version: 66.12
glider: 401
mission: 20
dive: 280
start: 5 3 117 1 2 10
data:
$ID,401
$MISSION,20
$DIVE,280
$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,15
$R_STBD_OVSHOOT,36
$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
$GPS1,030517,005042,5659.5288,-16450.8965,1,0.8,19,11.1,0.6,16.6,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-36.2
$GPS2,030517,010108,5659.4736,-16450.9395,5,0.8,25,11.1,0.5,260.4,10,5.0
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5649.042,-16456.045
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.188630,-0.359469
$KALMAN_X,-6547.404785,298.438263,22.654602,60799.468750,83.927887
$KALMAN_Y,23507.904297,-336.682007,-83.613594,-51045.785156,-106.414314
$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,-586.5,231,2192,1476,4094,0.0,0.0,0,37,0.00,0.00,-12.30,0.000,16390,0.000,0.000,231,2192,2863,2863,4095,0,0,0,0,0,0,26.06,25.20,26.07,9.90,37.36
$GC,39,-1.98,-586.5,231,2192,2863,4094,0.8,0.0,1,72,19.25,2.03,0.00,0.000,2308,0.417,0.241,1732,2903,2866,2866,4094,0,0,0,0,0,0,25.46,25.48,25.55,10.19,36.88
$GC,206,-1.98,-586.5,1731,2903,2870,4094,39.8,-15.1,14,220,0.00,1.92,0.00,0.000,1030,0.000,0.107,1732,2152,2870,2870,4094,0,0,0,0,0,0,25.88,25.81,25.87,10.18,36.10
$GC,288,-1.98,-586.5,1732,2151,2872,4094,52.6,-15.8,20,303,0.00,1.92,0.00,0.000,516,0.000,0.166,1731,1428,2872,2872,4095,0,0,0,0,0,0,26.15,25.79,26.16,10.18,36.49
$STATE,330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,330,begin apogee
$GC,336,-0.56,0.0,1732,2058,2873,4095,59.6,-16.3,23,381,5.20,0.00,34.58,4.522,10244,0.231,0.000,2191,2058,2174,2174,4094,0,0,0,0,0,0,25.83,24.79,23.65,10.18,35.50
$STATE,382,end apogee,CONTROL_FINISHED_OK
$STATE,382,begin climb
$GC,383,1.98,586.5,2191,2059,2174,4094,64.3,0.0,26,440,8.85,2.20,34.53,4.415,10500,0.137,0.219,2997,2829,1488,1488,4094,0,0,0,0,0,0,25.04,24.97,23.33,10.04,35.11
$GC,620,1.98,586.5,2996,2829,1482,4094,34.4,15.7,45,639,0.00,1.95,0.00,0.000,1030,0.000,0.102,2997,2088,1481,1481,4094,0,0,0,0,0,0,25.44,25.39,25.47,9.89,35.11
$GC,702,1.98,586.5,2996,2088,1479,4094,22.9,13.4,51,716,0.00,2.10,0.00,0.000,260,0.000,0.216,2997,2828,1479,1479,4094,0,0,1,0,0,0,25.81,25.45,25.82,9.89,35.62
$STATE,836,end climb,FINISH_DEPTH_REACHED
$STATE,836,begin subsurface finish
$FINISH1,3.0,1.025134,-149
$GC,844,-0.24,-149.4,2997,2079,1475,4094,3.0,14.7,62,876,7.45,2.28,-8.18,0.000,20740,0.166,4.176,2318,2825,2351,2351,4094,0,0,0,0,0,0,25.73,24.20,25.75,9.90,35.50
$FINISH2,0.1
$STATE,877,end subsurface finish,CONTROL_FINISHED_OK
$STATE,877,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,005355
$TT8_MAMPS,0.026215,0.256907
$HUMID,35.86
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,9.5
$24V_AH,23.33,28.119
$10V_AH,8.71,14.861
$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,40.750,18.000,69.100,0.000,0.000,74.305,80.610,220.124,0.500,0.000,27.166,229.272,119.655,82.144,1032.207,62.825,33.444,300.319,0.000,622.174,0.000,12.668,0.000
$DEVICE_MAMPS,417.144,4176.406,4521.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.721,82.093,137.590,342.916,596.691,0.000,0.000,0.000,0.000,0.000
$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,7383,64
$CAP_FILE_SIZE,23686,5
$CFSIZE,1024409600,1004748800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,030517,010108,5659.474,-16450.939,5,0.8,25,11.1,0.5,260.4,10,5.0