version: 66.12
glider: 401
mission: 20
dive: 318
start: 5 3 117 14 29 53
data:
$ID,401
$MISSION,20
$DIVE,318
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,030517,142318,5653.1562,-16452.5098,2,0.7,19,11.1,0.6,272.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-38.5
$GPS2,030517,142850,5653.0825,-16452.4961,4,0.7,19,11.1,0.9,100.5,11,4.7
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5642.651,-16457.588
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.301299,-0.280684
$KALMAN_X,-5721.302734,784.159058,1274.067627,56670.078125,198.188660
$KALMAN_Y,26861.832031,-1248.598633,-812.609375,-64591.511719,-282.622437
$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,-586.5,232,2179,1477,4094,0.0,0.0,0,34,0.00,0.00,-12.32,0.000,16390,0.000,0.000,232,2179,2864,2864,4094,0,0,0,0,0,0,26.03,24.44,26.04,9.90,36.88
$GC,36,-1.98,-586.5,231,2178,2864,4094,0.7,0.0,1,65,19.40,2.12,0.00,0.000,2308,0.427,0.253,1735,2921,2867,2867,4095,0,0,0,0,0,0,25.51,25.53,25.59,10.19,36.49
$GC,209,-1.98,-586.5,1735,2921,2871,4095,38.3,-15.6,15,228,0.00,1.92,0.00,0.000,1030,0.000,0.104,1736,2167,2872,2872,4095,0,0,0,0,0,0,25.89,25.85,25.90,10.18,36.10
$GC,295,-1.98,-586.5,1735,2166,2874,4095,50.4,-14.8,21,309,0.00,1.98,0.00,0.000,516,0.000,0.171,1736,1424,2874,2874,4094,0,0,0,0,0,0,26.17,25.81,26.17,10.18,35.78
$STATE,348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,348,begin apogee
$GC,354,-0.56,0.0,1736,2077,2875,4095,59.6,-15.8,25,406,5.15,0.00,34.47,4.539,10244,0.231,0.000,2191,2076,2174,2174,4094,0,0,0,0,0,0,25.88,24.49,23.67,10.18,35.94
$STATE,407,end apogee,CONTROL_FINISHED_OK
$STATE,408,begin climb
$GC,409,1.98,586.5,2191,2076,2174,4094,64.3,0.0,28,465,8.75,2.15,34.17,4.437,10500,0.127,0.219,2995,2832,1490,1490,4094,0,0,0,0,0,0,25.13,25.04,23.33,10.04,36.02
$GC,482,1.98,586.5,2995,2832,1490,4094,59.5,10.3,32,497,0.00,2.03,0.00,0.000,1030,0.000,0.104,2996,2082,1489,1489,4094,0,0,0,0,0,0,24.93,24.88,24.95,9.91,34.60
$GC,560,1.98,586.5,2994,2081,1487,4094,47.5,15.1,38,575,0.00,2.12,0.00,0.000,516,0.000,0.201,2996,1315,1487,1487,4094,0,0,0,0,0,0,25.48,25.11,25.49,9.90,34.60
$GC,614,1.98,586.5,2995,1315,1486,4094,39.2,15.5,42,629,0.00,1.98,0.00,0.000,1030,0.000,0.109,2996,2073,1485,1485,4094,0,0,0,0,0,0,25.36,25.32,25.41,9.90,35.19
$GC,693,1.98,586.5,2995,2073,1483,4094,27.7,15.1,48,711,0.00,2.15,0.00,0.000,260,0.000,0.223,2996,2832,1482,1482,4094,0,0,0,0,0,0,25.76,25.37,25.77,9.89,34.87
$GC,739,1.98,586.5,2995,2832,1481,4094,20.7,14.5,51,755,0.00,1.98,0.00,0.000,1030,0.000,0.107,2996,2080,1480,1480,4094,0,0,0,0,0,0,25.57,25.54,25.60,9.89,35.23
$GC,818,1.98,586.5,2995,2080,1479,4094,9.5,14.4,57,832,0.00,2.05,0.00,0.000,516,0.000,0.184,2996,1321,1478,1478,4094,0,0,0,0,0,0,25.93,25.56,25.94,9.90,35.15
$STATE,859,end climb,FINISH_DEPTH_REACHED
$STATE,860,begin subsurface finish
$FINISH1,3.3,1.025105,-147
$GC,867,-0.24,-147.4,2996,2076,1477,4094,3.3,14.4,60,898,7.57,0.00,-8.02,0.000,20486,0.211,0.000,2321,2080,2348,2348,4094,0,0,0,0,0,0,25.73,25.17,25.77,9.90,35.07
$FINISH2,0.2
$STATE,899,end subsurface finish,CONTROL_FINISHED_OK
$STATE,899,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,134306
$TT8_MAMPS,0.026215,0.249417
$HUMID,36.13
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,9.4
$24V_AH,23.33,31.765
$10V_AH,8.64,15.861
$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,40.875,24.100,68.650,0.000,0.000,25.628,24.955,171.686,0.500,0.000,20.559,233.845,0.000,104.953,849.242,66.648,33.440,360.260,0.000,612.014,0.000,8.696,0.000
$DEVICE_MAMPS,427.076,253.266,4538.924,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.798,79.363,133.336,342.468,587.192,0.000,0.000,0.000,0.000,0.000
$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,3961,62
$CAP_FILE_SIZE,23850,10
$CFSIZE,1024409600,1002881024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,142850,5653.083,-16452.496,4,0.7,19,11.1,0.9,100.5,11,4.7