500,0.000,25.219,224.174,0.000,123.497,835.621,61.625,33.444,386.636,0.000,592.476,0.000,8.688,0.000
$DEVICE_MAMPS,419.627,4178.889,4486.781,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,39.789,75.499,126.846,334.601,567.642,0.000,0.000,0.000,0.000,0.000
$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,3923,59
$CAP_FILE_SIZE,23920,16
$CFSIZE,1024409600,1005142016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,220706,5701.042,-16450.928,5,0.7,24,11.1,0.7,244.4,11,4.9