version: 66.12
glider: 401
mission: 20
dive: 307
start: 5 3 117 10 35 53
data:
$ID,401
$MISSION,20
$DIVE,307
$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,51
$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
$GPS1,030517,101800,5656.2656,-16455.9961,4,0.8,15,11.1,0.5,334.8,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,1.8
$GPS2,030517,101800,5656.2656,-16455.9961,4,0.8,15,11.1,0.5,334.8,11,4.6
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5645.834,-16501.096
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.351270,-0.213857
$KALMAN_X,-10018.738281,-1107.325073,-126.059700,60754.542969,386.171783
$KALMAN_Y,28428.925781,-492.710846,157.687576,-62003.906250,122.991928
$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,-586.5,2319,2159,2349,4094,0.0,0.0,0,34,0.00,0.00,-4.25,0.000,16390,0.000,0.000,2320,2159,2863,2863,4095,0,0,0,0,0,0,26.08,25.21,26.09,10.08,35.74
$GC,36,-1.98,-586.5,2319,2159,2863,4095,0.7,0.0,1,54,6.07,0.00,0.00,0.000,4102,0.109,0.000,1752,2159,2863,2863,4094,0,0,0,0,0,0,25.56,25.61,25.59,10.20,36.10
$GC,120,-1.98,-586.5,1752,2159,2864,4094,13.0,-15.1,7,136,0.00,1.95,0.00,0.000,516,0.000,0.171,1752,1440,2865,2865,4095,0,0,0,0,0,0,25.94,25.58,25.96,10.20,36.13
$GC,268,-1.98,-586.5,1752,1440,2869,4094,35.7,-14.3,19,283,0.00,1.88,0.00,0.000,1030,0.000,0.124,1752,2166,2869,2869,4095,0,0,0,0,0,0,25.83,25.78,25.86,10.18,35.43
$GC,347,-1.98,-586.5,1752,2166,2871,4095,47.2,-14.6,25,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,2166,2871,2871,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.17,36.13
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,433,-0.56,0.0,1752,2080,2873,4095,59.4,-15.0,31,484,4.97,0.00,34.22,4.464,10244,0.223,0.000,2193,2080,2173,2173,4094,0,0,0,0,0,0,25.87,24.53,23.72,10.18,35.39
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,487,1.98,586.5,2193,2080,2173,4094,63.3,0.0,34,538,8.75,2.15,33.95,4.407,10500,0.124,0.231,2995,2828,1489,1489,4094,0,0,0,0,0,0,25.13,25.05,23.36,10.03,35.03
$GC,566,1.98,586.5,2995,2828,1488,4094,57.6,10.0,39,580,0.00,1.98,0.00,0.000,1030,0.000,0.112,2995,2104,1488,1488,4094,0,0,0,0,0,0,24.96,24.90,24.98,9.90,35.15
$GC,643,1.98,586.5,2995,2103,1486,4094,45.9,15.4,45,658,0.00,2.17,0.00,0.000,516,0.000,0.196,2995,1318,1486,1486,4094,0,0,0,0,0,0,25.50,25.13,25.51,9.90,34.60
$GC,675,1.98,586.5,2995,1318,1485,4094,41.0,15.9,47,693,0.00,1.98,0.00,0.000,1030,0.000,0.114,2996,2072,1484,1484,4094,0,0,0,0,0,0,25.32,25.28,25.35,9.90,34.80
$GC,756,1.98,586.5,2995,2072,1482,4094,28.4,15.5,53,770,0.00,2.15,0.00,0.000,260,0.000,0.219,2996,2831,1482,1482,4094,0,0,0,0,0,0,25.73,25.36,25.75,9.89,34.68
$GC,822,1.98,586.5,2995,2831,1479,4094,18.7,14.7,58,840,0.00,1.92,0.00,0.000,1030,0.000,0.102,2995,2093,1479,1479,4094,0,0,0,0,0,0,25.60,25.56,25.62,9.90,35.43
$GC,903,1.98,586.5,2995,2092,1477,4094,8.1,13.3,64,921,0.00,2.10,0.00,0.000,516,0.000,0.191,2996,1318,1477,1477,4094,0,0,0,0,0,0,25.94,25.58,25.94,9.90,35.35
$GC,937,1.98,586.5,2995,1318,1476,4094,3.2,14.3,66,953,0.00,2.00,0.00,0.000,1030,0.000,0.119,2996,2092,1476,1476,4094,0,0,0,0,0,0,25.71,25.67,25.74,9.90,35.11
$STATE,968,end climb,SURFACE_DEPTH_REACHED
$STATE,968,begin surface coast
$FINISH,0.1,1.005291
$STATE,996,end surface coast,CONTROL_FINISHED_OK
$STATE,996,begin surface
$SM_CCo,1094,0.00,0.000,0,0,1476,600.16
$SM_GC,0.96,29.48,0.17,0.00,0.089,0.266,0.000,232,2177,1476,-6.71,-1.09,600.16,0,0,1,0,0,0,25.45,25.73,25.68
$IRIDIUM_FIX,5554.28,-16557.83,030517,093218
$TT8_MAMPS,0.026215,0.260652
$HUMID,35.50
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.6,9.5
$24V_AH,23.36,30.706
$10V_AH,8.61,15.576
$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,49.275,20.775,68.175,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,256.929,60.008,130.124,674.859,28.781,33.422,376.793,0.000,687.502,0.000,5.447,0.000
$DEVICE_MAMPS,223.470,302.926,4464.434,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.733,89.768,150.545,386.041,663.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,7420,70
$CAP_FILE_SIZE,21718,10
$CFSIZE,1024409600,1003421696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030517,105457,5655.989,-16455.268,2,0.8,15,11.1,0.5,262.6,11,5.0