version: 66.12
glider: 401
mission: 19
dive: 1
start: 3 14 117 19 22 51
data:
$ID,401
$MISSION,19
$DIVE,1
$N_DIVES,1
$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,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.7
$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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,140317,191808,4743.7964,-12224.7334,3,0.9,18,16.3,0.7,282.1,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-24.9
$GPS2,140317,192203,4743.8521,-12224.7129,5,1.0,50,16.3,0.0,0.0,8,3.3
$SPEED_LIMITS,0.100,0.235
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.010150,-0.234607
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,166.2,2507,-18.4,-10.000,-23.07,2982
$D_GRID,176
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.56,-195.5,243,2039,65,4095,0.0,0.0,0,31,0.00,0.00,-16.95,0.000,16390,0.000,0.000,242,2039,2314,2314,4094,0,0,0,0,0,0,26.88,24.70,26.89,10.02,36.69
$GC,33,-1.56,-195.5,243,2040,2316,4094,0.7,0.0,1,61,23.33,0.00,0.00,0.000,2310,0.122,0.000,2159,2033,2317,2317,4094,0,0,0,0,0,0,26.24,26.46,26.41,10.50,37.43
$GC,113,-1.56,-195.5,2159,2033,2319,4094,11.8,-7.7,8,126,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2033,2319,2319,4094,0,0,0,0,0,0,26.85,26.87,26.86,10.50,37.83
$GC,178,-1.56,-195.5,2160,2033,2320,4095,16.2,-7.0,14,192,0.00,2.28,0.00,0.000,260,0.000,0.059,2159,2894,2320,2320,4094,0,0,0,0,0,0,26.89,26.29,26.90,10.49,37.91
$GC,233,-1.56,-195.5,2159,2894,2321,4095,20.5,-7.9,19,247,0.00,1.98,0.00,0.000,1030,0.000,0.028,2159,2094,2320,2320,4094,0,0,0,0,0,0,26.55,26.52,26.57,10.49,37.43
$GC,298,-1.56,-195.5,2159,2093,2323,4094,26.0,-8.5,25,312,0.00,2.38,0.00,0.000,516,0.000,0.058,2159,1180,2322,2322,4094,0,0,0,0,0,0,26.93,26.22,26.94,10.49,37.83
$GC,334,-1.56,-195.5,2159,1180,2323,4095,29.4,-9.4,28,348,0.00,2.12,0.00,0.000,1030,0.000,0.032,2159,2051,2323,2323,4094,0,0,0,0,0,0,26.53,26.49,26.56,10.49,37.32
$GC,399,-1.56,-195.5,2159,2052,2325,4094,35.7,-9.9,34,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2051,2324,2324,4094,0,0,0,0,0,0,26.95,26.96,26.97,10.48,37.43
$GC,463,-1.56,-195.5,2160,2051,2327,4094,42.0,-9.9,40,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2051,2326,2326,4094,0,0,0,0,0,0,26.97,26.98,26.98,10.48,37.28
$GC,527,-1.56,-195.5,2159,2053,2328,4094,48.8,-10.8,46,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2052,2327,2327,4094,0,0,0,0,0,0,26.98,27.00,27.00,10.48,37.55
$GC,591,-1.56,-195.5,2159,2051,2329,4095,55.1,-10.2,52,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2051,2328,2328,4094,0,0,0,0,0,0,27.00,27.01,27.01,10.48,37.12
$GC,655,-1.56,-195.5,2160,2051,2330,4095,61.2,-9.6,58,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2051,2330,2330,4094,0,0,0,0,0,0,27.01,27.03,27.02,10.48,37.20
$GC,719,-1.56,-195.5,2160,2051,2332,4095,66.7,-8.5,64,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2051,2331,2331,4094,0,0,0,0,0,0,27.02,27.03,27.03,10.48,37.28
$GC,784,-1.56,-195.5,2159,2051,2333,4095,72.6,-9.3,70,798,0.00,2.25,0.00,0.000,516,0.000,0.057,2159,1188,2333,2333,4094,0,0,0,0,0,0,27.03,26.35,27.05,10.48,37.59
$STATE,819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,819,begin apogee
