version: 66.12
glider: 401
mission: 20
dive: 273
start: 5 2 117 22 24 51
data:
$ID,401
$MISSION,20
$DIVE,273
$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,11
$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
$GPS1,020517,220706,5701.0425,-16450.9277,5,0.7,24,11.1,0.7,244.4,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.5
$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,-0.173522,-0.375947
$KALMAN_X,-7659.108398,150.183685,-529.971375,62618.847656,130.071136
$KALMAN_Y,22935.994141,-160.721100,377.154572,-48221.390625,156.348785
$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,-586.5,2321,2169,2354,4094,0.0,0.0,0,37,0.00,0.00,-4.93,0.000,16390,0.000,0.000,2322,2168,2861,2861,4094,0,0,0,0,0,0,25.89,25.06,25.90,10.08,36.10
$GC,39,-1.98,-586.5,2322,2168,2862,4094,0.0,0.0,1,58,6.18,2.08,0.00,0.000,4612,0.107,0.176,1748,1411,2862,2862,4095,0,0,0,0,0,0,25.35,25.22,25.37,10.19,36.21
$GC,227,-1.98,-586.5,1748,1411,2866,4094,27.6,-15.5,16,242,0.00,1.98,0.00,0.000,1030,0.000,0.127,1748,2167,2867,2867,4094,0,0,0,0,0,0,25.67,25.61,25.71,10.18,36.25
$GC,305,-1.98,-586.5,1748,2167,2868,4095,39.0,-14.7,22,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,2167,2869,2869,4095,0,0,0,0,0,0,26.03,26.04,26.03,10.18,35.66
$GC,384,-1.98,-586.5,1747,2167,2870,4094,50.5,-15.0,28,398,0.00,2.03,0.00,0.000,516,0.000,0.159,1748,1411,2871,2871,4094,0,0,0,0,0,0,26.08,25.75,26.10,10.18,35.50
$STATE,436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,436,begin apogee
$GC,442,-0.56,0.0,1748,2077,2872,4094,59.2,-15.6,32,490,5.03,0.00,34.42,4.474,10244,0.226,0.000,2192,2077,2174,2174,4094,0,0,0,0,0,0,25.79,24.78,23.65,10.18,36.17
$STATE,491,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,493,1.98,586.5,2191,2077,2174,4094,63.5,0.0,35,540,8.90,0.00,34.20,4.363,11270,0.139,0.000,2992,2077,1489,1489,4094,0,0,0,0,0,0,25.14,25.31,23.32,10.03,34.99
$GC,603,1.98,586.5,2992,2077,1488,4094,53.5,13.3,43,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2077,1487,1487,4094,0,0,0,0,0,0,25.30,25.32,25.31,9.90,34.32
$GC,684,1.98,586.5,2992,2077,1485,4094,41.3,14.9,49,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2077,1484,1484,4094,0,0,0,0,0,0,25.54,25.56,25.56,9.89,34.95
$GC,765,1.98,586.5,2992,2077,1482,4094,28.9,15.2,55,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2077,1482,1482,4094,0,0,0,0,0,0,25.70,25.72,25.72,9.89,34.80
$GC,846,1.98,586.5,2992,2077,1479,4094,17.3,14.5,61,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2077,1479,1479,4094,0,0,0,0,0,0,25.83,25.84,25.84,9.89,34.64
$GC,927,1.98,586.5,2992,2077,1477,4094,6.2,13.2,67,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2077,1477,1477,4094,0,0,0,0,0,0,25.93,25.94,25.94,9.90,35.50
$STATE,968,end climb,SURFACE_DEPTH_REACHED
$STATE,968,begin surface coast
$FINISH,0.1,1.012884
$STATE,996,end surface coast,CONTROL_FINISHED_OK
$STATE,996,begin surface
$SM_CCo,1094,0.00,0.000,0,0,1476,600.16
$SM_GC,0.91,29.40,0.22,0.00,0.089,0.241,0.000,232,2175,1476,-6.71,-0.91,600.16,0,0,1,0,0,0,25.46,25.70,25.68
$IRIDIUM_FIX,5554.28,-16557.83,020517,212111
$TT8_MAMPS,0.026964,0.259903
$HUMID,35.43
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,9.5
$24V_AH,23.32,27.439
$10V_AH,8.67,14.674
$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,49.500,9.775,68.625,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,253.183,60.541,122.834,689.131,25.771,33.426,350.156,0.000,702.021,0.000,5.446,0.000
$DEVICE_MAMPS,225.953,240.851,4474.366,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,49.341,92.424,154.784,392.376,678.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,7438,72
$CAP_FILE_SIZE,18632,9
$CFSIZE,1024409600,1005092864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,224403,5700.808,-16450.725,2,0.8,24,11.1,0.0,0.0,10,4.8