version: 66.12
glider: 401
mission: 20
dive: 360
start: 5 4 117 5 40 18
data:
$ID,401
$MISSION,20
$DIVE,360
$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,48
$R_STBD_OVSHOOT,58
$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
$GPS1,040517,052943,5650.1655,-16449.1953,2,0.8,20,11.1,0.0,0.0,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-42.2
$GPS2,040517,053916,5650.1152,-16449.4062,4,0.9,38,11.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5648.240,-16429.982
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.363434,0.115413
$KALMAN_X,-11572.793945,159.314056,-213.794861,67744.039062,-339.520660
$KALMAN_Y,28133.156250,-853.759827,-519.461731,-72054.960938,-155.767761
$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,-488.8,241,2211,1590,4095,0.0,0.0,0,33,0.00,0.00,-10.15,0.000,16390,0.000,0.000,242,2211,2748,2748,4094,0,0,0,0,0,0,26.06,25.19,26.07,9.93,36.73
$GC,35,-1.95,-488.8,242,2211,2749,4095,0.8,0.0,1,68,19.20,2.05,0.00,0.000,2564,0.412,0.154,1745,1438,2751,2751,4094,0,0,1,0,0,0,25.48,25.56,25.58,10.17,36.96
$GC,300,-1.95,-488.8,1744,1438,2758,4094,53.3,-16.3,22,318,0.00,1.75,0.00,0.000,1030,0.000,0.117,1745,2123,2759,2759,4095,0,0,0,0,0,0,25.92,25.87,25.96,10.17,35.98
$STATE,331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,331,begin apogee
$GC,336,-0.56,0.0,1745,2123,2759,4094,59.0,-16.5,24,373,5.03,0.00,28.62,4.457,10246,0.228,0.000,2189,2123,2174,2174,4094,0,0,0,0,0,0,25.84,24.94,23.78,10.17,35.94
$STATE,374,end apogee,CONTROL_FINISHED_OK
$STATE,374,begin climb
$GC,376,1.95,488.8,2189,2123,2174,4094,63.2,0.0,26,419,8.75,0.00,28.83,4.380,10246,0.134,0.000,2983,2124,1604,1604,4094,0,0,0,0,0,0,25.29,24.51,23.43,10.05,35.66
$GC,483,1.95,488.8,2983,2124,1601,4094,53.8,15.3,34,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2124,1601,1601,4094,0,0,0,0,0,0,25.46,25.48,25.47,9.94,35.23
$GC,563,1.95,488.8,2983,2124,1599,4094,40.8,15.7,40,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2124,1598,1598,4094,0,0,0,0,0,0,25.68,25.70,25.70,9.94,35.31
$GC,644,1.95,488.8,2983,2124,1596,4094,29.0,14.1,46,659,0.00,2.12,0.00,0.000,516,0.000,0.191,2984,1348,1596,1596,4094,0,0,1,0,0,0,25.83,25.45,25.84,9.93,36.13
$GC,733,1.95,488.8,2983,1348,1593,4094,16.5,13.3,53,748,0.00,1.83,0.00,0.000,1030,0.000,0.109,2984,2063,1593,1593,4094,0,0,0,0,0,0,25.70,25.65,25.73,9.93,35.39
$GC,811,1.95,488.8,2983,2063,1591,4094,6.0,13.8,59,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2063,1590,1590,4094,0,0,0,0,0,0,26.03,26.05,26.04,9.93,35.58
$STATE,844,end climb,FINISH_DEPTH_REACHED
$STATE,844,begin subsurface finish
$FINISH1,1.2,1.025208,-155
$GC,850,-0.25,-154.5,2983,2063,1590,4094,1.2,14.3,61,869,7.05,0.00,-6.85,0.000,20486,0.097,0.000,2318,2064,2358,2358,4094,0,0,0,0,0,0,25.82,24.55,25.85,9.93,35.66
$FINISH2,0.2
$STATE,870,end subsurface finish,CONTROL_FINISHED_OK
$STATE,870,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,040517,053116
$TT8_MAMPS,0.026215,0.255409
$HUMID,35.54
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.4,12.8
$24V_AH,23.43,35.409
$10V_AH,8.61,16.972
$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,40.025,7.750,57.450,0.000,0.000,47.625,44.488,271.609,0.500,0.000,39.863,229.237,59.591,87.117,1011.741,78.015,33.440,302.182,0.000,605.732,0.000,12.845,0.000
$DEVICE_MAMPS,412.178,191.191,4456.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.108,79.475,133.321,336.543,581.246,0.000,0.000,0.000,0.000,0.000
$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,3875,62
$CAP_FILE_SIZE,23781,8
$CFSIZE,1024409600,1000816640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,040517,053916,5650.115,-16449.406,4,0.9,38,11.1,0.0,0.0,9,5.0