version: 66.12
glider: 401
mission: 19
dive: 4
start: 3 14 117 21 39 16
data:
$ID,401
$MISSION,19
$DIVE,4
$N_DIVES,20
$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,250
$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,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,30
$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
$GPS1,140317,213512,4744.0405,-12224.3574,3,0.9,14,16.3,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-54.9
$GPS2,140317,213833,4744.0532,-12224.3389,5,0.9,15,16.3,0.0,0.0,9,4.8
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.083692,-0.246329
$KALMAN_X,282.262421,200.108704,179.076721,-199.661163,159.564423
$KALMAN_Y,481.933014,370.114227,343.094025,-823.626343,277.383392
$MHEAD_RNG_PITCHd_Wd,182.5,2933,-16.1,-10.000,-21.03,3723
$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,-1.73,-244.4,243,2038,1732,4095,0.0,0.0,0,32,0.00,0.00,-4.65,0.000,16390,0.000,0.000,242,2038,2371,2371,4094,0,0,0,0,0,0,26.75,25.77,26.76,10.27,39.72
$GC,33,-1.73,-244.4,243,2039,2372,4095,1.7,0.0,1,65,21.38,0.00,0.00,0.000,2054,0.126,0.000,1965,2033,2374,2374,4095,0,0,0,0,0,0,25.93,26.06,26.01,10.40,39.72
$GC,115,-1.73,-244.4,1964,2034,2377,4094,22.3,-16.5,8,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2033,2376,2376,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.41,38.62
$GC,179,-1.73,-244.4,1965,2034,2378,4094,32.3,-15.7,14,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2034,2378,2378,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.41,38.42
$GC,243,-1.73,-244.4,1965,2033,2381,4095,42.0,-15.3,20,257,0.00,3.50,0.00,0.000,516,0.000,0.072,1965,748,2380,2380,4094,0,0,0,0,0,0,26.63,26.01,26.64,10.41,38.62
$GC,298,-1.73,-244.4,1965,748,2382,4094,51.1,-17.1,25,312,0.00,3.28,0.00,0.000,1030,0.000,0.037,1965,2042,2382,2382,4094,0,0,0,0,0,0,26.29,26.25,26.32,10.41,38.10
$GC,364,-1.73,-244.4,1966,2042,2384,4095,61.6,-14.9,31,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2042,2384,2384,4094,0,0,0,0,0,0,26.69,26.71,26.70,10.41,38.85
$GC,430,-1.73,-244.4,1965,2043,2386,4094,70.9,-14.0,37,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2042,2386,2386,4094,0,0,0,0,0,0,26.72,26.74,26.74,10.41,37.83
$GC,494,-1.73,-244.4,1965,2042,2388,4095,79.5,-13.6,43,508,0.00,3.50,0.00,0.000,516,0.000,0.071,1965,755,2388,2388,4094,0,0,0,0,0,0,26.75,26.08,26.77,10.41,37.75
$GC,549,-1.73,-244.4,1965,756,2390,4094,88.0,-15.6,48,563,0.00,3.25,0.00,0.000,1030,0.000,0.037,1965,2044,2389,2389,4094,0,0,0,0,0,0,26.37,26.31,26.41,10.42,37.99
$GC,615,-1.73,-244.4,1965,2043,2391,4095,97.8,-14.7,54,633,0.00,3.60,0.00,0.000,260,0.000,0.078,1965,3347,2391,2391,4094,0,0,0,0,0,0,26.79,26.07,26.80,10.41,37.83
$GC,647,-1.73,-244.4,1965,3347,2392,4095,102.3,-14.9,56,662,0.00,3.28,0.00,0.000,1030,0.000,0.036,1965,2061,2392,2392,4094,0,0,0,0,0,0,26.44,26.36,26.44,10.41,37.47
$GC,717,-1.73,-244.4,1965,2062,2395,4094,112.5,-14.3,62,732,0.00,3.55,0.00,0.000,516,0.000,0.073,1965,744,2395,2395,4094,0,0,0,0,0,0,26.82,26.09,26.82,10.42,38.22
$GC,774,-1.73,-244.4,1965,744,2397,4095,121.7,-16.3,67,788,0.00,3.25,0.00,0.000,1030,0.000,0.038,1965,2034,2396,2396,4094,0,0,0,0,0,0,26.44,26.36,26.45,10.42,37.47
$GC,839,-1.73,-244.4,1965,2034,2399,4095,131.4,-14.2,73,853,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2034,2398,2398,4094,0,0,0,0,0,0,26.84,26.86,26.85,10.42,37.12
$GC,904,-1.73,-244.4,1965,2035,2401,4094,140.7,-14.5,79,921,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2034,2401,2401,4094,0,0,0,0,0,0,26.85,26.87,26.86,10.42,37.36
$STATE,971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,971,begin apogee
$GC,975,-0.42,0.0,1966,2122,2404,4094,150.5,-14.4,85,1003,4.65,0.00,17.90,1.979,10244,0.074,0.000,2385,2122,2081,2081,4094,0,0,0,0,0,0,26.32,25.13,23.34,10.42,37.12
$STATE,1003,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1004,1.73,244.4,2385,2122,2082,4094,153.5,0.0,87,1037,7.30,0.00,15.95,1.926,11270,0.042,0.000,3068,2122,1802,1802,4094,0,0,0,0,0,0,25.84,25.99,22.97,10.37,37.67
$GC,1088,1.75,255.5,3068,2123,1802,4094,147.7,9.7,94,1102,0.00,0.00,2.92,0.676,8198,0.000,0.000,3068,2121,1782,1782,4094,0,0,0,0,0,0,26.03,24.70,23.48,10.31,37.39
