version: 66.12
glider: 401
mission: 20
dive: 343
start: 5 3 117 23 26 53
data:
$ID,401
$MISSION,20
$DIVE,343
$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,38
$R_STBD_OVSHOOT,21
$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
$GPS1,030517,230924,5651.8315,-16451.2383,5,0.8,22,11.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,0.0
$GPS2,030517,230924,5651.8315,-16451.2383,5,0.8,22,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.956,-16431.799
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.266370,-0.273597
$KALMAN_X,-7558.880371,388.095459,145.980606,61303.605469,100.523361
$KALMAN_Y,30030.230469,-681.721436,471.064575,-71943.500000,253.405731
$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,-488.8,2322,2175,2360,4094,0.0,0.0,0,32,0.00,0.00,-1.45,0.000,16390,0.000,0.000,2322,2176,2761,2761,4094,0,0,0,0,0,0,26.10,24.49,26.06,10.09,35.82
$GC,34,-1.95,-488.8,2322,2175,2760,4094,10.1,0.0,1,49,6.12,2.12,0.00,0.000,4356,0.142,0.246,1760,2918,2761,2761,4094,0,0,0,0,0,0,25.55,25.40,25.58,10.17,35.98
$GC,124,-1.95,-488.8,1759,2918,2763,4094,23.0,-15.0,8,142,0.00,1.90,0.00,0.000,1030,0.000,0.112,1760,2171,2763,2763,4095,0,0,0,0,0,0,25.73,25.71,25.75,10.17,35.90
$GC,208,-1.95,-488.8,1759,2170,2765,4094,35.9,-15.2,14,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2171,2765,2765,4094,0,0,0,0,0,0,26.06,26.07,26.06,10.17,36.10
$GC,290,-1.95,-488.8,1760,2171,2767,4094,47.7,-14.6,20,308,0.00,1.98,0.00,0.000,516,0.000,0.166,1760,1430,2767,2767,4095,0,0,0,0,0,0,26.13,25.76,26.15,10.17,35.94
$STATE,364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,364,begin apogee
$GC,370,-0.56,0.0,1760,2073,2769,4095,59.0,-15.1,25,421,4.88,0.00,29.62,4.450,10244,0.223,0.000,2192,2073,2174,2174,4094,0,0,0,0,0,0,25.84,24.58,23.77,10.17,35.82
$STATE,422,end apogee,CONTROL_FINISHED_OK
$STATE,422,begin climb
$GC,424,1.95,488.8,2192,2073,2174,4094,63.6,0.0,28,474,8.70,0.00,28.98,4.378,11270,0.127,0.000,2985,2073,1602,1602,4094,0,0,0,0,0,0,25.31,25.50,23.44,10.05,35.19
$GC,538,1.95,488.8,2984,2073,1600,4094,52.7,15.1,36,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2073,1600,1600,4094,0,0,0,0,0,0,25.47,25.48,25.48,9.94,34.56
$GC,619,1.95,488.8,2985,2073,1598,4094,40.0,15.7,42,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2073,1597,1597,4094,0,0,0,0,0,0,25.68,25.70,25.70,9.93,34.91
$GC,701,1.95,488.8,2984,2073,1595,4094,27.5,15.1,48,719,0.00,2.12,0.00,0.000,260,0.000,0.209,2985,2832,1594,1594,4094,0,0,0,0,0,0,25.82,25.44,25.84,9.93,35.19
$GC,746,1.95,488.8,2985,2832,1594,4094,20.3,15.4,51,765,0.00,1.92,0.00,0.000,1030,0.000,0.104,2985,2092,1592,1592,4094,0,0,0,0,0,0,25.65,25.60,25.66,9.94,35.03
$GC,829,1.95,488.8,2985,2089,1590,4094,8.3,14.0,57,847,0.00,2.05,0.00,0.000,516,0.000,0.181,2985,1328,1589,1589,4094,0,0,0,0,0,0,25.98,25.61,26.00,9.94,35.19
$STATE,873,end climb,SURFACE_DEPTH_REACHED
$STATE,873,begin surface coast
$FINISH,0.1,1.021993
$STATE,900,end surface coast,CONTROL_FINISHED_OK
$STATE,901,begin surface
$SM_CCo,1000,0.00,0.000,0,0,1589,503.14
$SM_GC,0.99,29.33,2.20,0.00,0.089,0.117,0.000,232,2172,1589,-6.71,-0.82,503.14,0,0,1,0,0,0,25.43,25.72,25.70
$IRIDIUM_FIX,5554.28,-16557.83,030517,222339
$TT8_MAMPS,0.026964,0.263648
$HUMID,35.19
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.9,12.9
$24V_AH,23.44,33.948
$10V_AH,8.60,16.520
$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,49.025,18.125,58.600,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,229.102,60.079,133.077,607.997,27.590,33.422,358.929,0.000,619.913,0.000,5.460,0.000
$DEVICE_MAMPS,223.470,245.817,4449.536,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.946,79.422,133.299,349.329,596.242,0.000,0.000,0.000,0.000,0.000
$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,3950,62
$CAP_FILE_SIZE,18965,12
$CFSIZE,1024409600,1001652224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,030517,234435,5651.875,-16450.477,3,0.8,28,11.1,0.6,68.7,9,4.9