version: 66.12
glider: 401
mission: 20
dive: 296
start: 5 3 117 6 42 57
data:
$ID,401
$MISSION,20
$DIVE,296
$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,31
$R_STBD_OVSHOOT,18
$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
$GPS1,030517,063646,5656.5469,-16457.2363,2,0.9,15,11.1,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-39.3
$GPS2,030517,064154,5656.5581,-16457.2695,4,0.9,19,11.1,0.0,0.0,10,4.8
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5646.127,-16502.371
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136234,-0.390192
$KALMAN_X,-11317.491211,-1409.511353,-1191.427002,62154.628906,-235.414673
$KALMAN_Y,25984.146484,-1081.402832,-505.537598,-57765.468750,196.898041
$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,-586.5,231,2175,1475,4094,0.0,0.0,0,34,0.00,0.00,-12.18,0.000,16390,0.000,0.000,231,2176,2861,2861,4094,0,0,0,0,0,0,26.03,25.15,26.04,9.91,36.21
$GC,36,-1.98,-586.5,230,2176,2861,4094,0.8,0.0,1,69,19.33,2.12,0.00,0.000,2308,0.422,0.241,1735,2922,2864,2864,4094,0,0,0,0,0,0,25.52,25.52,25.60,10.20,36.61
$GC,155,-1.98,-586.5,1734,2922,2867,4094,30.5,-16.0,10,170,0.00,1.92,0.00,0.000,1030,0.000,0.107,1735,2170,2867,2867,4095,0,0,0,0,0,0,25.82,25.79,25.82,10.18,36.17
$GC,234,-1.98,-586.5,1734,2168,2869,4094,42.1,-14.9,16,252,0.00,2.00,0.00,0.000,516,0.000,0.171,1735,1420,2870,2870,4095,0,0,0,0,0,0,26.13,25.75,26.14,10.18,36.02
$GC,319,-1.98,-586.5,1735,1420,2871,4094,56.0,-16.5,22,334,0.00,1.85,0.00,0.000,1030,0.000,0.127,1735,2138,2872,2872,4094,0,0,0,0,0,0,25.91,25.86,25.95,10.18,36.06
$STATE,348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,348,begin apogee
$GC,353,-0.56,0.0,1735,2060,2872,4094,60.8,-16.0,24,400,5.18,0.00,34.42,4.576,10244,0.223,0.000,2193,2060,2175,2175,4094,0,0,0,0,0,0,25.85,24.49,23.65,10.18,35.50
$STATE,401,end apogee,CONTROL_FINISHED_OK
$STATE,401,begin climb
$GC,403,1.98,586.5,2193,2060,2175,4094,65.2,0.0,27,450,8.90,0.00,34.45,4.482,11270,0.142,0.000,2994,2060,1490,1490,4094,0,0,0,0,0,0,25.17,25.34,23.32,10.03,35.19
$GC,513,1.98,586.5,2993,2060,1488,4094,55.1,14.0,35,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2060,1487,1487,4094,0,0,0,0,0,0,25.33,25.35,25.34,9.90,34.32
$GC,593,1.98,586.5,2993,2060,1485,4094,42.5,16.2,41,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2060,1485,1485,4094,0,0,0,0,0,0,25.58,25.59,25.58,9.90,34.56
$GC,669,1.98,586.5,2993,2060,1483,4094,30.8,15.0,47,687,0.00,1.98,0.00,0.000,516,0.000,0.191,2993,1346,1482,1482,4094,0,0,0,0,0,0,25.72,25.36,25.74,9.89,34.76
$GC,715,1.98,586.5,2993,1346,1481,4094,24.2,14.0,50,729,0.00,1.88,0.00,0.000,1030,0.000,0.109,2994,2072,1480,1480,4094,0,0,0,0,0,0,25.54,25.50,25.57,9.89,35.07
$GC,793,1.98,586.5,2993,2072,1479,4094,13.5,13.7,56,811,0.00,2.12,0.00,0.000,260,0.000,0.216,2993,2828,1478,1478,4094,0,0,0,0,0,0,25.90,25.53,25.91,9.90,34.99
$GC,839,1.98,586.5,2993,2828,1477,4094,6.9,13.8,59,855,0.00,1.85,0.00,0.000,1030,0.000,0.104,2993,2112,1477,1477,4094,0,0,0,0,0,0,25.72,25.68,25.74,9.90,34.80
$STATE,871,end climb,FINISH_DEPTH_REACHED
$STATE,871,begin subsurface finish
$FINISH1,2.0,1.025100,-147
$GC,876,-0.24,-147.0,2993,2106,1476,4094,2.0,15.4,61,897,7.15,2.25,-8.02,0.000,20996,0.104,4.109,2321,1323,2353,2353,4094,0,0,0,0,0,0,25.75,24.18,25.77,9.91,35.74
$FINISH2,0.2
$STATE,898,end subsurface finish,CONTROL_FINISHED_OK
$STATE,898,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,055507
$TT8_MAMPS,0.026215,0.253911
$HUMID,35.58
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,10.2
$24V_AH,23.32,29.650
$10V_AH,8.67,15.283
$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,40.550,18.125,68.875,0.000,0.000,25.214,21.453,160.562,0.500,0.000,20.327,235.479,0.000,104.246,825.646,64.887,33.442,359.465,0.000,609.773,0.000,8.699,0.000
$DEVICE_MAMPS,422.110,4109.365,4576.169,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.947,79.384,133.328,337.547,585.165,0.000,0.000,0.000,0.000,0.000
$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,3957,62
$CAP_FILE_SIZE,23769,9
$CFSIZE,1024409600,1003962368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030517,064154,5656.558,-16457.270,4,0.9,19,11.1,0.0,0.0,10,4.8