version: 66.12
glider: 401
mission: 19
dive: 27
start: 3 15 117 15 29 46
data:
$ID,401
$MISSION,19
$DIVE,27
$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,400
$COURSE_BIAS,0
$GLIDE_SLOPE,7
$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,39
$R_STBD_OVSHOOT,59
$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,110
$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
$GPS1,150317,152531,4742.8359,-12224.9062,1,0.9,31,16.3,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-30.4
$GPS2,150317,152900,4742.8242,-12224.8965,3,0.9,17,16.3,0.0,0.0,11,4.7
$SPEED_LIMITS,0.814,0.824
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.064615,0.821898
$KALMAN_X,-443.504395,-312.047089,-585.989075,1115.009521,-87.155884
$KALMAN_Y,-1859.481689,431.389893,-803.418701,344.979004,-515.495544
$MHEAD_RNG_PITCHd_Wd,348.2,2181,3.5,-10.000,-6.92,61168
$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,-0.34,-391.0,243,1875,14,4094,0.0,0.0,0,45,0.00,0.00,-20.17,0.000,16390,0.000,0.000,243,1874,2536,2536,4094,0,0,0,0,0,0,26.44,25.59,26.46,9.89,35.66
$GC,47,-0.34,-391.0,243,1874,2537,4095,1.5,-5.2,2,76,26.85,0.00,0.00,0.000,2054,0.118,0.000,2413,1867,2540,2540,4094,0,0,0,0,0,0,25.79,25.94,25.91,10.41,36.02
$GC,128,-0.34,-391.0,2413,1869,2541,4094,22.3,-3.8,9,145,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1868,2541,2541,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.41,36.29
$GC,195,-0.34,-391.0,2413,1868,2542,4094,28.6,-12.3,15,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1868,2542,2542,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.41,36.84
$GC,259,-0.34,-391.0,2413,1868,2544,4095,37.6,-14.3,21,274,0.00,3.50,0.00,0.000,260,0.000,0.061,2413,3162,2544,2544,4094,0,0,0,0,0,0,26.42,25.98,26.43,10.41,36.88
$GC,362,-0.34,-391.0,2412,3163,2547,4094,49.8,-11.2,31,377,0.00,3.12,0.00,0.000,1030,0.000,0.030,2413,1932,2545,2545,4094,0,0,0,0,0,0,26.23,26.20,26.25,10.41,36.41
$GC,428,-0.34,-391.0,2413,1933,2548,4094,57.9,-12.2,37,443,0.00,3.65,0.00,0.000,516,0.000,0.079,2413,602,2548,2548,4095,0,0,0,0,0,0,26.53,26.06,26.54,10.42,36.25
$GC,813,-0.34,-391.0,2413,603,2558,4094,101.5,-10.2,76,827,0.00,3.17,0.00,0.000,1030,0.000,0.034,2413,1908,2556,2556,4095,0,0,0,0,0,0,26.48,26.46,26.48,10.42,36.21
$GC,878,-0.34,-391.0,2413,1909,2559,4094,108.5,-10.9,82,892,0.00,3.55,0.00,0.000,516,0.000,0.074,2413,598,2558,2558,4094,0,0,0,0,0,0,26.71,26.23,26.72,10.42,36.45
$STATE,1253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1253,begin apogee
$GC,1260,-0.42,0.0,2413,1892,2568,4095,150.2,-11.4,120,1289,0.00,0.00,25.88,2.098,8196,0.000,0.000,2413,1892,2081,2081,4094,0,0,0,0,0,0,26.75,25.05,23.54,10.42,35.98
$STATE,1290,end apogee,CONTROL_FINISHED_OK
$STATE,1290,begin climb
$GC,1291,0.34,391.0,2413,1892,2082,4095,153.3,0.0,122,1334,2.17,3.60,25.27,2.090,10500,0.048,0.065,2615,3176,1624,1624,4094,0,0,0,0,0,0,25.42,25.34,23.01,10.33,35.54
