version: 66.12
glider: 401
mission: 20
dive: 374
start: 5 4 117 10 28 36
data:
$ID,401
$MISSION,20
$DIVE,374
$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,22
$R_STBD_OVSHOOT,43
$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
$GPS1,040517,102223,5651.2080,-16447.3145,3,0.8,18,11.1,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-41.0
$GPS2,040517,102733,5651.2388,-16447.2598,4,0.9,20,11.1,0.8,101.2,10,4.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.364,-16427.826
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.079466,-0.372773
$KALMAN_X,-13998.404297,-386.980927,-178.123962,72809.937500,255.969147
$KALMAN_Y,30572.132812,-154.185577,376.327698,-74023.695312,384.888824
$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,-488.8,231,2170,1590,4094,0.0,0.0,0,37,0.00,0.00,-10.07,0.000,16390,0.000,0.000,231,2170,2747,2747,4094,0,0,0,0,0,0,26.08,25.20,26.09,9.94,36.88
$GC,40,-1.95,-488.8,231,2170,2747,4095,0.9,0.0,1,77,19.17,2.00,0.00,0.000,2564,0.402,0.142,1744,1410,2750,2750,4094,0,0,0,0,0,0,25.45,25.50,25.53,10.17,36.45
$GC,234,-1.95,-488.8,1744,1410,2754,4094,44.6,-15.5,16,252,0.00,1.88,0.00,0.000,1030,0.000,0.119,1745,2137,2756,2756,4095,0,0,0,0,0,0,25.82,25.78,25.86,10.17,35.90
$GC,320,-1.95,-488.8,1744,2137,2757,4094,57.9,-15.0,22,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,2137,2758,2758,4094,0,0,0,0,0,0,26.18,26.19,26.19,10.17,35.66
$STATE,352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,352,begin apogee
$GC,358,-0.56,0.0,1744,2041,2759,4094,62.9,-14.7,24,405,5.05,0.08,28.55,4.591,10244,0.228,0.204,2191,2091,2175,2175,4094,0,0,0,0,0,0,25.85,24.58,23.73,10.18,35.90
$STATE,406,end apogee,CONTROL_FINISHED_OK
$STATE,406,begin climb
$GC,408,1.95,488.8,2191,2091,2175,4094,67.6,0.0,27,455,8.65,2.05,29.00,4.487,10500,0.122,0.216,2987,2818,1604,1604,4094,0,0,0,0,0,0,25.22,25.14,23.42,10.06,35.58
$GC,472,1.95,488.8,2986,2818,1603,4094,64.2,9.3,31,486,0.00,1.92,0.00,0.000,1030,0.000,0.102,2987,2100,1602,1602,4094,0,0,0,0,0,0,24.99,24.96,25.01,9.95,34.91
$GC,550,1.95,488.8,2987,2099,1601,4094,51.7,15.5,37,569,0.00,2.15,0.00,0.000,516,0.000,0.191,2987,1319,1600,1600,4094,0,0,0,0,0,0,25.56,25.21,25.57,9.94,34.80
$GC,584,1.95,488.8,2987,1319,1599,4094,46.3,15.6,39,599,0.00,1.92,0.00,0.000,1030,0.000,0.107,2987,2062,1599,1599,4094,0,0,0,0,0,0,25.39,25.34,25.41,9.94,34.99
$GC,665,1.95,488.8,2986,2062,1596,4094,33.4,16.0,45,681,0.00,2.15,0.00,0.000,260,0.000,0.216,2987,2824,1596,1596,4094,0,0,0,0,0,0,25.80,25.41,25.81,9.94,35.11
$GC,744,1.95,488.8,2986,2824,1594,4094,20.8,15.6,51,762,0.00,1.90,0.00,0.000,1030,0.000,0.104,2987,2094,1593,1593,4094,0,0,0,0,0,0,25.67,25.63,25.69,9.94,35.98
$GC,826,1.95,488.8,2986,2091,1591,4094,9.1,14.0,57,844,0.00,2.08,0.00,0.000,516,0.000,0.181,2987,1323,1590,1590,4094,0,0,0,0,0,0,26.01,25.63,26.02,9.94,35.23
$STATE,870,end climb,FINISH_DEPTH_REACHED
$STATE,870,begin subsurface finish
$FINISH1,3.1,1.025194,-154
$GC,878,-0.25,-153.6,2987,2076,1589,4094,3.1,12.9,60,909,7.30,2.22,-6.43,0.000,20740,0.166,4.149,2320,2825,2361,2361,4094,0,0,0,0,0,0,25.79,24.18,25.83,9.94,35.70
$FINISH2,0.8
$STATE,910,end subsurface finish,CONTROL_FINISHED_OK
$STATE,910,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,040517,094336
$TT8_MAMPS,0.026215,0.265146
$HUMID,35.70
$INTERNAL_PRESSURE,10.0332
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.0,12.4
$24V_AH,23.42,36.537
$10V_AH,8.43,17.332
$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,40.175,22.525,57.550,0.000,0.000,24.562,17.319,159.713,0.500,0.000,21.939,231.174,0.000,110.315,827.174,74.527,33.438,367.642,0.000,617.956,0.000,8.707,0.000
$DEVICE_MAMPS,402.246,4149.093,4591.067,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,41.606,79.307,133.318,345.504,593.107,0.000,0.000,0.000,0.000,0.000
$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,3919,62
$CAP_FILE_SIZE,24292,12
$CFSIZE,1024409600,1000128512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,040517,102733,5651.239,-16447.260,4,0.9,20,11.1,0.8,101.2,10,4.9