version: 66.12
glider: 401
mission: 20
dive: 372
start: 5 4 117 9 48 29
data:
$ID,401
$MISSION,20
$DIVE,372
$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,24
$R_STBD_OVSHOOT,47
$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
$GPS1,040517,094210,5650.9526,-16448.2617,3,0.9,15,11.1,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-41.0
$GPS2,040517,094726,5650.9844,-16448.2305,4,0.9,18,11.1,0.8,41.4,9,4.5
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.109,-16428.799
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143581,-0.353424
$KALMAN_X,-14194.990234,-511.578278,-409.334930,72390.335938,140.245270
$KALMAN_Y,29817.689453,-400.857727,149.937912,-73268.476562,368.558167
$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,-488.8,232,2199,1589,4094,0.0,0.0,0,36,0.00,0.00,-10.02,0.000,16390,0.000,0.000,232,2199,2748,2748,4094,0,0,0,0,0,0,26.06,25.20,26.08,9.93,36.53
$GC,39,-1.95,-488.8,231,2199,2749,4094,1.0,0.0,1,72,19.17,2.08,0.00,0.000,2564,0.410,0.134,1740,1411,2751,2751,4094,0,0,0,0,0,0,25.44,25.51,25.54,10.17,36.88
$GC,269,-1.95,-488.8,1739,1411,2757,4094,50.3,-16.5,19,287,0.00,1.88,0.00,0.000,1030,0.000,0.117,1740,2141,2758,2758,4094,0,0,0,0,0,0,25.90,25.84,25.90,10.17,36.73
$STATE,314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,314,begin apogee
$GC,319,-0.56,0.0,1739,2037,2759,4095,58.6,-16.1,22,358,5.12,0.12,28.65,4.427,10246,0.226,0.268,2192,2099,2174,2174,4094,0,0,0,0,0,0,25.82,24.91,23.76,10.18,36.49
$STATE,359,end apogee,CONTROL_FINISHED_OK
$STATE,359,begin climb
$GC,361,1.95,488.8,2192,2099,2173,4095,62.7,0.0,24,416,8.75,0.00,28.62,4.330,10246,0.129,0.000,2985,2099,1604,1604,4094,0,0,0,0,0,0,25.27,24.20,23.43,10.05,36.10
$GC,479,1.95,488.8,2985,2099,1602,4094,50.4,16.2,32,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2099,1601,1601,4094,0,0,0,0,0,0,25.49,25.50,25.50,9.94,35.62
$GC,558,1.95,488.8,2985,2099,1599,4094,37.7,16.0,38,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2099,1598,1598,4094,0,0,0,0,0,0,25.70,25.71,25.70,9.94,35.19
$GC,639,1.95,488.8,2985,2099,1596,4094,24.6,15.8,44,654,0.00,2.00,0.00,0.000,260,0.000,0.214,2985,2812,1595,1595,4094,0,0,0,0,0,0,25.84,25.46,25.84,9.94,35.90
$GC,682,1.95,488.8,2985,2813,1594,4094,18.3,15.1,47,696,0.00,1.83,0.00,0.000,1030,0.000,0.107,2985,2109,1594,1594,4094,0,0,0,0,0,0,25.65,25.61,25.67,9.94,35.54
$GC,759,1.95,488.8,2985,2106,1592,4094,7.0,14.0,53,774,0.00,2.15,0.00,0.000,516,0.000,0.196,2986,1316,1591,1591,4094,0,0,0,0,0,0,25.98,25.60,26.00,9.94,35.39
$STATE,789,end climb,FINISH_DEPTH_REACHED
$STATE,790,begin subsurface finish
$FINISH1,2.3,1.025195,-154
$GC,797,-0.25,-153.7,2985,2055,1591,4094,2.3,14.2,55,832,7.03,2.12,-6.22,0.000,20996,0.084,4.129,2319,1316,2360,2360,4094,0,0,1,0,0,0,25.79,24.10,25.81,9.94,35.58
$FINISH2,0.8
$STATE,833,end subsurface finish,CONTROL_FINISHED_OK
$STATE,833,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,040517,090132
$TT8_MAMPS,0.027713,0.246421
$HUMID,35.62
$INTERNAL_PRESSURE,10.0332
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,13.1
$24V_AH,23.43,36.373
$10V_AH,8.54,17.280
$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,40.075,14.250,57.275,0.000,0.000,24.777,18.102,161.782,0.500,0.000,19.951,219.205,0.000,99.210,781.824,72.485,33.438,323.825,0.000,566.241,0.000,8.711,0.000
$DEVICE_MAMPS,409.695,4129.229,4427.189,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,38.445,72.971,122.555,316.514,542.349,0.000,0.000,0.000,0.000,0.000
$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,3903,57
$CAP_FILE_SIZE,21451,11
$CFSIZE,1024409600,1000226816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$GPS,040517,094726,5650.984,-16448.230,4,0.9,18,11.1,0.8,41.4,9,4.5