version: 66.12
glider: 401
mission: 20
dive: 367
start: 5 4 117 8 0 1
data:
$ID,401
$MISSION,20
$DIVE,367
$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,30
$R_STBD_OVSHOOT,39
$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
$GPS1,040517,074307,5650.2422,-16449.8672,4,0.8,25,11.1,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-5.1
$GPS2,040517,074307,5650.2422,-16449.8672,4,0.8,25,11.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5648.367,-16430.441
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.354525,-0.139922
$KALMAN_X,-13844.425781,-505.951721,-660.448792,70660.164062,-187.863953
$KALMAN_Y,28194.029297,-874.555969,-379.367096,-72006.781250,125.517059
$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,-488.8,2319,2154,2362,4094,0.0,0.0,0,37,0.00,0.00,-3.70,0.000,16390,0.000,0.000,2320,2152,2747,2747,4094,0,0,0,0,0,0,25.96,25.08,25.97,10.09,35.78
$GC,40,-1.95,-488.8,2319,2152,2746,4094,0.2,0.0,1,58,5.93,2.00,0.00,0.000,4612,0.114,0.174,1774,1419,2747,2747,4094,0,0,0,0,0,0,25.37,25.27,25.40,10.17,36.13
$GC,215,-1.95,-488.8,1773,1419,2751,4094,25.0,-15.4,15,234,0.00,1.88,0.00,0.000,1030,0.000,0.117,1774,2145,2752,2752,4094,0,0,0,0,0,0,25.69,25.65,25.72,10.17,36.06
$GC,299,-1.95,-488.8,1773,2145,2754,4094,37.3,-14.1,21,312,0.00,1.95,0.00,0.000,516,0.000,0.174,1774,1423,2754,2754,4095,0,0,0,0,0,0,26.06,25.68,26.07,10.17,35.94
$GC,352,-1.95,-488.8,1773,1423,2755,4094,44.7,-13.8,25,370,0.00,1.88,0.00,0.000,1030,0.000,0.122,1774,2151,2756,2756,4095,0,0,0,0,0,0,25.84,25.78,25.86,10.18,36.45
$GC,439,-1.95,-488.8,1773,2151,2758,4095,57.1,-13.6,31,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2151,2758,2758,4095,0,0,0,0,0,0,26.17,26.19,26.19,10.18,35.66
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,478,-0.56,0.0,1774,2049,2759,4094,61.7,-13.5,33,516,4.62,0.10,28.92,4.536,10244,0.211,0.291,2186,2098,2174,2174,4094,0,0,0,0,0,0,25.85,24.91,23.75,10.18,35.50
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,519,1.95,488.8,2186,2098,2174,4095,65.5,0.0,35,566,8.77,0.00,28.80,4.430,11270,0.127,0.000,2983,2098,1603,1603,4094,0,0,0,0,0,0,25.27,25.44,23.40,10.05,35.62
$GC,629,1.95,488.8,2983,2097,1601,4094,55.1,15.2,43,644,0.00,2.05,0.00,0.000,260,0.000,0.206,2983,2817,1601,1601,4094,0,0,0,0,0,0,25.44,25.08,25.46,9.94,34.95
$GC,661,1.95,488.8,2982,2817,1600,4094,50.2,15.9,45,680,0.00,1.88,0.00,0.000,1030,0.000,0.102,2983,2106,1599,1599,4094,0,0,0,0,0,0,25.32,25.27,25.34,9.94,35.35
$GC,742,1.95,488.8,2982,2105,1597,4094,36.9,16.1,51,757,0.00,2.15,0.00,0.000,516,0.000,0.191,2983,1322,1597,1597,4094,0,0,0,0,0,0,25.72,25.35,25.74,9.94,35.07
$GC,820,1.95,488.8,2982,1322,1595,4094,24.9,15.4,57,835,0.00,1.90,0.00,0.000,1030,0.000,0.107,2983,2063,1594,1594,4094,0,0,0,0,0,0,25.59,25.58,25.63,9.92,35.43
$GC,898,1.95,488.8,2983,2063,1592,4094,13.7,13.9,63,913,0.00,2.15,0.00,0.000,260,0.000,0.216,2983,2831,1591,1591,4094,0,0,0,0,0,0,25.95,25.56,25.96,9.94,35.19
$GC,930,1.95,488.8,2982,2831,1590,4094,9.0,14.5,65,945,0.00,1.98,0.00,0.000,1030,0.000,0.107,2983,2075,1590,1590,4094,0,0,0,0,0,0,25.73,25.68,25.77,9.94,35.15
$STATE,983,end climb,SURFACE_DEPTH_REACHED
$STATE,983,begin surface coast
$FINISH,0.2,1.024933
$STATE,1010,end surface coast,CONTROL_FINISHED_OK
$STATE,1010,begin surface
$SM_CCo,1107,0.00,0.000,0,0,1589,503.14
$SM_GC,1.08,29.10,0.25,0.00,0.077,0.194,0.000,242,2182,1589,-6.67,-1.00,503.14,0,0,1,0,0,0,25.78,25.78,25.84
$IRIDIUM_FIX,5554.28,-16557.83,040517,065733
$TT8_MAMPS,0.026215,0.260652
$HUMID,35.39
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.7,12.4
$24V_AH,23.40,35.961
$10V_AH,8.49,17.152
$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,48.425,22.000,57.725,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,264.070,59.600,127.111,681.981,31.470,33.417,366.336,0.000,694.367,0.000,5.459,0.000
$DEVICE_MAMPS,211.055,290.511,4536.441,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.226,91.025,152.680,389.183,670.078,0.000,0.000,0.000,0.000,0.000
$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,7453,71
$CAP_FILE_SIZE,21880,9
$CFSIZE,1024409600,1000472576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,040517,081936,5650.443,-16449.541,5,0.8,34,11.1,0.5,0.7,10,4.9