version: 66.12
glider: 401
mission: 20
dive: 309
start: 5 3 117 11 17 40
data:
$ID,401
$MISSION,20
$DIVE,309
$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,33
$R_STBD_OVSHOOT,21
$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
$GPS1,030517,110018,5655.9751,-16455.1367,4,0.9,20,11.1,1.1,71.5,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-2.7
$GPS2,030517,110018,5655.9751,-16455.1367,4,0.9,20,11.1,1.1,71.5,10,4.8
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5645.544,-16500.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.382826,-0.149147
$KALMAN_X,-9340.809570,-760.379517,252.539444,60220.957031,403.455139
$KALMAN_Y,28532.287109,-439.284302,154.813599,-62704.898438,-32.099983
$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,-586.5,2327,2157,2349,4094,0.0,0.0,0,34,0.00,0.00,-2.72,0.000,16390,0.000,0.000,2327,2156,2869,2869,4094,0,0,0,0,0,0,25.93,24.39,25.91,10.08,35.98
$GC,36,-1.98,-586.5,2326,2157,2870,4095,3.8,0.0,1,55,6.28,2.00,0.00,0.000,4612,0.124,0.174,1750,1424,2870,2870,4094,0,0,0,0,0,0,25.40,25.29,25.43,10.19,35.94
$GC,176,-1.98,-586.5,1749,1424,2872,4095,23.2,-15.6,12,195,0.00,1.92,0.00,0.000,1030,0.000,0.127,1750,2160,2873,2873,4094,0,0,0,0,0,0,25.63,25.58,25.67,10.19,35.82
$GC,259,-1.98,-586.5,1749,2160,2875,4094,35.9,-15.3,18,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,2160,2875,2875,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.18,35.66
$GC,335,-1.98,-586.5,1749,2160,2876,4094,47.0,-14.6,24,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,2160,2877,2877,4095,0,0,0,0,0,0,26.08,26.10,26.10,10.18,35.58
$STATE,419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,419,begin apogee
$GC,424,-0.56,0.0,1750,2056,2879,4094,59.2,-14.4,30,476,5.00,0.05,34.45,4.477,10244,0.226,0.238,2192,2089,2174,2174,4094,0,0,0,0,0,0,25.82,24.46,23.67,10.18,35.54
$STATE,477,end apogee,CONTROL_FINISHED_OK
$STATE,477,begin climb
$GC,479,1.98,586.5,2191,2089,2175,4094,63.5,0.0,33,544,8.82,2.08,34.40,4.380,10500,0.132,0.216,2996,2819,1489,1489,4094,0,0,0,0,0,0,25.08,25.01,23.33,10.03,35.03
$GC,561,1.98,586.5,2995,2819,1489,4094,57.0,10.6,38,576,0.00,1.92,0.00,0.000,1030,0.000,0.102,2996,2101,1488,1488,4095,0,0,0,0,0,0,24.95,24.91,24.96,9.90,34.72
$GC,639,1.98,586.5,2995,2101,1486,4094,44.6,15.2,44,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2101,1486,1486,4094,0,0,0,0,0,0,25.46,25.48,25.48,9.90,34.56
$GC,720,1.98,586.5,2996,2101,1483,4094,32.4,14.6,50,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2101,1483,1483,4094,0,0,0,0,0,0,25.65,25.67,25.66,9.90,35.35
$GC,798,1.98,586.5,2996,2101,1480,4094,20.9,14.7,56,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2101,1480,1480,4094,0,0,0,0,0,0,25.77,25.79,25.79,9.89,34.83
$GC,878,1.98,586.5,2996,2098,1478,4094,10.1,13.4,62,893,0.00,2.12,0.00,0.000,516,0.000,0.204,2996,1324,1478,1478,4094,0,0,0,0,0,0,25.89,25.51,25.89,9.90,34.72
$GC,910,1.98,586.5,2995,1324,1477,4095,5.8,13.7,64,928,0.00,1.92,0.00,0.000,1030,0.000,0.112,2996,2072,1477,1477,4094,0,0,0,0,0,0,25.66,25.62,25.70,9.90,35.15
$STATE,942,end climb,SURFACE_DEPTH_REACHED
$STATE,942,begin surface coast
$FINISH,0.1,1.022959
$STATE,970,end surface coast,CONTROL_FINISHED_OK
$STATE,970,begin surface
$SM_CCo,1068,0.00,0.000,0,0,1476,600.16
$SM_GC,0.82,29.45,0.22,0.00,0.084,0.216,0.000,231,2172,1476,-6.71,-1.05,600.16,0,0,1,0,0,0,25.43,25.70,25.66
$IRIDIUM_FIX,5554.28,-16557.83,030517,101409
$TT8_MAMPS,0.026964,0.248668
$HUMID,35.82
$INTERNAL_PRESSURE,9.83792
$TCM_TEMP,0.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.7,9.5
$24V_AH,23.33,30.896
$10V_AH,8.65,15.627
$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,49.550,14.125,68.850,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,247.433,60.384,134.579,655.241,27.765,33.420,381.032,0.000,667.725,0.000,5.448,0.000
$DEVICE_MAMPS,225.953,238.368,4476.849,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.260,87.173,146.225,373.598,644.115,0.000,0.000,0.000,0.000,0.000
$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,7329,68
$CAP_FILE_SIZE,20197,10
$CFSIZE,1024409600,1003323392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,113632,5655.608,-16454.475,2,0.9,30,11.1,0.7,53.1,10,4.7