version: 66.12
glider: 401
mission: 20
dive: 373
start: 5 4 117 10 4 17
data:
$ID,401
$MISSION,20
$DIVE,373
$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,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
$GPS1,040517,094726,5650.9844,-16448.2305,4,0.9,18,11.1,0.8,41.4,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-0.8
$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,0.196823,-0.326683
$KALMAN_X,-14377.113281,-517.590393,-329.919220,72515.187500,111.268631
$KALMAN_Y,30038.052734,-293.027649,244.708603,-73682.218750,330.046204
$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,-488.8,2318,2173,2361,4094,0.0,0.0,0,19,0.00,0.00,-1.65,0.000,16390,0.000,0.000,2319,2173,2756,2756,4094,0,0,0,0,0,0,25.90,24.34,25.86,10.09,36.41
$GC,22,-1.95,-488.8,2318,2173,2756,4095,0.0,0.0,0,41,6.25,2.12,0.00,0.000,4356,0.199,0.238,1762,2922,2757,2757,4095,0,0,0,0,0,0,25.62,25.49,25.66,10.18,36.37
$GC,104,-1.95,-488.8,1762,2922,2758,4095,16.0,-13.2,6,123,0.00,1.95,0.00,0.000,1030,0.000,0.112,1763,2157,2759,2759,4094,0,0,0,0,0,0,25.77,25.75,25.79,10.18,35.98
$GC,187,-1.95,-488.8,1762,2157,2760,4094,29.2,-16.0,12,201,0.00,1.95,0.00,0.000,516,0.000,0.171,1762,1427,2761,2761,4094,0,0,0,0,0,0,26.08,25.71,26.09,10.17,35.86
$GC,230,-1.95,-488.8,1762,1427,2761,4094,35.2,-14.1,15,245,0.00,1.90,0.00,0.000,1030,0.000,0.124,1762,2162,2762,2762,4094,0,0,0,0,0,0,25.82,25.79,25.86,10.17,35.62
$GC,309,-1.95,-488.8,1762,2163,2764,4094,46.5,-14.3,21,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,2162,2765,2765,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.17,35.86
$STATE,398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,398,begin apogee
$GC,403,-0.56,0.0,1762,2058,2766,4094,59.5,-14.4,27,453,4.82,0.00,29.33,4.445,10244,0.216,0.000,2192,2055,2174,2174,4094,0,0,0,0,0,0,25.89,24.62,23.80,10.18,35.78
$STATE,454,end apogee,CONTROL_FINISHED_OK
$STATE,455,begin climb
$GC,456,1.95,488.8,2192,2055,2175,4094,63.8,0.0,30,512,8.60,2.20,28.42,4.368,10500,0.122,0.211,2987,2832,1604,1604,4094,0,0,0,0,0,0,25.26,25.18,23.49,10.05,35.11
$GC,528,1.95,488.8,2986,2832,1603,4094,59.5,9.1,34,546,0.00,1.95,0.00,0.000,1030,0.000,0.102,2987,2105,1603,1603,4094,0,0,0,0,0,0,25.06,25.02,25.09,9.94,35.39
$GC,609,1.95,488.8,2986,2105,1601,4094,46.7,16.3,40,627,0.00,2.17,0.00,0.000,516,0.000,0.196,2987,1317,1600,1600,4094,0,0,0,0,0,0,25.60,25.24,25.61,9.94,35.50
$GC,654,1.95,488.8,2987,1316,1599,4094,39.2,16.1,43,669,0.00,1.98,0.00,0.000,1030,0.000,0.109,2988,2078,1599,1599,4094,0,0,0,0,0,0,25.45,25.40,25.47,9.94,35.19
$GC,733,1.95,488.8,2987,2078,1596,4094,26.9,15.9,49,752,0.00,2.12,0.00,0.000,260,0.000,0.214,2987,2834,1596,1596,4094,0,0,0,0,0,0,25.84,25.46,25.85,9.94,35.86
$GC,831,1.95,488.8,2986,2834,1593,4094,11.8,15.7,56,846,0.00,1.90,0.00,0.000,1030,0.000,0.102,2987,2101,1592,1592,4094,0,0,0,0,0,0,25.72,25.69,25.75,9.94,35.43
$STATE,908,end climb,SURFACE_DEPTH_REACHED
$STATE,909,begin surface coast
$FINISH,0.1,1.002326
$STATE,936,end surface coast,CONTROL_FINISHED_OK
$STATE,936,begin surface
$SM_CCo,1034,0.00,0.000,0,0,1590,502.28
$SM_GC,1.14,29.35,0.17,0.00,0.084,0.221,0.000,231,2201,1590,-6.71,-0.68,502.28,0,0,1,0,0,0,25.51,25.83,25.74
$IRIDIUM_FIX,5554.28,-16557.83,040517,090132
$TT8_MAMPS,0.026215,0.259154
$HUMID,35.35
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.5,12.6
$24V_AH,23.49,36.446
$10V_AH,8.47,17.305
$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,49.025,22.825,57.750,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,244.469,59.844,128.944,628.607,30.131,33.414,357.546,0.000,638.768,0.000,9.768,0.000
$DEVICE_MAMPS,216.021,238.368,4444.571,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.391,82.022,137.617,359.835,615.596,0.000,0.000,0.000,0.000,0.000
$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,3912,64
$CAP_FILE_SIZE,21158,12
$CFSIZE,1024409600,1000177664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,040517,102223,5651.208,-16447.314,3,0.8,18,11.1,0.0,0.0,11,4.9