$GC,824,-0.34,0.0,2160,2104,2335,4095,75.9,-9.3,73,853,4.22,0.00,13.38,1.205,10244,0.063,0.000,2551,2102,2081,2081,4094,0,0,0,0,0,0,26.47,25.32,24.41,10.48,37.08
$STATE,854,end apogee,CONTROL_FINISHED_OK
$STATE,854,begin climb
$GC,855,1.56,195.5,2551,2103,2082,4094,77.6,0.0,75,883,6.30,0.00,12.20,1.178,11270,0.031,0.000,3166,2102,1854,1854,4094,0,0,0,0,0,0,26.36,26.57,24.20,10.43,37.08
$GC,934,1.61,224.1,3167,2102,1855,4095,72.3,9.0,82,948,0.00,0.00,3.47,0.585,8198,0.000,0.000,3166,2102,1819,1819,4094,0,0,0,0,0,0,26.53,25.29,24.44,10.38,36.84
$GC,999,1.61,224.1,3166,2103,1821,4094,65.1,11.4,88,1013,0.00,2.30,0.00,0.000,516,0.000,0.059,3166,1237,1818,1818,4094,0,0,0,0,0,0,26.60,26.08,26.61,10.38,37.12
$GC,1044,1.61,224.1,3166,1238,1819,4094,59.8,11.7,92,1059,0.00,2.08,0.00,0.000,1030,0.000,0.029,3166,2085,1818,1818,4094,0,0,0,0,0,0,26.33,26.28,26.34,10.37,36.76
$GC,1109,1.61,224.1,3166,2086,1817,4094,52.6,11.1,98,1123,0.00,2.25,0.00,0.000,516,0.000,0.059,3166,1234,1816,1816,4094,0,0,0,0,0,0,26.71,26.10,26.72,10.37,37.47
$GC,1193,1.61,224.1,3166,1235,1815,4094,42.2,12.4,106,1208,0.00,2.00,0.00,0.000,1030,0.000,0.028,3166,2059,1814,1814,4094,0,0,0,0,0,0,26.41,26.38,26.48,10.36,37.67
$GC,1258,1.61,224.1,3167,2058,1813,4095,34.5,11.9,112,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2058,1812,1812,4094,0,0,0,0,0,0,26.80,26.82,26.82,10.36,37.12
$GC,1322,1.61,224.1,3167,2058,1811,4095,26.8,11.9,118,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2058,1810,1810,4094,0,0,0,0,0,0,26.83,26.85,26.84,10.35,37.08
$GC,1387,1.61,224.1,3167,2058,1810,4095,19.4,11.2,124,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2058,1809,1809,4094,0,0,0,0,0,0,26.79,26.81,26.81,10.35,37.12
$GC,1451,1.61,224.1,3167,2058,1807,4095,12.0,11.5,130,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2058,1807,1807,4094,0,0,0,0,0,0,26.89,26.90,26.89,10.35,37.63
$GC,1515,1.61,224.1,3167,2059,1807,4095,4.0,13.9,136,1529,0.00,2.38,0.00,0.000,260,0.000,0.058,3166,2959,1806,1806,4094,0,0,0,0,0,0,26.90,26.27,26.92,10.36,37.28
$STATE,1550,end climb,SURFACE_DEPTH_REACHED
$STATE,1550,begin surface coast
$FINISH,0.2,1.003207
$STATE,1590,end surface coast,CONTROL_FINISHED_OK
$STATE,1590,begin surface
$SM_CCo,1628,4.95,0.393,0,0,1728,300.51
$SM_GC,3.03,30.27,2.30,4.95,0.032,0.031,0.393,231,2049,1728,-7.62,1.28,300.51,0,0,0,0,0,0,25.75,26.46,25.44
$IRIDIUM_FIX,4748.51,-12337.82,140317,191359
$TT8_MAMPS,0.049434,0.253162
$HUMID,37.47
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,10.30
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.4,4.1
$24V_AH,24.11,4.595
$10V_AH,9.85,4.941
$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,64.125,26.575,29.050,4.950,0.000,0.000,0.000,0.000,3.750,0.000,52.069,0.000,0.000,211.386,1428.549,87.359,29.547,542.693,0.000,1345.817,0.000,2.734,0.000
$DEVICE_MAMPS,121.635,58.905,1204.875,393.210,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.230,183.475,307.410,747.117,1316.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322460
$DATA_FILE_SIZE,10875,143
$CAP_FILE_SIZE,48515,0
$CFSIZE,1024409600,1019150336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140317,195052,4743.799,-12224.647,17,0.8,30,16.3,0.0,0.0,10,4.9