version: 66.12
glider: 401
mission: 20
dive: 321
start: 5 3 117 15 29 52
data:
$ID,401
$MISSION,20
$DIVE,321
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,030517,151222,5652.3672,-16452.7207,4,1.0,49,11.1,1.6,28.9,8,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-0.6
$GPS2,030517,151222,5652.3672,-16452.7207,4,1.0,49,11.1,1.6,28.9,8,3.8
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5641.936,-16457.811
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.175638,-0.368158
$KALMAN_X,-5147.946289,1002.680969,1088.340454,55838.609375,59.457825
$KALMAN_Y,27070.685547,-1537.516235,-1060.298218,-65615.929688,-131.260254
$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,-586.5,2321,2179,2351,4094,0.0,0.0,0,37,0.00,0.00,-2.83,0.000,16390,0.000,0.000,2321,2179,2868,2868,4095,0,0,0,0,0,0,26.10,24.51,26.09,10.07,36.17
$GC,40,-1.98,-586.5,2321,2179,2867,4094,3.4,0.0,1,55,6.07,2.08,0.00,0.000,4612,0.129,0.154,1762,1412,2868,2868,4095,0,0,0,0,0,0,25.48,25.36,25.51,10.19,36.02
$GC,117,-1.98,-586.5,1761,1412,2869,4094,13.9,-14.8,7,132,0.00,1.95,0.00,0.000,1030,0.000,0.124,1762,2158,2870,2870,4094,0,0,0,0,0,0,25.60,25.56,25.61,10.19,35.82
$GC,196,-1.98,-586.5,1761,2158,2871,4095,26.6,-16.3,13,210,0.00,2.00,0.00,0.000,516,0.000,0.161,1762,1414,2872,2872,4095,0,0,0,0,0,0,25.98,25.63,26.00,10.18,35.70
$GC,262,-1.98,-586.5,1761,1414,2873,4095,37.2,-15.8,18,277,0.00,1.88,0.00,0.000,1030,0.000,0.122,1762,2137,2874,2874,4095,0,0,0,0,0,0,25.77,25.73,25.81,10.18,35.35
$GC,340,-1.98,-586.5,1761,2137,2875,4094,48.5,-14.5,24,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,2137,2875,2875,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.18,35.62
$STATE,412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,412,begin apogee
$GC,417,-0.56,0.0,1762,2037,2877,4095,59.2,-14.6,29,469,4.85,0.08,34.65,4.482,10244,0.223,0.221,2191,2092,2174,2174,4094,0,0,0,0,0,0,25.84,24.48,23.68,10.18,35.43
$STATE,470,end apogee,CONTROL_FINISHED_OK
$STATE,470,begin climb
$GC,472,1.98,586.5,2191,2092,2174,4094,63.1,0.0,32,519,8.90,0.00,34.38,4.390,11270,0.134,0.000,2994,2091,1490,1490,4094,0,0,0,0,0,0,25.20,25.37,23.33,10.04,35.03
$GC,582,1.98,586.5,2993,2091,1488,4094,53.0,14.3,40,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2091,1487,1487,4094,0,0,0,0,0,0,25.33,25.34,25.34,9.90,35.31
$GC,663,1.98,586.5,2993,2091,1485,4094,40.4,15.7,46,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2091,1484,1484,4094,0,0,0,0,0,0,25.56,25.58,25.58,9.90,34.91
$GC,744,1.98,586.5,2993,2091,1483,4094,28.2,14.9,52,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2091,1482,1482,4094,0,0,0,0,0,0,25.72,25.74,25.74,9.89,35.46
$GC,825,1.98,586.5,2993,2091,1479,4094,16.6,14.0,58,840,0.00,2.03,0.00,0.000,516,0.000,0.184,2994,1346,1479,1479,4094,0,0,1,0,0,0,25.84,25.48,25.86,9.90,34.72
$GC,868,1.98,586.5,2993,1346,1479,4094,11.3,12.4,61,882,0.00,1.80,0.00,0.000,1030,0.000,0.107,2993,2048,1478,1478,4094,0,0,0,0,0,0,25.65,25.64,25.68,9.90,34.87
$STATE,944,end climb,SURFACE_DEPTH_REACHED
$STATE,944,begin surface coast
$FINISH,0.1,1.006415
$STATE,970,end surface coast,CONTROL_FINISHED_OK
$STATE,971,begin surface
$SM_CCo,1068,0.00,0.000,0,0,1476,600.16
$SM_GC,0.73,29.45,0.28,0.00,0.087,0.206,0.000,232,2169,1476,-6.71,-1.37,600.16,0,0,1,0,0,0,25.44,25.72,25.67
$IRIDIUM_FIX,5554.28,-16557.83,030517,142441
$TT8_MAMPS,0.026215,0.261401
$HUMID,35.62
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,9.5
$24V_AH,23.33,32.042
$10V_AH,8.60,15.941
$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,49.275,12.475,69.025,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,250.628,59.967,124.544,661.104,28.132,33.417,362.920,0.000,673.707,0.000,5.438,0.000
$DEVICE_MAMPS,223.470,220.987,4481.815,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.899,88.439,148.391,375.987,650.395,0.000,0.000,0.000,0.000,0.000
$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,7390,69
$CAP_FILE_SIZE,20090,8
$CFSIZE,1024409600,1002733568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,030517,154829,5651.774,-16453.129,3,0.8,15,11.1,1.0,262.7,10,5.0