version: 66.12
glider: 401
mission: 20
dive: 347
start: 5 4 117 0 49 21
data:
$ID,401
$MISSION,20
$DIVE,347
$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,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
$GPS1,040517,003120,5651.8613,-16449.6445,5,0.7,28,11.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.96
$_SM_ANGLEo,0.9
$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,0.350342,-0.151081
$KALMAN_X,-7797.307617,630.737854,406.991608,62637.285156,11.707764
$KALMAN_Y,30721.500000,-321.153015,576.541565,-73045.460938,104.267151
$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,-488.8,2322,2181,2362,4095,0.0,0.0,0,19,0.00,0.00,-1.48,0.000,16390,0.000,0.000,2322,2181,2760,2760,4094,0,0,0,0,0,0,26.09,24.49,26.05,10.09,35.86
$GC,22,-1.95,-488.8,2322,2181,2760,4094,0.0,0.0,0,37,6.10,2.08,0.00,0.000,4356,0.199,0.241,1774,2918,2760,2760,4094,0,0,0,0,0,0,25.81,25.67,25.84,10.17,36.53
$GC,112,-1.95,-488.8,1774,2918,2763,4094,20.2,-13.5,7,127,0.00,1.92,0.00,0.000,1030,0.000,0.107,1775,2166,2763,2763,4095,0,0,0,0,0,0,25.93,25.89,25.95,10.17,36.02
$GC,188,-1.95,-488.8,1774,2162,2765,4095,30.8,-13.5,13,203,0.00,2.00,0.00,0.000,516,0.000,0.171,1775,1409,2765,2765,4094,0,0,0,0,0,0,26.21,25.83,26.22,10.17,35.86
$GC,219,-1.95,-488.8,1774,1410,2765,4094,35.3,-14.2,15,234,0.00,1.98,0.00,0.000,1030,0.000,0.127,1775,2174,2766,2766,4094,0,0,0,0,0,0,25.94,25.89,25.97,10.17,35.94
$GC,299,-1.95,-488.8,1773,2174,2767,4094,46.5,-14.0,21,317,0.00,2.00,0.00,0.000,516,0.000,0.169,1774,1416,2768,2768,4094,0,0,1,0,0,0,26.28,25.90,26.29,10.17,35.58
$GC,346,-1.95,-488.8,1774,1417,2768,4094,53.6,-14.4,24,361,0.00,1.90,0.00,0.000,1030,0.000,0.124,1774,2158,2769,2769,4094,0,0,0,0,0,0,26.01,25.97,26.06,10.17,35.43
$STATE,389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,389,begin apogee
$GC,394,-0.56,0.0,1774,2042,2770,4095,59.7,-14.6,27,446,4.65,0.08,29.45,4.474,10244,0.211,0.206,2192,2089,2174,2174,4094,0,0,0,0,0,0,25.98,24.68,23.84,10.17,35.23
$STATE,447,end apogee,CONTROL_FINISHED_OK
$STATE,447,begin climb
$GC,449,1.95,488.8,2192,2089,2174,4094,63.9,0.0,30,496,8.70,0.00,28.65,4.380,11270,0.127,0.000,2986,2089,1605,1605,4094,0,0,0,0,0,0,25.41,25.60,23.50,10.05,35.19
$GC,560,1.95,488.8,2986,2089,1603,4094,53.5,14.6,38,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2089,1603,1603,4094,0,0,0,0,0,0,25.52,25.53,25.53,9.94,35.43
$GC,638,1.95,488.8,2986,2089,1601,4094,41.4,15.7,44,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2089,1600,1600,4094,0,0,0,0,0,0,25.72,25.74,25.73,9.93,35.35
$GC,719,1.95,488.8,2986,2089,1598,4094,28.6,15.6,50,734,0.00,2.05,0.00,0.000,260,0.000,0.206,2986,2820,1597,1597,4094,0,0,0,0,0,0,25.86,25.48,25.87,9.93,35.35
$GC,751,1.95,488.8,2986,2820,1596,4094,24.0,15.2,52,769,0.00,1.90,0.00,0.000,1030,0.000,0.107,2986,2090,1596,1596,4094,0,0,0,0,0,0,25.67,25.63,25.69,9.93,35.03
$GC,833,1.95,488.8,2986,2090,1594,4094,11.6,15.3,58,852,0.00,2.10,0.00,0.000,516,0.000,0.201,2987,1318,1594,1594,4094,0,0,0,0,0,0,26.00,25.62,26.01,9.93,35.50
$GC,892,1.95,488.8,2986,1318,1592,4093,3.2,14.5,62,907,0.00,1.85,0.00,0.000,1030,0.000,0.109,2987,2054,1592,1592,4095,0,0,0,0,0,0,25.81,25.75,25.83,9.94,35.43
$STATE,922,end climb,SURFACE_DEPTH_REACHED
$STATE,922,begin surface coast
$FINISH,0.1,1.024239
$STATE,949,end surface coast,CONTROL_FINISHED_OK
$STATE,949,begin surface
$SM_CCo,1048,0.00,0.000,0,0,1591,501.42
$SM_GC,0.94,29.42,0.25,0.00,0.094,0.171,0.000,231,2179,1591,-6.71,-1.50,501.42,0,0,1,0,0,0,25.51,25.86,25.76
$IRIDIUM_FIX,5554.28,-16557.83,030517,234600
$TT8_MAMPS,0.026215,0.244174
$HUMID,35.23
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.4,13.1
$24V_AH,23.50,34.279
$10V_AH,8.58,16.623
$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,48.875,22.525,58.100,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,251.397,60.462,125.770,637.436,30.600,33.417,371.037,0.000,649.477,0.000,5.462,0.000
$DEVICE_MAMPS,211.055,240.851,4474.366,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.568,84.515,141.889,364.189,625.081,0.000,0.000,0.000,0.000,0.000
$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,7438,66
$CAP_FILE_SIZE,22169,7
$CFSIZE,1024409600,1001455616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,040517,010746,5651.729,-16448.994,3,0.8,23,11.1,0.0,0.0,10,5.0