version: 66.12
glider: 401
mission: 20
dive: 216
start: 5 2 117 1 29 16
data:
$ID,401
$MISSION,20
$DIVE,216
$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,17
$R_STBD_OVSHOOT,22
$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
$GPS1,020517,012248,5708.9810,-16447.9180,3,0.8,15,11.1,0.6,260.6,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-44.7
$GPS2,020517,012815,5708.9468,-16447.9883,4,0.8,21,11.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,SE
$TGT_LATLONG,5639.910,-16352.230
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.362435,0.039166
$KALMAN_X,-8235.801758,1851.147339,491.914978,63425.476562,-283.447510
$KALMAN_Y,16018.382812,401.074188,19.023632,-26857.468750,-192.815338
$MHEAD_RNG_PITCHd_Wd,72.7,78179,-11.2,-9.667,-14.85,6758
$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,-437.2,232,2177,1647,4094,0.0,0.0,0,34,0.00,0.00,-9.35,0.000,16390,0.000,0.000,232,2177,2687,2687,4094,0,0,0,0,0,0,26.03,25.19,26.05,9.92,35.86
$GC,36,-1.82,-437.2,232,2177,2687,4094,1.0,0.0,1,73,19.73,3.35,0.00,0.000,2564,0.417,0.201,1783,974,2690,2690,4094,1,0,0,0,0,0,25.39,25.46,25.52,10.14,36.61
$GC,138,-1.82,-437.2,1782,974,2691,4094,25.9,-16.4,8,153,0.00,3.15,0.00,0.000,1030,0.000,0.142,1783,2160,2692,2692,4095,0,0,0,0,0,0,25.70,25.66,25.77,10.13,36.17
$GC,218,-1.82,-437.2,1782,2159,2694,4095,37.9,-14.5,14,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2160,2694,2694,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.13,35.35
$GC,294,-1.82,-437.2,1782,2159,2696,4094,48.9,-14.2,20,314,0.00,3.30,0.00,0.000,516,0.000,0.211,1783,970,2696,2696,4094,0,0,0,0,0,0,26.13,25.71,26.15,10.12,34.91
$STATE,353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,353,begin apogee
$GC,360,-0.50,0.0,1783,2078,2697,4094,58.4,-15.6,24,403,4.80,0.00,26.45,4.405,10244,0.226,0.000,2210,2078,2173,2173,4094,0,0,0,0,0,0,25.84,24.67,23.84,10.13,34.52
$STATE,404,end apogee,CONTROL_FINISHED_OK
$STATE,404,begin climb
$GC,405,1.82,437.2,2209,2078,2172,4094,62.9,0.0,27,448,8.07,0.00,26.10,4.330,11270,0.144,0.000,2943,2079,1664,1664,4094,0,0,0,0,0,0,25.31,25.51,23.52,10.02,34.56
$GC,510,1.82,437.2,2943,2079,1662,4094,53.3,14.0,35,525,0.00,3.47,0.00,0.000,516,0.000,0.251,2944,879,1661,1661,4094,0,0,1,0,0,0,25.47,25.08,25.48,9.92,34.44
$GC,564,1.82,437.2,2943,879,1661,4094,45.6,14.1,39,579,0.00,3.15,0.00,0.000,1030,0.000,0.129,2944,2060,1661,1661,4094,0,0,0,0,0,0,25.38,25.33,25.41,9.92,33.89
$GC,642,1.82,437.2,2943,2060,1659,4094,35.2,13.1,45,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2060,1658,1658,4094,0,0,0,0,0,0,25.78,25.79,25.79,9.91,34.76
$GC,718,1.82,437.2,2943,2060,1657,4094,25.4,12.7,51,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2060,1656,1656,4094,0,0,0,0,0,0,25.89,25.91,25.90,9.91,34.56
$GC,795,1.82,437.2,2943,2060,1654,4094,15.8,12.9,57,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2059,1654,1654,4094,0,0,0,0,0,0,25.98,25.99,25.99,9.92,34.56
$GC,873,1.82,437.2,2943,2060,1652,4094,5.8,12.9,63,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2060,1652,1652,4094,0,0,0,0,0,0,26.06,26.07,26.07,9.92,35.23
$STATE,900,end climb,FINISH_DEPTH_REACHED
$STATE,900,begin subsurface finish
$FINISH1,2.0,1.025276,-159
$GC,905,-0.25,-159.3,2943,2060,1651,4094,2.0,12.9,65,925,6.60,0.00,-6.60,0.000,20486,0.107,0.000,2318,2060,2364,2364,4094,0,0,0,0,0,0,25.84,24.64,25.86,9.93,34.80
$FINISH2,-0.0
$STATE,926,end subsurface finish,CONTROL_FINISHED_OK
$STATE,926,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,004049
$TT8_MAMPS,0.026215,0.252413
$HUMID,35.39
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.1,54.7
$24V_AH,23.52,21.104
$10V_AH,8.73,13.120
$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,39.200,19.350,52.550,0.000,0.000,23.728,24.515,182.342,0.500,0.000,23.382,239.802,0.000,94.459,888.162,53.618,33.446,347.604,0.000,643.999,0.000,8.806,0.000
$DEVICE_MAMPS,417.144,250.783,4404.842,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.764,84.533,141.906,358.264,618.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344580
$DATA_FILE_SIZE,7398,66
$CAP_FILE_SIZE,23007,3
$CFSIZE,1024409600,1007894528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0,0
$GPS,020517,012815,5708.947,-16447.988,4,0.8,21,11.1,0.0,0.0,10,4.9