version: 66.12
glider: 401
mission: 19
dive: 21
start: 3 15 117 10 56 22
data:
$ID,401
$MISSION,19
$DIVE,21
$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,32
$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
$GPS1,150317,105131,4742.8022,-12224.9609,13,0.8,62,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-55.7
$GPS2,150317,105538,4742.7661,-12224.9951,3,1.0,14,16.3,0.0,0.0,10,5.0
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.198281,0.029559
$KALMAN_X,569.319641,39.703766,239.013153,-1197.813354,-353.409393
$KALMAN_Y,713.062805,322.366150,571.522827,-3616.269287,-583.698242
$MHEAD_RNG_PITCHd_Wd,65.2,550,-22.3,-10.000,-26.51,2146
$D_GRID,185
$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,-2.08,-140.5,243,1891,1729,4095,0.0,0.0,0,35,0.00,0.00,-3.78,0.000,16390,0.000,0.000,243,1891,2251,2251,4094,0,0,0,0,0,0,26.46,24.76,26.46,10.23,36.29
$GC,36,-2.08,-140.5,242,1892,2253,4095,1.9,0.0,1,70,20.27,3.58,0.00,0.000,2564,0.127,0.067,1853,592,2253,2253,4094,0,0,0,0,0,0,25.63,25.64,25.70,10.36,35.86
$GC,188,-2.08,-140.5,1853,592,2259,4095,38.8,-20.3,15,203,0.00,3.28,0.00,0.000,1030,0.000,0.033,1853,1887,2259,2259,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.36,35.39
$GC,253,-2.08,-140.5,1853,1887,2262,4095,50.8,-18.4,21,268,0.00,3.60,0.00,0.000,260,0.000,0.071,1853,3193,2262,2262,4094,0,0,0,0,0,0,26.36,25.92,26.38,10.36,35.43
$GC,289,-2.08,-140.5,1853,3194,2264,4094,56.9,-17.0,24,303,0.00,3.25,0.00,0.000,1030,0.000,0.031,1853,1929,2263,2263,4094,0,0,0,0,0,0,26.12,26.07,26.14,10.36,35.03
$GC,354,-2.08,-140.5,1853,1929,2266,4095,67.2,-15.7,30,368,0.00,3.62,0.00,0.000,516,0.000,0.073,1853,594,2265,2265,4094,0,0,0,0,0,0,26.44,25.98,26.46,10.36,34.87
$GC,400,-2.08,-140.5,1853,595,2267,4094,75.4,-17.6,34,415,0.00,3.33,0.00,0.000,1030,0.000,0.034,1853,1913,2266,2266,4094,0,0,0,0,0,0,26.20,26.15,26.22,10.36,35.11
$GC,465,-2.08,-140.5,1853,1912,2270,4095,86.9,-17.3,40,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1913,2269,2269,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.37,34.95
$GC,529,-2.08,-140.5,1853,1912,2272,4095,98.1,-17.8,46,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1913,2272,2272,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.36,35.23
$GC,598,-2.08,-140.5,1852,1914,2275,4094,110.3,-17.5,52,613,0.00,3.58,0.00,0.000,516,0.000,0.072,1853,598,2275,2275,4094,0,0,0,0,0,0,26.58,26.10,26.59,10.36,34.91
$GC,644,-2.08,-140.5,1853,599,2277,4094,119.7,-20.9,56,658,0.00,3.30,0.00,0.000,1030,0.000,0.034,1853,1913,2276,2276,4094,0,0,0,0,0,0,26.32,26.27,26.34,10.37,35.11
$GC,709,-2.08,-140.5,1853,1914,2281,4094,132.6,-19.0,62,722,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1913,2280,2280,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.37,34.60
$GC,773,-2.08,-140.5,1853,1914,2283,4094,144.3,-18.2,68,787,0.00,3.58,0.00,0.000,516,0.000,0.072,1853,595,2282,2282,4094,0,0,0,0,0,0,26.64,26.16,26.65,10.37,34.91
$GC,799,-2.08,-140.5,1853,595,2283,4095,149.4,-19.1,70,817,0.00,3.30,0.00,0.000,1030,0.000,0.034,1853,1912,2284,2284,4094,0,0,0,0,0,0,26.37,26.33,26.39,10.37,34.99
$STATE,828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,828,begin apogee
$GC,831,-0.42,0.0,1853,1914,2286,4095,155.5,-20.3,72,859,5.97,0.00,12.15,1.958,10244,0.081,0.000,2381,1913,2081,2081,4094,0,0,0,0,0,0,26.25,25.01,23.79,10.36,34.95
$STATE,860,end apogee,CONTROL_FINISHED_OK
$STATE,860,begin climb
$GC,861,2.08,140.5,2382,1913,2081,4095,159.5,0.0,74,890,8.43,0.00,10.27,1.884,11270,0.037,0.000,3179,1913,1916,1916,4094,0,0,0,0,0,0,25.92,26.09,23.46,10.33,35.15
$GC,940,2.17,197.5,3179,1913,1916,4095,155.4,7.3,81,959,0.22,0.00,5.15,1.401,10246,0.054,0.000,3206,1913,1853,1853,4094,0,0,0,0,0,0,25.77,24.79,23.63,10.30,34.60
