version: 66.12
glider: 401
mission: 20
dive: 304
start: 5 3 117 9 37 21
data:
$ID,401
$MISSION,20
$DIVE,304
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,030517,093055,5656.2949,-16456.8203,56,0.8,62,11.1,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-31.9
$GPS2,030517,093617,5656.3042,-16456.7207,4,0.8,15,11.1,0.0,0.0,11,4.8
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5645.873,-16501.820
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.327868,-0.238102
$KALMAN_X,-10996.025391,-1477.135620,-647.700256,61887.003906,374.095703
$KALMAN_Y,28067.222656,-670.584351,24.028662,-61260.042969,212.443756
$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,-586.5,231,2191,1477,4094,0.0,0.0,0,34,0.00,0.03,-12.07,0.000,16390,0.000,4.397,231,2180,2862,2862,4095,0,0,0,0,0,0,26.04,24.49,26.05,9.91,37.12
$GC,37,-1.98,-586.5,231,2181,2862,4094,0.9,0.0,1,74,19.00,2.15,0.00,0.000,2308,0.407,0.248,1735,2924,2864,2864,4094,0,0,0,0,0,0,25.53,25.53,25.61,10.20,36.61
$GC,184,-1.98,-586.5,1733,2924,2868,4094,34.9,-15.5,12,199,0.00,2.00,0.00,0.000,1030,0.000,0.109,1735,2145,2868,2868,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.18,36.13
$GC,263,-1.98,-586.5,1734,2141,2870,4094,46.6,-15.5,18,277,0.00,1.92,0.00,0.000,516,0.000,0.174,1735,1421,2870,2870,4095,0,0,0,0,0,0,26.16,25.79,26.17,10.18,35.98
$GC,333,-1.98,-586.5,1734,1420,2872,4095,57.8,-15.6,23,348,0.00,1.85,0.00,0.000,1030,0.000,0.127,1735,2138,2872,2872,4095,0,0,0,0,0,0,25.93,25.87,25.96,10.18,35.43
$STATE,362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,362,begin apogee
$GC,367,-0.56,0.0,1734,2063,2873,4095,62.6,-15.5,25,414,5.20,0.00,34.58,4.623,10244,0.226,0.000,2195,2063,2174,2174,4094,0,0,0,0,0,0,25.88,24.82,23.66,10.19,35.31
$STATE,415,end apogee,CONTROL_FINISHED_OK
$STATE,415,begin climb
$GC,417,1.98,586.5,2195,2063,2174,4094,67.0,0.0,28,469,9.00,2.00,34.03,4.524,10756,0.142,0.204,3009,1346,1490,1490,4094,0,0,0,0,0,0,25.08,25.01,23.32,10.04,35.19
$GC,638,1.98,586.5,3009,1346,1484,4094,38.5,15.4,45,656,0.00,1.88,0.00,0.000,1030,0.000,0.107,3009,2068,1484,1484,4094,0,0,0,0,0,0,25.40,25.36,25.41,9.89,35.43
$GC,719,1.98,586.5,3008,2068,1481,4094,26.1,15.0,51,734,0.00,2.00,0.00,0.000,516,0.000,0.191,3009,1337,1481,1481,4094,0,0,1,0,0,0,25.79,25.41,25.80,9.89,34.87
$STATE,876,end climb,FINISH_DEPTH_REACHED
$STATE,877,begin subsurface finish
$FINISH1,3.7,1.025089,-146
$GC,884,-0.23,-146.2,3009,2075,1476,4094,3.7,14.8,64,918,7.65,2.25,-6.75,0.000,20740,0.194,4.171,2323,2828,2351,2351,4094,0,0,0,0,0,0,25.74,24.18,25.77,9.90,35.39
$FINISH2,1.1
$STATE,919,end subsurface finish,CONTROL_FINISHED_OK
$STATE,919,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,084828
$TT8_MAMPS,0.026215,0.261401
$HUMID,35.90
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.5,10.2
$24V_AH,23.32,30.431
$10V_AH,8.59,15.499
$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,40.850,18.125,68.600,0.000,0.000,25.681,18.457,177.455,0.500,0.000,17.857,239.176,0.000,91.360,869.716,65.441,33.441,315.910,0.000,642.378,0.000,8.700,0.000
$DEVICE_MAMPS,407.212,4397.393,4623.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.187,84.673,141.945,354.446,617.121,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7433,66
$CAP_FILE_SIZE,21686,7
$CFSIZE,1024409600,1003569152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,093617,5656.304,-16456.721,4,0.8,15,11.1,0.0,0.0,11,4.8