version: 66.12
glider: 401
mission: 20
dive: 311
start: 5 3 117 12 0 4
data:
$ID,401
$MISSION,20
$DIVE,311
$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,34
$R_STBD_OVSHOOT,17
$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
$GPS1,030517,114152,5655.5820,-16454.3516,4,0.9,17,11.1,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-1.2
$GPS2,030517,114152,5655.5820,-16454.3516,4,0.9,17,11.1,0.0,0.0,10,4.7
$SPEED_LIMITS,0.097,0.410
$TGT_NAME,HEADING
$TGT_LATLONG,5645.151,-16459.449
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.398460,-0.092715
$KALMAN_X,-8434.717773,-371.223480,601.221375,59355.238281,418.744965
$KALMAN_Y,28267.150391,-506.943115,38.747631,-62976.363281,-113.443161
$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,-586.5,2322,2152,2351,4094,0.0,0.0,0,37,0.00,0.00,-2.50,0.000,16390,0.000,0.000,2322,2152,2867,2867,4094,0,0,0,0,0,0,26.08,24.50,26.06,10.08,35.82
$GC,39,-1.98,-586.5,2322,2152,2867,4095,4.7,0.0,1,58,6.12,1.95,0.00,0.000,4612,0.142,0.156,1764,1425,2867,2867,4095,0,0,0,0,0,0,25.44,25.36,25.47,10.20,36.17
$GC,121,-1.98,-586.5,1764,1425,2869,4095,18.2,-15.5,7,136,0.00,1.92,0.00,0.000,1030,0.000,0.124,1764,2162,2869,2869,4094,0,0,0,0,0,0,25.59,25.54,25.63,10.19,35.70
$GC,200,-1.98,-586.5,1763,2162,2870,4094,29.9,-13.8,13,218,0.00,1.98,0.00,0.000,516,0.000,0.159,1764,1428,2871,2871,4095,0,0,0,0,0,0,25.98,25.62,25.99,10.18,35.86
$GC,234,-1.98,-586.5,1763,1428,2871,4094,34.9,-14.1,15,252,0.00,1.90,0.00,0.000,1030,0.000,0.127,1764,2158,2872,2872,4094,0,0,0,0,0,0,25.75,25.69,25.77,10.18,35.31
$GC,316,-1.98,-586.5,1763,2158,2874,4094,46.4,-13.9,21,334,0.00,2.20,0.00,0.000,260,0.000,0.261,1763,2928,2874,2874,4095,0,0,0,0,0,0,26.10,25.67,26.10,10.18,35.11
$GC,351,-1.98,-586.5,1763,2928,2874,4094,51.5,-14.5,23,365,0.00,1.98,0.00,0.000,1030,0.000,0.114,1763,2159,2875,2875,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.18,35.82
$STATE,398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,398,begin apogee
$GC,403,-0.56,0.0,1763,2051,2875,4094,58.1,-14.0,26,458,4.85,0.05,34.53,4.440,10244,0.228,0.243,2191,2086,2174,2174,4094,0,0,0,0,0,0,25.83,24.46,23.67,10.18,35.86
$STATE,459,end apogee,CONTROL_FINISHED_OK
$STATE,459,begin climb
$GC,461,1.98,586.5,2191,2085,2174,4094,62.3,0.0,29,517,8.80,2.10,34.20,4.373,10500,0.127,0.219,2996,2821,1490,1490,4094,0,0,0,0,0,0,25.11,25.05,23.34,10.04,34.72
$GC,534,1.98,586.5,2996,2821,1489,4094,57.8,9.6,33,552,0.00,1.95,0.00,0.000,1030,0.000,0.102,2996,2096,1488,1488,4094,0,0,0,0,0,0,24.90,24.87,24.92,9.90,34.99
$GC,616,1.98,586.5,2996,2096,1487,4094,45.4,15.0,39,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2095,1486,1486,4094,0,0,0,0,0,0,25.46,25.48,25.48,9.90,34.32
$GC,697,1.98,586.5,2995,2096,1484,4094,33.1,15.6,45,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2096,1483,1483,4094,0,0,0,0,0,0,25.65,25.67,25.67,9.90,34.56
$GC,778,1.98,586.5,2996,2096,1481,4094,21.0,14.8,51,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2096,1480,1480,4094,0,0,0,0,0,0,25.79,25.80,25.80,9.89,34.80
$GC,859,1.98,586.5,2996,2094,1479,4094,9.8,13.5,57,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2094,1478,1478,4094,0,0,0,0,0,0,25.89,25.91,25.91,9.90,35.19
$STATE,926,end climb,SURFACE_DEPTH_REACHED
$STATE,927,begin surface coast
$FINISH,0.4,1.025093
$STATE,954,end surface coast,CONTROL_FINISHED_OK
$STATE,954,begin surface
$SM_CCo,1052,0.00,0.000,0,0,1476,600.16
$SM_GC,0.74,29.45,0.17,0.00,0.094,0.248,0.000,241,2171,1476,-6.67,-1.32,600.16,0,0,1,0,0,0,25.75,25.72,25.80
$IRIDIUM_FIX,5554.28,-16557.83,030517,105618
$TT8_MAMPS,0.026215,0.244923
$HUMID,35.86
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,0.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.9,9.5
$24V_AH,23.34,31.087
$10V_AH,8.67,15.679
$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,49.225,18.100,68.725,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,241.844,59.922,150.557,627.932,29.366,33.422,402.429,0.000,639.133,0.000,7.048,0.000
$DEVICE_MAMPS,228.436,260.715,4439.604,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.409,81.995,137.617,362.660,616.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,3978,64
$CAP_FILE_SIZE,21558,16
$CFSIZE,1024409600,1003225088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,121824,5655.108,-16453.691,3,0.9,14,11.1,0.0,0.0,10,4.9