version: 66.12
glider: 401
mission: 20
dive: 285
start: 5 3 117 2 43 15
data:
$ID,401
$MISSION,20
$DIVE,285
$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,46
$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
$GPS1,030517,022426,5658.5200,-16452.0039,4,1.1,21,11.1,0.6,308.4,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.7
$GPS2,030517,022426,5658.5200,-16452.0039,4,1.1,21,11.1,0.6,308.4,9,4.8
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5648.089,-16457.109
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.002249,-0.410547
$KALMAN_X,-6725.212402,115.709793,-51.306080,60161.578125,-132.968384
$KALMAN_Y,24598.707031,-690.085449,-436.117981,-53218.460938,0.800476
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.98,-586.5,2323,2205,2350,4094,0.0,0.0,0,33,0.00,0.05,-5.00,0.000,16390,0.000,4.139,2324,2163,2861,2861,4095,0,0,0,0,0,0,25.96,24.25,25.97,10.07,35.82
$GC,36,-1.98,-586.5,2324,2161,2861,4095,0.1,0.0,1,54,6.10,2.10,0.00,0.000,4356,0.099,0.231,1749,2896,2861,2861,4094,0,0,0,0,0,0,25.52,25.34,25.53,10.19,36.41
$GC,163,-1.98,-586.5,1749,2896,2864,4094,17.5,-15.1,11,182,0.00,1.85,0.00,0.000,1030,0.000,0.109,1749,2174,2864,2864,4094,0,0,0,0,0,0,25.72,25.70,25.75,10.19,36.06
$GC,247,-1.98,-586.5,1749,2174,2866,4094,30.0,-15.0,17,265,0.00,2.03,0.00,0.000,516,0.000,0.171,1749,1418,2866,2866,4095,0,0,0,0,0,0,26.04,25.67,26.05,10.17,35.58
$GC,328,-1.98,-586.5,1749,1417,2869,4095,42.4,-15.4,23,343,0.00,1.83,0.00,0.000,1030,0.000,0.127,1749,2123,2868,2868,4094,0,0,0,0,0,0,25.84,25.79,25.87,10.18,35.66
$GC,409,-1.98,-586.5,1748,2123,2870,4095,54.5,-14.6,29,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,2123,2870,2870,4095,0,0,0,0,0,0,26.17,26.19,26.18,10.18,35.35
$STATE,442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,442,begin apogee
$GC,447,-0.56,0.0,1749,2058,2871,4095,59.2,-14.3,31,498,5.00,0.00,34.40,4.474,10244,0.223,0.000,2192,2056,2173,2173,4094,0,0,0,0,0,0,25.86,24.51,23.70,10.18,35.31
$STATE,499,end apogee,CONTROL_FINISHED_OK
$STATE,499,begin climb
$GC,501,1.98,586.5,2192,2056,2173,4095,63.6,0.0,34,556,8.95,2.22,34.15,4.380,10500,0.139,0.216,3009,2831,1489,1489,4094,0,0,0,0,0,0,25.10,25.02,23.36,10.03,35.66
$GC,573,1.98,586.5,3008,2831,1488,4094,58.7,9.8,38,591,0.00,1.98,0.00,0.000,1030,0.000,0.102,3009,2098,1488,1488,4094,0,0,0,0,0,0,24.91,24.87,24.93,9.89,34.44
$GC,655,1.98,586.5,3008,2098,1486,4094,46.2,15.1,44,673,0.00,2.17,0.00,0.000,516,0.000,0.196,3009,1314,1485,1485,4094,0,0,0,0,0,0,25.48,25.10,25.49,9.89,34.05
$GC,713,1.98,586.5,3009,1314,1484,4094,37.3,15.3,48,731,0.00,1.98,0.00,0.000,1030,0.000,0.114,3008,2070,1483,1483,4094,0,0,0,0,0,0,25.36,25.32,25.39,9.89,34.28
$GC,795,1.98,586.5,3009,2070,1481,4094,24.7,15.0,54,814,0.00,2.17,0.00,0.000,260,0.000,0.223,3009,2837,1480,1480,4094,0,0,0,0,0,0,25.76,25.37,25.77,9.89,34.48
$GC,854,1.98,586.5,3009,2836,1479,4094,15.5,15.4,58,870,0.00,1.98,0.00,0.000,1030,0.000,0.107,3009,2083,1478,1478,4094,0,0,0,0,0,0,25.60,25.56,25.62,9.89,34.72
$GC,933,1.98,586.5,3009,2083,1476,4094,3.8,14.9,64,948,0.00,2.08,0.00,0.000,516,0.000,0.196,3009,1321,1476,1476,4094,0,0,0,0,0,0,25.94,25.56,25.95,9.90,35.11
$STATE,963,end climb,SURFACE_DEPTH_REACHED
$STATE,963,begin surface coast
$FINISH,0.2,1.025123
$STATE,991,end surface coast,CONTROL_FINISHED_OK
$STATE,991,begin surface
$SM_CCo,1090,0.00,0.000,0,0,1475,601.02
$SM_GC,0.90,29.65,2.28,0.00,0.094,0.149,0.000,231,2170,1475,-6.71,-0.59,601.02,0,0,1,0,0,0,25.46,25.65,25.68
$IRIDIUM_FIX,5554.28,-16557.83,030517,013911
$TT8_MAMPS,0.026964,0.26215
$HUMID,35.43
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,9.5
$24V_AH,23.36,28.583
$10V_AH,8.67,14.992
$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,49.700,25.025,68.550,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,254.581,59.988,142.768,660.954,28.641,33.424,395.434,0.000,673.256,0.000,5.447,0.000
$DEVICE_MAMPS,223.470,4139.161,4474.366,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.273,87.179,146.184,378.560,649.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,7468,68
$CAP_FILE_SIZE,22284,14
$CFSIZE,1024409600,1004503040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030517,030221,5657.980,-16452.875,2,0.8,22,11.1,0.0,0.0,10,4.9