version: 66.12
glider: 401
mission: 20
dive: 283
start: 5 3 117 1 59 52
data:
$ID,401
$MISSION,20
$DIVE,283
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,030517,014255,5659.0234,-16451.3770,4,0.8,14,11.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-0.5
$GPS2,030517,014255,5659.0234,-16451.3770,4,0.8,14,11.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5648.592,-16456.482
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.066523,-0.405316
$KALMAN_X,-6450.583008,246.824112,50.274673,60282.515625,-43.809082
$KALMAN_Y,24328.603516,-546.406982,-316.918945,-52279.515625,19.569916
$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,-586.5,2322,2176,2353,4095,0.0,0.0,0,37,0.00,0.00,-5.05,0.000,16390,0.000,0.000,2322,2176,2863,2863,4094,0,0,0,0,0,0,26.06,25.19,26.06,10.08,36.33
$GC,39,-1.98,-586.5,2322,2176,2863,4094,0.1,0.0,1,58,6.25,2.08,0.00,0.000,4612,0.144,0.169,1752,1416,2863,2863,4094,0,0,0,0,0,0,25.47,25.37,25.49,10.19,35.90
$GC,98,-1.98,-586.5,1751,1416,2863,4094,7.3,-11.4,5,113,0.00,1.95,0.00,0.000,1030,0.000,0.127,1751,2159,2864,2864,4094,0,0,0,0,0,0,25.56,25.51,25.60,10.19,35.66
$GC,177,-1.98,-586.5,1751,2159,2866,4095,19.8,-16.2,11,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,2159,2866,2866,4095,0,0,0,0,0,0,25.95,25.96,25.96,10.19,35.90
$GC,254,-1.98,-586.5,1751,2159,2868,4094,31.5,-14.6,17,269,0.00,2.00,0.00,0.000,516,0.000,0.156,1751,1413,2868,2868,4095,0,0,0,0,0,0,26.04,25.68,26.05,10.18,35.50
$GC,285,-1.98,-586.5,1751,1413,2869,4095,36.0,-14.7,19,303,0.00,1.92,0.00,0.000,1030,0.000,0.129,1751,2154,2869,2869,4094,0,0,0,0,0,0,25.79,25.74,25.82,10.18,35.50
$GC,366,-1.98,-586.5,1751,2154,2871,4094,48.0,-14.8,25,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,2153,2871,2871,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.17,35.35
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,439,-0.56,0.0,1751,2051,2873,4094,58.1,-14.5,30,491,4.97,0.05,34.28,4.432,10244,0.228,0.238,2191,2085,2174,2174,4094,0,0,0,0,0,0,25.84,24.49,23.70,10.18,35.46
$STATE,492,end apogee,CONTROL_FINISHED_OK
$STATE,492,begin climb
$GC,494,1.98,586.5,2191,2085,2175,4094,62.3,0.0,33,545,8.80,2.08,33.97,4.353,10500,0.129,0.216,2996,2813,1489,1489,4094,0,0,0,0,0,0,25.11,25.05,23.36,10.03,34.87
$GC,714,1.98,586.5,2996,2813,1484,4094,35.6,15.4,50,732,0.00,1.88,0.00,0.000,1030,0.000,0.102,2996,2100,1483,1483,4094,0,0,0,0,0,0,25.41,25.37,25.43,9.89,35.46
$GC,796,1.98,586.5,2996,2100,1481,4094,23.3,14.3,56,815,0.00,2.05,0.00,0.000,260,0.000,0.219,2996,2823,1480,1480,4094,0,0,1,0,0,0,25.78,25.40,25.79,9.89,34.72
$STATE,947,end climb,SURFACE_DEPTH_REACHED
$STATE,947,begin surface coast
$FINISH,0.1,1.012495
$STATE,962,end surface coast,CONTROL_FINISHED_OK
$STATE,962,begin surface
$SM_CCo,1061,0.00,0.000,0,0,1476,600.16
$SM_GC,0.92,29.55,1.70,0.00,0.094,0.102,0.000,231,2148,1476,-6.71,1.14,600.16,0,0,1,0,0,0,25.39,25.76,25.65
$IRIDIUM_FIX,5554.28,-16557.83,030517,005820
$TT8_MAMPS,0.026215,0.245672
$HUMID,35.50
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,9.5
$24V_AH,23.36,28.392
$10V_AH,8.71,14.937
$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,49.575,16.075,68.250,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,248.277,59.938,123.098,659.608,26.030,33.421,342.689,0.000,672.527,0.000,5.438,0.000
$DEVICE_MAMPS,228.436,238.368,4432.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.363,88.588,148.331,374.759,648.536,0.000,0.000,0.000,0.000,0.000
$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,7405,69
$CAP_FILE_SIZE,18963,9
$CFSIZE,1024409600,1004601344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,030517,021854,5658.555,-16451.928,2,1.2,47,11.1,0.0,0.0,8,3.2