version: 66.12
glider: 401
mission: 20
dive: 214
start: 5 2 117 0 46 2
data:
$ID,401
$MISSION,20
$DIVE,214
$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,16
$R_STBD_OVSHOOT,29
$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
$GPS1,020517,003936,5709.2876,-16447.9082,2,0.8,17,11.1,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-46.0
$GPS2,020517,004501,5709.2559,-16447.9551,4,0.8,18,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,SE
$TGT_LATLONG,5639.910,-16352.230
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.364932,-0.027378
$KALMAN_X,-7718.378418,1988.849731,646.186951,62645.652344,-213.937622
$KALMAN_Y,16091.560547,528.943848,210.766449,-26676.175781,-185.182480
$MHEAD_RNG_PITCHd_Wd,83.2,78550,-11.2,-9.667,-14.80,6821
$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,-439.9,231,2189,1653,4094,0.0,0.0,0,34,0.00,0.00,-9.38,0.000,16390,0.000,0.000,231,2190,2686,2686,4094,0,0,0,0,0,0,26.03,25.19,26.04,9.92,36.10
$GC,36,-1.82,-439.9,230,2189,2686,4094,0.9,0.0,1,69,19.92,3.38,0.00,0.000,2564,0.417,0.199,1785,976,2689,2689,4095,0,0,0,0,0,0,25.46,25.46,25.52,10.14,36.49
$GC,144,-1.82,-439.9,1784,976,2691,4094,26.8,-16.7,9,158,0.00,3.10,0.00,0.000,1030,0.000,0.139,1785,2144,2691,2691,4095,0,0,0,0,0,0,25.70,25.65,25.74,10.14,35.43
$GC,222,-1.82,-439.9,1784,2144,2693,4094,38.8,-14.7,15,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2144,2694,2694,4095,0,0,0,0,0,0,26.06,26.08,26.08,10.13,35.50
$GC,300,-1.82,-439.9,1784,2144,2695,4094,50.0,-14.5,21,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2144,2696,2696,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.12,35.27
$STATE,356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,356,begin apogee
$GC,360,-0.50,0.0,1785,2040,2697,4094,58.1,-14.2,25,407,4.80,0.08,26.35,4.378,10244,0.236,0.221,2209,2091,2174,2174,4094,0,0,0,0,0,0,25.84,24.66,23.87,10.12,35.07
$STATE,409,end apogee,CONTROL_FINISHED_OK
$STATE,409,begin climb
$GC,410,1.82,439.9,2209,2091,2174,4094,62.3,0.0,28,458,8.07,3.40,26.27,4.328,10500,0.161,0.268,2950,3256,1661,1661,4094,0,0,1,0,0,0,25.25,25.13,23.53,10.02,34.83
$GC,498,1.82,439.9,2950,3256,1660,4094,56.0,11.6,34,513,0.00,3.10,0.00,0.000,1030,0.000,0.117,2950,2111,1659,1659,4094,0,0,0,0,0,0,25.17,25.12,25.20,9.92,33.97
$GC,575,1.82,439.9,2950,2110,1657,4094,45.7,13.4,40,590,0.00,3.55,0.00,0.000,516,0.000,0.251,2950,874,1657,1657,4094,0,0,0,0,0,0,25.64,25.23,25.65,9.92,33.85
$GC,629,1.82,439.9,2950,874,1656,4094,38.3,13.6,44,644,0.00,3.12,0.00,0.000,1030,0.000,0.134,2950,2050,1656,1656,4094,0,0,0,0,0,0,25.49,25.48,25.51,9.91,34.01
$GC,706,1.82,439.9,2950,2049,1654,4094,27.9,13.7,50,721,0.00,3.55,0.00,0.000,260,0.000,0.266,2950,3271,1653,1653,4094,0,0,0,0,0,0,25.86,25.43,25.87,9.91,34.09
$GC,748,1.82,439.9,2950,3271,1653,4094,22.3,13.2,53,763,0.00,3.20,0.00,0.000,1030,0.000,0.127,2950,2071,1652,1652,4094,0,0,0,0,0,0,25.67,25.60,25.67,9.91,34.32
$GC,826,1.82,439.9,2950,2071,1651,4094,12.1,12.9,59,844,0.00,3.38,0.00,0.000,516,0.000,0.256,2950,879,1650,1650,4094,0,0,0,0,0,0,26.00,25.56,26.01,9.91,34.44
$GC,872,1.82,439.9,2950,879,1649,4094,5.8,13.3,62,887,0.00,3.12,0.00,0.000,1030,0.000,0.134,2950,2067,1648,1648,4094,0,0,0,0,0,0,25.77,25.72,25.81,9.92,34.91
$STATE,902,end climb,FINISH_DEPTH_REACHED
$STATE,902,begin subsurface finish
$FINISH1,1.7,1.025267,-159
$GC,907,-0.25,-158.7,2950,2068,1648,4094,1.7,13.8,64,940,6.68,3.67,-6.90,0.000,20740,0.109,4.229,2318,3265,2363,2363,4094,0,0,0,0,0,0,25.82,24.28,25.84,9.93,34.76
$FINISH2,0.0
$STATE,941,end subsurface finish,CONTROL_FINISHED_OK
$STATE,941,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,235640
$TT8_MAMPS,0.026215,0.267393
$HUMID,34.87
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,23.53,20.954
$10V_AH,8.70,13.065
$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,39.475,36.825,52.625,0.000,0.000,23.441,20.258,184.886,0.500,0.000,20.064,247.973,0.000,102.568,883.676,54.816,33.448,376.034,0.000,643.097,0.000,7.460,0.000
$DEVICE_MAMPS,417.144,4228.549,4377.529,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.511,84.455,141.911,356.385,617.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344572
$DATA_FILE_SIZE,7381,66
$CAP_FILE_SIZE,25204,5
$CFSIZE,1024409600,1007992832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,020517,004501,5709.256,-16447.955,4,0.8,18,11.1,0.0,0.0,10,4.9