version: 66.12
glider: 401
mission: 20
dive: 202
start: 5 1 117 20 23 17
data:
$ID,401
$MISSION,20
$DIVE,202
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,58
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,3
$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,450
$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,115
$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,10
$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,55
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$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,3
$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
$GPS1,010517,201645,5710.2622,-16451.3438,3,0.9,17,11.1,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-43.8
$GPS2,010517,202216,5710.3081,-16451.3125,4,0.8,20,11.1,0.0,0.0,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5705.744,-16433.297
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.064525,-0.360309
$KALMAN_X,-8340.930664,1765.945557,341.324677,60417.839844,97.558990
$KALMAN_Y,14202.587891,172.067108,344.090576,-22632.882812,350.602142
$MHEAD_RNG_PITCHd_Wd,103.9,20000,-11.2,-9.667,-14.82,6800
$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,-1.82,-439.9,231,2162,1590,4094,0.0,0.0,0,34,0.00,0.00,-10.07,0.000,16390,0.000,0.000,231,2162,2690,2690,4095,0,0,0,0,0,0,26.02,25.18,26.03,9.91,36.10
$GC,36,-1.82,-439.9,231,2162,2690,4095,0.8,0.0,1,73,19.77,3.30,0.00,0.000,2564,0.417,0.199,1783,971,2693,2693,4094,0,0,0,0,0,0,25.45,25.46,25.54,10.13,35.90
$GC,161,-1.82,-439.9,1782,971,2696,4095,29.2,-16.2,10,174,0.00,3.10,0.00,0.000,1030,0.000,0.137,1783,2143,2696,2696,4095,0,0,0,0,0,0,25.74,25.68,25.76,10.13,35.50
$GC,238,-1.82,-439.9,1782,2143,2697,4094,40.5,-14.6,16,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2143,2697,2697,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.12,35.46
$GC,321,-1.82,-439.9,1782,2143,2699,4094,52.5,-14.3,22,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2144,2700,2700,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.12,35.58
$STATE,366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,366,begin apogee
$GC,371,-0.50,0.0,1782,2046,2701,4094,59.3,-14.7,25,405,4.82,0.10,25.98,4.450,10244,0.233,0.293,2210,2096,2174,2174,4094,0,0,0,0,0,0,25.83,25.00,23.86,10.12,34.99
$STATE,406,end apogee,CONTROL_FINISHED_OK
$STATE,406,begin climb
$GC,408,1.82,439.9,2210,2096,2173,4094,62.9,0.0,27,445,8.07,0.00,25.80,4.365,11270,0.139,0.000,2944,2096,1661,1661,4094,0,0,0,0,0,0,25.29,25.47,23.49,10.01,34.40
$GC,509,1.82,439.9,2944,2096,1660,4094,55.0,12.1,34,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2096,1659,1659,4094,0,0,0,0,0,0,25.44,25.46,25.46,9.91,34.83
$GC,590,1.82,439.9,2944,2096,1657,4094,44.4,13.2,40,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2096,1657,1657,4094,0,0,0,0,0,0,25.67,25.69,25.68,9.91,34.20
$GC,667,1.82,439.9,2944,2096,1655,4094,34.1,13.2,46,682,0.00,3.35,0.00,0.000,260,0.000,0.261,2944,3250,1655,1655,4094,0,0,0,0,0,0,25.81,25.41,25.82,9.91,34.80
$GC,733,1.82,439.9,2944,3250,1653,4094,24.4,15.4,51,752,0.00,3.03,0.00,0.000,1030,0.000,0.117,2944,2109,1653,1653,4094,0,0,0,0,0,0,25.65,25.61,25.68,9.91,34.40
$GC,815,1.82,439.9,2944,2108,1650,4094,13.2,13.1,57,834,0.00,3.47,0.00,0.000,516,0.000,0.253,2945,881,1650,1650,4094,0,0,0,0,0,0,25.98,25.56,26.00,9.92,35.07
$GC,861,1.82,439.9,2944,880,1649,4094,7.1,13.4,60,879,0.00,3.10,0.00,0.000,1030,0.000,0.134,2944,2060,1648,1648,4094,0,0,0,0,0,0,25.76,25.71,25.81,9.92,34.87
$STATE,893,end climb,FINISH_DEPTH_REACHED
$STATE,893,begin subsurface finish
$FINISH1,2.5,1.025286,-160
$GC,898,-0.26,-160.0,2944,2060,1648,4094,2.5,13.5,62,915,6.88,0.00,-6.97,0.000,20486,0.171,0.000,2316,2062,2366,2366,4094,0,0,0,0,0,0,25.80,24.63,25.82,9.92,34.80
$FINISH2,0.1
$STATE,916,end subsurface finish,CONTROL_FINISHED_OK
$STATE,916,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,193431
$TT8_MAMPS,0.026215,0.263648
$HUMID,34.68
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,56.9,8.5
$24V_AH,23.49,20.036
$10V_AH,8.73,12.737
$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,39.550,19.625,51.775,0.000,0.000,24.683,29.103,181.426,0.750,0.000,21.635,242.295,0.000,101.647,875.189,51.989,33.434,341.450,0.000,623.384,0.000,8.928,0.000
$DEVICE_MAMPS,417.144,292.994,4449.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.833,80.745,135.465,348.679,599.257,0.000,0.000,0.000,0.000,0.000
$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,3927,63
$CAP_FILE_SIZE,23936,11
$CFSIZE,1024409600,1008582656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010517,202216,5710.308,-16451.312,4,0.8,20,11.1,0.0,0.0,10,4.7