version: 66.12
glider: 401
mission: 20
dive: 348
start: 5 4 117 1 14 26
data:
$ID,401
$MISSION,20
$DIVE,348
$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,24
$R_STBD_OVSHOOT,40
$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
$GPS1,040517,010746,5651.7290,-16448.9941,3,0.8,23,11.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-41.5
$GPS2,040517,011323,5651.6963,-16448.9688,5,0.8,32,11.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.821,-16429.531
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.370859,-0.089782
$KALMAN_X,-7730.124512,708.531982,481.032867,63081.117188,14.380402
$KALMAN_Y,30654.718750,-317.997437,544.364502,-73249.359375,25.759155
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.95,-488.8,231,2186,1592,4094,0.0,0.0,0,33,0.00,0.00,-10.10,0.000,16390,0.000,0.000,231,2186,2750,2750,4094,0,0,0,0,0,0,26.09,25.25,26.10,9.93,36.29
$GC,35,-1.95,-488.8,231,2186,2750,4094,1.0,0.0,1,72,19.12,2.05,0.00,0.000,2564,0.407,0.149,1745,1411,2753,2753,4094,0,0,0,0,0,0,25.54,25.59,25.62,10.17,36.61
$GC,305,-1.95,-488.8,1744,1411,2760,4094,53.1,-16.2,22,323,0.00,1.88,0.00,0.000,1030,0.000,0.122,1745,2141,2760,2760,4094,0,0,0,0,0,0,25.93,25.88,26.01,10.17,36.37
$STATE,337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,337,begin apogee
$GC,342,-0.56,0.0,1745,2042,2761,4095,58.7,-15.8,24,395,5.05,0.08,28.92,4.457,10246,0.228,0.201,2191,2092,2178,2178,4094,0,0,0,0,0,0,25.88,24.61,23.82,10.17,35.78
$STATE,396,end apogee,CONTROL_FINISHED_OK
$STATE,397,begin climb
$GC,398,1.95,488.8,2191,2092,2178,4095,63.2,0.0,27,453,8.70,0.00,28.90,4.382,10246,0.124,0.000,2987,2093,1604,1604,4094,0,0,0,0,0,0,25.37,24.25,23.46,10.05,35.74
$GC,518,1.95,488.8,2986,2092,1601,4094,51.8,15.2,35,536,0.00,2.08,0.00,0.000,516,0.000,0.194,2987,1343,1601,1601,4094,0,0,1,0,0,0,25.52,25.15,25.53,9.94,34.76
$GC,564,1.95,488.8,2986,1343,1600,4094,44.2,15.8,38,582,0.00,1.83,0.00,0.000,1030,0.000,0.107,2987,2050,1599,1599,4094,0,0,0,0,0,0,25.40,25.36,25.44,9.93,34.83
$GC,646,1.95,488.8,2987,2049,1597,4094,31.8,15.2,44,665,0.00,2.20,0.00,0.000,260,0.000,0.211,2987,2832,1597,1597,4094,0,0,0,0,0,0,25.81,25.42,25.82,9.93,35.31
$GC,705,1.95,488.8,2987,2832,1595,4094,22.2,16.0,48,721,0.00,1.88,0.00,0.000,1030,0.000,0.104,2987,2109,1594,1594,4094,0,0,0,0,0,0,25.65,25.62,25.68,9.93,34.91
$GC,785,1.95,488.8,2987,2109,1592,4094,10.7,14.6,54,803,0.00,2.15,0.00,0.000,516,0.000,0.201,2987,1320,1592,1592,4094,0,0,0,0,0,0,25.98,25.60,26.00,9.93,35.39
$STATE,829,end climb,FINISH_DEPTH_REACHED
$STATE,829,begin subsurface finish
$FINISH1,3.4,1.025192,-153
$GC,838,-0.25,-153.4,2987,2071,1591,4094,3.4,15.1,57,855,7.45,0.00,-6.57,0.000,20486,0.206,0.000,2323,2074,2360,2360,4094,0,0,0,0,0,0,25.80,24.53,25.82,9.93,35.50
$FINISH2,0.8
$STATE,856,end subsurface finish,CONTROL_FINISHED_OK
$STATE,856,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,040517,002710
$TT8_MAMPS,0.026964,0.24717
$HUMID,35.39
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,12.9
$24V_AH,23.46,34.366
$10V_AH,8.61,16.650
$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,40.325,16.275,57.825,0.000,0.000,23.070,19.726,174.953,0.500,0.000,33.973,218.539,0.000,105.263,822.666,69.849,33.442,334.557,0.000,583.819,0.000,9.580,0.000
$DEVICE_MAMPS,407.212,211.055,4456.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,39.127,74.255,124.694,327.540,559.484,0.000,0.000,0.000,0.000,0.000
$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,3954,58
$CAP_FILE_SIZE,22490,15
$CFSIZE,1024409600,1001406464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,040517,011323,5651.696,-16448.969,5,0.8,32,11.1,0.0,0.0,10,5.0