version: 66.12
glider: 401
mission: 20
dive: 349
start: 5 4 117 1 30 34
data:
$ID,401
$MISSION,20
$DIVE,349
$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,25
$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
$GPS1,040517,011323,5651.6963,-16448.9688,5,0.8,32,11.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-0.3
$GPS2,040517,011323,5651.6963,-16448.9688,5,0.8,32,11.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.821,-16429.531
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.377891,-0.050762
$KALMAN_X,-8083.464355,708.494873,474.904083,63454.355469,-41.867584
$KALMAN_Y,30714.919922,-248.496674,504.384918,-73344.812500,-12.467072
$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,-488.8,2322,2187,2361,4094,0.0,0.0,0,36,0.00,0.00,-1.85,0.000,16390,0.000,0.000,2323,2187,2754,2754,4094,0,0,0,0,0,0,26.14,24.52,26.11,10.08,36.49
$GC,39,-1.95,-488.8,2322,2187,2754,4094,5.1,0.0,1,57,6.00,0.00,0.00,0.000,4102,0.142,0.000,1776,2187,2753,2753,4094,0,0,0,0,0,0,25.49,25.56,25.53,10.17,36.57
$GC,122,-1.95,-488.8,1775,2187,2755,4094,16.2,-14.0,7,140,0.00,2.08,0.00,0.000,516,0.000,0.166,1775,1412,2756,2756,4094,0,0,1,0,0,0,25.92,25.55,25.94,10.17,35.70
$GC,229,-1.95,-488.8,1775,1413,2758,4094,32.9,-15.9,15,244,0.00,1.92,0.00,0.000,1030,0.000,0.122,1775,2157,2759,2759,4095,0,0,0,0,0,0,25.78,25.72,25.82,10.16,35.82
$GC,309,-1.95,-488.8,1774,2157,2760,4094,44.0,-13.8,21,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,2157,2760,2760,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.17,36.13
$GC,391,-1.95,-488.8,1775,2157,2762,4094,55.2,-13.5,27,406,0.00,1.98,0.00,0.000,516,0.000,0.161,1775,1416,2763,2763,4095,0,0,0,0,0,0,26.20,25.82,26.21,10.17,35.39
$STATE,422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,428,-0.56,0.0,1775,2076,2763,4095,59.5,-13.7,29,480,4.70,0.00,29.17,4.477,10244,0.221,0.000,2193,2077,2175,2175,4094,0,0,0,0,0,0,25.86,24.60,23.77,10.17,35.43
$STATE,481,end apogee,CONTROL_FINISHED_OK
$STATE,481,begin climb
$GC,483,1.95,488.8,2192,2076,2174,4094,64.0,0.0,32,534,8.57,2.12,28.90,4.407,10500,0.119,0.221,2986,2828,1604,1604,4094,0,0,0,0,0,0,25.25,25.15,23.46,10.05,35.31
$GC,550,1.95,488.8,2986,2828,1603,4094,60.3,8.6,36,568,0.00,2.00,0.00,0.000,1030,0.000,0.104,2986,2083,1603,1603,4094,0,0,0,0,0,0,25.03,24.99,25.05,9.94,35.50
$GC,632,1.95,488.8,2986,2083,1601,4094,47.8,15.5,42,647,0.00,2.10,0.00,0.000,516,0.000,0.196,2986,1320,1600,1600,4094,0,0,0,0,0,0,25.58,25.22,25.60,9.94,34.80
$GC,687,1.95,488.8,2986,1320,1599,4094,39.0,15.8,46,702,0.00,1.95,0.00,0.000,1030,0.000,0.109,2987,2073,1598,1598,4094,0,0,0,0,0,0,25.46,25.39,25.48,9.93,34.60
$GC,766,1.95,488.8,2986,2073,1596,4094,27.3,14.4,52,781,0.00,2.15,0.00,0.000,260,0.000,0.219,2987,2835,1596,1596,4094,0,0,0,0,0,0,25.84,25.46,25.85,9.93,34.91
$GC,809,1.95,488.8,2986,2835,1595,4094,21.1,14.4,55,823,0.00,1.92,0.00,0.000,1030,0.000,0.107,2986,2097,1594,1594,4094,0,0,0,0,0,0,25.65,25.61,25.68,9.93,34.95
$GC,886,1.95,488.8,2986,2097,1592,4094,10.7,13.0,61,904,0.00,2.12,0.00,0.000,516,0.000,0.194,2986,1314,1592,1592,4094,0,0,0,0,0,0,25.98,25.60,26.00,9.93,35.11
$GC,920,1.95,488.8,2986,1314,1591,4094,5.8,13.9,63,935,0.00,1.98,0.00,0.000,1030,0.000,0.112,2986,2084,1590,1590,4094,0,0,0,0,0,0,25.76,25.73,25.79,9.93,35.35
$STATE,948,end climb,SURFACE_DEPTH_REACHED
$STATE,948,begin surface coast
$FINISH,0.2,1.025189
$STATE,976,end surface coast,CONTROL_FINISHED_OK
$STATE,976,begin surface
$SM_CCo,1074,0.00,0.000,0,0,1590,502.28
$SM_GC,1.15,29.30,0.20,0.00,0.084,0.199,0.000,232,2200,1590,-6.71,-0.77,502.28,0,0,1,0,0,0,25.52,25.82,25.74
$IRIDIUM_FIX,5554.28,-16557.83,040517,002710
$TT8_MAMPS,0.026215,0.259154
$HUMID,35.23
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.3,10.1
$24V_AH,23.46,34.440
$10V_AH,8.55,16.675
$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,48.575,24.450,58.075,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,249.835,60.488,134.332,653.711,31.341,33.423,391.759,0.000,665.943,0.000,5.452,0.000
$DEVICE_MAMPS,220.987,220.987,4476.849,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.167,85.776,144.040,378.180,642.223,0.000,0.000,0.000,0.000,0.000
$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,22295,10
$CFSIZE,1024409600,1001357312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,040517,014950,5651.529,-16448.496,7,0.9,48,11.1,0.0,0.0,9,5.0