version: 66.12
glider: 401
mission: 20
dive: 376
start: 5 4 117 11 10 32
data:
$ID,401
$MISSION,20
$DIVE,376
$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,20
$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
$GPS1,040517,110357,5651.4141,-16446.1074,4,1.0,38,11.1,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-41.8
$GPS2,040517,110929,5651.4473,-16446.0312,5,0.9,16,11.1,0.0,0.0,9,5.0
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.572,-16426.596
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.129740,-0.358118
$KALMAN_X,-13612.376953,-178.695953,114.729996,73150.164062,328.509766
$KALMAN_Y,31302.087891,98.564499,575.552307,-74818.070312,343.677948
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.95,-488.8,241,2182,1590,4094,0.0,0.0,0,33,0.00,0.00,-9.82,0.000,16390,0.000,0.000,241,2182,2749,2749,4095,0,0,0,0,0,0,26.06,25.19,26.08,9.93,36.13
$GC,35,-1.95,-488.8,241,2182,2749,4095,1.0,0.0,1,69,19.08,2.03,0.00,0.000,2564,0.415,0.139,1742,1417,2751,2751,4094,0,0,0,0,0,0,25.52,25.58,25.60,10.17,36.76
$GC,237,-1.95,-488.8,1741,1418,2756,4094,44.8,-16.7,17,256,0.00,1.92,0.00,0.000,1030,0.000,0.122,1742,2164,2757,2757,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.17,35.82
$STATE,328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,328,begin apogee
$GC,333,-0.56,0.0,1742,2047,2759,4094,59.0,-14.9,23,372,5.07,0.10,28.92,4.437,10244,0.228,0.298,2191,2095,2174,2174,4094,0,0,0,0,0,0,25.84,24.94,23.77,10.17,35.90
$STATE,373,end apogee,CONTROL_FINISHED_OK
$STATE,373,begin climb
$GC,375,1.95,488.8,2191,2095,2174,4094,63.1,0.0,25,422,8.73,0.00,28.77,4.303,11270,0.129,0.000,2983,2095,1606,1606,4094,0,0,0,0,0,0,25.31,25.47,23.46,10.05,35.70
$GC,485,1.95,488.8,2983,2095,1604,4094,51.6,14.7,33,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2095,1603,1603,4094,0,0,0,0,0,0,25.48,25.49,25.48,9.94,35.43
$GC,565,1.95,488.8,2983,2095,1601,4094,39.3,15.3,39,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2095,1600,1600,4094,0,0,0,0,0,0,25.70,25.71,25.70,9.93,35.15
$GC,642,1.95,488.8,2983,2095,1599,4094,27.0,16.1,45,660,0.00,2.03,0.00,0.000,260,0.000,0.204,2983,2818,1598,1598,4094,0,0,0,0,0,0,25.84,25.46,25.84,9.93,35.27
$GC,712,1.95,488.8,2983,2818,1596,4094,16.9,14.6,50,726,0.00,1.83,0.00,0.000,1030,0.000,0.102,2983,2112,1596,1596,4094,0,0,0,0,0,0,25.69,25.65,25.71,9.94,35.23
$GC,791,1.95,488.8,2983,2112,1594,4094,5.3,14.4,56,806,0.00,2.15,0.00,0.000,516,0.000,0.204,2984,1323,1593,1593,4094,0,0,0,0,0,0,26.02,25.63,26.03,9.94,35.90
$STATE,820,end climb,FINISH_DEPTH_REACHED
$STATE,820,begin subsurface finish
$FINISH1,0.9,1.025192,-153
$GC,829,-0.25,-153.4,2983,2066,1593,4094,0.9,14.5,58,859,7.22,2.20,-6.93,0.000,20996,0.109,4.149,2307,1322,2357,2357,4094,0,0,0,0,0,0,25.79,24.17,25.82,9.94,35.70
$FINISH2,0.2
$STATE,860,end subsurface finish,CONTROL_FINISHED_OK
$STATE,860,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,040517,102349
$TT8_MAMPS,0.026215,0.248668
$HUMID,35.74
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.5,12.5
$24V_AH,23.46,36.700
$10V_AH,8.54,17.383
$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,40.100,14.350,57.700,0.000,0.000,24.410,22.688,171.408,1.000,0.000,19.068,228.267,0.000,91.310,821.329,74.355,33.441,313.540,0.000,590.021,0.000,13.018,0.000
$DEVICE_MAMPS,414.661,4149.093,4437.121,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,40.577,76.845,128.994,328.181,564.862,0.000,0.000,0.000,0.000,0.000
$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,3874,60
$CAP_FILE_SIZE,22031,7
$CFSIZE,1024409600,1000030208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,040517,110929,5651.447,-16446.031,5,0.9,16,11.1,0.0,0.0,9,5.0