version: 66.12
glider: 401
mission: 20
dive: 79
start: 4 29 117 21 46 16
data:
$ID,401
$MISSION,20
$DIVE,79
$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,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,109
$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,2412
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$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,65
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,15
$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,3
$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
$GPS1,290417,212730,5714.2256,-16525.5938,5,0.7,14,10.9,0.7,1.3,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,1.3
$GPS2,290417,212730,5714.2256,-16525.5938,5,0.7,14,10.9,0.7,1.3,11,4.9
$SPEED_LIMITS,0.097,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,5710.710,-16506.756
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.359494,-0.065761
$KALMAN_X,-3135.496826,1726.921997,894.838318,20365.847656,-26.747070
$KALMAN_Y,6744.025879,894.941040,540.964661,-8830.764648,-60.655945
$MHEAD_RNG_PITCHd_Wd,98.1,20000,-11.2,-9.667,-14.82,6800
$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,-1.72,-439.9,2344,2022,2367,4095,0.0,0.0,0,33,0.00,0.00,-2.92,0.000,16390,0.000,0.000,2344,2022,2692,2692,4094,0,0,0,0,0,0,26.09,24.62,26.08,10.06,35.15
$GC,35,-1.72,-439.9,2345,2022,2692,4095,0.4,0.0,1,54,5.22,4.05,0.00,0.000,4612,0.154,0.268,1867,612,2693,2693,4094,0,0,0,0,0,0,25.51,25.41,25.54,10.13,35.46
$GC,70,-1.72,-439.9,1866,612,2694,4094,3.6,-8.9,3,88,0.00,3.75,0.00,0.000,1030,0.000,0.142,1866,2024,2693,2693,4094,0,0,0,0,0,0,25.58,25.53,25.61,10.13,35.66
$GC,154,-1.72,-439.9,1866,2024,2695,4095,14.0,-11.2,9,170,0.00,4.20,0.00,0.000,260,0.000,0.320,1866,3438,2695,2695,4094,0,0,0,0,0,0,25.96,25.49,25.97,10.12,34.83
$GC,209,-1.72,-439.9,1866,3438,2696,4094,20.5,-11.9,13,228,0.00,3.78,0.00,0.000,1030,0.000,0.132,1866,2019,2696,2696,4094,0,0,0,0,0,0,25.76,25.71,25.78,10.13,34.95
$GC,293,-1.72,-439.9,1866,2018,2697,4094,29.8,-11.1,19,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2018,2698,2698,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.12,34.83
$GC,371,-1.72,-439.9,1866,2019,2699,4094,38.9,-11.7,25,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2019,2699,2699,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.11,35.46
$GC,452,-1.72,-439.9,1866,2018,2701,4094,48.3,-11.6,31,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2019,2702,2702,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,34.91
$STATE,538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,538,begin apogee
$GC,541,-0.45,0.0,1866,2018,2702,4094,58.2,-11.6,37,578,4.30,0.00,26.38,4.306,10244,0.226,0.000,2250,2018,2173,2173,4094,0,0,0,0,0,0,25.94,25.07,23.99,10.12,34.72
$STATE,579,end apogee,CONTROL_FINISHED_OK
$STATE,580,begin climb
$GC,581,1.72,439.9,2250,2018,2173,4095,60.9,0.0,39,636,7.53,4.20,26.20,4.226,10500,0.149,0.286,2947,3433,1660,1660,4094,0,0,0,0,0,0,25.25,25.15,23.60,10.01,35.23
$GC,652,1.72,439.9,2946,3433,1659,4094,56.4,9.2,43,670,0.00,3.85,0.00,0.000,1030,0.000,0.124,2947,2023,1659,1659,4094,0,0,0,0,0,0,25.09,25.05,25.13,9.91,33.69
$GC,736,1.72,439.9,2946,2023,1657,4094,45.5,12.6,49,752,0.00,4.10,0.00,0.000,516,0.000,0.281,2947,611,1657,1657,4095,0,0,0,0,0,0,25.63,25.22,25.64,9.91,33.73
$GC,792,1.72,439.9,2946,611,1656,4094,38.1,13.6,53,806,0.00,3.78,0.00,0.000,1030,0.000,0.142,2947,2025,1655,1655,4094,0,0,0,0,0,0,25.50,25.45,25.53,9.90,33.89
$GC,869,1.72,439.9,2946,2025,1653,4094,28.0,13.1,59,883,0.00,4.15,0.00,0.000,260,0.000,0.291,2947,3443,1653,1653,4094,0,0,0,0,0,0,25.86,25.44,25.87,9.90,34.64
$GC,935,1.72,439.9,2947,3443,1651,4094,18.1,15.5,64,953,0.00,3.78,0.00,0.000,1030,0.000,0.129,2947,2031,1651,1651,4094,0,0,0,0,0,0,25.68,25.63,25.72,9.91,34.28
$GC,1019,1.72,439.9,2947,2031,1649,4094,5.6,14.0,70,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2030,1648,1648,4094,0,0,0,0,0,0,26.03,26.05,26.04,9.91,34.64
$STATE,1048,end climb,SURFACE_DEPTH_REACHED
$STATE,1048,begin surface coast
$FINISH,0.2,1.025291
$STATE,1075,end surface coast,CONTROL_FINISHED_OK
$STATE,1075,begin surface
$SM_CCo,1170,0.00,0.000,0,0,1647,453.34
$SM_GC,0.85,28.90,0.00,0.00,0.107,0.000,0.000,232,2024,1647,-6.81,0.00,453.34,0,0,0,0,0,0,25.48,26.09,25.75
$IRIDIUM_FIX,5744.64,-16600.79,290417,203721
$TT8_MAMPS,0.026964,0.252413
$HUMID,34.56
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,52.1,9.6
$24V_AH,23.60,10.568
$10V_AH,8.86,9.209
$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,45.950,39.625,52.575,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,263.909,59.703,142.221,735.765,21.516,33.409,410.901,0.000,748.684,0.000,5.450,0.000
$DEVICE_MAMPS,225.953,320.307,4305.522,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,50.458,94.894,159.113,432.452,725.456,0.000,0.000,0.000,0.000,0.000
$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,7437,74
$CAP_FILE_SIZE,22898,16
$CFSIZE,1024409600,1014628352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290417,220638,5713.863,-16525.188,3,0.8,19,10.9,2.4,206.8,10,4.9