version: 66.12
glider: 401
mission: 19
dive: 12
start: 3 15 117 3 56 38
data:
$ID,401
$MISSION,19
$DIVE,12
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,50
$T_MISSION,65
$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,175
$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,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12
$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,60
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,33
$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
$GPS1,150317,035118,4743.8115,-12224.5850,39,1.0,56,16.3,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-56.8
$GPS2,150317,035554,4743.8789,-12224.5186,4,1.0,21,16.3,0.0,0.0,9,4.9
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.194089,0.039502
$KALMAN_X,605.748413,-25.886730,-353.596802,12.386847,235.271317
$KALMAN_Y,-176.322052,-54.226170,-496.711334,773.936157,108.648590
$MHEAD_RNG_PITCHd_Wd,265.2,416,-22.6,-10.000,-26.79,2095
$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,-2.10,-137.2,243,1910,1728,4095,0.0,0.0,0,31,0.00,0.00,-3.65,0.000,16390,0.000,0.000,243,1910,2248,2248,4094,0,0,0,0,0,0,26.46,24.65,26.45,10.23,36.29
$GC,33,-2.10,-137.2,243,1910,2248,4095,2.0,0.0,1,69,20.15,3.67,0.00,0.000,2564,0.128,0.073,1847,586,2250,2250,4094,0,0,0,0,0,0,25.67,25.67,25.75,10.35,36.45
$GC,207,-2.10,-137.2,1846,587,2257,4094,37.9,-19.7,17,221,0.00,3.30,0.00,0.000,1030,0.000,0.034,1846,1891,2256,2256,4094,0,0,0,0,0,0,26.09,26.06,26.12,10.36,35.58
$GC,271,-2.10,-137.2,1846,1891,2259,4095,49.8,-17.6,23,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1891,2259,2259,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.36,36.06
$GC,335,-2.10,-137.2,1846,1891,2262,4095,61.4,-18.0,29,350,0.00,3.58,0.00,0.000,516,0.000,0.073,1846,590,2261,2261,4094,0,0,0,0,0,0,26.48,25.97,26.49,10.36,35.94
$GC,410,-2.10,-137.2,1846,591,2265,4094,76.4,-20.9,36,424,0.00,3.28,0.00,0.000,1030,0.000,0.034,1846,1889,2266,2266,4095,0,0,0,0,0,0,26.23,26.20,26.27,10.36,36.29
$GC,475,-2.10,-137.2,1846,1889,2267,4095,88.2,-17.1,42,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1890,2267,2267,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.36,35.54
$GC,540,-2.10,-137.2,1846,1890,2270,4095,99.5,-17.2,48,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1890,2269,2269,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.37,36.06
$GC,609,-2.10,-137.2,1846,1891,2273,4094,112.0,-18.4,54,623,0.00,3.58,0.00,0.000,260,0.000,0.070,1846,3199,2272,2272,4094,0,0,0,0,0,0,26.63,26.11,26.64,10.36,35.66
$GC,654,-2.10,-137.2,1846,3199,2274,4095,120.6,-18.9,58,669,0.00,3.35,0.00,0.000,1030,0.000,0.033,1846,1885,2274,2274,4094,0,0,0,0,0,0,26.32,26.27,26.36,10.37,35.78
$GC,719,-2.10,-137.2,1846,1886,2277,4095,132.6,-18.4,64,733,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1885,2277,2277,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.37,35.58
$GC,783,-2.10,-137.2,1846,1886,2280,4094,144.4,-18.8,70,797,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1885,2279,2279,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.37,35.43
$STATE,817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,817,begin apogee
$GC,820,-0.42,0.0,1847,1885,2281,4095,151.1,-19.0,73,853,6.15,0.00,11.68,1.890,10244,0.084,0.000,2387,1884,2082,2082,4094,0,0,0,0,0,0,26.24,25.03,23.80,10.38,35.62
$STATE,854,end apogee,CONTROL_FINISHED_OK
$STATE,854,begin climb
$GC,855,2.10,137.2,2388,1884,2083,4095,154.6,0.0,75,877,8.38,0.00,9.80,1.806,11270,0.037,0.000,3183,1884,1921,1921,4094,0,0,0,0,0,0,25.98,26.17,23.52,10.33,35.39
$GC,927,2.12,150.1,3183,1886,1921,4094,149.9,9.4,81,942,0.00,0.00,2.70,0.584,8198,0.000,0.000,3184,1884,1906,1906,4094,0,0,0,0,0,0,26.06,24.92,23.73,10.30,35.74
