version: 66.12
glider: 401
mission: 20
dive: 292
start: 5 3 117 5 16 23
data:
$ID,401
$MISSION,20
$DIVE,292
$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,15
$R_STBD_OVSHOOT,27
$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
$GPS1,030517,050938,5656.8574,-16455.8125,3,0.8,34,11.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-38.8
$GPS2,030517,051520,5656.8550,-16455.9062,5,0.7,38,11.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5646.424,-16501.008
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.267301,-0.310822
$KALMAN_X,-9819.897461,-859.999695,-870.426147,61158.460938,-398.170410
$KALMAN_Y,25187.322266,-1093.756348,-655.999878,-56251.324219,81.259766
$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,-586.5,241,2178,1475,4094,0.0,0.0,0,34,0.00,0.00,-12.38,0.000,16390,0.000,0.000,242,2178,2863,2863,4094,0,0,0,0,0,0,26.04,25.18,26.06,9.90,36.21
$GC,36,-1.98,-586.5,241,2178,2863,4094,0.8,0.0,1,73,19.05,2.10,0.00,0.000,2308,0.425,0.238,1735,2918,2865,2865,4094,0,0,0,0,0,0,25.53,25.53,25.62,10.20,36.69
$GC,148,-1.98,-586.5,1734,2918,2868,4095,29.5,-15.8,9,163,0.00,1.95,0.00,0.000,1030,0.000,0.107,1735,2155,2868,2868,4094,0,0,0,0,0,0,25.83,25.80,25.85,10.19,36.29
$GC,227,-1.98,-586.5,1734,2154,2870,4094,41.5,-15.3,15,242,0.00,1.92,0.00,0.000,516,0.000,0.161,1735,1429,2870,2870,4094,0,0,0,0,0,0,26.13,25.77,26.14,10.18,35.86
$GC,309,-1.98,-586.5,1734,1429,2872,4094,53.7,-15.5,21,324,0.00,1.85,0.00,0.000,1030,0.000,0.127,1735,2146,2873,2873,4095,0,0,0,0,0,0,25.91,25.85,25.95,10.18,35.50
$STATE,339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,339,begin apogee
$GC,344,-0.56,0.0,1735,2067,2873,4095,59.0,-17.0,23,388,5.18,0.00,34.38,4.497,10244,0.231,0.000,2192,2064,2174,2174,4094,0,0,0,0,0,0,25.86,24.82,23.69,10.18,35.78
$STATE,389,end apogee,CONTROL_FINISHED_OK
$STATE,389,begin climb
$GC,390,1.98,586.5,2191,2064,2174,4094,62.8,0.0,26,446,8.80,2.20,34.20,4.387,10500,0.137,0.211,2995,2833,1489,1489,4094,0,0,0,0,0,0,25.07,24.98,23.36,10.03,35.94
$GC,462,1.98,586.5,2995,2833,1489,4094,57.7,9.9,30,480,0.00,1.98,0.00,0.000,1030,0.000,0.104,2995,2103,1488,1488,4094,0,0,0,0,0,0,24.91,24.87,24.92,9.90,34.32
$GC,544,1.98,586.5,2995,2099,1486,4094,45.7,15.4,36,559,0.00,2.17,0.00,0.000,516,0.000,0.181,2995,1312,1486,1486,4094,0,0,0,0,0,0,25.48,25.13,25.50,9.89,34.52
$GC,621,1.98,586.5,2995,1312,1484,4094,33.9,15.7,42,640,0.00,2.00,0.00,0.000,1030,0.000,0.114,2996,2078,1483,1483,4094,0,0,0,0,0,0,25.41,25.37,25.44,9.90,34.99
$GC,703,1.98,586.5,2995,2078,1481,4094,21.8,14.4,48,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2078,1480,1480,4094,0,0,0,0,0,0,25.80,25.82,25.81,9.90,34.72
$GC,780,1.98,586.5,2995,2078,1479,4094,11.3,13.6,54,798,0.00,2.12,0.00,0.000,260,0.000,0.219,2996,2833,1478,1478,4094,0,0,0,0,0,0,25.91,25.52,25.91,9.90,35.46
$GC,826,1.98,586.5,2995,2833,1477,4094,4.7,14.0,57,842,0.00,1.98,0.00,0.000,1030,0.000,0.104,2995,2077,1477,1477,4094,0,0,0,0,0,0,25.71,25.67,25.74,9.91,35.07
$STATE,857,end climb,FINISH_DEPTH_REACHED
$STATE,857,begin subsurface finish
$FINISH1,0.3,1.025110,-148
$GC,863,-0.24,-147.7,2995,2071,1477,4094,0.3,14.1,59,883,7.30,0.00,-8.05,0.000,20486,0.114,0.000,2311,2071,2354,2354,4094,0,0,0,0,0,0,25.75,24.52,25.77,9.90,35.58
$FINISH2,0.1
$STATE,884,end subsurface finish,CONTROL_FINISHED_OK
$STATE,884,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,042843
$TT8_MAMPS,0.026215,0.24717
$HUMID,35.74
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.9,10.2
$24V_AH,23.36,29.260
$10V_AH,8.69,15.176
$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,40.325,20.425,68.575,0.000,0.000,25.712,17.751,171.779,0.500,0.000,40.593,233.252,0.000,107.413,842.962,66.305,33.441,363.062,0.000,594.008,0.000,8.704,0.000
$DEVICE_MAMPS,424.593,238.368,4496.713,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,40.502,76.799,129.016,333.034,569.830,0.000,0.000,0.000,0.000,0.000
$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,3874,60
$CAP_FILE_SIZE,24578,10
$CFSIZE,1024409600,1004158976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030517,051520,5656.855,-16455.906,5,0.7,38,11.1,0.0,0.0,11,4.9