version: 66.12
glider: 401
mission: 20
dive: 355
start: 5 4 117 3 35 19
data:
$ID,401
$MISSION,20
$DIVE,355
$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,28
$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
$GPS1,040517,031748,5650.8843,-16448.2129,6,0.8,25,11.1,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-2.6
$GPS2,040517,031748,5650.8843,-16448.2129,6,0.8,25,11.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.009,-16428.781
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.344671,0.162581
$KALMAN_X,-9559.390625,630.428101,305.534027,65929.796875,-217.980499
$KALMAN_Y,29618.263672,-462.625885,-60.743359,-72971.679688,-229.985657
$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,-488.8,2319,2177,2361,4094,0.0,0.0,0,37,0.00,0.00,-2.60,0.000,16390,0.000,0.000,2320,2177,2750,2750,4094,0,0,0,0,0,0,26.11,24.51,26.10,10.08,36.25
$GC,40,-1.95,-488.8,2319,2177,2750,4094,2.0,0.0,1,55,6.07,2.00,0.00,0.000,4612,0.134,0.171,1760,1444,2750,2750,4094,0,0,0,0,0,0,25.49,25.38,25.51,10.17,35.94
$GC,164,-1.95,-488.8,1760,1444,2753,4094,19.8,-15.6,11,183,0.00,1.85,0.00,0.000,1030,0.000,0.124,1760,2156,2754,2754,4095,0,0,0,0,0,0,25.69,25.64,25.72,10.17,36.17
$GC,247,-1.95,-488.8,1760,2156,2756,4095,33.5,-17.3,17,265,0.00,1.92,0.00,0.000,516,0.000,0.161,1760,1440,2756,2756,4095,0,0,0,0,0,0,26.06,25.70,26.07,10.17,35.66
$GC,317,-1.95,-488.8,1760,1439,2757,4094,44.2,-14.8,22,332,0.00,1.85,0.00,0.000,1030,0.000,0.122,1760,2157,2758,2758,4094,0,0,0,0,0,0,25.85,25.79,25.88,10.16,36.10
$GC,400,-1.95,-488.8,1759,2157,2760,4095,56.1,-14.5,28,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2158,2760,2760,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.17,35.50
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,434,-0.56,0.0,1760,2076,2761,4095,60.4,-14.3,30,484,4.85,0.00,29.10,4.509,10244,0.219,0.000,2193,2076,2175,2175,4094,0,0,0,0,0,0,25.86,24.58,23.76,10.17,35.86
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,487,1.95,488.8,2192,2076,2175,4094,65.1,0.0,33,539,8.57,2.12,28.67,4.422,10500,0.119,0.206,2987,2830,1606,1606,4094,0,0,0,0,0,0,25.24,25.15,23.43,10.05,35.11
$GC,567,1.95,488.8,2986,2829,1605,4094,58.5,11.1,38,586,0.00,1.95,0.00,0.000,1030,0.000,0.099,2987,2098,1605,1605,4094,0,0,0,0,0,0,25.10,25.05,25.13,9.94,34.76
$GC,650,1.95,488.8,2987,2098,1603,4094,45.6,15.6,44,668,0.00,2.15,0.00,0.000,516,0.000,0.199,2987,1319,1602,1602,4094,0,0,0,0,0,0,25.61,25.25,25.63,9.93,35.50
$GC,720,1.95,488.8,2987,1319,1601,4095,34.6,15.5,49,739,0.00,1.92,0.00,0.000,1030,0.000,0.107,2987,2066,1600,1600,4094,0,0,0,0,0,0,25.50,25.46,25.53,9.93,35.70
$GC,803,1.95,488.8,2987,2066,1598,4094,22.0,15.4,55,821,0.00,2.15,0.00,0.000,260,0.000,0.216,2987,2831,1597,1597,4094,0,0,0,0,0,0,25.88,25.50,25.89,9.93,35.31
$GC,837,1.95,488.8,2987,2831,1597,4094,16.7,15.1,57,853,0.00,2.05,0.00,0.000,1030,0.000,0.107,2987,2050,1596,1596,4094,0,0,0,0,0,0,25.67,25.64,25.68,9.93,35.43
$GC,916,1.95,488.8,2987,2050,1594,4094,5.2,14.1,63,931,0.00,1.98,0.00,0.000,516,0.000,0.191,2988,1314,1594,1594,4094,0,0,0,0,0,0,26.01,25.63,26.02,9.94,35.27
$STATE,946,end climb,SURFACE_DEPTH_REACHED
$STATE,946,begin surface coast
$FINISH,0.1,1.004888
$STATE,972,end surface coast,CONTROL_FINISHED_OK
$STATE,972,begin surface
$SM_CCo,1072,0.00,0.000,0,0,1593,499.71
$SM_GC,1.09,29.35,2.25,0.00,0.089,0.132,0.000,231,2168,1593,-6.71,-0.87,499.71,0,0,1,0,0,0,25.44,25.72,25.71
$IRIDIUM_FIX,5554.28,-16557.83,040517,023241
$TT8_MAMPS,0.026215,0.257656
$HUMID,35.27
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,9.9
$24V_AH,23.43,34.925
$10V_AH,8.56,16.831
$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,48.850,24.600,57.775,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,251.213,60.068,137.233,648.197,30.942,33.414,386.931,0.000,660.142,0.000,5.451,0.000
$DEVICE_MAMPS,218.504,216.021,4509.128,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.297,85.819,144.037,370.305,636.099,0.000,0.000,0.000,0.000,0.000
$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,7440,67
$CAP_FILE_SIZE,21877,12
$CFSIZE,1024409600,1001062400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,040517,035438,5650.637,-16448.324,3,0.9,53,11.1,0.0,0.0,11,10.0