version: 66.12
glider: 401
mission: 20
dive: 284
start: 5 3 117 2 25 29
data:
$ID,401
$MISSION,20
$DIVE,284
$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,44
$R_STBD_OVSHOOT,28
$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
$GPS1,030517,021854,5658.5552,-16451.9277,2,1.2,47,11.1,0.0,0.0,8,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-37.5
$GPS2,030517,022426,5658.5200,-16452.0039,4,1.1,21,11.1,0.6,308.4,9,4.8
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5648.089,-16457.109
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012344,-0.408978
$KALMAN_X,-6762.270996,152.624878,-33.892448,60156.144531,-127.010109
$KALMAN_Y,24161.580078,-653.506470,-426.853363,-52807.992188,-44.002502
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.98,-586.5,231,2143,1476,4094,0.0,0.0,0,34,0.00,0.00,-12.40,0.000,16390,0.000,0.000,231,2143,2863,2863,4094,0,0,0,0,0,0,26.03,25.17,26.04,9.90,36.69
$GC,36,-1.98,-586.5,231,2142,2863,4094,0.8,0.0,1,69,19.08,2.20,0.00,0.000,2308,0.412,0.236,1736,2916,2865,2865,4094,0,0,0,0,0,0,25.53,25.55,25.60,10.20,37.24
$GC,180,-1.98,-586.5,1735,2916,2869,4095,33.9,-15.5,12,194,0.00,1.88,0.00,0.000,1030,0.000,0.107,1736,2180,2869,2869,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.18,36.88
$GC,257,-1.98,-586.5,1735,2179,2870,4094,45.7,-15.3,18,275,0.00,2.03,0.00,0.000,516,0.000,0.169,1735,1420,2871,2871,4095,0,0,0,0,0,0,26.15,25.77,26.16,10.18,35.94
$GC,331,-1.98,-586.5,1735,1420,2873,4095,57.2,-15.6,23,349,0.00,1.88,0.00,0.000,1030,0.000,0.129,1736,2147,2873,2873,4094,0,0,0,0,0,0,25.93,25.88,25.96,10.17,35.50
$STATE,363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,363,begin apogee
$GC,368,-0.56,0.0,1735,2059,2874,4094,62.5,-14.9,25,419,5.18,0.00,34.50,4.599,10244,0.236,0.000,2192,2058,2176,2176,4094,0,0,0,0,0,0,25.86,24.49,23.67,10.18,34.99
$STATE,420,end apogee,CONTROL_FINISHED_OK
$STATE,420,begin climb
$GC,422,1.98,586.5,2191,2058,2175,4094,67.0,0.0,28,473,8.93,0.00,34.45,4.507,11270,0.146,0.000,2992,2058,1489,1489,4094,0,0,0,0,0,0,25.20,25.37,23.32,10.04,35.50
$GC,535,1.98,586.5,2992,2058,1488,4094,57.1,14.2,36,554,0.00,2.00,0.00,0.000,516,0.000,0.196,2992,1347,1487,1487,4094,0,0,0,0,0,0,25.36,25.01,25.37,9.90,34.48
$GC,581,1.98,586.5,2992,1347,1487,4094,50.4,14.1,39,595,0.00,1.90,0.00,0.000,1030,0.000,0.112,2992,2070,1486,1486,4094,0,0,0,0,0,0,25.26,25.21,25.29,9.90,35.15
$GC,658,1.98,586.5,2992,2070,1484,4094,39.1,14.7,45,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2070,1483,1483,4094,0,0,0,0,0,0,25.67,25.69,25.69,9.90,34.32
$GC,734,1.98,586.5,2992,2070,1481,4094,28.0,14.5,51,749,0.00,2.15,0.00,0.000,260,0.000,0.221,2992,2831,1482,1482,4094,0,0,0,0,0,0,25.80,25.42,25.81,9.89,34.95
$GC,789,1.98,586.5,2992,2831,1480,4094,20.3,14.1,55,808,0.00,1.92,0.00,0.000,1030,0.000,0.104,2992,2093,1479,1479,4094,0,0,0,0,0,0,25.63,25.60,25.65,9.89,34.99
$GC,871,1.98,586.5,2992,2093,1477,4094,9.0,13.7,61,890,0.00,2.10,0.00,0.000,516,0.000,0.196,2992,1322,1476,1476,4094,0,0,0,0,0,0,25.97,25.58,25.98,9.90,35.23
$STATE,915,end climb,FINISH_DEPTH_REACHED
$STATE,915,begin subsurface finish
$FINISH1,2.6,1.025119,-148
$GC,923,-0.24,-148.3,2992,2083,1475,4094,2.6,13.6,64,952,7.18,0.00,-8.12,0.000,20998,0.127,0.000,2324,2086,2350,2350,4095,0,0,0,0,0,0,25.76,25.22,25.79,9.90,35.94
$FINISH2,0.2
$STATE,953,end subsurface finish,CONTROL_FINISHED_OK
$STATE,953,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,013911
$TT8_MAMPS,0.026964,0.259154
$HUMID,36.29
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.2,10.2
$24V_AH,23.32,28.496
$10V_AH,8.69,14.967
$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,40.350,20.175,68.950,0.000,0.000,26.146,35.853,168.542,0.500,0.000,22.420,240.681,0.000,114.490,890.060,64.148,33.447,382.928,0.000,648.271,0.000,8.701,0.000
$DEVICE_MAMPS,412.178,235.885,4598.516,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.685,84.509,141.890,360.204,622.808,0.000,0.000,0.000,0.000,0.000
$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,7354,66
$CAP_FILE_SIZE,24692,10
$CFSIZE,1024409600,1004552192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030517,022426,5658.520,-16452.004,4,1.1,21,11.1,0.6,308.4,9,4.8