version: 66.12
glider: 401
mission: 20
dive: 381
start: 5 4 117 12 50 5
data:
$ID,401
$MISSION,20
$DIVE,381
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,040517,123254,5651.7207,-16443.4258,5,0.8,17,11.1,0.5,260.5,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,1.2
$GPS2,040517,123254,5651.7207,-16443.4258,5,0.8,17,11.1,0.5,260.5,11,4.9
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.845,-16423.988
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.286859,-0.251478
$KALMAN_X,-13436.249023,427.209564,807.465393,74313.218750,190.888275
$KALMAN_Y,32823.097656,621.969849,793.957764,-76568.906250,206.349915
$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,-488.8,2324,2181,2358,4094,0.0,0.0,0,20,0.00,0.00,-1.85,0.000,16390,0.000,0.000,2324,2181,2758,2758,4094,0,0,0,0,0,0,25.93,24.36,25.90,10.08,36.13
$GC,22,-1.95,-488.8,2324,2181,2758,4094,0.0,0.0,0,37,6.28,2.10,0.00,0.000,4356,0.189,0.236,1761,2925,2758,2758,4094,0,0,0,0,0,0,25.65,25.52,25.68,10.18,35.94
$GC,147,-1.95,-488.8,1760,2924,2760,4094,21.1,-15.7,10,166,0.00,1.92,0.00,0.000,1030,0.000,0.104,1762,2172,2761,2761,4094,0,0,0,0,0,0,25.84,25.80,25.86,10.17,36.13
$GC,230,-1.95,-488.8,1761,2171,2763,4094,33.8,-15.6,16,244,0.00,2.00,0.00,0.000,516,0.000,0.176,1761,1421,2763,2763,4094,0,0,0,0,0,0,26.14,25.79,26.15,10.17,36.02
$GC,272,-1.95,-488.8,1761,1421,2764,4094,40.0,-14.8,19,291,0.00,1.98,0.00,0.000,1030,0.000,0.132,1761,2182,2765,2765,4094,0,0,0,0,0,0,25.89,25.83,25.91,10.17,35.82
$GC,356,-1.95,-488.8,1761,2182,2766,4094,51.6,-13.9,25,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2181,2767,2767,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.17,35.39
$STATE,396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,396,begin apogee
$GC,402,-0.56,0.0,1761,2047,2768,4094,58.1,-14.7,28,449,4.85,0.08,29.40,4.405,10244,0.228,0.214,2191,2097,2174,2174,4094,0,0,0,0,0,0,25.88,24.63,23.80,10.17,35.90
$STATE,450,end apogee,CONTROL_FINISHED_OK
$STATE,450,begin climb
$GC,452,1.95,488.8,2191,2097,2174,4094,62.2,0.0,31,504,8.62,2.03,28.52,4.325,10500,0.119,0.219,2986,2815,1604,1604,4094,0,0,0,0,0,0,25.25,25.16,23.47,10.05,35.46
$GC,543,1.95,488.8,2985,2815,1603,4094,56.2,10.4,37,558,0.00,1.88,0.00,0.000,1030,0.000,0.099,2986,2106,1602,1602,4094,0,0,0,0,0,0,25.18,25.15,25.20,9.94,34.80
$GC,621,1.95,488.8,2985,2106,1600,4094,43.0,17.7,43,635,0.00,2.15,0.00,0.000,516,0.000,0.199,2986,1327,1600,1600,4094,0,0,0,0,0,0,25.65,25.27,25.67,9.93,35.54
$GC,675,1.95,488.8,2985,1327,1599,4094,34.9,14.7,47,689,0.00,1.88,0.00,0.000,1030,0.000,0.107,2986,2055,1598,1598,4094,0,0,0,0,0,0,25.51,25.45,25.53,9.93,35.15
$GC,753,1.95,488.8,2985,2055,1596,4094,23.5,13.8,53,771,0.00,2.17,0.00,0.000,260,0.000,0.214,2986,2831,1595,1595,4094,0,0,0,0,0,0,25.89,25.48,25.89,9.93,35.11
$GC,825,1.95,488.8,2985,2831,1594,4094,12.9,15.0,58,841,0.00,1.92,0.00,0.000,1030,0.000,0.102,2986,2085,1593,1593,4094,0,0,0,0,0,0,25.73,25.70,25.76,9.93,35.15
$GC,904,1.95,488.8,2985,2081,1591,4094,2.1,13.8,64,918,0.00,2.08,0.00,0.000,516,0.000,0.199,2986,1321,1591,1591,4094,0,0,0,0,0,0,26.06,25.65,26.07,9.93,35.46
$STATE,933,end climb,SURFACE_DEPTH_REACHED
$STATE,933,begin surface coast
$FINISH,0.1,1.024687
$STATE,972,end surface coast,CONTROL_FINISHED_OK
$STATE,972,begin surface
$SM_CCo,1072,0.00,0.000,0,0,1591,501.42
$SM_GC,1.21,29.08,2.22,0.00,0.082,0.129,0.000,241,2171,1591,-6.67,-0.87,501.42,0,0,1,0,0,0,25.86,25.79,25.91
$IRIDIUM_FIX,5554.28,-16557.83,040517,114719
$TT8_MAMPS,0.026964,0.259903
$HUMID,35.50
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.6,12.7
$24V_AH,23.47,37.096
$10V_AH,8.44,17.512
$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,48.825,26.875,57.925,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,257.207,60.352,121.408,659.660,31.211,33.412,357.606,0.000,672.436,0.000,5.461,0.000
$DEVICE_MAMPS,228.436,235.885,4404.842,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,46.820,88.456,148.363,374.907,648.443,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,7390,69
$CAP_FILE_SIZE,21764,7
$CFSIZE,1024409600,999784448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,040517,130848,5651.671,-16442.271,3,0.7,16,11.2,0.0,0.0,12,4.8