version: 66.12
glider: 401
mission: 20
dive: 212
start: 5 2 117 0 1 50
data:
$ID,401
$MISSION,20
$DIVE,212
$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,16
$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
$GPS1,010517,235255,5709.6680,-16448.1113,3,0.8,39,11.1,0.0,0.0,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-45.3
$GPS2,020517,000050,5709.6353,-16448.1406,4,0.8,17,11.1,0.0,0.0,10,4.7
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,SE
$TGT_LATLONG,5639.910,-16352.230
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.354600,-0.088231
$KALMAN_X,-7361.819336,2075.047363,749.248535,61911.273438,-155.847534
$KALMAN_Y,16129.971680,640.127441,415.998383,-26330.244141,-159.123871
$MHEAD_RNG_PITCHd_Wd,92.9,79173,-11.2,-9.667,-14.82,6797
$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,-439.7,231,2171,1649,4094,0.0,0.0,0,37,0.00,0.00,-9.40,0.000,16390,0.000,0.000,231,2172,2686,2686,4094,0,0,0,0,0,0,26.03,25.18,26.04,9.93,36.65
$GC,39,-1.82,-439.7,231,2172,2687,4094,0.9,0.0,1,68,19.92,3.35,0.00,0.000,2564,0.415,0.201,1785,954,2689,2689,4094,0,0,0,0,0,0,25.37,25.38,25.46,10.14,35.98
$GC,144,-1.82,-439.7,1785,953,2691,4094,28.3,-16.4,9,158,0.00,3.22,0.00,0.000,1030,0.000,0.139,1785,2166,2692,2692,4094,0,0,0,0,0,0,25.65,25.62,25.68,10.14,35.66
$GC,222,-1.82,-439.7,1785,2166,2694,4095,39.9,-14.6,15,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2166,2694,2694,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.13,34.95
$GC,300,-1.82,-439.7,1785,2166,2696,4095,51.3,-14.7,21,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2166,2696,2696,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.13,34.68
$STATE,347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,347,begin apogee
$GC,351,-0.50,0.0,1785,2045,2697,4094,58.4,-14.6,24,386,4.82,0.10,26.33,4.402,10244,0.238,0.320,2209,2089,2174,2174,4094,0,0,0,0,0,0,25.79,24.96,23.82,10.13,34.64
$STATE,387,end apogee,CONTROL_FINISHED_OK
$STATE,387,begin climb
$GC,388,1.82,439.7,2209,2099,2174,4094,62.4,0.0,26,436,8.02,3.42,26.40,4.323,10500,0.146,0.281,2950,3256,1660,1660,4094,0,0,0,0,0,0,25.14,25.03,23.47,10.02,34.52
$GC,465,1.83,445.4,2949,3256,1659,4094,57.2,9.6,31,479,0.00,3.12,0.00,0.000,1030,0.000,0.117,2950,2107,1659,1659,4094,0,0,0,0,0,0,25.06,25.04,25.08,9.92,34.09
$GC,544,1.83,445.4,2949,2107,1657,4094,46.7,13.0,37,558,0.00,3.53,0.00,0.000,516,0.000,0.248,2950,877,1657,1657,4094,0,0,0,0,0,0,25.60,25.19,25.60,9.91,33.65
$GC,599,1.83,445.4,2949,877,1655,4094,39.4,13.2,41,613,0.00,3.15,0.00,0.000,1030,0.000,0.129,2950,2062,1655,1655,4094,0,0,0,0,0,0,25.46,25.41,25.50,9.91,34.13
$GC,677,1.83,445.4,2949,2062,1653,4094,29.2,12.8,47,691,0.00,3.47,0.00,0.000,260,0.000,0.268,2950,3258,1653,1653,4094,0,0,0,0,0,0,25.84,25.41,25.85,9.91,34.17
$GC,733,1.83,445.4,2949,3258,1651,4094,21.3,14.0,51,751,0.00,3.08,0.00,0.000,1030,0.000,0.122,2950,2101,1651,1651,4094,0,0,0,0,0,0,25.66,25.62,25.69,9.91,35.23
$GC,815,1.83,445.4,2949,2101,1649,4094,10.2,13.0,57,833,0.00,3.45,0.00,0.000,516,0.000,0.253,2950,880,1648,1648,4094,0,0,0,0,0,0,25.99,25.56,26.01,9.92,35.23
$GC,861,1.83,445.4,2950,880,1647,4094,3.8,13.5,60,880,0.00,3.15,0.00,0.000,1030,0.000,0.134,2950,2077,1647,1647,4094,0,0,0,0,0,0,25.77,25.71,25.80,9.92,34.68
$STATE,894,end climb,FINISH_DEPTH_REACHED
$STATE,894,begin subsurface finish
$FINISH1,0.0,1.014945,0
$GC,899,0.00,0.0,2950,2077,1647,4094,0.0,12.6,62,915,5.80,0.00,-5.10,0.000,20486,0.117,0.000,2401,2082,2180,2180,4094,0,0,0,0,0,0,25.80,24.63,25.84,9.92,34.83
$FINISH2,0.0
$STATE,916,end subsurface finish,CONTROL_FINISHED_OK
$STATE,916,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,010517,235407
$TT8_MAMPS,0.026215,0.248668
$HUMID,34.76
$INTERNAL_PRESSURE,9.97464
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,23.47,20.799
$10V_AH,8.76,13.009
$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,38.575,33.275,52.725,0.000,0.000,47.076,46.905,209.876,0.500,0.000,18.949,243.714,59.862,100.067,953.547,56.841,33.443,356.553,0.000,625.051,0.000,11.292,0.000
$DEVICE_MAMPS,414.661,320.307,4402.359,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,42.613,80.649,135.451,350.566,600.416,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344556
$DATA_FILE_SIZE,7380,63
$CAP_FILE_SIZE,28150,8
$CFSIZE,1024409600,1008091136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,000050,5709.635,-16448.141,4,0.8,17,11.1,0.0,0.0,10,4.7