version: 66.12
glider: 401
mission: 20
dive: 290
start: 5 3 117 4 33 59
data:
$ID,401
$MISSION,20
$DIVE,290
$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,19
$R_STBD_OVSHOOT,19
$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
$GPS1,030517,042425,5657.2163,-16454.7812,3,0.8,18,11.1,0.0,0.0,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-38.9
$GPS2,030517,043257,5657.1909,-16454.9551,4,0.8,22,11.1,0.0,0.0,9,4.9
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5646.760,-16500.057
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.258027,-0.318171
$KALMAN_X,-8885.704102,-559.258911,-640.567749,60649.054688,-399.503967
$KALMAN_Y,24992.689453,-1031.322144,-661.735657,-55492.152344,43.294495
$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,-586.5,231,2174,1475,4094,0.0,0.0,0,34,0.00,0.00,-12.38,0.000,16390,0.000,0.000,231,2174,2864,2864,4095,0,0,0,0,0,0,26.01,24.44,26.02,9.90,36.53
$GC,36,-1.98,-586.5,230,2174,2864,4095,0.8,0.0,1,65,19.25,2.12,0.00,0.000,2308,0.412,0.243,1737,2922,2867,2867,4095,0,0,0,0,0,0,25.52,25.52,25.59,10.20,36.76
$GC,174,-1.98,-586.5,1736,2922,2870,4095,33.1,-15.5,12,189,0.00,1.95,0.00,0.000,1030,0.000,0.107,1736,2159,2871,2871,4095,0,0,0,0,0,0,25.83,25.81,25.86,10.18,36.41
$GC,253,-1.98,-586.5,1736,2157,2873,4095,44.7,-14.8,18,267,0.00,1.95,0.00,0.000,516,0.000,0.161,1736,1423,2873,2873,4094,0,0,0,0,0,0,26.14,25.75,26.15,10.18,35.90
$STATE,345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,345,begin apogee
$GC,351,-0.56,0.0,1736,2074,2875,4095,59.6,-16.0,25,396,5.12,0.00,34.58,4.484,10244,0.223,0.000,2192,2074,2174,2174,4094,0,0,0,0,0,0,25.86,24.83,23.68,10.18,35.78
$STATE,397,end apogee,CONTROL_FINISHED_OK
$STATE,397,begin climb
$GC,398,1.98,586.5,2192,2074,2173,4094,64.0,0.0,28,449,8.90,0.00,34.17,4.435,11270,0.142,0.000,2993,2074,1490,1490,4094,0,0,0,0,0,0,25.16,25.34,23.34,10.03,35.11
$GC,513,1.98,586.5,2992,2074,1488,4094,53.2,14.8,36,528,0.00,2.08,0.00,0.000,516,0.000,0.181,2993,1325,1487,1487,4094,0,0,1,0,0,0,25.36,25.01,25.38,9.90,34.68
$GC,556,1.98,586.5,2992,1325,1487,4094,46.4,15.4,39,571,0.00,1.92,0.00,0.000,1030,0.000,0.109,2993,2063,1486,1486,4094,0,0,0,0,0,0,25.26,25.22,25.29,9.90,34.56
$GC,634,1.98,586.5,2993,2063,1484,4094,34.6,15.2,45,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2063,1483,1483,4094,0,0,0,0,0,0,25.67,25.69,25.68,9.90,34.80
$GC,710,1.98,586.5,2993,2063,1481,4094,23.6,13.6,51,725,0.00,2.17,0.00,0.000,260,0.000,0.219,2993,2832,1481,1481,4094,0,0,0,0,0,0,25.80,25.42,25.82,9.89,34.76
$GC,752,1.98,586.5,2993,2832,1480,4094,17.5,14.4,54,767,0.00,2.00,0.00,0.000,1030,0.000,0.104,2993,2071,1479,1479,4094,0,0,0,0,0,0,25.61,25.58,25.63,9.90,34.80
$GC,831,1.98,586.5,2992,2071,1477,4094,6.6,13.7,60,849,0.00,2.05,0.00,0.000,516,0.000,0.211,2993,1323,1477,1477,4094,0,0,0,0,0,0,25.95,25.56,25.96,9.90,35.15
$STATE,862,end climb,FINISH_DEPTH_REACHED
$STATE,862,begin subsurface finish
$FINISH1,2.0,1.025115,-148
$GC,870,-0.24,-148.0,2993,2072,1477,4095,2.0,13.2,62,899,7.07,2.33,-7.65,0.000,20740,0.092,4.199,2321,2837,2351,2351,4094,0,0,0,0,0,0,25.75,24.19,25.78,9.90,35.27
$FINISH2,0.5
$STATE,900,end subsurface finish,CONTROL_FINISHED_OK
$STATE,901,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,042556
$TT8_MAMPS,0.026215,0.259903
$HUMID,35.90
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,10.2
$24V_AH,23.34,29.069
$10V_AH,8.70,15.124
$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,40.350,22.200,68.750,0.000,0.000,41.583,65.584,218.529,0.500,0.000,23.677,238.850,59.857,93.234,978.092,65.813,33.441,343.267,0.000,621.622,0.000,11.350,0.000
$DEVICE_MAMPS,412.178,4198.753,4484.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.379,81.964,137.618,342.004,596.537,0.000,0.000,0.000,0.000,0.000
$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,3948,64
$CAP_FILE_SIZE,25963,4
$CFSIZE,1024409600,1004257280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,030517,043257,5657.191,-16454.955,4,0.8,22,11.1,0.0,0.0,9,4.9