version: 66.12
glider: 401
mission: 20
dive: 206
start: 5 1 117 21 49 40
data:
$ID,401
$MISSION,20
$DIVE,206
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$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,39
$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,16
$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
$GPS1,010517,214322,5710.5410,-16449.4355,2,0.7,17,11.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-46.8
$GPS2,010517,214837,5710.5625,-16449.3965,4,0.8,16,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,SE
$TGT_LATLONG,5639.910,-16352.230
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.003486,-0.365635
$KALMAN_X,-7315.910645,1986.510620,643.640808,60790.550781,190.770813
$KALMAN_Y,15566.998047,578.326965,670.373657,-24253.056641,245.623718
$MHEAD_RNG_PITCHd_Wd,168.4,81286,-11.2,-9.667,-14.81,6808
$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,13,begin dive
$GC,15,-1.82,-439.9,230,2165,1648,4094,0.0,0.0,0,33,0.00,0.00,-9.40,0.000,16390,0.000,0.000,230,2166,2691,2691,4094,0,0,0,0,0,0,26.03,25.19,26.04,9.92,35.82
$GC,35,-1.82,-439.9,230,2166,2691,4094,1.0,0.0,1,64,19.88,3.30,0.00,0.000,2564,0.417,0.204,1784,970,2694,2694,4094,0,0,0,0,0,0,25.45,25.46,25.53,10.14,35.82
$GC,234,-1.82,-439.9,1784,970,2699,4094,41.2,-14.8,17,252,0.00,3.10,0.00,0.000,1030,0.000,0.137,1784,2144,2699,2699,4094,0,0,0,0,0,0,25.82,25.75,25.86,10.13,35.27
$GC,318,-1.82,-439.9,1783,2144,2701,4095,53.2,-14.1,23,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2144,2701,2701,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.12,34.68
$STATE,351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,351,begin apogee
$GC,356,-0.50,0.0,1784,2048,2701,4094,58.1,-13.9,25,407,4.80,0.10,26.45,4.385,10244,0.238,0.293,2210,2094,2174,2174,4094,0,0,0,0,0,0,25.83,24.98,23.86,10.13,35.62
$STATE,408,end apogee,CONTROL_FINISHED_OK
$STATE,408,begin climb
$GC,410,1.82,439.9,2209,2094,2174,4094,62.0,0.0,28,460,8.05,0.00,26.15,4.335,11270,0.139,0.000,2944,2094,1661,1661,4094,0,0,0,0,0,0,25.34,25.55,23.52,10.02,34.44
$GC,524,1.82,439.9,2944,2094,1659,4094,52.4,13.0,36,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2095,1659,1659,4094,0,0,0,0,0,0,25.51,25.52,25.52,9.92,33.73
$GC,605,1.82,439.9,2944,2094,1657,4094,41.7,13.2,42,623,0.00,3.40,0.00,0.000,260,0.000,0.273,2944,3255,1656,1656,4094,0,0,0,0,0,0,25.71,25.29,25.72,9.91,34.17
$GC,651,1.82,439.9,2944,3254,1655,4094,34.1,16.1,45,670,0.00,3.10,0.00,0.000,1030,0.000,0.122,2945,2094,1654,1654,4094,0,0,0,0,0,0,25.54,25.49,25.57,9.91,34.76
$GC,733,1.82,439.9,2944,2094,1653,4094,23.4,12.8,51,747,0.00,3.45,0.00,0.000,516,0.000,0.256,2944,881,1652,1652,4095,0,0,0,0,0,0,25.90,25.46,25.91,9.91,34.87
$GC,787,1.82,439.9,2944,880,1651,4094,16.3,13.0,55,806,0.00,3.08,0.00,0.000,1030,0.000,0.132,2944,2048,1651,1651,4094,0,0,0,0,0,0,25.70,25.65,25.73,9.92,34.32
$GC,870,1.82,439.9,2944,2048,1649,4094,5.8,12.9,61,888,0.00,3.53,0.00,0.000,260,0.000,0.268,2944,3269,1648,1648,4094,0,0,0,0,0,0,26.03,25.59,26.05,9.92,34.91
$STATE,904,end climb,FINISH_DEPTH_REACHED
$STATE,904,begin subsurface finish
$FINISH1,1.0,1.025269,-159
$GC,912,-0.25,-158.8,2944,2065,1648,4094,1.0,13.7,63,929,6.78,0.00,-6.95,0.000,20486,0.114,0.000,2305,2065,2364,2364,4094,0,0,0,0,0,0,25.81,24.63,25.84,9.92,34.83
$FINISH2,-0.0
$STATE,930,end subsurface finish,CONTROL_FINISHED_OK
$STATE,930,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,210047
$TT8_MAMPS,0.026215,0.258405
$HUMID,34.99
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,23.52,20.343
$10V_AH,8.72,12.845
$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,39.500,26.525,52.600,0.000,0.000,24.347,25.945,174.988,0.500,0.000,18.563,239.187,0.000,109.958,868.899,52.669,33.443,360.948,0.000,635.947,0.000,7.446,0.000
$DEVICE_MAMPS,417.144,292.994,4384.978,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.410,81.994,137.604,356.708,610.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344560
$DATA_FILE_SIZE,7417,64
$CAP_FILE_SIZE,24224,12
$CFSIZE,1024409600,1008386048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,010517,214837,5710.562,-16449.396,4,0.8,16,11.1,0.0,0.0,10,4.9