version: 66.12
glider: 401
mission: 20
dive: 345
start: 5 4 117 0 7 43
data:
$ID,401
$MISSION,20
$DIVE,345
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,030517,235014,5651.8828,-16450.4258,5,0.7,26,11.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-0.2
$GPS2,030517,235014,5651.8828,-16450.4258,5,0.7,26,11.1,0.0,0.0,11,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5650.007,-16430.984
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.312393,-0.218411
$KALMAN_X,-7634.182617,522.144287,295.770355,61910.964844,55.973999
$KALMAN_Y,30451.238281,-474.255676,562.764709,-72568.875000,185.286560
$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,-488.8,2321,2160,2360,4095,0.0,0.0,0,20,0.00,0.00,-1.83,0.000,16390,0.000,0.000,2321,2160,2756,2756,4094,0,0,0,0,0,0,25.94,24.39,25.91,10.09,35.90
$GC,22,-1.95,-488.8,2320,2161,2756,4094,0.0,0.0,0,41,6.12,1.98,0.00,0.000,4612,0.204,0.171,1776,1424,2756,2756,4094,0,0,0,0,0,0,25.66,25.57,25.71,10.18,35.74
$GC,58,-1.95,-488.8,1775,1424,2757,4095,8.4,-13.4,2,72,0.00,1.90,0.00,0.000,1030,0.000,0.119,1776,2161,2757,2757,4094,0,0,0,0,0,0,25.71,25.66,25.73,10.18,35.82
$GC,136,-1.95,-488.8,1775,2161,2759,4095,19.1,-14.1,8,150,0.00,2.00,0.00,0.000,516,0.000,0.166,1776,1418,2759,2759,4094,0,0,0,0,0,0,26.06,25.69,26.07,10.17,35.50
$GC,190,-1.95,-488.8,1775,1418,2761,4094,27.4,-15.2,12,205,0.00,1.85,0.00,0.000,1030,0.000,0.119,1776,2137,2760,2760,4095,0,0,0,0,0,0,25.84,25.79,25.89,10.17,35.54
$GC,269,-1.95,-488.8,1775,2137,2762,4095,38.5,-13.5,18,283,0.00,2.22,0.00,0.000,260,0.000,0.243,1775,2927,2762,2762,4095,0,0,0,0,0,0,26.17,25.75,26.18,10.17,35.94
$GC,299,-1.95,-488.8,1775,2927,2763,4094,42.8,-13.7,20,314,0.00,2.00,0.00,0.000,1030,0.000,0.109,1775,2148,2763,2763,4095,0,0,0,0,0,0,25.95,25.96,25.98,10.17,35.62
$GC,382,-1.95,-488.8,1775,2145,2765,4095,53.9,-13.5,26,397,0.00,1.92,0.00,0.000,516,0.000,0.171,1776,1419,2765,2765,4095,0,0,0,0,0,0,26.25,25.89,26.25,10.17,35.35
$STATE,411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,411,begin apogee
$GC,418,-0.56,0.0,1775,2078,2766,4095,58.4,-14.1,28,466,4.68,0.00,29.27,4.440,10244,0.219,0.000,2192,2078,2177,2177,4094,0,0,0,0,0,0,25.91,24.64,23.82,10.18,35.19
$STATE,467,end apogee,CONTROL_FINISHED_OK
$STATE,467,begin climb
$GC,469,1.95,488.8,2192,2078,2177,4094,62.6,0.0,31,520,8.55,2.12,28.83,4.353,10500,0.119,0.216,2988,2832,1603,1603,4094,0,0,0,0,0,0,25.27,25.18,23.48,10.05,35.07
$GC,548,1.95,488.8,2987,2832,1602,4094,56.9,10.3,36,566,0.00,2.00,0.00,0.000,1030,0.000,0.104,2988,2083,1602,1602,4094,0,0,0,0,0,0,25.12,25.08,25.15,9.94,34.83
$GC,630,1.95,488.8,2987,2083,1600,4094,43.9,15.8,42,648,0.00,2.12,0.00,0.000,516,0.000,0.199,2988,1312,1599,1599,4094,0,0,0,0,0,0,25.63,25.26,25.64,9.93,35.07
$GC,676,1.95,488.8,2987,1311,1598,4094,36.7,15.4,45,691,0.00,1.98,0.00,0.000,1030,0.000,0.109,2988,2074,1598,1598,4094,0,0,0,0,0,0,25.48,25.43,25.51,9.93,35.35
$GC,753,1.95,488.8,2987,2074,1596,4094,24.8,16.1,51,772,0.00,2.12,0.00,0.000,260,0.000,0.209,2988,2832,1595,1595,4094,0,0,0,0,0,0,25.85,25.47,25.86,9.94,35.62
$GC,836,1.95,488.8,2987,2832,1592,4095,11.8,15.5,57,850,0.00,1.98,0.00,0.000,1030,0.000,0.107,2988,2071,1592,1592,4094,0,0,0,0,0,0,25.72,25.69,25.75,9.93,35.07
$STATE,899,end climb,SURFACE_DEPTH_REACHED
$STATE,900,begin surface coast
$FINISH,0.1,1.002408
$STATE,928,end surface coast,CONTROL_FINISHED_OK
$STATE,928,begin surface
$SM_CCo,1025,0.00,0.000,0,0,1590,502.28
$SM_GC,1.17,29.33,0.22,0.00,0.084,0.176,0.000,231,2202,1590,-6.71,-1.23,502.28,0,0,1,0,0,0,25.46,25.81,25.71
$IRIDIUM_FIX,5554.28,-16243.85,030517,230537
$TT8_MAMPS,0.026964,0.266644
$HUMID,35.23
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,9.7
$24V_AH,23.48,34.112
$10V_AH,8.58,16.571
$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,48.675,29.800,58.100,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,249.701,59.735,126.199,615.498,30.685,33.421,370.318,0.000,627.357,0.000,5.446,0.000
$DEVICE_MAMPS,218.504,243.334,4439.604,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.141,81.930,137.581,349.820,603.560,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,7405,64
$CAP_FILE_SIZE,22543,8
$CFSIZE,1024409600,1001553920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,040517,002542,5651.878,-16449.684,3,0.9,20,11.1,0.0,0.0,10,4.8