version: 66.12
glider: 401
mission: 19
dive: 18
start: 3 15 117 8 40 27
data:
$ID,401
$MISSION,19
$DIVE,18
$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,19
$R_STBD_OVSHOOT,28
$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
$GPS1,150317,082731,4744.0547,-12225.1494,45,0.8,57,16.3,0.0,0.0,10,4.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-56.9
$GPS2,150317,083943,4744.1177,-12225.0879,4,0.8,16,16.3,0.0,0.0,10,4.6
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.106705,-0.140676
$KALMAN_X,1123.447998,29.619062,350.154053,-1969.885620,38.205719
$KALMAN_Y,1545.517456,138.020218,789.637024,-1978.381714,201.067093
$MHEAD_RNG_PITCHd_Wd,126.5,420,-25.6,-10.000,-29.53,1673
$D_GRID,187
$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,-2.31,-109.5,243,1876,1729,4095,0.0,0.0,0,31,0.00,0.00,-3.47,0.000,16390,0.000,0.000,243,1875,2214,2214,4094,0,0,0,0,0,0,26.39,24.65,26.39,10.23,36.41
$GC,32,-2.31,-109.5,243,1876,2215,4095,1.9,0.0,1,61,19.52,3.65,0.00,0.000,2308,0.129,0.063,1778,3192,2216,2216,4094,0,0,0,0,0,0,25.60,25.64,25.70,10.34,36.61
$GC,179,-2.31,-109.5,1778,3193,2223,4094,36.2,-19.4,15,197,0.00,3.33,0.00,0.000,1030,0.000,0.031,1778,1901,2223,2223,4094,0,0,0,0,0,0,26.01,25.97,26.05,10.34,36.76
$GC,249,-2.31,-109.5,1778,1902,2226,4094,49.5,-19.0,21,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1901,2226,2226,4094,0,0,0,0,0,0,26.36,26.39,26.38,10.35,35.94
$GC,317,-2.31,-109.5,1778,1902,2229,4094,63.1,-20.0,27,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1901,2228,2228,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.35,36.13
$GC,381,-2.31,-109.5,1778,1901,2231,4095,75.3,-18.9,33,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1901,2231,2231,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.35,35.62
$GC,449,-2.31,-109.5,1778,1901,2234,4095,88.1,-17.9,39,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1902,2233,2233,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.35,35.78
$GC,514,-2.31,-109.5,1778,1902,2236,4094,100.0,-18.4,45,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1901,2236,2236,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.36,35.66
$GC,583,-2.31,-109.5,1778,1901,2239,4095,113.7,-20.6,51,598,0.00,3.55,0.00,0.000,516,0.000,0.073,1778,589,2240,2240,4094,0,0,0,0,0,0,26.59,26.09,26.60,10.35,35.23
$GC,659,-2.31,-109.5,1778,591,2244,4095,130.8,-22.9,58,677,0.00,3.33,0.00,0.000,1030,0.000,0.034,1778,1915,2243,2243,4094,0,0,0,0,0,0,26.32,26.27,26.36,10.36,35.31
$GC,728,-2.31,-109.5,1778,1915,2247,4095,144.8,-19.4,64,741,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1915,2246,2246,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.36,35.27
$STATE,762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,762,begin apogee
$GC,765,-0.42,0.0,1778,1916,2248,4094,151.4,-19.0,67,794,6.93,0.00,10.27,1.848,10244,0.086,0.000,2384,1916,2080,2080,4094,0,0,0,0,0,0,26.22,25.09,23.88,10.36,35.58
$STATE,794,end apogee,CONTROL_FINISHED_OK
$STATE,794,begin climb
$GC,795,2.31,109.5,2385,1916,2081,4095,155.4,0.0,69,823,9.10,0.00,8.30,1.743,11270,0.037,0.000,3250,1916,1953,1953,4094,0,0,0,0,0,0,25.98,26.18,23.65,10.33,35.27
$GC,874,2.37,145.0,3250,1916,1952,4095,150.8,7.8,76,889,0.10,0.00,3.95,1.096,10246,0.080,0.000,3265,1916,1913,1913,4094,0,0,0,0,0,0,25.90,24.94,23.77,10.30,35.62
$GC,940,2.42,176.4,3266,1916,1912,4095,145.8,8.1,82,955,0.12,0.00,3.72,1.017,10246,0.071,0.000,3283,1917,1877,1877,4094,0,0,0,0,0,0,25.94,25.01,23.87,10.29,34.95
$GC,1005,2.42,176.4,3283,1918,1877,4094,139.3,10.6,88,1019,0.00,3.67,0.00,0.000,516,0.000,0.077,3283,595,1875,1875,4094,0,0,0,0,0,0,26.20,25.75,26.22,10.29,35.07
