version: 66.12
glider: 401
mission: 20
dive: 357
start: 5 4 117 4 26 42
data:
$ID,401
$MISSION,20
$DIVE,357
$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,1821.9492
$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,23
$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
$GPS1,040517,040918,5650.5015,-16448.5938,4,0.8,26,11.1,0.0,0.0,11,5.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,0.6
$GPS2,040517,040918,5650.5015,-16448.5938,4,0.8,26,11.1,0.0,0.0,11,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5648.626,-16429.166
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.343740,0.165107
$KALMAN_X,-10307.503906,473.328735,116.567490,66640.671875,-253.714661
$KALMAN_Y,28923.052734,-639.049133,-290.880096,-72578.710938,-226.456879
$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,-488.8,2323,2171,2358,4094,0.0,0.0,0,32,0.00,0.00,-1.98,0.000,16390,0.000,0.000,2323,2171,2753,2753,4094,0,0,0,0,0,0,25.96,24.39,25.94,10.09,35.82
$GC,34,-1.95,-488.8,2323,2171,2752,4094,4.2,0.0,1,53,6.15,2.15,0.00,0.000,4356,0.137,0.238,1760,2922,2753,2753,4095,0,0,0,0,0,0,25.44,25.29,25.46,10.18,35.90
$GC,116,-1.95,-488.8,1759,2922,2755,4094,13.1,-11.9,7,131,0.00,1.95,0.00,0.000,1030,0.000,0.107,1760,2168,2755,2755,4094,0,0,0,0,0,0,25.63,25.60,25.65,10.17,35.54
$GC,194,-1.95,-488.8,1759,2167,2757,4095,25.0,-15.4,13,213,0.00,2.03,0.00,0.000,516,0.000,0.171,1760,1414,2757,2757,4094,0,0,0,0,0,0,25.97,25.59,25.98,10.17,36.29
$GC,266,-1.95,-488.8,1759,1414,2759,4094,35.6,-14.7,18,281,0.00,1.90,0.00,0.000,1030,0.000,0.124,1760,2146,2759,2759,4094,0,0,0,0,0,0,25.77,25.72,25.81,10.17,35.94
$GC,345,-1.95,-488.8,1759,2147,2761,4094,47.4,-14.8,24,363,0.00,1.95,0.00,0.000,516,0.000,0.164,1760,1420,2761,2761,4094,0,0,0,0,0,0,26.12,25.75,26.13,10.17,36.10
$GC,392,-1.95,-488.8,1759,1420,2762,4094,54.5,-14.4,27,407,0.00,1.83,0.00,0.000,1030,0.000,0.114,1760,2136,2762,2762,4095,0,0,0,0,0,0,25.90,25.84,25.89,10.18,35.35
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,421,begin apogee
$GC,426,-0.56,0.0,1759,2057,2763,4094,58.9,-14.7,29,478,4.85,0.00,29.20,4.442,10244,0.219,0.000,2191,2057,2175,2175,4094,0,0,0,0,0,0,25.83,24.58,23.75,10.18,35.39
$STATE,479,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,481,1.95,488.8,2190,2057,2175,4094,63.1,0.0,32,528,8.70,0.00,28.90,4.365,11270,0.124,0.000,2984,2057,1603,1603,4095,0,0,0,0,0,0,25.32,25.51,23.44,10.06,35.03
$GC,592,1.95,488.8,2983,2057,1601,4094,51.9,15.9,40,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2057,1601,1601,4094,0,0,0,0,0,0,25.46,25.47,25.46,9.94,34.56
$GC,669,1.95,488.8,2983,2057,1598,4094,39.7,15.9,46,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2057,1598,1598,4094,0,0,0,0,0,0,25.67,25.68,25.67,9.94,35.35
$GC,750,1.95,488.8,2983,2057,1595,4094,27.4,14.3,52,769,0.00,1.95,0.00,0.000,516,0.000,0.191,2984,1344,1595,1595,4094,0,0,0,0,0,0,25.81,25.45,25.82,9.94,34.80
$GC,795,1.95,488.8,2983,1343,1594,4094,20.2,15.6,55,814,0.00,1.88,0.00,0.000,1030,0.000,0.109,2984,2074,1594,1594,4094,0,0,0,0,0,0,25.62,25.58,25.65,9.94,34.95
$GC,878,1.95,488.8,2984,2074,1591,4094,8.0,14.9,61,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2074,1591,1591,4094,0,0,0,0,0,0,25.97,25.99,25.98,9.94,35.11
$STATE,930,end climb,SURFACE_DEPTH_REACHED
$STATE,931,begin surface coast
$FINISH,0.1,1.024951
$STATE,958,end surface coast,CONTROL_FINISHED_OK
$STATE,958,begin surface
$SM_CCo,996,70.07,2.364,0,0,50,1821.95
$SM_GC,0.68,29.23,0.20,70.07,0.089,0.174,2.364,242,2190,50,-6.67,-0.96,1821.95,0,0,1,0,0,0,25.78,25.84,24.08
$IRIDIUM_FIX,5554.28,-16243.85,040517,040146
$TT8_MAMPS,0.026215,0.259903
$HUMID,34.40
$INTERNAL_PRESSURE,9.56447
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.4,12.7
$24V_AH,23.44,35.148
$10V_AH,8.54,16.888
$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,48.925,18.175,58.100,70.075,0.000,0.000,0.000,0.000,0.500,0.000,0.000,245.827,0.000,201.872,648.503,31.159,33.408,449.468,0.000,660.970,0.000,5.460,0.000
$DEVICE_MAMPS,218.504,238.368,4442.087,2363.816,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.295,85.812,144.043,370.361,636.145,0.000,0.000,0.000,0.000,0.000
$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,7312,67
$CAP_FILE_SIZE,22216,10
$CFSIZE,1024409600,1000947712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,040517,044536,5650.323,-16448.828,2,0.8,30,11.1,0.0,0.0,10,5.0