version: 66.12
glider: 401
mission: 20
dive: 351
start: 5 4 117 2 12 32
data:
$ID,401
$MISSION,20
$DIVE,351
$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,22
$R_STBD_OVSHOOT,19
$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
$GPS1,040517,015500,5651.4902,-16448.5039,5,0.9,16,11.1,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-2.0
$GPS2,040517,015500,5651.4902,-16448.5039,5,0.9,16,11.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.615,-16429.066
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.380853,0.017044
$KALMAN_X,-8510.370117,738.868408,484.711151,64305.855469,-119.392090
$KALMAN_Y,30545.074219,-258.655701,353.687347,-73395.765625,-80.663818
$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,-488.8,2320,2174,2358,4095,0.0,0.0,0,33,0.00,0.00,-3.38,0.000,16390,0.000,0.000,2321,2174,2748,2748,4095,0,0,0,0,0,0,26.10,25.23,26.10,10.09,35.50
$GC,35,-1.95,-488.8,2320,2174,2747,4094,0.5,0.0,1,50,5.97,2.05,0.00,0.000,4612,0.097,0.164,1758,1416,2748,2748,4094,0,0,0,0,0,0,25.59,25.49,25.61,10.17,36.02
$GC,206,-1.95,-488.8,1757,1416,2752,4094,25.7,-16.0,15,221,0.00,1.92,0.00,0.000,1030,0.000,0.119,1758,2162,2752,2752,4094,0,0,0,0,0,0,25.79,25.75,25.83,10.17,35.58
$GC,285,-1.95,-488.8,1758,2162,2754,4095,37.4,-14.5,21,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,2162,2755,2755,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.17,35.86
$GC,365,-1.95,-488.8,1758,2162,2756,4094,48.7,-14.5,27,386,0.00,2.00,0.00,0.000,516,0.000,0.164,1758,1413,2757,2757,4094,0,0,0,0,0,0,26.20,25.83,26.22,10.17,35.62
$STATE,425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,425,begin apogee
$GC,431,-0.56,0.0,1758,2079,2759,4095,58.1,-15.2,31,484,4.88,0.00,28.50,4.422,10244,0.221,0.000,2191,2079,2184,2184,4094,0,0,0,0,0,0,25.90,24.64,23.83,10.17,36.10
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,486,1.95,488.8,2191,2079,2184,4094,62.8,0.0,34,529,8.70,0.00,29.27,4.363,11270,0.129,0.000,2984,2079,1603,1603,4094,0,0,0,0,0,0,25.39,25.58,23.49,10.05,35.46
$GC,593,1.95,488.8,2984,2079,1602,4094,52.9,14.7,42,611,0.00,2.10,0.00,0.000,516,0.000,0.191,2985,1322,1601,1601,4094,0,0,1,0,0,0,25.48,25.15,25.48,9.93,34.76
$GC,627,1.95,488.8,2985,1322,1601,4094,47.5,15.5,44,643,0.00,1.92,0.00,0.000,1030,0.000,0.107,2985,2064,1600,1600,4094,0,0,0,0,0,0,25.34,25.29,25.37,9.93,35.11
$GC,709,1.95,488.8,2984,2064,1598,4094,34.5,16.1,50,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2064,1597,1597,4094,0,0,0,0,0,0,25.76,25.77,25.77,9.93,34.76
$GC,787,1.95,488.8,2984,2064,1595,4094,23.8,13.6,56,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2064,1595,1595,4094,0,0,0,0,0,0,25.89,25.90,25.89,9.93,35.23
$GC,867,1.95,488.8,2984,2064,1592,4094,12.3,14.0,62,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2064,1592,1592,4095,0,0,0,0,0,0,25.98,26.00,25.99,9.93,35.58
$STATE,935,end climb,SURFACE_DEPTH_REACHED
$STATE,935,begin surface coast
$FINISH,0.1,1.025134
$STATE,962,end surface coast,CONTROL_FINISHED_OK
$STATE,962,begin surface
$SM_CCo,1059,0.00,0.000,0,0,1589,503.14
$SM_GC,1.17,29.30,0.22,0.00,0.084,0.176,0.000,232,2182,1589,-6.71,-1.14,503.14,0,0,1,0,0,0,25.47,25.83,25.72
$IRIDIUM_FIX,5554.28,-16557.83,040517,010908
$TT8_MAMPS,0.026964,0.251664
$HUMID,35.19
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,13.1
$24V_AH,23.49,34.603
$10V_AH,8.56,16.727
$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,48.850,14.125,57.775,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,244.594,59.616,117.698,666.953,27.909,33.415,346.573,0.000,680.224,0.000,5.452,0.000
$DEVICE_MAMPS,220.987,191.191,4422.223,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.914,88.475,148.327,382.805,656.705,0.000,0.000,0.000,0.000,0.000
$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,7394,69
$CAP_FILE_SIZE,19007,9
$CFSIZE,1024409600,1001259008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,040517,023117,5651.264,-16448.197,2,1.1,32,11.1,0.5,236.5,9,4.9