version: 66.12
glider: 401
mission: 20
dive: 319
start: 5 3 117 14 46 45
data:
$ID,401
$MISSION,20
$DIVE,319
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,030517,142850,5653.0825,-16452.4961,4,0.7,19,11.1,0.9,100.5,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,2.6
$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,-0.278903,-0.300404
$KALMAN_X,-5461.771973,907.078247,1226.550903,56334.648438,183.587585
$KALMAN_Y,27187.132812,-1303.714111,-867.999451,-64833.285156,-211.663147
$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,-586.5,2321,2186,2348,4094,0.0,0.0,0,37,0.00,0.00,-2.92,0.000,16390,0.000,0.000,2321,2186,2869,2869,4094,0,0,0,0,0,0,25.91,24.38,25.91,10.07,36.02
$GC,40,-1.98,-586.5,2321,2186,2869,4094,3.1,0.0,1,58,6.43,2.10,0.00,0.000,4356,0.184,0.246,1750,2913,2869,2869,4094,0,0,0,0,0,0,25.34,25.18,25.35,10.19,35.98
$GC,99,-1.98,-586.5,1750,2913,2870,4094,9.9,-10.4,5,113,0.00,1.98,0.00,0.000,1030,0.000,0.112,1751,2166,2870,2870,4094,0,0,0,0,0,0,25.48,25.44,25.51,10.18,35.74
$GC,177,-1.98,-586.5,1750,2162,2872,4094,22.1,-15.4,11,192,0.00,2.03,0.00,0.000,516,0.000,0.174,1750,1413,2873,2873,4094,0,0,0,0,0,0,25.86,25.50,25.87,10.19,36.45
$GC,291,-1.98,-586.5,1750,1413,2875,4094,39.5,-14.4,20,309,0.00,1.80,0.00,0.000,1030,0.000,0.122,1750,2109,2875,2875,4094,0,0,0,0,0,0,25.74,25.68,25.80,10.18,35.19
$GC,376,-1.98,-586.5,1750,2109,2877,4094,51.0,-13.4,26,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,2109,2878,2878,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.18,35.54
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,434,-0.56,0.0,1750,2052,2879,4095,59.1,-14.2,30,489,5.00,0.00,34.60,4.469,10244,0.223,0.000,2192,2052,2173,2173,4094,0,0,0,0,0,0,25.79,24.44,23.64,10.19,35.46
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,492,1.98,586.5,2192,2052,2173,4094,63.6,0.0,33,543,8.88,0.00,34.28,4.400,11270,0.132,0.000,2993,2052,1489,1489,4094,0,0,0,0,0,0,25.18,25.35,23.31,10.03,35.03
$GC,606,1.98,586.5,2993,2052,1486,4094,52.5,15.1,41,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2052,1486,1486,4094,0,0,0,0,0,0,25.31,25.32,25.32,9.90,34.48
$GC,682,1.98,586.5,2993,2052,1484,4094,41.1,14.8,47,700,0.00,2.17,0.00,0.000,260,0.000,0.206,2994,2815,1483,1483,4094,0,0,0,0,0,0,25.53,25.17,25.55,9.90,34.87
$GC,716,1.98,586.5,2993,2815,1483,4094,35.7,15.4,49,732,0.00,1.88,0.00,0.000,1030,0.000,0.102,2994,2102,1482,1482,4094,0,0,0,0,0,0,25.37,25.33,25.39,9.90,34.76
$GC,795,1.98,586.5,2993,2102,1480,4094,24.8,13.1,55,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2102,1480,1480,4094,0,0,0,0,0,0,25.75,25.76,25.75,9.89,35.03
$GC,876,1.98,586.5,2993,2100,1478,4094,14.3,13.4,61,891,0.00,2.12,0.00,0.000,516,0.000,0.191,2994,1323,1478,1478,4094,0,0,0,0,0,0,25.86,25.48,25.87,9.89,34.83
$GC,919,1.98,586.5,2993,1323,1477,4094,8.7,13.2,64,934,0.00,1.95,0.00,0.000,1030,0.000,0.112,2994,2082,1477,1477,4094,0,0,0,0,0,0,25.67,25.61,25.67,9.90,35.58
$STATE,973,end climb,SURFACE_DEPTH_REACHED
$STATE,973,begin surface coast
$FINISH,0.2,1.025103
$STATE,1001,end surface coast,CONTROL_FINISHED_OK
$STATE,1001,begin surface
$SM_CCo,1098,0.00,0.000,0,0,1475,601.02
$SM_GC,0.94,29.30,0.22,0.00,0.077,0.219,0.000,232,2182,1475,-6.71,-0.64,601.02,0,0,1,0,0,0,25.48,25.71,25.68
$IRIDIUM_FIX,5554.28,-16557.83,030517,134306
$TT8_MAMPS,0.026964,0.253162
$HUMID,35.39
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,9.4
$24V_AH,23.31,31.852
$10V_AH,8.61,15.887
$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,49.600,16.575,68.875,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,255.574,59.864,133.990,675.676,29.462,33.416,383.873,0.000,688.075,0.000,5.445,0.000
$DEVICE_MAMPS,223.470,255.749,4469.400,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.565,89.692,150.535,386.031,664.578,0.000,0.000,0.000,0.000,0.000
$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,7449,70
$CAP_FILE_SIZE,21226,11
$CFSIZE,1024409600,1002831872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030517,150620,5652.450,-16452.691,3,1.0,43,11.1,0.6,89.2,9,5.0