version: 66.12
glider: 401
mission: 19
dive: 11
start: 3 15 117 3 8 27
data:
$ID,401
$MISSION,19
$DIVE,11
$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,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,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,2000
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,48
$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
$GPS1,150317,030107,4743.3965,-12224.5938,28,1.3,74,16.3,0.5,49.1,8,7.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-55.3
$GPS2,150317,030743,4743.4600,-12224.5049,3,0.8,18,16.3,0.5,40.4,10,4.9
$SPEED_LIMITS,0.100,0.235
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.082558,0.219836
$KALMAN_X,225.888504,58.439133,-291.114258,260.765106,34.136642
$KALMAN_Y,-415.713654,29.119595,-458.651245,115.087090,-67.796555
$MHEAD_RNG_PITCHd_Wd,323.1,1066,-18.4,-10.000,-23.07,2982
$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,-1.85,-195.5,242,1927,1730,4094,0.0,0.0,0,32,0.00,0.03,-4.20,0.000,16390,0.000,1.296,241,1896,2317,2317,4094,0,0,0,0,0,0,26.44,24.60,26.44,10.24,36.49
$GC,34,-1.85,-195.5,242,1897,2318,4094,1.9,0.0,1,63,21.27,3.53,0.00,0.000,2564,0.125,0.068,1927,602,2320,2320,4094,0,0,0,0,0,0,25.67,25.67,25.75,10.37,36.80
$GC,258,-1.85,-195.5,1927,603,2328,4094,48.1,-18.7,23,273,0.00,3.22,0.00,0.000,1030,0.000,0.034,1927,1878,2328,2328,4094,0,0,0,0,0,0,26.14,26.12,26.17,10.37,36.10
$GC,324,-1.85,-195.5,1927,1880,2330,4094,59.3,-16.8,29,339,0.00,3.62,0.00,0.000,260,0.000,0.070,1928,3198,2329,2329,4094,0,0,0,0,0,0,26.48,25.96,26.48,10.38,36.73
$GC,390,-1.85,-195.5,1928,3200,2332,4094,70.3,-16.6,35,405,0.00,3.22,0.00,0.000,1030,0.000,0.033,1928,1938,2332,2332,4094,0,0,0,0,0,0,26.21,26.16,26.25,10.38,36.06
$GC,455,-1.85,-195.5,1928,1937,2334,4095,79.6,-13.5,41,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1938,2334,2334,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.38,36.06
$GC,523,-1.85,-195.5,1927,1939,2337,4094,89.1,-13.9,47,536,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1938,2336,2336,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.38,36.10
$GC,587,-1.85,-195.5,1928,1938,2338,4095,99.1,-16.0,53,606,0.00,3.65,0.00,0.000,516,0.000,0.075,1928,592,2338,2338,4094,0,0,0,0,0,0,26.62,26.08,26.63,10.38,35.98
$GC,618,-1.85,-195.5,1928,593,2340,4094,104.5,-16.9,55,632,0.00,3.40,0.00,0.000,1030,0.000,0.037,1927,1940,2340,2340,4094,0,0,0,0,0,0,26.32,26.27,26.35,10.38,35.94
$GC,683,-1.85,-195.5,1928,1941,2342,4095,114.4,-13.7,61,700,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1941,2341,2341,4094,0,0,0,0,0,0,26.65,26.67,26.66,10.38,35.46
$GC,750,-1.85,-195.5,1927,1941,2344,4095,124.2,-15.1,67,768,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1941,2344,2344,4094,0,0,0,0,0,0,26.67,26.69,26.69,10.38,36.29
$GC,818,-1.85,-195.5,1929,1941,2346,4095,134.5,-15.0,73,835,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1941,2346,2346,4094,0,0,0,0,0,0,26.70,26.72,26.71,10.38,35.58
$GC,886,-1.85,-195.5,1928,1941,2348,4095,144.7,-15.1,79,900,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1941,2348,2348,4094,0,0,0,0,0,0,26.72,26.74,26.73,10.38,35.46
$STATE,920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,920,begin apogee
$GC,924,-0.42,0.0,1928,2038,2350,4094,150.2,-15.5,82,953,5.12,0.08,15.18,1.952,10244,0.077,0.051,2386,1982,2082,2082,4094,0,0,0,0,0,0,26.28,24.89,23.70,10.38,35.54
