version: 66.12
glider: 401
mission: 20
dive: 382
start: 5 4 117 13 15 4
data:
$ID,401
$MISSION,20
$DIVE,382
$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,15
$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
$GPS1,040517,130848,5651.6709,-16442.2715,3,0.7,16,11.2,0.0,0.0,12,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-43.0
$GPS2,040517,131401,5651.6655,-16442.1680,5,0.7,20,11.2,0.0,0.0,11,4.7
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.790,-16422.730
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.334993,-0.183428
$KALMAN_X,-12981.273438,620.269470,979.049316,74728.523438,230.686646
$KALMAN_Y,32976.945312,662.245178,802.388855,-76871.109375,107.365662
$MHEAD_RNG_PITCHd_Wd,88.8,20000,-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,-488.8,241,2176,1591,4094,0.0,0.0,0,33,0.00,0.00,-10.10,0.000,16390,0.000,0.000,241,2176,2745,2745,4094,0,0,0,0,0,0,26.09,25.21,26.10,9.93,36.65
$GC,35,-1.95,-488.8,241,2176,2745,4095,0.9,0.0,1,69,18.98,2.05,0.00,0.000,2564,0.407,0.146,1743,1403,2748,2748,4094,0,0,0,0,0,0,25.54,25.59,25.62,10.16,37.16
$GC,250,-1.95,-488.8,1743,1403,2754,4094,45.6,-16.5,18,268,0.00,1.98,0.00,0.000,1030,0.000,0.124,1743,2168,2754,2754,4094,0,0,0,0,0,0,25.89,25.83,25.91,10.16,36.57
$STATE,324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,324,begin apogee
$GC,330,-0.56,0.0,1743,2044,2756,4094,58.3,-16.6,23,378,5.03,0.08,28.95,4.412,10246,0.226,0.206,2188,2085,2176,2176,4095,0,0,0,0,0,0,25.87,24.65,23.80,10.17,36.41
$STATE,379,end apogee,CONTROL_FINISHED_OK
$STATE,379,begin climb
$GC,381,1.95,488.8,2188,2085,2177,4094,62.4,0.0,26,428,8.75,2.12,28.95,4.333,10500,0.129,0.194,2985,2825,1603,1603,4094,0,0,0,0,0,0,25.36,24.27,23.46,10.04,36.10
$GC,457,1.95,488.8,2985,2825,1603,4094,57.3,9.8,31,472,0.00,1.90,0.00,0.000,1030,0.000,0.102,2986,2109,1602,1602,4094,0,0,0,0,0,0,25.12,25.09,25.15,9.93,35.62
$GC,535,1.95,488.8,2985,2109,1600,4094,44.5,16.4,37,550,0.00,2.17,0.00,0.000,516,0.000,0.196,2986,1321,1599,1599,4094,0,0,0,0,0,0,25.63,25.25,25.63,9.93,34.87
$GC,589,1.95,488.8,2985,1321,1598,4094,35.8,16.0,41,608,0.00,1.92,0.00,0.000,1030,0.000,0.109,2986,2066,1597,1597,4094,0,0,0,0,0,0,25.48,25.44,25.51,9.94,35.15
$GC,671,1.95,488.8,2985,2066,1595,4094,24.1,13.7,47,689,0.00,2.12,0.00,0.000,260,0.000,0.214,2986,2823,1595,1595,4094,0,0,0,0,0,0,25.87,25.50,25.89,9.93,35.07
$GC,730,1.95,488.8,2985,2823,1593,4094,15.3,14.7,51,746,0.00,1.92,0.00,0.000,1030,0.000,0.104,2986,2082,1592,1592,4094,0,0,0,0,0,0,25.70,25.66,25.73,9.93,36.02
$GC,809,1.95,488.8,2985,2081,1590,4094,4.3,14.4,57,827,0.00,2.08,0.00,0.000,516,0.000,0.191,2986,1313,1589,1589,4094,0,0,0,0,0,0,26.03,25.65,26.05,9.93,35.54
$STATE,841,end climb,FINISH_DEPTH_REACHED
$STATE,841,begin subsurface finish
$FINISH1,0.1,1.025340,-164
$GC,849,-0.26,-163.8,2986,2089,1590,4094,0.1,13.5,59,869,7.22,0.00,-7.03,0.000,20486,0.094,0.000,2301,2094,2371,2371,4094,0,0,0,0,0,0,25.82,24.54,25.84,9.94,35.27
$FINISH2,0.2
$STATE,870,end subsurface finish,CONTROL_FINISHED_OK
$STATE,870,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,040517,122856
$TT8_MAMPS,0.026964,0.259154
$HUMID,35.78
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.8,12.6
$24V_AH,23.46,37.182
$10V_AH,8.48,17.538
$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,39.975,20.550,57.900,0.000,0.000,22.251,21.346,160.009,1.000,0.000,21.748,226.384,0.000,97.239,808.505,74.069,33.439,332.249,0.000,595.473,0.000,13.019,0.000
$DEVICE_MAMPS,407.212,213.538,4412.291,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,40.461,76.819,128.998,332.128,570.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,3952,60
$CAP_FILE_SIZE,23393,10
$CFSIZE,1024409600,999735296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,040517,131401,5651.666,-16442.168,5,0.7,20,11.2,0.0,0.0,11,4.7