$GC,1009,2.18,202.5,3206,1913,1853,4095,149.3,9.8,87,1028,0.00,0.00,0.90,0.004,8198,0.000,0.000,3206,1913,1852,1852,4094,0,0,0,0,0,0,26.06,26.05,26.06,10.28,35.11
$GC,1078,2.18,202.5,3205,1914,1852,4094,142.0,10.8,93,1092,0.00,0.00,0.40,0.003,8198,0.000,0.000,3206,1913,1851,1851,4094,0,0,0,0,0,0,26.19,26.19,26.20,10.28,34.83
$GC,1143,2.18,202.5,3206,1914,1850,4095,134.8,11.3,99,1158,0.00,3.67,0.70,0.003,8708,0.000,0.076,3206,594,1849,1849,4094,0,0,0,0,0,0,26.27,25.81,26.27,10.28,34.72
$GC,1228,2.18,202.5,3206,595,1847,4094,123.8,12.8,107,1243,0.00,3.30,0.00,0.000,1030,0.000,0.031,3206,1917,1846,1846,4094,0,0,0,0,0,0,26.12,26.06,26.14,10.28,35.07
$GC,1293,2.18,202.5,3206,1918,1847,4094,116.8,10.5,113,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1918,1845,1845,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.27,34.91
$GC,1357,2.18,202.5,3206,1919,1845,4095,110.0,10.6,119,1372,0.00,3.65,0.00,0.000,516,0.000,0.078,3206,593,1844,1844,4094,0,0,0,0,0,0,26.46,25.97,26.48,10.27,35.66
$GC,1519,2.18,202.5,3206,594,1840,4094,88.5,14.6,135,1537,0.00,3.20,0.00,0.000,1030,0.000,0.030,3206,1888,1838,1838,4094,0,0,0,0,0,0,26.31,26.28,26.34,10.27,35.78
$GC,1588,2.18,202.5,3206,1889,1837,4095,79.1,13.5,141,1602,0.00,3.50,0.00,0.000,260,0.000,0.060,3206,3192,1836,1836,4094,0,0,0,0,0,0,26.58,26.13,26.60,10.27,35.15
$GC,1643,2.18,202.5,3206,3191,1836,4095,71.7,13.7,146,1661,0.00,3.28,0.00,0.000,1030,0.000,0.032,3206,1907,1834,1834,4094,0,0,0,0,0,0,26.31,26.26,26.33,10.27,35.43
$GC,1712,2.18,202.5,3206,1907,1834,4095,62.7,13.1,152,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1907,1832,1832,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.27,35.27
$GC,1776,2.18,202.5,3206,1908,1832,4094,54.9,12.0,158,1790,0.00,3.58,0.00,0.000,516,0.000,0.078,3206,594,1831,1831,4094,0,0,0,0,0,0,26.65,26.15,26.67,10.26,35.31
$GC,1908,2.18,202.5,3206,594,1827,4095,36.4,14.3,171,1922,0.00,3.20,0.00,0.000,1030,0.000,0.031,3206,1898,1826,1826,4094,0,0,0,0,0,0,26.44,26.41,26.46,10.26,35.15
$GC,1973,2.18,202.5,3206,1901,1825,4093,28.8,11.0,177,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1900,1824,1824,4094,0,0,0,0,0,0,26.71,26.72,26.72,10.26,35.27
$GC,2037,2.18,202.5,3206,1900,1824,4095,21.0,12.4,183,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1900,1822,1822,4094,0,0,0,0,0,0,26.72,26.74,26.74,10.26,35.19
$GC,2106,2.18,202.5,3206,1900,1821,4095,12.5,12.2,189,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1900,1820,1820,4094,0,0,0,0,0,0,26.74,26.76,26.75,10.26,35.74
$GC,2170,2.18,202.5,3206,1901,1820,4094,5.0,11.6,195,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1900,1818,1818,4094,0,0,0,0,0,0,26.76,26.77,26.77,10.26,35.62
$STATE,2198,end climb,SURFACE_DEPTH_REACHED
$STATE,2198,begin surface coast
$FINISH,0.3,1.010416
$STATE,2228,end surface coast,CONTROL_FINISHED_OK
$STATE,2228,begin surface
$SM_CCo,2263,5.50,0.448,0,0,1729,300.51
$SM_GC,3.60,30.42,0.00,5.50,0.028,0.000,0.448,243,1901,1729,-7.14,0.05,300.51,0,0,0,0,0,0,26.44,26.79,25.46
$IRIDIUM_FIX,4748.51,-11813.46,150317,100519
$TT8_MAMPS,0.053179,0.241178
$HUMID,35.31
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,7.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,4.5
$ALTIM_BOTTOM_PING,100.0,2.3
$24V_AH,23.46,5.225
$10V_AH,9.34,6.355
$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,65.325,61.775,29.575,5.500,0.000,22.767,21.633,137.591,1.000,0.000,15.968,0.000,0.000,274.388,2142.168,104.736,33.635,711.641,0.000,1886.385,0.000,7.144,0.000
$DEVICE_MAMPS,126.990,78.030,1958.400,448.290,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.019,256.720,429.883,1051.457,1848.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322208
$DATA_FILE_SIZE,17783,200
$CAP_FILE_SIZE,49133,9
$CFSIZE,1024409600,1018085376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,113456,4742.582,-12224.827,15,0.8,27,16.3,0.0,0.0,9,5.0