version: 66.12
glider: 401
mission: 20
dive: 384
start: 5 4 117 13 56 42
data:
$ID,401
$MISSION,20
$DIVE,384
$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,17
$R_STBD_OVSHOOT,22
$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
$GPS1,040517,135030,5651.5303,-16441.0410,3,1.0,45,11.2,0.7,211.8,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-44.4
$GPS2,040517,135539,5651.5093,-16440.9551,5,0.8,15,11.2,0.0,0.0,10,4.6
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.634,-16421.520
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.376396,-0.061706
$KALMAN_X,-12994.894531,882.756226,1168.856323,75506.765625,151.102844
$KALMAN_Y,33122.421875,723.629211,723.111694,-77284.906250,-33.491638
$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,-488.8,231,2183,1589,4094,0.0,0.0,0,36,0.00,0.00,-10.07,0.000,16390,0.000,0.000,231,2183,2749,2749,4094,0,0,0,0,0,0,26.08,25.20,26.09,9.93,36.45
$GC,39,-1.95,-488.8,231,2183,2749,4095,1.1,0.0,1,72,19.33,2.05,0.00,0.000,2564,0.405,0.144,1745,1407,2751,2751,4094,0,0,0,0,0,0,25.45,25.48,25.53,10.17,36.76
$GC,253,-1.95,-488.8,1745,1407,2757,4094,47.9,-16.4,18,273,0.00,1.95,0.00,0.000,1030,0.000,0.127,1745,2161,2757,2757,4095,0,0,0,0,0,0,25.85,25.79,25.88,10.17,36.02
$STATE,325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,326,begin apogee
$GC,331,-0.56,0.0,1745,2051,2760,4094,59.4,-15.6,23,370,5.05,0.08,29.00,4.462,10246,0.221,0.360,2193,2089,2174,2174,4094,0,0,0,0,0,0,25.84,24.91,23.74,10.17,36.41
$STATE,371,end apogee,CONTROL_FINISHED_OK
$STATE,371,begin climb
$GC,373,1.95,488.8,2193,2089,2174,4094,63.5,0.0,25,428,8.70,2.12,28.65,4.353,10500,0.127,0.209,2986,2822,1604,1604,4094,0,0,0,0,0,0,25.27,24.22,23.41,10.04,35.54
$GC,444,1.95,488.8,2985,2822,1603,4094,58.4,11.2,29,462,0.00,1.95,0.00,0.000,1030,0.000,0.104,2986,2093,1603,1603,4094,0,0,0,0,0,0,25.05,25.02,25.08,9.94,35.46
$GC,527,1.95,488.8,2986,2093,1601,4094,45.5,15.4,35,545,0.00,2.15,0.00,0.000,516,0.000,0.204,2986,1315,1600,1600,4094,0,0,0,0,0,0,25.60,25.21,25.60,9.94,35.86
$GC,586,1.95,488.8,2986,1315,1599,4094,36.1,15.7,39,604,0.00,1.88,0.00,0.000,1030,0.000,0.109,2986,2044,1598,1598,4094,0,0,0,0,0,0,25.47,25.44,25.50,9.93,35.50
$GC,668,1.95,488.8,2986,2044,1596,4094,24.3,13.3,45,683,0.00,2.20,0.00,0.000,260,0.000,0.209,2986,2829,1596,1596,4094,0,0,0,0,0,0,25.86,25.48,25.87,9.93,35.46
$GC,723,1.95,488.8,2985,2829,1595,4094,16.2,14.6,49,741,0.00,2.00,0.00,0.000,1030,0.000,0.104,2986,2064,1594,1594,4094,0,0,0,0,0,0,25.68,25.64,25.70,9.93,35.62
$GC,805,1.95,488.8,2986,2064,1592,4094,4.1,14.9,55,824,0.00,2.03,0.00,0.000,516,0.000,0.206,2986,1317,1591,1591,4094,0,0,0,0,0,0,26.02,25.65,26.03,9.93,35.39
$STATE,838,end climb,FINISH_DEPTH_REACHED
$STATE,838,begin subsurface finish
$FINISH1,0.1,1.025197,-154
$GC,846,-0.25,-153.8,2986,2067,1591,4094,0.1,13.0,57,866,7.07,0.00,-6.90,0.000,20486,0.107,0.000,2320,2073,2358,2358,4094,0,0,0,0,0,0,25.81,24.53,25.84,9.93,35.27
$FINISH2,0.1
$STATE,867,end subsurface finish,CONTROL_FINISHED_OK
$STATE,867,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,040517,131015
$TT8_MAMPS,0.026964,0.247919
$HUMID,35.78
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.3,10.2
$24V_AH,23.41,37.343
$10V_AH,8.48,17.590
$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,40.150,20.575,57.650,0.000,0.000,24.785,18.547,160.841,0.500,0.000,17.070,226.108,0.000,108.901,788.646,75.120,33.442,340.798,0.000,581.078,0.000,8.689,0.000
$DEVICE_MAMPS,404.729,360.035,4461.951,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,39.170,74.270,124.693,324.676,556.503,0.000,0.000,0.000,0.000,0.000
$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,3908,58
$CAP_FILE_SIZE,23285,13
$CFSIZE,1024409600,999636992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,040517,135539,5651.509,-16440.955,5,0.8,15,11.2,0.0,0.0,10,4.6