version: 66.12
glider: 401
mission: 20
dive: 379
start: 5 4 117 12 9 6
data:
$ID,401
$MISSION,20
$DIVE,379
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,040517,115120,5651.6152,-16444.7480,5,1.1,21,11.1,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-3.4
$GPS2,040517,115120,5651.6152,-16444.7480,5,1.1,21,11.1,0.0,0.0,9,4.8
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.740,-16425.311
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.233473,-0.301699
$KALMAN_X,-13611.255859,138.891632,528.875427,73729.390625,228.284225
$KALMAN_Y,32232.386719,436.340607,739.100708,-75932.976562,271.377502
$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,-488.8,2323,2177,2360,4095,0.0,0.0,0,33,0.00,0.00,-3.70,0.000,16390,0.000,0.000,2323,2177,2747,2747,4094,0,0,0,0,0,0,26.16,25.29,26.16,10.08,35.90
$GC,35,-1.95,-488.8,2323,2178,2747,4094,0.1,0.0,1,54,6.20,2.08,0.00,0.000,4612,0.164,0.169,1760,1410,2747,2747,4094,0,0,0,0,0,0,25.62,25.51,25.65,10.17,36.65
$GC,221,-1.95,-488.8,1760,1410,2751,4094,27.7,-16.4,16,240,0.00,1.92,0.00,0.000,1030,0.000,0.122,1761,2157,2752,2752,4094,0,0,0,0,0,0,25.84,25.79,25.91,10.17,35.94
$GC,305,-1.95,-488.8,1760,2157,2754,4094,40.2,-14.1,22,323,0.00,2.20,0.00,0.000,260,0.000,0.248,1760,2936,2754,2754,4094,0,0,0,0,0,0,26.19,25.76,26.20,10.17,36.37
$GC,339,-1.95,-488.8,1760,2936,2755,4095,45.7,-15.6,24,354,0.00,1.98,0.00,0.000,1030,0.000,0.107,1760,2168,2755,2755,4094,0,0,0,0,0,0,25.99,25.94,26.00,10.16,35.70
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,427,begin apogee
$GC,432,-0.56,0.0,1760,2044,2757,4094,58.1,-14.0,30,471,4.82,0.12,28.73,4.402,10244,0.219,0.273,2191,2108,2174,2174,4094,0,0,0,0,0,0,25.92,24.99,23.82,10.17,35.58
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,474,1.95,488.8,2191,2108,2174,4094,62.5,0.0,32,529,8.60,1.98,28.52,4.313,10500,0.119,0.214,2986,2809,1604,1604,4094,0,0,0,0,0,0,25.24,25.18,23.48,10.04,35.82
$GC,557,1.95,488.8,2986,2809,1603,4094,56.6,10.3,37,572,0.00,1.88,0.00,0.000,1030,0.000,0.102,2986,2104,1602,1602,4094,0,0,0,0,0,0,25.12,25.12,25.19,9.94,35.46
$GC,635,1.95,488.8,2985,2104,1601,4094,44.9,15.0,43,649,0.00,2.15,0.00,0.000,516,0.000,0.191,2986,1320,1600,1600,4094,0,0,0,0,0,0,25.64,25.27,25.65,9.93,35.23
$GC,690,1.95,488.8,2986,1320,1599,4094,35.8,16.7,47,708,0.00,1.85,0.00,0.000,1030,0.000,0.109,2986,2037,1598,1598,4094,0,0,0,0,0,0,25.51,25.46,25.51,9.93,35.11
$GC,771,1.95,488.8,2986,2037,1596,4094,24.1,14.1,53,786,0.00,2.22,0.00,0.000,260,0.000,0.214,2986,2830,1596,1596,4094,0,0,0,0,0,0,25.89,25.50,25.90,9.93,35.43
$GC,861,1.95,488.8,2986,2831,1593,4094,10.7,15.4,60,876,0.00,1.95,0.00,0.000,1030,0.000,0.104,2986,2080,1592,1592,4094,0,0,0,0,0,0,25.75,25.71,25.82,9.93,35.58
$STATE,926,end climb,SURFACE_DEPTH_REACHED
$STATE,926,begin surface coast
$FINISH,0.1,1.006526
$STATE,954,end surface coast,CONTROL_FINISHED_OK
$STATE,954,begin surface
$SM_CCo,1053,0.00,0.000,0,0,1591,501.42
$SM_GC,0.87,29.45,0.22,0.00,0.094,0.176,0.000,231,2179,1591,-6.71,-0.96,501.42,0,0,1,0,0,0,25.57,25.84,25.77
$IRIDIUM_FIX,5554.28,-16557.83,040517,110524
$TT8_MAMPS,0.026215,0.243425
$HUMID,35.50
$INTERNAL_PRESSURE,9.86722
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.8,12.6
$24V_AH,23.48,36.934
$10V_AH,8.48,17.461
$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,49.075,20.950,57.250,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,251.993,60.562,119.704,647.871,29.482,33.414,337.749,0.000,658.560,0.000,9.769,0.000
$DEVICE_MAMPS,218.504,273.130,4402.359,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.605,85.937,144.026,367.511,635.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,3909,67
$CAP_FILE_SIZE,20580,10
$CFSIZE,1024409600,999882752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,040517,122729,5651.718,-16443.527,3,0.8,16,11.1,0.7,26.7,11,4.6