version: 66.12
glider: 401
mission: 20
dive: 215
start: 5 2 117 1 3 35
data:
$ID,401
$MISSION,20
$DIVE,215
$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,21
$R_STBD_OVSHOOT,18
$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
$GPS1,020517,004501,5709.2559,-16447.9551,4,0.8,18,11.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,3.5
$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,0.342881,-0.126733
$KALMAN_X,-7944.841797,1909.441284,555.914856,63044.613281,-152.956299
$KALMAN_Y,16213.889648,486.773407,115.211235,-26672.726562,-99.513962
$MHEAD_RNG_PITCHd_Wd,99.2,78550,-11.2,-9.667,-14.81,6803
$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,-439.9,2317,2154,2364,4094,0.0,0.0,0,19,0.00,0.00,-1.42,0.000,16390,0.000,0.000,2318,2154,2697,2697,4094,0,0,0,0,0,0,25.91,24.44,25.87,10.07,35.19
$GC,21,-1.82,-439.9,2317,2154,2697,4094,0.0,0.0,0,36,5.72,3.30,0.00,0.000,4612,0.194,0.231,1804,981,2697,2697,4094,0,0,0,0,0,0,25.64,25.51,25.67,10.15,35.27
$GC,123,-1.82,-439.9,1803,981,2700,4095,18.5,-14.2,8,137,0.00,3.15,0.00,0.000,1030,0.000,0.142,1804,2166,2700,2700,4095,0,0,0,0,0,0,25.75,25.67,25.78,10.14,35.58
$GC,200,-1.82,-439.9,1803,2166,2702,4094,29.7,-14.0,14,215,0.00,3.53,0.00,0.000,260,0.000,0.310,1803,3363,2701,2701,4094,0,0,0,0,0,0,26.09,25.61,26.10,10.13,35.66
$GC,243,-1.82,-439.9,1803,3363,2702,4094,35.7,-13.9,17,261,0.00,3.05,0.00,0.000,1030,0.000,0.127,1803,2201,2703,2703,4094,0,0,0,0,0,0,25.86,25.84,25.90,10.13,34.99
$GC,325,-1.82,-439.9,1803,2201,2705,4094,46.8,-13.9,23,339,0.00,3.40,0.00,0.000,516,0.000,0.226,1803,977,2705,2705,4094,0,0,0,0,0,0,26.17,25.75,26.19,10.12,34.91
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,407,begin apogee
$GC,414,-0.50,0.0,1803,2080,2708,4094,59.3,-15.6,29,458,4.57,0.00,26.80,4.430,10244,0.236,0.000,2208,2080,2173,2173,4095,0,0,0,0,0,0,25.88,24.70,23.90,10.12,35.35
$STATE,459,end apogee,CONTROL_FINISHED_OK
$STATE,459,begin climb
$GC,460,1.82,439.9,2208,2080,2173,4094,63.8,0.0,32,498,8.10,0.00,25.95,4.402,11270,0.144,0.000,2944,2079,1662,1662,4094,0,0,0,0,0,0,25.33,25.53,23.50,10.01,35.27
$GC,561,1.82,439.9,2943,2080,1660,4094,57.0,11.6,39,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2080,1659,1659,4094,0,0,0,0,0,0,25.46,25.47,25.47,9.92,34.17
$GC,641,1.82,439.9,2943,2080,1658,4094,47.0,12.8,45,656,0.00,3.42,0.00,0.000,516,0.000,0.246,2944,883,1657,1657,4094,0,0,1,0,0,0,25.68,25.27,25.69,9.91,34.17
$GC,696,1.82,439.9,2943,883,1656,4094,39.7,13.5,49,714,0.00,3.10,0.00,0.000,1030,0.000,0.129,2944,2053,1656,1656,4095,0,0,0,0,0,0,25.53,25.48,25.58,9.91,34.09
$GC,777,1.82,439.9,2943,2053,1654,4094,29.0,13.0,55,795,0.00,3.53,0.00,0.000,260,0.000,0.268,2944,3267,1653,1653,4094,0,0,0,0,0,0,25.89,25.46,25.91,9.90,34.32
$GC,824,1.82,439.9,2943,3267,1653,4094,22.7,13.2,58,842,0.00,3.22,0.00,0.000,1030,0.000,0.124,2944,2058,1652,1652,4094,0,0,0,0,0,0,25.69,25.65,25.72,9.91,35.03
$GC,907,1.82,439.9,2943,2058,1650,4094,11.8,12.6,64,921,0.00,3.33,0.00,0.000,516,0.000,0.258,2944,881,1650,1650,4094,0,0,0,0,0,0,26.03,25.59,26.03,9.91,34.40
$GC,949,1.82,439.9,2943,881,1649,4094,6.2,13.1,67,968,0.00,3.10,0.00,0.000,1030,0.000,0.137,2944,2060,1648,1648,4094,0,0,0,0,0,0,25.79,25.74,25.83,9.92,35.15
$STATE,981,end climb,SURFACE_DEPTH_REACHED
$STATE,981,begin surface coast
$FINISH,-0.0,1.013186
$STATE,1008,end surface coast,CONTROL_FINISHED_OK
$STATE,1009,begin surface
$SM_CCo,1105,0.00,0.000,0,0,1647,453.34
$SM_GC,0.98,28.75,0.28,0.00,0.097,0.196,0.000,231,2177,1647,-6.71,-0.77,453.34,0,0,1,0,0,0,25.63,25.83,25.80
$IRIDIUM_FIX,5554.28,-16557.83,010517,235640
$TT8_MAMPS,0.026964,0.241927
$HUMID,35.11
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,54.8
$24V_AH,23.50,21.023
$10V_AH,8.75,13.092
$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,47.150,42.225,52.750,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,265.151,59.585,126.871,684.224,25.813,33.421,366.886,0.000,696.479,0.000,5.573,0.000
$DEVICE_MAMPS,235.885,310.375,4429.672,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,48.558,91.084,152.661,391.110,671.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,7325,71
$CAP_FILE_SIZE,22486,9
$CFSIZE,1024409600,1007943680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,020517,012248,5708.981,-16447.918,3,0.8,15,11.1,0.6,260.6,11,4.7