version: 66.12
glider: 401
mission: 20
dive: 313
start: 5 3 117 12 41 14
data:
$ID,401
$MISSION,20
$DIVE,313
$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,20
$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
$GPS1,030517,122416,5655.0645,-16453.5605,4,0.8,16,11.1,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,1.3
$GPS2,030517,122416,5655.0645,-16453.5605,4,0.8,16,11.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5644.633,-16458.656
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.381016,-0.151149
$KALMAN_X,-7735.333496,17.832048,911.699707,58757.656250,368.874146
$KALMAN_Y,28169.408203,-638.252686,-163.710541,-63517.019531,-152.079102
$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,-586.5,2327,2150,2352,4094,0.0,0.0,0,33,0.00,0.00,-2.55,0.000,16390,0.000,0.000,2327,2150,2868,2868,4094,0,0,0,0,0,0,26.01,24.44,26.00,10.08,35.86
$GC,35,-1.98,-586.5,2326,2150,2868,4094,4.4,0.0,1,50,6.43,1.98,0.00,0.000,4612,0.184,0.186,1753,1428,2868,2868,4095,0,0,0,0,0,0,25.44,25.35,25.48,10.19,35.86
$GC,253,-1.98,-586.5,1752,1428,2873,4094,35.2,-14.7,19,267,0.00,1.90,0.00,0.000,1030,0.000,0.129,1753,2158,2873,2873,4095,0,0,0,0,0,0,25.79,25.70,25.80,10.18,35.66
$GC,330,-1.98,-586.5,1752,2159,2875,4094,46.6,-14.7,25,348,0.00,2.20,0.00,0.000,260,0.000,0.251,1753,2935,2875,2875,4094,0,0,0,0,0,0,26.11,25.69,26.13,10.18,35.78
$GC,368,-1.98,-586.5,1752,2935,2875,4094,51.8,-14.9,27,383,0.00,1.95,0.00,0.000,1030,0.000,0.109,1753,2170,2876,2876,4095,0,0,0,0,0,0,25.91,25.90,25.92,10.18,35.54
$STATE,409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,409,begin apogee
$GC,414,-0.56,0.0,1752,2065,2877,4094,58.8,-15.2,30,465,4.95,0.00,34.72,4.472,10244,0.226,0.000,2190,2061,2174,2174,4094,0,0,0,0,0,0,25.82,24.47,23.67,10.19,35.70
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,468,1.98,586.5,2189,2061,2174,4094,63.2,0.0,33,532,8.85,2.22,34.33,4.380,10500,0.129,0.214,2996,2840,1490,1490,4094,0,0,0,0,0,0,25.08,25.00,23.34,10.03,35.82
$GC,560,1.98,586.5,2995,2840,1489,4094,55.4,12.4,39,579,0.00,2.00,0.00,0.000,1030,0.000,0.102,2996,2093,1488,1488,4094,0,0,0,0,0,0,25.01,25.01,25.03,9.91,34.95
$GC,642,1.98,586.5,2995,2093,1486,4094,43.0,14.9,45,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2093,1486,1486,4094,0,0,0,0,0,0,25.51,25.53,25.53,9.90,34.80
$GC,719,1.98,586.5,2995,2093,1484,4094,31.3,15.0,51,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2093,1483,1483,4094,0,0,0,0,0,0,25.67,25.69,25.69,9.89,35.07
$GC,795,1.98,586.5,2995,2093,1482,4094,20.4,14.2,57,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2089,1481,1481,4094,0,0,0,0,0,0,25.80,25.82,25.81,9.89,34.80
$GC,873,1.98,586.5,2995,2089,1479,4094,9.7,13.3,63,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2089,1479,1479,4094,0,0,0,0,0,0,25.90,25.91,25.91,9.90,34.87
$STATE,937,end climb,SURFACE_DEPTH_REACHED
$STATE,937,begin surface coast
$FINISH,0.1,1.012409
$STATE,964,end surface coast,CONTROL_FINISHED_OK
$STATE,964,begin surface
$SM_CCo,1062,0.00,0.000,0,0,1477,599.30
$SM_GC,0.76,29.50,0.22,0.00,0.089,0.246,0.000,232,2179,1477,-6.71,-0.64,599.30,0,0,1,0,0,0,25.41,25.70,25.66
$IRIDIUM_FIX,5554.28,-16557.83,030517,113752
$TT8_MAMPS,0.026215,0.258405
$HUMID,36.06
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.8,9.5
$24V_AH,23.34,31.281
$10V_AH,8.62,15.730
$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,49.725,14.400,69.050,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,249.008,59.988,120.621,663.318,26.741,33.421,353.326,0.000,676.534,0.000,5.447,0.000
$DEVICE_MAMPS,225.953,250.783,4471.883,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.745,89.788,150.519,375.143,652.572,0.000,0.000,0.000,0.000,0.000
$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,7387,70
$CAP_FILE_SIZE,18900,6
$CFSIZE,1024409600,1003126784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,125954,5654.540,-16453.008,2,0.7,24,11.1,0.6,218.3,12,4.8