version: 66.12
glider: 401
mission: 20
dive: 228
start: 5 2 117 6 2 14
data:
$ID,401
$MISSION,20
$DIVE,228
$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,4
$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,650
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,195
$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,18
$R_STBD_OVSHOOT,12
$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,11
$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
$GPS1,020517,055606,5707.3032,-16452.3984,2,0.9,15,11.1,1.4,292.3,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-32.7
$GPS2,020517,060111,5707.3184,-16452.4590,4,0.9,17,11.1,0.0,0.0,9,4.7
$SPEED_LIMITS,0.097,0.423
$TGT_NAME,HEADING
$TGT_LATLONG,5656.887,-16457.584
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.204098,-0.371006
$KALMAN_X,-12876.706055,23.880302,-996.326355,66906.671875,-329.248627
$KALMAN_Y,17085.533203,-196.139786,-434.669861,-29898.378906,128.659775
$MHEAD_RNG_PITCHd_Wd,183.9,20000,-8.9,-9.667,-12.86,9731
$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,-1.90,-635.4,240,2177,1419,4094,0.0,0.0,0,37,0.00,0.00,-13.45,0.000,16390,0.000,0.000,241,2177,2918,2918,4094,0,0,0,0,0,0,25.98,25.14,25.99,9.89,35.90
$GC,39,-1.90,-635.4,241,2177,2918,4095,0.6,0.0,1,77,19.33,3.53,0.00,0.000,2308,0.415,0.291,1759,3366,2922,2922,4095,0,0,0,0,0,0,25.41,25.38,25.49,10.20,36.10
$GC,175,-1.90,-635.4,1758,3366,2924,4094,33.5,-13.9,11,190,0.00,3.17,0.00,0.000,1030,0.000,0.122,1759,2163,2924,2924,4094,0,0,0,0,0,0,25.75,25.70,25.77,10.19,35.50
$GC,253,-1.90,-635.4,1758,2161,2926,4094,43.9,-13.8,17,271,0.00,3.33,0.00,0.000,516,0.000,0.248,1759,984,2926,2926,4095,0,0,0,0,0,0,26.07,25.64,26.08,10.19,35.46
$GC,316,-1.90,-635.4,1758,984,2927,4095,53.2,-15.2,21,330,0.00,3.12,0.00,0.000,1030,0.000,0.144,1759,2163,2927,2927,4095,0,0,0,0,0,0,25.83,25.77,25.87,10.18,35.07
$STATE,358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,358,begin apogee
$GC,363,-0.50,0.0,1759,2057,2928,4094,59.9,-14.9,24,415,5.07,0.08,37.20,4.522,10244,0.221,0.370,2210,2090,2174,2174,4094,0,0,0,0,0,0,25.82,24.72,23.61,10.19,34.95
$STATE,416,end apogee,CONTROL_FINISHED_OK
$STATE,416,begin climb
$GC,417,1.90,635.4,2210,2090,2174,4094,64.0,0.0,27,468,8.45,0.00,37.10,4.415,11270,0.142,0.000,2972,2090,1433,1433,4094,0,0,0,0,0,0,25.10,25.26,23.27,10.03,34.83
$GC,532,1.90,635.4,2972,2090,1430,4094,53.9,13.1,35,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2090,1430,1430,4094,0,0,0,0,0,0,25.27,25.29,25.29,9.88,34.17
$GC,613,1.90,635.4,2971,2090,1428,4094,43.0,13.5,41,631,0.00,3.42,0.00,0.000,516,0.000,0.238,2972,905,1428,1428,4094,0,0,0,0,0,0,25.52,25.12,25.53,9.88,34.44
$GC,660,1.90,635.4,2972,904,1427,4094,36.8,13.2,44,678,0.00,3.08,0.00,0.000,1030,0.000,0.127,2972,2057,1427,1427,4094,0,0,0,0,0,0,25.37,25.31,25.39,9.88,34.99
$GC,742,1.90,635.4,2972,2057,1424,4094,25.8,13.6,50,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2057,1424,1424,4094,0,0,0,0,0,0,25.75,25.77,25.76,9.87,34.32
$GC,822,1.90,635.4,2972,2057,1422,4094,15.1,13.2,56,836,0.00,3.53,0.00,0.000,260,0.000,0.273,2972,3265,1422,1422,4094,0,0,0,0,0,0,25.86,25.42,25.87,9.88,34.40
$GC,864,1.90,635.4,2972,3265,1421,4094,9.3,13.7,59,879,0.00,3.10,0.00,0.000,1030,0.000,0.122,2972,2098,1420,1420,4094,0,0,0,0,0,0,25.65,25.61,25.67,9.88,34.68
$STATE,905,end climb,FINISH_DEPTH_REACHED
$STATE,905,begin subsurface finish
$FINISH1,3.8,1.025269,-159
$GC,910,-0.25,-158.8,2972,2098,1419,4094,3.8,13.3,62,944,7.38,3.67,-6.95,0.000,20996,0.221,4.186,2321,879,2366,2366,4094,0,0,0,0,0,0,25.66,24.20,25.70,9.88,34.52
$FINISH2,1.3
$STATE,945,end subsurface finish,CONTROL_FINISHED_OK
$STATE,945,begin surface
$IRIDIUM_FIX,5554.28,-16557.83,020517,051336
$TT8_MAMPS,0.026215,0.258405
$HUMID,35.07
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.0,9.7
$24V_AH,23.27,22.232
$10V_AH,8.72,13.460
$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,40.225,30.225,74.300,0.000,0.000,24.148,23.702,165.338,0.500,0.000,18.492,241.400,0.000,121.722,856.777,56.349,33.440,392.162,0.000,633.531,0.000,8.695,0.000
$DEVICE_MAMPS,414.661,4186.338,4521.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,43.213,81.917,137.613,354.702,609.465,0.000,0.000,0.000,0.000,0.000
$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,7341,64
$CAP_FILE_SIZE,24867,13
$CFSIZE,1024409600,1007304704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020517,060111,5707.318,-16452.459,4,0.9,17,11.1,0.0,0.0,9,4.7