version: 66.12
glider: 401
mission: 20
dive: 78
start: 4 29 117 21 28 31
data:
$ID,401
$MISSION,20
$DIVE,78
$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,13
$R_STBD_OVSHOOT,17
$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
$GPS1,290417,212230,5714.2266,-16525.5684,3,0.8,23,10.9,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-34.0
$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,0.363296,-0.040134
$KALMAN_X,-2856.769043,1732.372192,963.249939,20000.431641,-43.639709
$KALMAN_Y,6654.361816,893.224060,616.648926,-8806.108398,-87.249695
$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,15,-1.72,-439.9,242,2027,1647,4094,0.0,0.0,0,36,0.00,0.00,-9.38,0.000,16390,0.000,0.000,242,2027,2692,2692,4095,0,0,0,0,0,0,26.02,25.19,26.03,9.91,35.70
$GC,38,-1.72,-439.9,242,2027,2691,4095,0.9,0.0,1,67,20.48,0.00,0.00,0.000,2054,0.410,0.000,1848,2019,2694,2694,4094,0,0,0,0,0,0,25.39,25.51,25.47,10.13,35.86
$GC,131,-1.72,-439.9,1848,2019,2696,4095,24.6,-13.9,8,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2019,2696,2696,4094,0,0,0,0,0,0,25.91,25.92,25.91,10.13,36.10
$GC,207,-1.72,-439.9,1848,2019,2697,4094,34.3,-12.9,14,221,0.00,4.18,0.00,0.000,260,0.000,0.303,1849,3441,2697,2697,4094,0,0,0,0,0,0,26.01,25.55,26.02,10.12,35.90
$GC,249,-1.72,-439.9,1848,3442,2698,4094,39.7,-12.6,17,268,0.00,3.80,0.00,0.000,1030,0.000,0.137,1849,2017,2698,2698,4095,0,0,0,0,0,0,25.77,25.73,25.81,10.12,35.11
$GC,333,-1.72,-439.9,1848,2017,2700,4095,49.9,-12.2,23,354,0.00,4.00,0.00,0.000,516,0.000,0.281,1849,611,2700,2700,4095,0,0,0,0,0,0,26.11,25.66,26.13,10.12,35.35
$GC,383,-1.72,-439.9,1848,611,2701,4094,56.4,-13.1,26,401,0.00,3.70,0.00,0.000,1030,0.000,0.151,1848,2011,2702,2702,4094,0,0,0,0,0,0,25.87,25.82,25.89,10.12,34.60
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,415,begin apogee
$GC,418,-0.45,0.0,1848,2011,2702,4094,60.8,-13.5,28,453,4.57,0.00,26.58,4.402,10244,0.223,0.000,2256,2012,2174,2174,4094,0,0,0,0,0,0,25.85,24.97,23.87,10.12,34.36
$STATE,454,end apogee,CONTROL_FINISHED_OK
$STATE,454,begin climb
$GC,455,1.72,439.9,2256,2012,2173,4094,63.4,0.0,30,493,7.55,0.00,25.88,4.310,11270,0.146,0.000,2942,2012,1662,1662,4094,0,0,0,0,0,0,25.23,25.41,23.50,10.01,34.28
$GC,556,1.72,439.9,2941,2012,1659,4094,55.4,11.8,37,571,0.00,4.10,0.00,0.000,516,0.000,0.276,2942,612,1659,1659,4094,0,0,1,0,0,0,25.44,25.06,25.46,9.91,33.77
$GC,599,1.72,439.9,2941,612,1659,4094,49.6,13.2,40,617,0.00,3.78,0.00,0.000,1030,0.000,0.142,2942,2017,1658,1658,4094,0,0,0,0,0,0,25.34,25.29,25.37,9.91,34.48
$GC,683,1.72,439.9,2941,2017,1656,4095,38.8,12.7,46,698,0.00,4.18,0.00,0.000,260,0.000,0.291,2942,3437,1656,1656,4094,0,0,0,0,0,0,25.76,25.34,25.77,9.90,34.48
$GC,738,1.72,439.9,2941,3437,1654,4094,31.0,14.3,50,756,0.00,3.78,0.00,0.000,1030,0.000,0.129,2942,2027,1654,1654,4094,0,0,0,0,0,0,25.58,25.55,25.62,9.90,34.13
$GC,822,1.72,439.9,2941,2027,1652,4094,19.5,13.7,56,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2027,1651,1651,4094,0,0,0,0,0,0,25.94,25.96,25.96,9.91,34.72
$GC,900,1.72,439.9,2941,2027,1649,4094,8.2,14.8,62,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2027,1649,1649,4094,0,0,0,0,0,0,26.03,26.04,26.04,9.91,34.48
$STATE,933,end climb,FINISH_DEPTH_REACHED
$STATE,933,begin subsurface finish
$FINISH1,2.9,1.025300,-161
$GC,938,-0.26,-161.0,2942,2027,1648,4094,2.9,16.0,64,957,6.32,0.00,-6.78,0.000,20486,0.129,0.000,2345,2022,2367,2367,4094,0,0,0,0,0,0,25.82,24.66,25.84,9.91,35.07
$FINISH2,0.0
$STATE,958,end subsurface finish,CONTROL_FINISHED_OK
$STATE,958,begin surface
$IRIDIUM_FIX,5744.64,-16600.79,290417,203721
$TT8_MAMPS,0.026964,0.256907
$HUMID,35.19
$INTERNAL_PRESSURE,9.99418
$TCM_TEMP,0.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,51.7,10.0
$24V_AH,23.50,10.502
$10V_AH,8.85,9.182
$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,38.925,31.500,52.450,0.000,0.000,24.176,19.721,176.590,0.500,0.000,15.594,241.204,0.000,111.113,895.602,35.984,33.438,376.914,0.000,659.466,0.000,7.318,0.000
$DEVICE_MAMPS,409.695,302.926,4402.359,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,44.089,83.257,139.773,376.834,635.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344668
$DATA_FILE_SIZE,7424,65
$CAP_FILE_SIZE,25584,14
$CFSIZE,1024409600,1014677504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290417,212730,5714.226,-16525.594,5,0.7,14,10.9,0.7,1.3,11,4.9