version: 66.12
glider: 401
mission: 20
dive: 346
start: 5 4 117 0 32 23
data:
$ID,401
$MISSION,20
$DIVE,346
$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,23
$R_STBD_OVSHOOT,52
$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
$GPS1,040517,002542,5651.8779,-16449.6836,3,0.9,20,11.1,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-41.5
$GPS2,040517,003120,5651.8613,-16449.6445,5,0.7,28,11.1,0.0,0.0,11,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.986,-16430.205
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.328701,-0.193239
$KALMAN_X,-7473.168457,620.532532,396.085510,62318.101562,86.069031
$KALMAN_Y,30596.888672,-419.820709,582.738281,-72827.273438,146.272949
$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,-488.8,231,2171,1591,4094,0.0,0.0,0,37,0.00,0.00,-9.95,0.000,16390,0.000,0.000,230,2171,2749,2749,4094,0,0,0,0,0,0,26.06,25.20,26.08,9.93,36.17
$GC,40,-1.95,-488.8,231,2171,2750,4094,1.1,0.0,1,72,19.33,2.00,0.00,0.000,2564,0.405,0.144,1744,1412,2752,2752,4094,0,0,0,0,0,0,25.44,25.49,25.51,10.17,36.69
$GC,318,-1.95,-488.8,1744,1412,2759,4094,57.9,-15.9,23,336,0.00,1.85,0.00,0.000,1030,0.000,0.119,1745,2132,2760,2760,4094,0,0,0,0,0,0,25.89,25.84,25.92,10.18,35.82
$STATE,350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,350,begin apogee
$GC,355,-0.56,0.0,1744,2053,2760,4094,63.4,-15.8,25,404,5.03,0.00,29.20,4.596,10246,0.221,0.000,2190,2051,2174,2174,4094,0,0,0,0,0,0,25.84,24.55,23.68,10.17,36.02
$STATE,405,end apogee,CONTROL_FINISHED_OK
$STATE,405,begin climb
$GC,407,1.95,488.8,2190,2051,2174,4094,68.0,0.0,28,457,8.70,0.00,29.00,4.507,10246,0.129,0.000,2981,2051,1603,1603,4094,0,0,0,0,0,0,25.30,24.19,23.39,10.05,35.66
$GC,520,1.95,488.8,2980,2052,1602,4094,56.8,14.9,36,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2051,1601,1601,4094,0,0,0,0,0,0,25.46,25.47,25.47,9.94,35.19
$GC,596,1.95,488.8,2980,2051,1599,4094,45.2,15.3,42,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2051,1599,1599,4094,0,0,0,0,0,0,25.67,25.68,25.67,9.94,35.35
$GC,673,1.95,488.8,2980,2052,1596,4094,33.5,15.4,48,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2051,1596,1596,4094,0,0,0,0,0,0,25.81,25.82,25.82,9.93,34.99
$GC,754,1.95,488.8,2980,2051,1594,4094,21.5,15.2,54,769,0.00,2.20,0.00,0.000,260,0.000,0.206,2981,2836,1594,1594,4094,0,0,0,0,0,0,25.92,25.53,25.93,9.94,34.99
$GC,796,1.95,488.8,2980,2836,1592,4094,15.3,14.8,57,815,0.00,1.92,0.00,0.000,1030,0.000,0.104,2981,2094,1592,1592,4094,0,0,0,0,0,0,25.72,25.68,25.75,9.93,35.31
$STATE,876,end climb,FINISH_DEPTH_REACHED
$STATE,876,begin subsurface finish
$FINISH1,4.0,1.025192,-153
$GC,882,-0.25,-153.4,2981,2092,1589,4094,4.0,14.3,63,903,7.60,2.22,-5.97,0.000,20996,0.251,4.147,2322,1320,2360,2360,4094,0,0,1,0,0,0,25.72,24.13,25.77,9.94,35.35
$FINISH2,1.4
$STATE,904,end subsurface finish,CONTROL_FINISHED_OK
$STATE,904,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,030517,234600
$TT8_MAMPS,0.026215,0.258405
$HUMID,35.54
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,12.6
$24V_AH,23.39,34.205
$10V_AH,8.60,16.599
$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,40.650,10.425,58.200,0.000,0.000,25.031,23.245,175.270,0.500,0.000,29.438,233.503,0.000,94.788,867.733,69.357,33.439,322.193,0.000,627.624,0.000,8.708,0.000
$DEVICE_MAMPS,404.729,4146.610,4596.033,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.371,81.997,137.598,346.960,602.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,3969,64
$CAP_FILE_SIZE,21277,10
$CFSIZE,1024409600,1001504768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,040517,003120,5651.861,-16449.645,5,0.7,28,11.1,0.0,0.0,11,5.0