$GC,992,2.20,201.1,3183,1884,1905,4095,145.0,7.5,87,1007,0.28,0.00,4.88,1.281,10246,0.049,0.000,3215,1884,1847,1847,4094,0,0,0,0,0,0,25.91,24.94,23.79,10.29,35.43
$GC,1058,2.21,206.7,3214,1885,1847,4094,139.2,9.7,93,1072,0.00,0.00,2.30,0.291,8198,0.000,0.000,3215,1884,1839,1839,4094,0,0,0,0,0,0,26.17,25.07,23.91,10.28,36.13
$GC,1122,2.21,206.7,3215,1884,1838,4095,132.3,10.6,99,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1884,1838,1838,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.28,35.90
$GC,1186,2.21,206.7,3216,1884,1837,4095,125.7,10.3,105,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1884,1836,1836,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.28,35.62
$GC,1252,2.21,206.7,3215,1884,1836,4095,118.6,11.0,111,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1884,1835,1835,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.28,35.78
$GC,1316,2.21,206.7,3215,1884,1834,4095,111.8,10.3,117,1330,0.00,3.58,0.00,0.000,260,0.000,0.060,3215,3202,1833,1833,4094,0,0,0,0,0,0,26.46,25.97,26.47,10.28,35.74
$GC,1400,2.21,206.7,3215,3202,1832,4095,100.9,13.8,125,1414,0.00,3.33,0.00,0.000,1030,0.000,0.033,3215,1907,1831,1831,4094,0,0,0,0,0,0,26.20,26.14,26.22,10.28,35.46
$GC,1464,2.21,206.7,3215,1908,1830,4094,92.2,13.1,131,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1907,1828,1828,4094,0,0,0,0,0,0,26.54,26.56,26.55,10.28,35.54
$GC,1529,2.21,206.7,3215,1906,1828,4095,84.1,12.7,137,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1907,1827,1827,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.27,36.17
$GC,1593,2.21,206.7,3215,1908,1825,4094,76.0,12.5,143,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1907,1824,1824,4094,0,0,0,0,0,0,26.60,26.63,26.62,10.27,35.70
$GC,1657,2.21,206.7,3215,1907,1824,4095,68.1,12.3,149,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1907,1823,1823,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.27,35.82
$GC,1721,2.21,206.7,3214,1908,1822,4094,60.3,12.6,155,1734,0.00,3.60,0.00,0.000,516,0.000,0.080,3215,592,1821,1821,4094,0,0,0,0,0,0,26.66,26.10,26.67,10.27,35.82
$GC,1813,2.21,206.7,3215,593,1819,4094,48.0,12.7,164,1828,0.00,3.28,0.00,0.000,1030,0.000,0.032,3215,1917,1818,1818,4094,0,0,0,0,0,0,26.41,26.39,26.44,10.26,35.78
$GC,1878,2.21,206.7,3215,1918,1817,4095,40.4,11.8,170,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1918,1816,1816,4094,0,0,0,0,0,0,26.70,26.72,26.72,10.26,36.02
$GC,1942,2.21,206.7,3214,1918,1815,4095,32.5,12.2,176,1957,0.00,3.65,0.00,0.000,516,0.000,0.080,3215,590,1814,1814,4094,0,0,0,0,0,0,26.72,26.15,26.74,10.26,35.58
$STATE,2192,end climb,SURFACE_DEPTH_REACHED
$STATE,2192,begin surface coast
$FINISH,1.1,1.021036
$STATE,2261,end surface coast,CONTROL_FINISHED_OK
$STATE,2261,begin surface
$SM_CCo,2301,5.05,0.418,0,0,1729,300.51
$SM_GC,2.51,31.35,3.25,5.05,0.044,0.031,0.418,242,1927,1729,-7.14,-1.69,300.51,0,0,0,0,0,0,26.43,26.54,25.42
$IRIDIUM_FIX,4748.51,-12337.82,150317,030344
$TT8_MAMPS,0.05243,0.245672
$HUMID,35.94
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,7.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,4.6
$ALTIM_BOTTOM_PING,101.4,2.3
$24V_AH,23.52,4.955
$10V_AH,9.39,5.706
$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,66.300,41.425,31.350,5.050,0.000,23.704,23.711,155.660,1.000,0.000,22.578,0.000,0.000,244.290,2241.748,101.463,33.651,648.570,0.000,1956.420,0.000,7.142,0.000
$DEVICE_MAMPS,127.755,80.325,1889.550,418.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,141.009,267.220,447.102,1089.301,1917.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322220
$DATA_FILE_SIZE,17726,208
$CAP_FILE_SIZE,45880,4
$CFSIZE,1024409600,1018544128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,855.62,0x237c9e,1,24
$GPS,150317,043612,4744.084,-12224.812,2,1.2,49,16.3,0.5,23.0,9,9.7