$GC,1153,1.75,255.5,3068,2123,1782,4093,141.0,10.5,100,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2121,1781,1781,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.30,37.28
$GC,1217,1.75,255.5,3069,2121,1780,4095,134.0,10.9,106,1231,0.00,3.67,0.00,0.000,516,0.000,0.072,3068,794,1779,1779,4094,0,0,0,0,0,0,26.34,25.79,26.34,10.30,36.84
$GC,1291,1.75,255.5,3068,794,1778,4095,124.9,12.4,113,1306,0.00,3.22,0.00,0.000,1030,0.000,0.034,3068,2069,1777,1777,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.30,37.28
$GC,1356,1.75,255.5,3068,2069,1777,4095,117.7,10.8,119,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2069,1776,1776,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.29,37.12
$GC,1420,1.75,255.5,3068,2071,1775,4094,110.5,11.3,125,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2069,1774,1774,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.29,37.63
$GC,1484,1.75,255.5,3068,2070,1774,4094,103.4,11.0,131,1499,0.00,3.50,0.00,0.000,516,0.000,0.072,3068,793,1772,1772,4094,0,0,0,0,0,0,26.60,25.98,26.62,10.29,36.88
$GC,1559,1.75,255.5,3068,794,1772,4094,95.2,11.0,138,1573,0.00,3.28,0.00,0.000,1030,0.000,0.034,3068,2093,1770,1770,4094,0,0,0,0,0,0,26.29,26.25,26.32,10.29,36.96
$GC,1624,1.75,255.5,3068,2094,1770,4094,88.5,10.4,144,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2093,1769,1769,4094,0,0,0,0,0,0,26.67,26.70,26.69,10.29,36.73
$GC,1688,1.75,255.5,3068,2094,1769,4094,81.8,10.2,150,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2093,1767,1767,4094,0,0,0,0,0,0,26.71,26.72,26.72,10.29,36.65
$GC,1752,1.75,255.5,3068,2093,1767,4095,75.0,10.6,156,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2093,1766,1766,4094,0,0,0,0,0,0,26.73,26.75,26.74,10.28,36.92
$GC,1816,1.75,255.5,3068,2094,1766,4094,68.0,11.0,162,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2093,1764,1764,4094,0,0,0,0,0,0,26.76,26.77,26.77,10.28,36.69
$GC,1880,1.75,255.5,3069,2093,1763,4095,60.9,10.8,168,1894,0.00,3.55,0.00,0.000,516,0.000,0.073,3068,793,1763,1763,4094,0,0,0,0,0,0,26.78,26.11,26.79,10.28,37.36
$GC,1944,1.75,255.5,3068,794,1762,4094,53.5,11.6,174,1959,0.00,3.28,0.00,0.000,1030,0.000,0.034,3068,2102,1761,1761,4094,0,0,0,0,0,0,26.42,26.38,26.44,10.29,37.00
$GC,2009,1.75,255.5,3068,2103,1760,4094,46.6,10.4,180,2024,0.00,3.53,0.00,0.000,260,0.000,0.074,3068,3389,1759,1759,4094,0,0,0,0,0,0,26.81,26.12,26.82,10.28,37.04
$GC,2045,1.75,255.5,3068,3390,1759,4094,42.7,10.7,183,2060,0.00,3.22,0.00,0.000,1030,0.000,0.034,3068,2118,1758,1758,4094,0,0,0,0,0,0,26.43,26.39,26.46,10.28,36.88
$GC,2110,1.77,269.7,3068,2118,1758,4094,36.2,9.6,189,2125,0.00,3.58,0.00,0.000,516,0.000,0.075,3068,798,1756,1756,4094,0,0,0,0,0,0,26.83,26.15,26.84,10.28,36.69
$GC,2272,1.77,269.7,3068,799,1753,4094,17.9,11.1,205,2287,0.00,3.20,0.00,0.000,1030,0.000,0.034,3068,2082,1751,1751,4094,0,0,0,0,0,0,26.48,26.44,26.51,10.28,36.84
$GC,2337,1.91,355.1,3068,2083,1752,4095,12.4,7.7,211,2353,0.47,3.55,5.55,0.509,10500,0.040,0.070,3121,3404,1666,1666,4094,0,0,0,0,0,0,26.53,25.90,25.35,10.27,36.92
$STATE,2422,end climb,SURFACE_DEPTH_REACHED
$STATE,2422,begin surface coast
$FINISH,0.2,1.011266
$STATE,2443,end surface coast,CONTROL_FINISHED_OK
$STATE,2444,begin surface
$SM_CCo,2542,0.00,0.000,0,0,1663,359.75
$SM_GC,1.65,29.58,3.47,0.00,0.029,0.035,0.000,242,2046,1663,-7.14,1.05,359.75,0,0,0,0,0,0,26.48,26.43,26.53
$IRIDIUM_FIX,4748.51,-12337.82,140317,213104
$TT8_MAMPS,0.05243,0.253911
$HUMID,37.32
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,7.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,4.1
$ALTIM_BOTTOM_PING,102.3,2.3
$24V_AH,22.97,4.699
$10V_AH,9.50,5.124
$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,63.375,68.400,42.325,0.000,0.000,0.000,0.000,0.000,1.250,0.000,16.970,0.000,61.289,273.578,2154.676,101.576,32.669,749.074,0.000,2084.286,0.000,7.140,0.000
$DEVICE_MAMPS,126.225,81.090,1979.055,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,149.180,283.692,475.030,1166.470,2044.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322268
$DATA_FILE_SIZE,21333,221
$CAP_FILE_SIZE,72327,5
$CFSIZE,1024409600,1018937344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140317,222209,4743.511,-12224.537,3,0.8,15,16.3,0.0,0.0,10,5.0