version: 66.12
glider: 401
mission: 19
dive: 2
start: 3 14 117 20 5 32
data:
$ID,401
$MISSION,19
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,75
$D_ABORT,200
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,25
$T_MISSION,40
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,0.00357857
$HD_B,0.0168193
$HD_C,5.8179498e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$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,0
$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,2590
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$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,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2082
$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,-50.554909
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,-10236
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$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
$GPS1,140317,200045,4743.9678,-12224.5225,3,1.1,48,16.3,0.0,0.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-54.8
$GPS2,140317,200451,4744.0347,-12224.4795,5,1.1,50,16.3,0.5,352.5,8,3.0
$SPEED_LIMITS,0.100,0.235
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.102244,-0.211400
$KALMAN_X,74.644028,74.644028,74.644028,59.419575,159.122894
$KALMAN_Y,168.231827,168.231827,168.231827,-183.679031,358.629272
$MHEAD_RNG_PITCHd_Wd,189.5,2870,-18.4,-10.000,-23.07,2982
$D_GRID,174
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.73,-195.5,243,2047,1730,4095,0.0,0.0,0,32,0.00,0.00,-4.07,0.000,16390,0.000,0.000,243,2047,2316,2316,4094,0,0,0,0,0,0,26.79,24.67,26.78,10.31,39.21
$GC,33,-1.73,-195.5,243,2047,2317,4095,1.8,0.0,1,66,21.98,0.00,0.00,0.000,2054,0.123,0.000,2025,2042,2318,2318,4094,0,0,0,0,0,0,25.94,26.08,26.03,10.43,39.48
$GC,117,-1.73,-195.5,2025,2042,2320,4095,18.4,-11.8,8,131,0.00,2.35,0.00,0.000,260,0.000,0.063,2025,2913,2320,2320,4094,0,0,0,0,0,0,26.55,26.08,26.57,10.44,38.85
$GC,153,-1.73,-195.5,2024,2914,2321,4095,22.4,-11.0,11,167,0.00,2.17,0.00,0.000,1030,0.000,0.030,2024,2047,2321,2321,4094,0,0,0,0,0,0,26.26,26.24,26.29,10.44,38.93
$GC,218,-1.73,-195.5,2025,2048,2323,4095,29.7,-11.1,17,232,0.00,2.25,0.00,0.000,516,0.000,0.060,2025,1189,2323,2323,4094,0,0,0,0,0,0,26.66,26.08,26.67,10.44,38.34
$GC,311,-1.73,-195.5,2025,1190,2326,4094,41.8,-13.4,26,329,0.00,2.08,0.00,0.000,1030,0.000,0.034,2025,2029,2325,2325,4095,0,0,0,0,0,0,26.36,26.32,26.39,10.44,38.54
$GC,381,-1.73,-195.5,2024,2029,2327,4095,50.2,-11.6,32,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2030,2327,2327,4094,0,0,0,0,0,0,26.77,26.78,26.78,10.44,38.65
$GC,446,-1.73,-195.5,2025,2030,2329,4095,58.2,-12.4,38,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2030,2328,2328,4095,0,0,0,0,0,0,26.79,26.82,26.82,10.44,38.18
$GC,511,-1.73,-195.5,2025,2030,2331,4094,66.1,-12.1,44,526,0.00,2.20,0.00,0.000,516,0.000,0.054,2025,1185,2330,2330,4095,0,0,0,0,0,0,26.82,26.22,26.84,10.44,38.58
$GC,557,-1.73,-195.5,2025,1187,2332,4094,71.3,-11.6,48,571,0.00,2.05,0.00,0.000,1030,0.000,0.033,2025,2022,2331,2331,4095,0,0,0,0,0,0,26.47,26.43,26.50,10.44,38.69
