version: 66.12
glider: 401
mission: 20
dive: 353
start: 5 4 117 2 54 6
data:
$ID,401
$MISSION,20
$DIVE,353
$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,51
$R_STBD_OVSHOOT,35
$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
$GPS1,040517,023631,5651.2109,-16448.2363,5,1.0,19,11.1,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,1.3
$GPS2,040517,023631,5651.2109,-16448.2363,5,1.0,19,11.1,0.0,0.0,9,4.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.336,-16428.803
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.366188,0.104941
$KALMAN_X,-9004.610352,714.838989,428.211365,65146.246094,-175.202942
$KALMAN_Y,30165.351562,-326.648468,166.495071,-73277.539062,-173.049957
$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,-488.8,2320,2172,2361,4094,0.0,0.0,0,36,0.00,0.00,-1.85,0.000,16390,0.000,0.000,2320,2171,2753,2753,4094,0,0,0,0,0,0,26.12,24.51,26.09,10.08,35.94
$GC,38,-1.95,-488.8,2320,2172,2753,4095,5.0,0.0,1,57,6.12,1.98,0.00,0.000,4612,0.144,0.156,1760,1440,2754,2754,4095,0,0,0,0,0,0,25.50,25.39,25.53,10.18,36.06
$GC,74,-1.95,-488.8,1759,1440,2754,4094,9.7,-11.7,3,89,0.00,1.85,0.00,0.000,1030,0.000,0.114,1760,2154,2754,2754,4095,0,0,0,0,0,0,25.56,25.51,25.59,10.17,36.10
$GC,152,-1.95,-488.8,1759,2154,2756,4094,21.4,-15.9,9,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2154,2756,2756,4094,0,0,0,0,0,0,25.96,25.96,25.96,10.17,35.54
$GC,230,-1.95,-488.8,1759,2154,2758,4095,33.5,-14.9,15,248,0.00,1.92,0.00,0.000,516,0.000,0.161,1760,1437,2759,2759,4094,0,0,0,0,0,0,26.05,25.68,26.06,10.17,35.82
$GC,289,-1.95,-488.8,1759,1437,2760,4094,42.0,-14.3,19,304,0.00,1.85,0.00,0.000,1030,0.000,0.122,1760,2154,2760,2760,4094,0,0,0,0,0,0,25.84,25.77,25.86,10.17,35.90
$GC,372,-1.95,-488.8,1759,2154,2762,4094,54.1,-14.6,25,386,0.00,1.90,0.00,0.000,516,0.000,0.161,1760,1443,2762,2762,4094,0,0,0,0,0,0,26.17,25.81,26.18,10.17,35.58
$STATE,402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,402,begin apogee
$GC,408,-0.56,0.0,1759,2080,2763,4094,58.7,-14.8,27,451,4.88,0.00,29.42,4.450,10244,0.223,0.000,2191,2080,2174,2174,4094,0,0,0,0,0,0,25.84,24.58,23.77,10.18,36.02
$STATE,452,end apogee,CONTROL_FINISHED_OK
$STATE,452,begin climb
$GC,454,1.95,488.8,2191,2080,2174,4094,62.9,0.0,30,509,8.77,0.00,28.70,4.340,11270,0.132,0.000,2986,2080,1603,1603,4094,0,0,0,0,0,0,25.29,25.47,23.44,10.04,35.90
$GC,572,1.95,488.8,2986,2080,1601,4094,51.0,15.2,38,586,0.00,2.03,0.00,0.000,516,0.000,0.189,2986,1350,1601,1601,4094,0,0,1,0,0,0,25.48,25.15,25.50,9.94,34.72
$GC,614,1.95,488.8,2986,1350,1601,4094,44.3,15.7,41,629,0.00,1.85,0.00,0.000,1030,0.000,0.109,2987,2063,1600,1600,4094,0,0,0,0,0,0,25.35,25.32,25.38,9.94,35.43
$GC,693,1.95,488.8,2986,2063,1597,4094,31.8,16.3,47,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2063,1597,1597,4094,0,0,0,0,0,0,25.76,25.77,25.77,9.93,34.99
$GC,774,1.95,488.8,2986,2063,1595,4094,19.5,14.8,53,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2063,1594,1594,4094,0,0,0,0,0,0,25.89,25.90,25.90,9.93,34.91
$GC,855,1.95,488.8,2986,2063,1591,4094,8.8,13.2,59,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2063,1591,1591,4094,0,0,0,0,0,0,25.98,26.00,26.00,9.93,35.74
$STATE,899,end climb,SURFACE_DEPTH_REACHED
$STATE,899,begin surface coast
$FINISH,0.1,1.002744
$STATE,926,end surface coast,CONTROL_FINISHED_OK
$STATE,927,begin surface
$SM_CCo,1025,0.00,0.000,0,0,1590,502.28
$SM_GC,1.12,29.48,0.25,0.00,0.092,0.159,0.000,232,2213,1590,-6.71,-0.64,502.28,0,0,1,0,0,0,25.47,25.83,25.71
$IRIDIUM_FIX,5554.28,-16557.83,040517,015117
$TT8_MAMPS,0.026964,0.240429
$HUMID,35.39
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.1,9.7
$24V_AH,23.44,34.762
$10V_AH,8.56,16.779
$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,49.250,15.400,58.125,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,242.341,60.179,130.469,618.066,30.141,33.414,374.862,0.000,629.606,0.000,5.448,0.000
$DEVICE_MAMPS,223.470,250.783,4449.536,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.160,81.937,137.582,353.754,606.757,0.000,0.000,0.000,0.000,0.000
$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,3930,64
$CAP_FILE_SIZE,20482,9
$CFSIZE,1024409600,1001160704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,040517,031206,5650.943,-16448.135,3,0.8,21,11.1,0.6,271.5,9,4.9