$GC,1510,2.56,1780.2,2615,3176,1623,4095,140.4,7.7,143,1620,7.60,3.30,80.25,1.988,11270,0.034,0.029,3343,1896,53,53,4094,0,0,0,0,0,0,25.86,25.83,22.88,10.23,35.15
$GC,1671,2.56,1780.2,3343,1896,52,4095,120.8,17.3,155,1689,0.00,3.70,0.00,0.000,516,0.000,0.077,3343,598,49,49,4093,0,0,0,0,0,0,25.53,25.15,25.55,9.92,35.15
$GC,1770,2.56,1780.2,3343,598,45,4095,100.0,20.4,164,1784,0.00,3.33,0.00,0.000,1030,0.000,0.034,3343,1920,43,43,4094,0,0,0,0,0,0,25.70,25.68,25.71,9.92,34.40
$GC,1834,2.56,1780.2,3343,1920,41,4095,87.7,19.4,170,1849,0.00,3.45,0.00,0.000,260,0.000,0.062,3343,3168,39,39,4094,0,0,0,0,0,0,26.03,25.63,26.04,9.91,34.44
$GC,1861,2.56,1780.2,3343,3168,39,4095,81.7,21.5,172,1879,0.00,3.25,0.00,0.000,1030,0.000,0.031,3343,1908,37,37,4094,0,0,0,0,0,0,25.81,25.79,25.85,9.92,34.52
$GC,1929,2.56,1780.2,3343,1909,34,4094,65.7,23.6,178,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1908,32,32,4094,0,0,0,0,0,0,26.17,26.18,26.18,9.91,34.36
$GC,1994,2.56,1780.2,3343,1909,30,4094,51.4,21.8,184,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1908,28,28,4094,0,0,0,0,0,0,26.25,26.26,26.26,9.91,34.64
$GC,2058,2.56,1780.2,3343,1909,25,4094,37.3,21.6,190,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1908,23,23,4094,0,0,0,0,0,0,26.31,26.33,26.32,9.91,34.48
$GC,2125,2.56,1780.2,3343,1909,20,4094,23.3,20.2,196,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1908,18,18,4094,0,0,0,0,0,0,26.37,26.39,26.39,9.91,34.52
$GC,2191,2.56,1780.2,3343,1909,16,4094,10.1,19.3,202,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1908,15,15,4094,0,0,0,0,0,0,26.42,26.44,26.44,9.90,34.60
$STATE,2245,end climb,SURFACE_DEPTH_REACHED
$STATE,2245,begin surface coast
$FINISH,0.3,1.012009
$STATE,2256,end surface coast,CONTROL_FINISHED_OK
$STATE,2256,begin surface
$SM_CCo,2353,0.00,0.000,0,0,13,1776.44
$SM_GC,0.85,32.03,0.00,0.00,0.024,0.000,0.000,232,1908,13,-7.18,0.36,1776.44,0,0,0,0,0,0,25.70,26.48,26.03
$IRIDIUM_FIX,4748.51,-12337.82,150317,152124
$TT8_MAMPS,0.050183,0.256907
$HUMID,34.32
$INTERNAL_PRESSURE,9.77932
$TCM_TEMP,7.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,17.9,4.1
$ALTIM_BOTTOM_PING,111.4,2.3
$24V_AH,22.88,5.519
$10V_AH,9.31,6.780
$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,68.650,40.800,131.400,0.000,0.000,0.000,0.000,0.000,1.250,0.000,19.078,0.000,61.141,236.093,2028.592,80.335,33.650,642.652,0.000,1960.578,0.000,7.141,0.000
$DEVICE_MAMPS,117.810,78.795,2098.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,141.048,267.232,447.103,1095.935,1922.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322300
$DATA_FILE_SIZE,17869,208
$CAP_FILE_SIZE,46134,8
$CFSIZE,1024409600,1017774080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,160941,4742.820,-12224.931,2,1.0,26,16.3,0.0,0.0,10,5.0