$STATE,592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,592,begin apogee
$GC,595,-0.38,0.0,2025,2116,2333,4094,75.7,-12.1,51,624,4.72,0.00,13.27,1.226,10244,0.069,0.000,2456,2115,2080,2080,4094,0,0,0,0,0,0,26.32,25.22,24.34,10.44,37.79
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,626,1.73,195.5,2457,2115,2081,4095,78.0,0.0,53,662,6.95,0.00,11.77,1.191,11270,0.036,0.000,3124,2115,1857,1857,4094,0,0,0,0,0,0,26.20,26.41,24.11,10.39,37.71
$GC,713,1.73,195.5,3124,2116,1858,4094,71.4,10.3,60,727,0.00,0.00,0.25,0.004,8198,0.000,0.000,3124,2115,1857,1857,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.35,37.24
$GC,777,1.73,195.5,3124,2115,1857,4095,64.6,10.3,66,792,0.00,2.35,0.00,0.000,516,0.000,0.060,3124,1235,1856,1856,4094,0,0,0,0,0,0,26.53,26.01,26.54,10.35,37.47
$GC,852,1.73,195.8,3125,1235,1855,4095,56.9,10.0,73,870,0.00,2.03,0.00,0.000,1030,0.000,0.029,3124,2066,1854,1854,4094,0,0,0,0,0,0,26.29,26.26,26.32,10.35,37.75
$GC,921,1.77,221.6,3125,2066,1854,4095,50.5,9.1,79,936,0.00,2.20,3.42,0.490,8708,0.000,0.058,3125,1237,1820,1820,4094,0,0,0,0,0,0,26.67,25.54,24.75,10.34,37.59
$GC,1006,1.77,221.6,3124,1238,1819,4094,41.3,11.3,87,1024,0.00,2.03,0.00,0.000,1030,0.000,0.029,3124,2068,1818,1818,4094,0,0,0,0,0,0,26.37,26.34,26.41,10.33,37.43
$GC,1076,1.77,221.6,3124,2068,1817,4094,33.7,10.8,93,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2067,1816,1816,4094,0,0,0,0,0,0,26.74,26.75,26.75,10.33,37.24
$GC,1140,1.77,223.2,3124,2067,1816,4095,27.1,9.9,99,1155,0.10,2.20,0.00,0.000,2564,0.080,0.058,3140,1235,1815,1815,4094,0,0,0,0,0,0,26.52,26.22,26.53,10.33,38.02
$GC,1323,1.77,223.2,3139,1236,1811,4094,8.3,10.6,117,1341,0.00,1.98,0.00,0.000,1030,0.000,0.029,3140,2052,1810,1810,4094,0,0,0,0,0,0,26.51,26.47,26.52,10.32,37.39
$STATE,1382,end climb,SURFACE_DEPTH_REACHED
$STATE,1382,begin surface coast
$FINISH,0.3,1.005939
$STATE,1402,end surface coast,CONTROL_FINISHED_OK
$STATE,1402,begin surface
$SM_CCo,1437,5.12,0.414,0,0,1728,300.51
$SM_GC,3.67,29.88,0.00,5.12,0.031,0.000,0.414,242,2055,1728,-7.33,0.23,300.51,0,0,0,0,0,0,26.47,26.89,25.42
$IRIDIUM_FIX,4748.51,-12337.82,140317,195610
$TT8_MAMPS,0.05243,0.240429
$HUMID,37.24
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,8.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.3,5.0
$24V_AH,24.11,4.624
$10V_AH,9.72,4.992
$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,63.625,26.025,28.725,5.125,0.000,0.000,0.000,0.000,1.500,0.000,52.027,0.000,0.000,201.287,1258.359,69.540,30.517,472.286,0.000,1179.444,0.000,2.732,0.000
$DEVICE_MAMPS,123.165,79.560,1226.295,413.865,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.754,159.181,266.603,661.108,1152.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322284
$DATA_FILE_SIZE,10801,124
$CAP_FILE_SIZE,44491,7
$CFSIZE,1024409600,1019084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140317,203030,4743.925,-12224.595,26,0.9,37,16.3,0.0,0.0,9,4.9