version: 66.12
glider: 401
mission: 20
dive: 289
start: 5 3 117 4 5 37
data:
$ID,401
$MISSION,20
$DIVE,289
$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,35
$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
$GPS1,030517,034825,5657.5308,-16453.8672,5,0.7,22,11.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-2.9
$GPS2,030517,034825,5657.5308,-16453.8672,5,0.7,22,11.1,0.0,0.0,11,5.0
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5647.100,-16458.969
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.178298,-0.373592
$KALMAN_X,-8087.859375,-354.646393,-450.359863,60527.257812,-319.872986
$KALMAN_Y,25031.396484,-969.269592,-615.132446,-55023.195312,48.136353
$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,13,begin dive
$GC,15,-1.98,-586.5,2318,2191,2351,4094,0.0,0.0,0,36,0.00,0.00,-5.05,0.000,16390,0.000,0.000,2318,2189,2861,2861,4094,0,0,0,0,0,0,25.91,25.06,25.92,10.08,35.82
$GC,38,-1.98,-586.5,2318,2189,2861,4095,0.0,0.0,1,57,6.10,2.08,0.00,0.000,4356,0.104,0.233,1752,2912,2861,2861,4094,0,0,0,0,0,0,25.36,25.22,25.39,10.19,36.25
$GC,132,-1.98,-586.5,1751,2912,2863,4094,12.7,-14.8,8,147,0.00,1.92,0.00,0.000,1030,0.000,0.109,1752,2168,2863,2863,4094,0,0,0,0,0,0,25.58,25.56,25.61,10.19,36.33
$GC,211,-1.98,-586.5,1751,2165,2865,4094,24.6,-15.1,14,229,0.00,1.98,0.00,0.000,516,0.000,0.166,1752,1429,2866,2866,4095,0,0,0,0,0,0,25.93,25.56,25.94,10.18,35.66
$GC,270,-1.98,-586.5,1751,1429,2867,4094,33.7,-15.4,18,288,0.00,1.83,0.00,0.000,1030,0.000,0.127,1752,2130,2867,2867,4095,0,0,0,0,0,0,25.73,25.69,25.76,10.18,35.39
$GC,352,-1.98,-586.5,1751,2130,2869,4095,45.9,-14.8,24,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,2130,2869,2869,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.18,36.41
$STATE,433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,433,begin apogee
$GC,438,-0.56,0.0,1751,2067,2871,4094,58.3,-14.7,30,493,5.00,0.00,34.10,4.412,10244,0.221,0.000,2194,2067,2175,2175,4094,0,0,0,0,0,0,25.80,24.47,23.67,10.17,35.50
$STATE,494,end apogee,CONTROL_FINISHED_OK
$STATE,494,begin climb
$GC,496,1.98,586.5,2194,2067,2174,4094,62.8,0.0,33,551,8.75,2.22,34.10,4.323,10500,0.127,0.231,2996,2840,1488,1488,4094,0,0,0,0,0,0,25.10,25.03,23.37,10.03,34.91
$GC,568,1.98,586.5,2995,2840,1487,4094,57.9,9.6,37,586,0.00,2.00,0.00,0.000,1030,0.000,0.102,2996,2100,1487,1487,4094,0,0,0,0,0,0,24.89,24.85,24.89,9.90,34.28
$GC,650,1.98,586.5,2996,2096,1485,4094,45.4,15.5,43,665,0.00,2.17,0.00,0.000,516,0.000,0.196,2996,1315,1484,1484,4094,0,0,0,0,0,0,25.46,25.10,25.47,9.89,34.99
$GC,716,1.98,586.5,2996,1315,1482,4094,35.3,15.5,48,730,0.00,1.98,0.00,0.000,1030,0.000,0.114,2996,2071,1482,1482,4094,0,0,0,0,0,0,25.36,25.32,25.39,9.89,35.07
$GC,794,1.98,586.5,2995,2071,1480,4094,23.9,14.1,54,812,0.00,2.15,0.00,0.000,260,0.000,0.221,2996,2831,1480,1480,4094,0,0,0,0,0,0,25.75,25.37,25.76,9.89,34.72
$GC,840,1.98,586.5,2995,2831,1479,4094,16.9,14.7,57,856,0.00,2.03,0.00,0.000,1030,0.000,0.107,2996,2062,1478,1478,4094,0,0,0,0,0,0,25.57,25.53,25.63,9.89,35.03
$GC,920,1.98,586.5,2995,2062,1476,4094,5.6,14.3,63,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2062,1475,1475,4094,0,0,0,0,0,0,25.91,25.93,25.93,9.90,34.95
$STATE,952,end climb,SURFACE_DEPTH_REACHED
$STATE,952,begin surface coast
$FINISH,0.1,1.020540
$STATE,979,end surface coast,CONTROL_FINISHED_OK
$STATE,979,begin surface
$SM_CCo,1076,0.00,0.000,0,0,1475,601.88
$SM_GC,0.93,29.55,0.30,0.00,0.092,0.186,0.000,231,2174,1475,-6.71,-0.87,601.88,0,0,0,0,0,0,25.41,25.69,25.65
$IRIDIUM_FIX,5554.28,-16557.83,030517,030342
$TT8_MAMPS,0.026964,0.24717
$HUMID,35.35
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,9.5
$24V_AH,23.37,28.960
$10V_AH,8.68,15.095
$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,49.400,21.000,68.200,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,250.823,59.694,141.588,652.209,28.695,33.422,393.150,0.000,664.453,0.000,5.449,0.000
$DEVICE_MAMPS,220.987,255.749,4412.291,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.546,85.878,144.038,375.275,641.133,0.000,0.000,0.000,0.000,0.000
$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,7423,67
$CAP_FILE_SIZE,21773,14
$CFSIZE,1024409600,1004306432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030517,042425,5657.216,-16454.781,3,0.8,18,11.1,0.0,0.0,11,5.0