version: 66.12
glider: 401
mission: 20
dive: 337
start: 5 3 117 21 13 19
data:
$ID,401
$MISSION,20
$DIVE,337
$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,20
$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
$GPS1,030517,205410,5651.2104,-16453.6074,5,0.8,50,11.1,0.0,0.0,10,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,0.7
$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,0.266527,-0.272490
$KALMAN_X,-7619.345703,103.590553,-298.355865,59713.886719,-22.290977
$KALMAN_Y,28205.298828,-1429.174438,-107.756859,-69941.523438,273.932770
$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,16,-1.95,-488.8,2326,2182,2353,4094,0.0,0.0,0,36,0.00,0.00,-2.00,0.000,16390,0.000,0.000,2326,2182,2752,2752,4094,0,0,0,0,0,0,25.95,24.39,25.93,10.08,35.86
$GC,38,-1.95,-488.8,2326,2182,2752,4094,4.2,0.0,1,57,6.28,2.10,0.00,0.000,4612,0.159,0.161,1761,1413,2752,2752,4095,0,0,0,0,0,0,25.35,25.25,25.37,10.17,36.45
$GC,84,-1.95,-488.8,1760,1413,2753,4094,9.8,-10.8,4,99,0.00,1.95,0.00,0.000,1030,0.000,0.122,1761,2157,2753,2753,4094,0,0,0,0,0,0,25.46,25.42,25.48,10.17,35.74
$GC,163,-1.95,-488.8,1760,2157,2755,4094,21.3,-16.0,10,181,0.00,2.03,0.00,0.000,516,0.000,0.169,1760,1411,2755,2755,4094,0,0,0,0,0,0,25.86,25.48,25.88,10.17,36.02
$GC,197,-1.95,-488.8,1760,1411,2757,4094,26.5,-15.3,12,211,0.00,1.92,0.00,0.000,1030,0.000,0.122,1761,2151,2756,2756,4094,0,0,0,0,0,0,25.65,25.59,25.68,10.17,35.62
$GC,274,-1.95,-488.8,1760,2151,2758,4094,37.4,-14.5,18,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2151,2758,2758,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.16,35.39
$GC,351,-1.95,-488.8,1760,2151,2760,4094,48.5,-14.4,24,371,0.00,1.98,0.00,0.000,516,0.000,0.161,1760,1414,2760,2760,4095,0,0,0,0,0,0,26.09,25.72,26.10,10.17,35.70
$GC,386,-1.95,-488.8,1760,1414,2761,4095,53.8,-14.5,26,400,0.00,1.88,0.00,0.000,1030,0.000,0.124,1760,2141,2761,2761,4095,0,0,0,0,0,0,25.84,25.78,25.87,10.16,35.23
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,415,begin apogee
$GC,420,-0.56,0.0,1760,2038,2762,4095,58.1,-14.8,28,468,4.88,0.10,29.38,4.397,10244,0.226,0.199,2191,2101,2173,2173,4095,0,0,0,0,0,0,25.79,24.56,23.76,10.17,35.39
$STATE,469,end apogee,CONTROL_FINISHED_OK
$STATE,469,begin climb
$GC,471,1.95,488.8,2191,2101,2173,4094,62.3,0.0,31,521,8.75,0.00,28.67,4.301,11270,0.134,0.000,2984,2100,1603,1603,4094,0,0,0,0,0,0,25.27,25.46,23.44,10.04,34.83
$GC,586,1.95,488.8,2984,2100,1601,4094,50.9,14.9,39,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2100,1601,1601,4094,0,0,0,0,0,0,25.44,25.46,25.46,9.93,34.95
$GC,664,1.95,488.8,2984,2100,1598,4094,38.8,15.6,45,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2100,1598,1598,4094,0,0,0,0,0,0,25.65,25.66,25.67,9.93,34.64
$GC,744,1.95,488.8,2984,2100,1595,4094,25.9,16.0,51,758,0.00,2.00,0.00,0.000,260,0.000,0.209,2985,2813,1595,1595,4094,0,0,0,0,0,0,25.79,25.41,25.81,9.93,34.80
$GC,774,1.95,488.8,2984,2813,1595,4094,21.1,16.8,53,788,0.00,1.83,0.00,0.000,1030,0.000,0.104,2985,2108,1594,1594,4094,0,0,0,0,0,0,25.60,25.58,25.62,9.93,34.68
$GC,852,1.95,488.8,2984,2105,1592,4094,10.3,13.6,59,867,0.00,2.15,0.00,0.000,516,0.000,0.204,2985,1323,1591,1591,4094,0,0,0,0,0,0,25.94,25.56,25.95,9.93,35.15
$STATE,905,end climb,SURFACE_DEPTH_REACHED
$STATE,905,begin surface coast
$FINISH,0.1,1.014071
$STATE,931,end surface coast,CONTROL_FINISHED_OK
$STATE,931,begin surface
$SM_CCo,1031,0.00,0.000,0,0,1589,503.14
$SM_GC,0.88,29.30,2.17,0.00,0.084,0.119,0.000,232,2152,1589,-6.71,-1.69,503.14,0,0,1,0,0,0,25.39,25.69,25.66
$IRIDIUM_FIX,5554.28,-16557.83,030517,200721
$TT8_MAMPS,0.026215,0.245672
$HUMID,35.11
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,13.1
$24V_AH,23.44,33.448
$10V_AH,8.61,16.362
$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,49.200,20.525,58.050,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,244.041,60.353,131.935,620.636,30.385,33.419,385.824,0.000,632.428,0.000,5.453,0.000
$DEVICE_MAMPS,225.953,208.572,4397.393,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.716,83.173,139.740,352.997,608.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344736
$DATA_FILE_SIZE,7358,65
$CAP_FILE_SIZE,21684,7
$CFSIZE,1024409600,1001947136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,213145,5651.414,-16452.918,5,0.7,41,11.1,0.0,0.0,10,5.0