version: 66.12
glider: 401
mission: 20
dive: 291
start: 5 3 117 4 50 54
data:
$ID,401
$MISSION,20
$DIVE,291
$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,30
$R_STBD_OVSHOOT,13
$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
$GPS1,030517,043257,5657.1909,-16454.9551,4,0.8,22,11.1,0.0,0.0,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,1.0
$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,0.231797,-0.335179
$KALMAN_X,-9046.583984,-674.648743,-704.807739,60970.273438,-367.665894
$KALMAN_Y,25280.634766,-1042.425781,-621.524170,-55820.203125,63.967346
$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,-586.5,2321,2157,2352,4094,0.0,0.0,0,36,0.00,0.00,-2.38,0.000,16390,0.000,0.000,2321,2157,2868,2868,4095,0,0,0,0,0,0,25.94,24.41,25.91,10.08,35.82
$GC,38,-1.98,-586.5,2321,2157,2869,4094,5.5,0.0,1,57,6.28,2.00,0.00,0.000,4612,0.142,0.171,1750,1422,2869,2869,4094,0,0,0,0,0,0,25.33,25.21,25.37,10.20,35.98
$GC,157,-1.98,-586.5,1749,1422,2872,4094,22.5,-15.5,10,175,0.00,1.95,0.00,0.000,1030,0.000,0.127,1750,2166,2872,2872,4094,0,0,0,0,0,0,25.58,25.51,25.60,10.19,35.90
$GC,239,-1.98,-586.5,1749,2166,2874,4095,35.2,-15.5,16,254,0.00,2.20,0.00,0.000,260,0.000,0.258,1749,2932,2873,2873,4095,0,0,0,0,0,0,25.96,25.53,25.97,10.18,35.39
$GC,270,-1.98,-586.5,1749,2932,2874,4094,39.5,-14.4,18,288,0.00,2.00,0.00,0.000,1030,0.000,0.112,1750,2159,2875,2875,4094,0,0,0,0,0,0,25.79,25.75,25.78,10.18,35.54
$GC,356,-1.98,-586.5,1749,2158,2876,4094,52.4,-15.2,24,374,0.00,1.98,0.00,0.000,516,0.000,0.169,1750,1420,2877,2877,4094,0,0,0,0,0,0,26.08,25.69,26.08,10.18,35.39
$STATE,402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,402,begin apogee
$GC,408,-0.56,0.0,1749,2081,2877,4094,60.0,-15.5,27,456,5.03,0.00,34.83,4.524,10244,0.221,0.000,2195,2081,2174,2174,4094,0,0,0,0,0,0,25.78,24.74,23.61,10.18,35.31
$STATE,457,end apogee,CONTROL_FINISHED_OK
$STATE,457,begin climb
$GC,459,1.98,586.5,2194,2081,2174,4094,64.4,0.0,30,524,8.93,2.15,34.53,4.474,10500,0.134,0.221,3008,2831,1489,1489,4094,0,0,0,0,0,0,25.01,24.94,23.27,10.04,34.72
$GC,540,1.98,586.5,3007,2831,1488,4094,59.0,9.7,35,555,0.00,2.03,0.00,0.000,1030,0.000,0.104,3008,2081,1488,1488,4094,0,0,0,0,0,0,24.92,24.86,24.91,9.90,34.01
$GC,617,1.98,586.5,3007,2078,1486,4094,47.8,14.5,41,632,0.00,2.12,0.00,0.000,516,0.000,0.199,3008,1318,1486,1486,4094,0,0,0,0,0,0,25.42,25.06,25.44,9.89,34.24
$GC,684,1.98,586.5,3007,1318,1484,4094,37.6,15.2,46,702,0.00,1.98,0.00,0.000,1030,0.000,0.114,3008,2073,1483,1483,4094,0,0,0,0,0,0,25.34,25.29,25.36,9.89,34.76
$GC,766,1.98,586.5,3007,2073,1481,4094,25.4,14.6,52,784,0.00,2.15,0.00,0.000,260,0.000,0.219,3008,2832,1480,1480,4094,0,0,0,0,0,0,25.72,25.35,25.74,9.89,34.64
$GC,800,1.98,586.5,3007,2832,1480,4094,20.3,14.5,54,815,0.00,2.00,0.00,0.000,1030,0.000,0.109,3008,2073,1479,1479,4094,0,0,0,0,0,0,25.53,25.49,25.56,9.89,34.72
$GC,879,1.98,586.5,3008,2073,1477,4094,8.4,15.1,60,893,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2073,1477,1477,4094,0,0,0,0,0,0,25.88,25.89,25.89,9.90,34.80
$STATE,931,end climb,SURFACE_DEPTH_REACHED
$STATE,931,begin surface coast
$FINISH,0.0,1.024962
$STATE,958,end surface coast,CONTROL_FINISHED_OK
$STATE,959,begin surface
$SM_CCo,1056,0.00,0.000,0,0,1475,601.02
$SM_GC,0.87,29.40,0.25,0.00,0.087,0.189,0.000,242,2178,1475,-6.67,-1.00,601.02,0,0,1,0,0,0,25.70,25.70,25.76
$IRIDIUM_FIX,5554.28,-16557.83,030517,042556
$TT8_MAMPS,0.026964,0.279377
$HUMID,35.31
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,9.5
$24V_AH,23.27,29.159
$10V_AH,8.59,15.148
$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,49.625,26.250,69.350,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,247.318,59.674,139.470,639.336,28.148,33.435,396.718,0.000,651.684,0.000,5.447,0.000
$DEVICE_MAMPS,220.987,258.232,4524.026,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.717,84.537,141.925,364.178,627.738,0.000,0.000,0.000,0.000,0.000
$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,7375,66
$CAP_FILE_SIZE,21850,12
$CFSIZE,1024409600,1004208128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,050938,5656.857,-16455.812,3,0.8,34,11.1,0.0,0.0,10,5.0