version: 66.12
glider: 401
mission: 20
dive: 323
start: 5 3 117 16 11 17
data:
$ID,401
$MISSION,20
$DIVE,323
$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,25
$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
$GPS1,030517,155341,5651.7144,-16453.1914,4,0.8,18,11.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,1.0
$GPS2,030517,155341,5651.7144,-16453.1914,4,0.8,18,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5641.283,-16458.281
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.067253,-0.404326
$KALMAN_X,-5139.316406,987.606079,862.723877,55599.550781,-68.768066
$KALMAN_Y,27074.644531,-1728.417969,-1171.663940,-66525.695312,-80.864014
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.98,-586.5,2323,2172,2353,4094,0.0,0.0,0,36,0.00,0.00,-2.22,0.000,16390,0.000,0.000,2324,2172,2868,2868,4094,0,0,0,0,0,0,25.89,24.35,25.86,10.07,35.74
$GC,38,-1.98,-586.5,2324,2172,2868,4095,6.5,0.0,1,57,6.35,2.17,0.00,0.000,4356,0.146,0.241,1749,2920,2868,2868,4094,0,0,0,0,0,0,25.30,25.15,25.32,10.19,35.66
$GC,74,-1.98,-586.5,1748,2920,2869,4094,12.2,-14.2,3,89,0.00,1.98,0.00,0.000,1030,0.000,0.109,1749,2167,2869,2869,4094,0,0,0,0,0,0,25.41,25.37,25.44,10.18,35.78
$GC,152,-1.98,-586.5,1748,2167,2871,4095,24.3,-15.1,9,167,0.00,2.03,0.00,0.000,516,0.000,0.166,1749,1417,2871,2871,4094,0,0,0,0,0,0,25.80,25.44,25.82,10.19,36.29
$GC,311,-1.98,-586.5,1748,1417,2875,4095,48.0,-15.1,22,332,0.00,1.85,0.00,0.000,1030,0.000,0.124,1748,2131,2875,2875,4094,0,0,0,0,0,0,25.75,25.69,25.77,10.19,35.31
$STATE,382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,382,begin apogee
$GC,387,-0.56,0.0,1748,2058,2876,4094,58.8,-14.8,27,434,5.03,0.00,34.60,4.452,10244,0.221,0.000,2192,2058,2176,2176,4094,0,0,0,0,0,0,25.75,24.41,23.60,10.19,35.46
$STATE,435,end apogee,CONTROL_FINISHED_OK
$STATE,435,begin climb
$GC,436,1.98,586.5,2191,2058,2176,4094,62.9,0.0,30,493,8.93,0.00,34.60,4.382,11270,0.132,0.000,2993,2058,1490,1490,4094,0,0,0,0,0,0,25.10,25.27,23.26,10.04,35.35
$GC,557,1.98,586.5,2993,2058,1487,4094,51.2,15.0,39,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2058,1487,1487,4094,0,0,0,0,0,0,25.29,25.31,25.31,9.90,34.95
$GC,634,1.98,586.5,2993,2058,1485,4094,39.3,15.2,45,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2058,1484,1484,4094,0,0,0,0,0,0,25.52,25.53,25.53,9.90,35.19
$GC,715,1.98,586.5,2992,2058,1482,4094,27.2,14.9,51,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2058,1482,1482,4094,0,0,0,0,0,0,25.67,25.69,25.69,9.89,34.80
$GC,793,1.98,586.5,2993,2058,1480,4094,16.9,13.2,57,811,0.00,1.95,0.00,0.000,516,0.000,0.189,2993,1348,1479,1479,4094,0,0,0,0,0,0,25.79,25.46,25.81,9.90,34.68
$GC,838,1.98,586.5,2993,1348,1479,4094,10.7,13.6,60,852,0.00,1.90,0.00,0.000,1030,0.000,0.117,2993,2081,1479,1479,4094,0,0,0,0,0,0,25.59,25.56,25.62,9.90,35.35
$STATE,913,end climb,SURFACE_DEPTH_REACHED
$STATE,914,begin surface coast
$FINISH,0.1,1.001212
$STATE,940,end surface coast,CONTROL_FINISHED_OK
$STATE,940,begin surface
$SM_CCo,1039,0.00,0.000,0,0,1476,600.16
$SM_GC,0.90,29.48,0.20,0.00,0.084,0.221,0.000,232,2181,1476,-6.71,-1.05,600.16,0,0,1,0,0,0,25.36,25.70,25.63
$IRIDIUM_FIX,5732.55,-17548.21,030517,150748
$TT8_MAMPS,0.026964,0.243425
$HUMID,35.39
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,9.5
$24V_AH,23.26,32.233
$10V_AH,8.59,15.992
$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,49.775,13.875,69.200,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,243.141,60.541,120.004,646.802,26.751,33.413,353.963,0.000,659.803,0.000,5.433,0.000
$DEVICE_MAMPS,220.987,240.851,4452.019,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.151,87.149,146.231,365.796,636.073,0.000,0.000,0.000,0.000,0.000
$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,7354,68
$CAP_FILE_SIZE,18849,6
$CFSIZE,1024409600,1002635264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030517,162927,5651.196,-16453.637,3,0.8,17,11.1,0.0,0.0,10,4.8