version: 66.12
glider: 401
mission: 20
dive: 277
start: 5 2 117 23 49 11
data:
$ID,401
$MISSION,20
$DIVE,277
$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,17
$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
$GPS1,020517,233129,5700.4805,-16450.6016,4,0.8,15,11.1,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-3.0
$GPS2,020517,233129,5700.4805,-16450.6016,4,0.8,15,11.1,0.0,0.0,10,4.8
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5650.049,-16455.711
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.217676,-0.339963
$KALMAN_X,-6815.934082,268.650177,-125.430107,61579.718750,156.945923
$KALMAN_Y,23604.535156,-135.166046,200.061752,-49781.109375,14.569977
$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,-586.5,2322,2152,2353,4094,0.0,0.0,0,34,0.00,0.00,-5.03,0.000,16390,0.000,0.000,2322,2153,2861,2861,4095,0,0,0,0,0,0,25.94,25.09,25.94,10.08,35.66
$GC,36,-1.98,-586.5,2322,2154,2861,4094,0.0,0.0,1,51,6.35,2.22,0.00,0.000,4356,0.169,0.238,1748,2927,2861,2861,4095,0,0,0,0,0,0,25.45,25.32,25.48,10.19,36.21
$GC,160,-1.98,-586.5,1747,2927,2864,4094,16.4,-14.9,11,175,0.00,1.98,0.00,0.000,1030,0.000,0.107,1748,2165,2864,2864,4095,0,0,0,0,0,0,25.69,25.66,25.71,10.19,35.90
$GC,237,-1.98,-586.5,1747,2162,2866,4095,28.5,-15.8,17,256,0.00,2.00,0.00,0.000,516,0.000,0.171,1748,1417,2867,2867,4095,0,0,0,0,0,0,26.01,25.64,26.02,10.18,35.74
$GC,295,-1.98,-586.5,1747,1417,2867,4095,37.1,-14.9,21,310,0.00,1.90,0.00,0.000,1030,0.000,0.127,1748,2149,2868,2868,4095,0,0,0,0,0,0,25.79,25.73,25.82,10.18,35.62
$GC,372,-1.98,-586.5,1747,2149,2869,4095,48.7,-14.8,27,393,0.00,2.20,0.00,0.000,260,0.000,0.251,1748,2924,2870,2870,4095,0,0,0,0,0,0,26.13,25.72,26.14,10.18,35.46
$GC,410,-1.98,-586.5,1747,2924,2870,4094,54.2,-14.8,29,425,0.00,2.00,0.00,0.000,1030,0.000,0.112,1748,2144,2870,2870,4095,0,0,0,0,0,0,25.92,25.89,25.95,10.18,35.74
$STATE,439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,439,begin apogee
$GC,444,-0.56,0.0,1748,2059,2871,4095,58.9,-14.8,31,495,5.05,0.00,34.20,4.452,10244,0.231,0.000,2193,2059,2173,2173,4094,0,0,0,0,0,0,25.83,24.49,23.68,10.18,35.27
$STATE,496,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,498,1.98,586.5,2193,2058,2173,4094,63.1,0.0,34,563,8.80,2.20,34.33,4.368,10500,0.132,0.214,2997,2828,1489,1489,4094,0,0,0,0,0,0,25.09,25.01,23.35,10.03,34.95
$GC,590,1.98,586.5,2997,2828,1488,4094,55.9,12.1,40,605,0.00,1.95,0.00,0.000,1030,0.000,0.102,2997,2100,1488,1488,4094,0,0,0,0,0,0,25.01,24.98,25.04,9.90,34.48
$GC,669,1.98,586.5,2997,2100,1486,4094,44.1,15.4,46,687,0.00,2.15,0.00,0.000,516,0.000,0.194,2997,1324,1485,1485,4094,0,0,0,0,0,0,25.51,25.14,25.53,9.89,34.28
$GC,713,1.98,586.5,2997,1324,1484,4094,36.9,15.5,49,728,0.00,1.92,0.00,0.000,1030,0.000,0.117,2997,2059,1483,1483,4094,0,0,0,0,0,0,25.36,25.31,25.39,9.89,34.40
$GC,792,1.98,586.5,2997,2059,1481,4094,25.1,15.4,55,810,0.00,2.17,0.00,0.000,260,0.000,0.219,2998,2826,1480,1480,4094,0,0,0,0,0,0,25.75,25.37,25.76,9.89,34.36
$GC,863,1.98,586.5,2997,2825,1479,4095,14.8,14.3,60,879,0.00,1.92,0.00,0.000,1030,0.000,0.109,2998,2091,1479,1479,4095,0,0,0,0,0,0,25.62,25.58,25.64,9.89,35.43
$GC,943,1.98,586.5,2997,2090,1477,4094,3.9,13.6,66,961,0.00,2.10,0.00,0.000,516,0.000,0.206,2998,1323,1476,1476,4094,0,0,0,0,0,0,25.94,25.57,25.96,9.90,34.99
$STATE,975,end climb,SURFACE_DEPTH_REACHED
$STATE,975,begin surface coast
$FINISH,0.3,1.025140
$STATE,1002,end surface coast,CONTROL_FINISHED_OK
$STATE,1002,begin surface
$SM_CCo,1102,0.00,0.000,0,0,1475,600.16
$SM_GC,0.87,29.42,2.20,0.00,0.094,0.119,0.000,241,2163,1475,-6.67,-1.23,600.16,0,0,1,0,0,0,25.73,25.69,25.79
$IRIDIUM_FIX,5554.28,-16557.83,020517,224522
$TT8_MAMPS,0.026215,0.248668
$HUMID,35.46
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,9.6
$24V_AH,23.35,27.817
$10V_AH,8.67,14.779
$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,49.625,31.250,68.525,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,254.934,60.561,143.099,673.153,28.330,33.416,413.132,0.000,685.807,0.000,5.433,0.000
$DEVICE_MAMPS,230.919,250.783,4452.019,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.408,89.667,150.474,383.926,661.672,0.000,0.000,0.000,0.000,0.000
$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,7338,70
$CAP_FILE_SIZE,22931,10
$CFSIZE,1024409600,1004896256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030517,000825,5700.068,-16450.670,1,0.9,18,11.1,0.0,0.0,9,5.0