version: 66.12
glider: 401
mission: 20
dive: 354
start: 5 4 117 3 18 51
data:
$ID,401
$MISSION,20
$DIVE,354
$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,51
$R_STBD_OVSHOOT,54
$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
$GPS1,040517,031206,5650.9429,-16448.1348,3,0.8,21,11.1,0.6,271.5,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-36.5
$GPS2,040517,031748,5650.8843,-16448.2129,6,0.8,25,11.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.009,-16428.781
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.330335,0.190765
$KALMAN_X,-9312.758789,678.150391,379.193024,65562.476562,-221.247101
$KALMAN_Y,29726.906250,-427.163147,38.035759,-73204.046875,-260.255219
$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,-488.8,231,2219,1590,4094,0.0,0.0,0,33,0.00,0.00,-9.93,0.000,16390,0.000,0.000,232,2219,2742,2742,4094,0,0,0,0,0,0,26.06,25.20,26.08,9.93,36.10
$GC,35,-1.95,-488.8,231,2219,2742,4094,1.0,0.0,1,64,19.30,2.08,0.00,0.000,2564,0.410,0.144,1746,1437,2744,2744,4094,0,0,0,0,0,0,25.51,25.57,25.58,10.17,36.45
$GC,321,-1.95,-488.8,1746,1437,2752,4094,55.4,-15.8,24,340,0.00,1.77,0.00,0.000,1030,0.000,0.117,1746,2132,2752,2752,4094,0,0,0,0,0,0,25.94,25.89,25.97,10.17,35.86
$STATE,354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,354,begin apogee
$GC,358,-0.56,0.0,1746,2132,2753,4094,61.1,-16.1,26,396,5.03,0.00,28.77,4.529,10246,0.221,0.000,2192,2132,2174,2174,4094,0,0,0,0,0,0,25.88,24.95,23.78,10.17,36.41
$STATE,397,end apogee,CONTROL_FINISHED_OK
$STATE,397,begin climb
$GC,399,1.95,488.8,2192,2132,2174,4094,65.0,0.0,28,450,8.73,0.00,28.80,4.412,10246,0.127,0.000,2987,2132,1603,1603,4094,0,0,0,0,0,0,25.30,24.20,23.42,10.05,35.82
$GC,514,1.95,488.8,2986,2132,1601,4094,52.8,15.7,36,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2132,1600,1600,4094,0,0,0,0,0,0,25.48,25.50,25.50,9.94,35.07
$GC,595,1.95,488.8,2986,2132,1598,4094,39.8,15.8,42,613,0.00,2.15,0.00,0.000,516,0.000,0.189,2987,1349,1597,1597,4094,0,0,1,0,0,0,25.70,25.33,25.71,9.94,35.78
$GC,654,1.95,488.8,2986,1350,1596,4094,30.6,15.5,46,672,0.00,1.83,0.00,0.000,1030,0.000,0.107,2987,2060,1596,1596,4095,0,0,0,0,0,0,25.56,25.51,25.58,9.93,35.70
$GC,736,1.95,488.8,2986,2060,1593,4094,18.9,14.1,52,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2059,1593,1593,4094,0,0,0,0,0,0,25.92,25.94,25.94,9.94,35.15
$GC,816,1.95,488.8,2986,2060,1590,4094,6.7,14.6,58,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2060,1590,1590,4094,0,0,0,0,0,0,26.02,26.03,26.03,9.94,35.39
$STATE,849,end climb,FINISH_DEPTH_REACHED
$STATE,850,begin subsurface finish
$FINISH1,1.9,1.025199,-154
$GC,855,-0.25,-153.9,2986,2061,1589,4094,1.9,14.4,60,875,7.05,0.00,-6.90,0.000,20486,0.099,0.000,2320,2064,2360,2360,4095,0,0,0,0,0,0,25.82,24.54,25.83,9.94,35.31
$FINISH2,0.2
$STATE,876,end subsurface finish,CONTROL_FINISHED_OK
$STATE,876,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,040517,023241
$TT8_MAMPS,0.026215,0.250915
$HUMID,35.39
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.7,10.2
$24V_AH,23.42,34.850
$10V_AH,8.58,16.806
$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,40.100,7.825,57.575,0.000,0.000,25.730,20.978,181.681,0.500,0.000,26.315,226.740,0.000,95.791,848.097,70.692,33.436,313.413,0.000,604.648,0.000,8.700,0.000
$DEVICE_MAMPS,409.695,188.708,4528.992,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.392,78.176,131.141,337.249,580.143,0.000,0.000,0.000,0.000,0.000
$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,3876,61
$CAP_FILE_SIZE,20745,11
$CFSIZE,1024409600,1001111552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,040517,031748,5650.884,-16448.213,6,0.8,25,11.1,0.0,0.0,9,5.0