version: 66.12
glider: 401
mission: 20
dive: 286
start: 5 3 117 3 8 41
data:
$ID,401
$MISSION,20
$DIVE,286
$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,21
$R_STBD_OVSHOOT,12
$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
$GPS1,030517,030221,5657.9800,-16452.8750,2,0.8,22,11.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-42.6
$GPS2,030517,030738,5657.9487,-16452.9707,4,0.8,23,11.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5647.518,-16458.074
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.090052,-0.403682
$KALMAN_X,-7318.018555,-26.916862,-186.563843,60081.363281,-247.476517
$KALMAN_Y,24342.777344,-808.517273,-551.015259,-53766.195312,-40.896729
$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,-586.5,230,2172,1476,4094,0.0,0.0,0,37,0.00,0.00,-12.23,0.000,16390,0.000,0.000,231,2172,2856,2856,4095,0,0,0,0,0,0,26.03,25.19,26.04,9.90,36.33
$GC,40,-1.98,-586.5,230,2172,2857,4095,0.9,0.0,1,72,19.35,2.15,0.00,0.000,2308,0.420,0.233,1734,2928,2859,2859,4094,0,0,0,0,0,0,25.44,25.45,25.52,10.19,36.41
$GC,171,-1.98,-586.5,1734,2928,2862,4094,34.5,-15.2,11,189,0.00,1.98,0.00,0.000,1030,0.000,0.109,1734,2160,2863,2863,4094,0,0,0,0,0,0,25.77,25.76,25.80,10.18,36.02
$GC,252,-1.98,-586.5,1733,2159,2864,4094,47.1,-15.7,17,267,0.00,1.98,0.00,0.000,516,0.000,0.169,1734,1420,2864,2864,4095,0,0,0,0,0,0,26.10,25.73,26.11,10.18,35.58
$STATE,325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,325,begin apogee
$GC,331,-0.56,0.0,1734,2082,2867,4094,58.9,-16.3,22,379,5.18,0.00,34.33,4.509,10244,0.228,0.000,2191,2082,2173,2173,4094,0,0,0,0,0,0,25.82,24.46,23.65,10.18,35.35
$STATE,380,end apogee,CONTROL_FINISHED_OK
$STATE,380,begin climb
$GC,382,1.98,586.5,2191,2082,2173,4094,64.3,0.0,25,433,8.93,0.00,34.20,4.405,11270,0.144,0.000,2992,2082,1489,1489,4094,0,0,0,0,0,0,25.15,25.33,23.34,10.03,35.31
$GC,496,1.98,586.5,2992,2082,1486,4094,53.3,14.9,33,514,0.00,2.10,0.00,0.000,516,0.000,0.194,2993,1332,1487,1487,4094,0,0,1,0,0,0,25.34,25.00,25.35,9.90,34.91
$GC,541,1.98,586.5,2992,1332,1485,4094,46.4,14.7,36,556,0.00,1.92,0.00,0.000,1030,0.000,0.114,2993,2064,1485,1485,4094,0,0,0,0,0,0,25.26,25.20,25.29,9.90,35.27
$GC,619,1.98,586.5,2992,2064,1483,4094,35.2,14.6,42,638,0.00,2.20,0.00,0.000,260,0.000,0.221,2993,2834,1482,1482,4094,0,0,0,0,0,0,25.66,25.28,25.67,9.90,34.99
$GC,666,1.98,586.5,2992,2835,1481,4094,28.0,15.2,45,682,0.00,2.00,0.00,0.000,1030,0.000,0.107,2993,2078,1481,1481,4094,0,0,0,0,0,0,25.51,25.46,25.53,9.89,34.68
$GC,744,1.98,586.5,2992,2079,1479,4094,16.9,13.9,51,763,0.00,2.08,0.00,0.000,516,0.000,0.199,2994,1318,1478,1478,4094,0,0,0,0,0,0,25.85,25.51,25.86,9.89,34.64
$GC,790,1.98,586.5,2992,1318,1477,4094,10.3,14.1,54,808,0.00,1.95,0.00,0.000,1030,0.000,0.114,2993,2073,1477,1477,4094,0,0,0,0,0,0,25.65,25.61,25.70,9.90,35.03
$STATE,846,end climb,FINISH_DEPTH_REACHED
$STATE,846,begin subsurface finish
$FINISH1,2.4,1.025124,-149
$GC,852,-0.24,-148.7,2993,2073,1474,4094,2.4,13.9,58,872,7.20,2.25,-8.07,0.000,20740,0.122,4.174,2321,2833,2353,2353,4094,0,0,1,0,0,0,25.73,24.13,25.76,9.90,35.07
$FINISH2,0.0
$STATE,873,end subsurface finish,CONTROL_FINISHED_OK
$STATE,874,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,022028
$TT8_MAMPS,0.026215,0.256158
$HUMID,35.54
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.5,10.2
$24V_AH,23.34,28.687
$10V_AH,8.69,15.019
$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,40.650,22.300,68.525,0.000,0.000,25.285,18.033,168.383,0.750,0.000,25.334,228.282,0.000,109.649,812.112,64.724,33.445,357.917,0.000,587.354,0.000,10.303,0.000
$DEVICE_MAMPS,419.627,4173.923,4509.128,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,39.920,75.543,126.841,328.780,562.616,0.000,0.000,0.000,0.000,0.000
$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,3893,59
$CAP_FILE_SIZE,24109,13
$CFSIZE,1024409600,1004453888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,030517,030738,5657.949,-16452.971,4,0.8,23,11.1,0.0,0.0,10,5.0