$GC,1050,2.42,176.4,3283,597,1876,4094,133.7,12.2,92,1065,0.00,3.28,0.00,0.000,1030,0.000,0.031,3283,1901,1874,1874,4094,0,0,0,0,0,0,26.01,25.98,26.04,10.28,35.86
$GC,1115,2.42,176.4,3283,1901,1873,4095,126.4,10.7,98,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1901,1872,1872,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.28,35.90
$GC,1183,2.42,176.4,3283,1901,1873,4095,119.2,10.5,104,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1902,1871,1871,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.28,34.99
$GC,1251,2.43,184.8,3283,1902,1871,4094,112.8,9.5,110,1265,0.00,0.00,0.98,0.003,8198,0.000,0.000,3283,1901,1870,1870,4094,0,0,0,0,0,0,26.45,26.47,26.44,10.28,35.35
$GC,1316,2.43,184.8,3284,1901,1869,4095,106.1,10.5,116,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1901,1868,1868,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.28,35.35
$GC,1384,2.43,184.8,3283,1902,1868,4094,98.4,11.4,122,1399,0.00,3.60,0.00,0.000,516,0.000,0.077,3283,593,1866,1866,4094,0,0,0,0,0,0,26.53,26.03,26.55,10.27,35.27
$GC,1546,2.43,184.8,3283,594,1863,4094,76.5,14.0,138,1560,0.00,3.20,0.00,0.000,1030,0.000,0.031,3283,1893,1861,1861,4094,0,0,0,0,0,0,26.36,26.33,26.38,10.27,35.58
$GC,1610,2.43,184.8,3283,1893,1861,4095,68.4,12.3,144,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1893,1860,1860,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.27,35.98
$GC,1674,2.43,184.8,3284,1893,1858,4095,60.1,12.7,150,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1892,1857,1857,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.27,35.66
$GC,1738,2.43,184.8,3283,1894,1857,4094,51.9,13.0,156,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1893,1855,1855,4094,0,0,0,0,0,0,26.67,26.70,26.69,10.27,35.62
$GC,1806,2.43,184.8,3283,1894,1854,4095,43.1,12.7,162,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1893,1853,1853,4094,0,0,0,0,0,0,26.70,26.72,26.71,10.27,36.21
$GC,1870,2.43,184.8,3283,1894,1852,4094,35.0,13.0,168,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1893,1851,1851,4094,0,0,0,0,0,0,26.72,26.73,26.73,10.27,35.70
$GC,1935,2.43,184.8,3283,1894,1851,4094,26.5,12.8,174,1949,0.00,3.45,0.00,0.000,260,0.000,0.060,3283,3189,1849,1849,4094,0,0,0,0,0,0,26.73,26.26,26.74,10.27,36.06
$GC,2003,2.43,184.8,3283,3190,1849,4094,17.0,14.9,180,2017,0.00,3.25,0.00,0.000,1030,0.000,0.033,3283,1909,1848,1848,4094,0,0,0,0,0,0,26.44,26.38,26.46,10.26,35.43
$GC,2068,2.43,184.8,3284,1909,1846,4095,7.7,13.1,186,2082,0.00,3.58,0.00,0.000,516,0.000,0.080,3283,594,1845,1845,4095,0,0,0,0,0,0,26.76,26.23,26.77,10.27,35.62
$STATE,2132,end climb,SURFACE_DEPTH_REACHED
$STATE,2132,begin surface coast
$FINISH,0.8,1.021380
$STATE,2142,end surface coast,CONTROL_FINISHED_OK
$STATE,2142,begin surface
$SM_CCo,2183,6.57,0.488,0,0,1729,300.51
$SM_GC,4.02,31.60,3.25,6.57,0.034,0.032,0.488,242,1917,1729,-7.14,-1.69,300.51,0,0,0,0,0,0,26.45,26.51,25.43
$IRIDIUM_FIX,4748.51,-12337.82,150317,082828
$TT8_MAMPS,0.05243,0.255409
$HUMID,35.86
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,7.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.6,4.6
$ALTIM_BOTTOM_PING,102.1,2.3
$24V_AH,23.65,5.141
$10V_AH,9.35,6.137
$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,67.375,41.125,27.225,6.575,0.000,122.407,139.681,145.606,1.250,0.000,17.602,0.000,240.425,262.176,2319.706,103.919,33.657,678.786,0.000,1824.225,0.000,7.141,0.000
$DEVICE_MAMPS,128.520,79.560,1848.240,488.070,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,130.337,247.766,414.881,1019.035,1787.430,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,17785,193
$CAP_FILE_SIZE,49267,8
$CFSIZE,1024409600,1018216448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,091823,4743.856,-12224.901,18,0.9,69,16.3,0.9,302.2,11,4.9