version: 66.12
glider: 401
mission: 20
dive: 328
start: 5 3 117 17 58 59
data:
$ID,401
$MISSION,20
$DIVE,328
$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,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
$GPS1,030517,175223,5650.6387,-16454.3613,3,0.8,22,11.1,0.7,263.8,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-40.7
$GPS2,030517,175756,5650.6089,-16454.4629,4,0.8,22,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5648.734,-16435.033
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.376383,-0.062829
$KALMAN_X,-6180.161133,620.772400,158.980438,56444.585938,-385.285736
$KALMAN_Y,26889.189453,-2020.131958,-1149.996826,-68103.429688,63.547363
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.95,-488.8,231,2186,1592,4094,0.0,0.0,0,36,0.00,0.00,-9.95,0.000,16390,0.000,0.000,231,2186,2748,2748,4094,0,0,0,0,0,0,26.07,25.20,26.09,9.92,36.49
$GC,39,-1.95,-488.8,231,2186,2749,4094,0.9,0.0,1,76,19.25,1.98,0.00,0.000,2564,0.417,0.132,1738,1433,2752,2752,4095,0,0,0,0,0,0,25.45,25.51,25.53,10.16,36.45
$GC,257,-1.95,-488.8,1738,1433,2757,4094,49.0,-15.9,18,277,0.00,1.88,0.00,0.000,1030,0.000,0.122,1738,2159,2758,2758,4095,0,0,0,0,0,0,25.84,25.79,25.87,10.16,35.94
$STATE,315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,315,begin apogee
$GC,320,-0.56,0.0,1738,2054,2759,4094,58.4,-15.7,22,358,5.15,0.00,28.95,4.412,10246,0.233,0.000,2192,2052,2174,2174,4094,0,0,0,0,0,0,25.81,24.91,23.75,10.17,35.66
$STATE,359,end apogee,CONTROL_FINISHED_OK
$STATE,359,begin climb
$GC,361,1.95,488.8,2191,2052,2174,4094,62.7,0.0,24,415,8.77,0.00,28.60,4.323,10246,0.139,0.000,2984,2052,1607,1607,4094,0,0,0,0,0,0,25.25,24.20,23.43,10.03,35.39
$GC,479,1.95,488.8,2984,2052,1604,4094,50.4,15.6,32,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2052,1604,1604,4094,0,0,0,0,0,0,25.48,25.49,25.48,9.92,35.19
$GC,560,1.95,488.8,2983,2051,1602,4094,37.5,15.7,38,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2051,1602,1602,4094,0,0,0,0,0,0,25.69,25.70,25.70,9.92,35.19
$GC,641,1.95,488.8,2984,2051,1599,4094,24.9,15.6,44,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2052,1598,1598,4094,0,0,0,0,0,0,25.83,25.84,25.84,9.92,35.50
$GC,723,1.95,488.8,2984,2051,1596,4094,13.4,12.9,50,737,0.00,1.92,0.00,0.000,516,0.000,0.201,2984,1349,1596,1596,4094,0,0,0,0,0,0,25.94,25.56,25.95,9.92,35.19
$GC,766,1.95,488.8,2984,1349,1595,4094,7.4,13.8,53,784,0.00,1.88,0.00,0.000,1030,0.000,0.109,2984,2081,1595,1595,4094,0,0,0,0,0,0,25.73,25.69,25.76,9.93,35.31
$STATE,798,end climb,FINISH_DEPTH_REACHED
$STATE,799,begin subsurface finish
$FINISH1,2.7,1.025107,-148
$GC,804,-0.24,-147.5,2984,2083,1594,4094,2.7,13.8,55,824,7.28,0.00,-6.38,0.000,20486,0.166,0.000,2321,2084,2353,2353,4094,0,0,0,0,0,0,25.77,24.53,25.80,9.93,35.98
$FINISH2,0.2
$STATE,825,end subsurface finish,CONTROL_FINISHED_OK
$STATE,825,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,171109
$TT8_MAMPS,0.026215,0.247919
$HUMID,35.66
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,9.5
$24V_AH,23.43,32.672
$10V_AH,8.64,16.121
$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,40.450,7.825,57.550,0.000,0.000,23.200,25.569,172.680,0.500,0.000,23.756,214.462,0.000,104.511,795.899,66.498,33.439,324.402,0.000,558.187,0.000,8.684,0.000
$DEVICE_MAMPS,417.144,201.123,4412.291,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,37.887,71.722,120.410,312.280,535.092,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,3939,56
$CAP_FILE_SIZE,20896,13
$CFSIZE,1024409600,1002389504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030517,175756,5650.609,-16454.463,4,0.8,22,11.1,0.0,0.0,10,4.9