version: 66.12
glider: 401
mission: 20
dive: 336
start: 5 3 117 20 55 12
data:
$ID,401
$MISSION,20
$DIVE,336
$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,25
$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
$GPS1,030517,204516,5651.1509,-16453.5508,3,0.8,48,11.1,0.0,0.0,10,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-22.7
$GPS2,030517,205410,5651.2104,-16453.6074,5,0.8,50,11.1,0.0,0.0,10,5.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.335,-16434.174
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.185342,-0.333138
$KALMAN_X,-7454.490234,143.326340,-316.721191,59521.257812,-46.749268
$KALMAN_Y,28045.521484,-1544.207886,-234.848846,-69548.882812,368.539062
$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,-488.8,241,2163,51,4094,0.0,0.0,0,34,0.00,0.00,-16.08,0.000,16386,0.000,0.000,241,2163,1856,1856,4094,0,0,0,0,0,0,25.89,28.83,25.91,9.62,36.80
$GC,36,-1.95,-488.8,241,2163,1856,4094,0.6,0.0,1,70,18.83,2.12,-7.57,0.000,18948,0.390,4.092,1745,1410,2749,2749,4094,0,0,0,0,0,0,25.48,24.06,25.61,9.98,36.25
$GC,239,-1.95,-488.8,1744,1410,2754,4094,27.6,-16.3,17,253,0.00,1.95,0.00,0.000,1030,0.000,0.122,1745,2162,2755,2755,4095,0,0,0,0,0,0,25.76,25.70,25.79,10.18,35.94
$GC,316,-1.95,-488.8,1744,2162,2756,4095,39.1,-15.3,23,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,2162,2757,2757,4095,0,0,0,0,0,0,26.10,26.12,26.12,10.16,36.06
$GC,396,-1.95,-488.8,1744,2162,2759,4094,50.8,-15.1,29,411,0.00,2.00,0.00,0.000,516,0.000,0.164,1745,1415,2759,2759,4094,0,0,0,0,0,0,26.15,25.80,26.17,10.16,35.70
$STATE,449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,449,begin apogee
$GC,455,-0.56,0.0,1745,2083,2760,4094,59.7,-15.6,33,502,5.07,0.00,29.30,4.442,10244,0.231,0.000,2192,2083,2174,2174,4094,0,0,0,0,0,0,25.84,24.60,23.77,10.17,35.50
$STATE,503,end apogee,CONTROL_FINISHED_OK
$STATE,503,begin climb
$GC,505,1.95,488.8,2192,2083,2174,4094,64.3,0.0,36,557,8.65,2.08,28.67,4.363,10756,0.129,0.191,2988,1326,1605,1605,4094,0,0,1,0,0,0,25.21,25.14,23.44,10.05,35.39
$GC,574,1.95,488.8,2987,1326,1604,4094,60.3,9.1,40,588,0.00,1.98,0.00,0.000,1030,0.000,0.107,2988,2075,1604,1604,4094,0,0,0,0,0,0,24.98,24.98,25.03,9.94,34.87
$GC,651,1.95,488.8,2987,2075,1602,4094,48.2,15.7,46,666,0.00,2.15,0.00,0.000,260,0.000,0.216,2988,2829,1602,1602,4094,0,0,0,0,0,0,25.56,25.18,25.56,9.93,35.43
$GC,729,1.95,488.8,2988,2829,1599,4094,35.1,17.1,52,744,0.00,1.95,0.00,0.000,1030,0.000,0.104,2988,2087,1599,1599,4094,0,0,0,0,0,0,25.49,25.45,25.51,9.93,35.66
$GC,807,1.95,488.8,2988,2086,1596,4094,22.5,15.9,58,821,0.00,2.10,0.00,0.000,516,0.000,0.201,2988,1319,1596,1596,4094,0,0,0,0,0,0,25.85,25.47,25.86,9.93,35.66
$GC,873,1.95,488.8,2988,1319,1594,4094,12.7,14.4,63,888,0.00,1.90,0.00,0.000,1030,0.000,0.107,2988,2062,1594,1594,4094,0,0,0,0,0,0,25.69,25.63,25.71,9.93,35.35
$STATE,937,end climb,FINISH_DEPTH_REACHED
$STATE,938,begin subsurface finish
$FINISH1,3.5,1.025179,-153
$GC,943,-0.24,-152.5,2988,2065,1592,4094,3.5,13.9,68,972,7.60,0.00,-6.93,0.000,20486,0.241,0.000,2326,2068,2353,2353,4094,0,0,0,0,0,0,25.70,25.19,25.74,9.93,35.50
$FINISH2,0.2
$STATE,973,end subsurface finish,CONTROL_FINISHED_OK
$STATE,973,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,200721
$TT8_MAMPS,0.026964,0.259154
$HUMID,35.74
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.10
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,50.8,10.2
$24V_AH,23.44,33.375
$10V_AH,8.60,16.338
$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,40.150,19.925,57.975,0.000,0.000,23.126,39.360,322.685,0.500,0.000,51.802,251.426,0.000,95.416,1094.553,88.493,33.440,348.887,0.000,677.178,0.000,9.215,0.000
$DEVICE_MAMPS,389.831,4091.984,4442.087,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,47.243,89.636,150.481,373.129,651.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344688
$DATA_FILE_SIZE,7413,70
$CAP_FILE_SIZE,25085,4
$CFSIZE,1024409600,1001996288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,205410,5651.210,-16453.607,5,0.8,50,11.1,0.0,0.0,10,5.9