version: 66.12
glider: 401
mission: 20
dive: 327
start: 5 3 117 17 33 12
data:
$ID,401
$MISSION,20
$DIVE,327
$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,500
$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,100
$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,41
$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
$GPS1,030517,171537,5650.6851,-16454.3926,5,1.0,50,11.1,0.0,0.0,8,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-0.6
$GPS2,030517,171537,5650.6851,-16454.3926,5,1.0,50,11.1,0.0,0.0,8,3.5
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5648.810,-16434.963
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.380469,-0.027327
$KALMAN_X,-5872.454102,700.055603,271.728485,56013.367188,-261.890198
$KALMAN_Y,26983.316406,-1996.638916,-1171.905640,-68060.648438,-1.938110
$MHEAD_RNG_PITCHd_Wd,88.9,20000,-10.5,-9.667,-14.22,7537
$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,-1.95,-488.8,2316,2143,2352,4095,0.0,0.0,0,20,0.00,0.00,-2.05,0.000,16390,0.000,0.000,2316,2143,2755,2755,4094,0,0,0,0,0,0,26.08,24.49,26.06,10.07,35.74
$GC,22,-1.95,-488.8,2316,2143,2755,4094,0.0,0.0,0,41,6.05,1.90,0.00,0.000,4612,0.201,0.181,1775,1435,2755,2755,4095,0,0,0,0,0,0,25.79,25.70,25.83,10.17,36.33
$GC,162,-1.95,-488.8,1775,1435,2758,4094,22.9,-15.9,11,176,0.00,1.88,0.00,0.000,1030,0.000,0.127,1775,2161,2759,2759,4095,0,0,0,0,0,0,25.91,25.86,25.94,10.16,36.25
$GC,239,-1.95,-488.8,1774,2161,2760,4094,33.4,-13.9,17,254,0.00,1.95,0.00,0.000,516,0.000,0.164,1775,1430,2761,2761,4094,0,0,0,0,0,0,26.24,25.86,26.25,10.16,36.33
$GC,305,-1.95,-488.8,1775,1430,2761,4094,42.7,-14.2,22,323,0.00,1.83,0.00,0.000,1030,0.000,0.122,1775,2143,2762,2762,4094,0,0,0,0,0,0,25.99,25.94,26.05,10.16,35.94
$GC,391,-1.95,-488.8,1775,2143,2764,4094,54.8,-13.8,28,410,0.00,1.88,0.00,0.000,516,0.000,0.159,1775,1434,2764,2764,4095,0,0,0,0,0,0,26.32,25.95,26.33,10.16,35.62
$STATE,423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,423,begin apogee
$GC,429,-0.56,0.0,1775,2081,2765,4094,59.6,-13.9,30,476,4.70,0.00,28.95,4.455,10244,0.226,0.000,2193,2081,2173,2173,4094,0,0,0,0,0,0,25.98,24.71,23.90,10.16,35.39
$STATE,477,end apogee,CONTROL_FINISHED_OK
$STATE,477,begin climb
$GC,479,1.95,488.8,2193,2081,2173,4094,63.6,0.0,33,533,8.68,0.00,28.48,4.370,11270,0.132,0.000,2984,2081,1605,1605,4094,0,0,0,0,0,0,25.40,25.60,23.51,10.04,35.43
$GC,597,1.95,488.8,2984,2081,1603,4094,51.7,15.1,41,615,0.00,2.05,0.00,0.000,516,0.000,0.191,2985,1340,1602,1602,4094,0,0,1,0,0,0,25.54,25.19,25.56,9.92,34.60
$GC,631,1.95,488.8,2985,1340,1602,4095,46.2,15.9,43,646,0.00,1.90,0.00,0.000,1030,0.000,0.112,2985,2070,1602,1602,4094,0,0,0,0,0,0,25.39,25.34,25.42,9.93,35.07
$GC,709,1.95,488.8,2984,2070,1599,4094,34.1,16.0,49,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2070,1599,1599,4094,0,0,0,0,0,0,25.79,25.80,25.81,9.92,34.99
$GC,789,1.95,488.8,2985,2070,1596,4094,21.9,14.7,55,804,0.00,1.98,0.00,0.000,516,0.000,0.191,2985,1343,1596,1596,4094,0,0,1,0,0,0,25.91,25.54,25.92,9.91,35.78
$GC,843,1.95,488.8,2985,1343,1595,4094,14.0,14.7,59,861,0.00,1.85,0.00,0.000,1030,0.000,0.109,2985,2067,1595,1595,4094,0,0,0,0,0,0,25.72,25.67,25.75,9.92,35.86
$GC,925,1.95,488.8,2985,2067,1592,4094,2.3,14.6,65,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2072,1592,1592,4094,0,0,0,0,0,0,26.06,26.08,26.07,9.93,35.62
$STATE,957,end climb,SURFACE_DEPTH_REACHED
$STATE,958,begin surface coast
$FINISH,0.1,1.008557
$STATE,997,end surface coast,CONTROL_FINISHED_OK
$STATE,997,begin surface
$SM_CCo,1095,0.00,0.000,0,0,1591,500.56
$SM_GC,0.94,29.25,0.22,0.00,0.087,0.196,0.000,231,2178,1591,-6.71,-1.23,500.56,0,0,1,0,0,0,25.56,25.85,25.79
$IRIDIUM_FIX,5554.28,-16557.83,030517,163048
$TT8_MAMPS,0.026215,0.245672
$HUMID,35.98
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,10.0
$24V_AH,23.51,32.586
$10V_AH,8.60,16.096
$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,48.675,20.825,57.425,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,257.546,60.565,131.546,672.455,29.891,33.419,374.717,0.000,685.015,0.000,5.450,0.000
$DEVICE_MAMPS,225.953,196.157,4454.502,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.540,89.733,150.500,381.034,660.650,0.000,0.000,0.000,0.000,0.000
$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,7334,70
$CAP_FILE_SIZE,21755,13
$CFSIZE,1024409600,1002438656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,030517,175223,5650.639,-16454.361,3,0.8,22,11.1,0.7,263.8,9,4.8