version: 66.12
glider: 401
mission: 20
dive: 363
start: 5 4 117 6 37 33
data:
$ID,401
$MISSION,20
$DIVE,363
$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,21
$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
$GPS1,040517,062031,5650.0752,-16449.7734,4,1.0,22,11.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-5.9
$GPS2,040517,062031,5650.0752,-16449.7734,4,1.0,22,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5648.200,-16430.350
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.380140,0.025710
$KALMAN_X,-12627.083984,-149.368912,-465.621552,68983.085938,-323.147888
$KALMAN_Y,27897.720703,-953.030457,-558.558777,-71761.335938,-54.580872
$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,-488.8,2318,2181,2361,4094,0.0,0.0,0,34,0.00,0.00,-3.72,0.000,16390,0.000,0.000,2318,2182,2750,2750,4094,0,0,0,0,0,0,26.10,25.23,26.10,10.09,35.86
$GC,36,-1.95,-488.8,2318,2186,2750,4095,0.1,0.0,1,55,5.90,2.10,0.00,0.000,4612,0.094,0.189,1762,1416,2750,2750,4094,0,0,0,0,0,0,25.61,25.44,25.61,10.17,35.90
$GC,177,-1.95,-488.8,1762,1416,2754,4094,18.2,-17.6,12,195,0.00,1.92,0.00,0.000,1030,0.000,0.119,1762,2160,2754,2754,4094,0,0,0,0,0,0,25.75,25.71,25.79,10.17,35.66
$GC,259,-1.95,-488.8,1762,2160,2755,4094,30.9,-14.9,18,277,0.00,1.98,0.00,0.000,516,0.000,0.166,1762,1415,2756,2756,4094,0,0,1,0,0,0,26.12,25.74,26.13,10.17,36.45
$GC,330,-1.95,-488.8,1762,1415,2758,4094,41.7,-15.4,23,348,0.00,1.85,0.00,0.000,1030,0.000,0.119,1762,2136,2758,2758,4094,0,0,0,0,0,0,25.90,25.84,25.94,10.17,35.54
$GC,417,-1.95,-488.8,1762,2136,2760,4094,54.0,-14.4,29,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,2135,2761,2761,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.17,35.50
$STATE,450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,450,begin apogee
$GC,456,-0.56,0.0,1762,2031,2761,4094,59.0,-14.7,31,494,4.80,0.12,28.95,4.445,10244,0.219,0.278,2189,2101,2174,2174,4094,0,0,0,0,0,0,25.90,24.97,23.81,10.17,36.37
$STATE,496,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,497,1.95,488.8,2190,2101,2174,4094,63.1,0.0,33,553,8.60,2.00,28.65,4.333,10500,0.119,0.228,2986,2804,1604,1604,4094,0,0,0,0,0,0,25.22,25.13,23.46,10.05,35.46
$GC,570,1.95,488.8,2985,2804,1604,4094,58.2,10.0,37,588,0.00,1.85,0.00,0.000,1030,0.000,0.102,2986,2105,1603,1603,4094,0,0,0,0,0,0,25.09,25.06,25.11,9.94,34.64
$GC,652,1.95,488.8,2986,2105,1601,4094,44.4,16.7,43,671,0.00,2.15,0.00,0.000,516,0.000,0.196,2986,1326,1600,1600,4094,0,0,0,0,0,0,25.61,25.22,25.63,9.94,34.87
$GC,734,1.95,488.8,2986,1326,1598,4094,31.1,16.1,49,753,0.00,1.85,0.00,0.000,1030,0.000,0.107,2986,2046,1597,1597,4094,0,0,0,0,0,0,25.53,25.47,25.56,9.93,35.74
$GC,816,1.95,488.8,2986,2047,1595,4094,18.7,14.4,55,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2047,1594,1594,4094,0,0,0,0,0,0,25.90,25.92,25.91,9.93,35.27
$GC,893,1.95,488.8,2986,2047,1592,4094,7.4,14.7,61,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2047,1592,1592,4094,0,0,0,0,0,0,26.00,26.01,26.01,9.93,35.74
$STATE,936,end climb,SURFACE_DEPTH_REACHED
$STATE,936,begin surface coast
$FINISH,0.1,1.024103
$STATE,963,end surface coast,CONTROL_FINISHED_OK
$STATE,963,begin surface
$SM_CCo,1061,0.00,0.000,0,0,1591,501.42
$SM_GC,0.89,29.40,0.28,0.00,0.089,0.149,0.000,231,2177,1591,-6.71,-1.23,501.42,0,0,1,0,0,0,25.46,25.82,25.71
$IRIDIUM_FIX,5554.28,-16557.83,040517,053446
$TT8_MAMPS,0.026215,0.256907
$HUMID,35.23
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.6,12.4
$24V_AH,23.46,35.640
$10V_AH,8.51,17.048
$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,48.700,16.550,57.600,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,249.294,59.923,136.811,640.731,30.379,33.414,369.138,0.000,652.851,0.000,5.457,0.000
$DEVICE_MAMPS,218.504,278.096,4444.571,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.800,84.605,141.916,365.210,628.865,0.000,0.000,0.000,0.000,0.000
$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,3933,66
$CAP_FILE_SIZE,20833,14
$CFSIZE,1024409600,1000669184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,040517,065605,5650.122,-16449.838,3,0.8,17,11.1,0.0,0.0,11,4.9