$STATE,954,end apogee,CONTROL_FINISHED_OK
$STATE,954,begin climb
$GC,955,1.85,195.5,2386,1983,2083,4094,153.3,0.0,84,984,7.62,0.00,13.50,1.905,11270,0.039,0.000,3105,1982,1853,1853,4094,0,0,0,0,0,0,25.88,26.04,23.32,10.33,35.54
$GC,1035,1.85,195.5,3105,1983,1854,4094,147.8,10.3,91,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1982,1852,1852,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.29,35.27
$GC,1099,1.85,195.5,3105,1983,1852,4094,141.0,10.3,97,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1982,1851,1851,4094,0,0,0,0,0,0,26.12,26.14,26.14,10.28,36.06
$GC,1163,1.85,195.5,3105,1983,1850,4094,134.2,10.6,103,1178,0.00,3.53,0.00,0.000,516,0.000,0.076,3106,709,1849,1849,4094,0,0,0,0,0,0,26.23,25.76,26.25,10.28,35.50
$GC,1228,1.85,195.5,3105,708,1849,4095,126.9,11.5,109,1243,0.00,3.17,0.00,0.000,1030,0.000,0.032,3106,1970,1848,1848,4094,0,0,0,0,0,0,26.07,26.02,26.07,10.28,35.82
$GC,1293,1.85,201.3,3105,1970,1847,4095,120.3,9.8,115,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1970,1846,1846,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.28,35.62
$GC,1362,1.87,213.2,3106,1971,1846,4095,113.7,9.6,121,1376,0.00,0.00,2.60,0.431,8198,0.000,0.000,3105,1971,1832,1832,4094,0,0,0,0,0,0,26.44,25.27,24.20,10.28,35.86
$GC,1428,1.87,213.9,3105,1971,1832,4095,107.2,10.0,127,1442,0.00,3.45,0.00,0.000,516,0.000,0.075,3105,711,1830,1830,4094,0,0,0,0,0,0,26.47,25.96,26.48,10.27,35.82
$GC,1473,1.87,213.9,3105,712,1831,4094,102.1,11.4,131,1491,0.00,3.20,0.00,0.000,1030,0.000,0.033,3105,1989,1829,1829,4094,0,0,0,0,0,0,26.21,26.18,26.25,10.28,36.25
$GC,1542,1.87,213.9,3105,1990,1829,4094,94.6,10.5,137,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1989,1827,1827,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.28,35.58
$GC,1606,1.87,213.9,3105,1989,1827,4095,88.1,10.0,143,1621,0.00,3.58,0.00,0.000,260,0.000,0.067,3105,3304,1826,1826,4094,0,0,0,0,0,0,26.57,26.06,26.58,10.27,35.74
$GC,1642,1.88,216.0,3105,3303,1826,4095,84.6,9.9,146,1660,0.00,3.28,0.00,0.000,1030,0.000,0.032,3105,2020,1825,1825,4094,0,0,0,0,0,0,26.27,26.23,26.32,10.27,35.70
$GC,1711,1.94,251.7,3105,2020,1825,4095,78.2,8.8,152,1730,0.20,3.62,3.65,0.678,10756,0.052,0.075,3132,692,1786,1786,4094,0,0,0,0,0,0,26.36,25.54,24.61,10.27,35.98
$GC,1762,1.94,251.7,3132,693,1787,4094,73.1,10.2,156,1776,0.00,3.28,0.00,0.000,1030,0.000,0.034,3132,1998,1785,1785,4094,0,0,0,0,0,0,26.29,26.25,26.33,10.26,35.78
$GC,1826,1.94,251.7,3132,1999,1785,4095,65.5,11.6,162,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1998,1783,1783,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.25,35.43
$GC,1890,1.94,251.7,3132,1998,1783,4095,58.5,11.2,168,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1998,1781,1781,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.26,36.25
$GC,1954,1.94,251.7,3132,1999,1782,4094,51.5,11.0,174,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1998,1780,1780,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.26,35.82
$GC,2022,1.94,251.7,3132,1998,1779,4095,44.1,11.2,180,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1998,1778,1778,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.26,35.74
$GC,2087,1.94,251.7,3132,1998,1777,4095,36.5,11.5,186,2102,0.00,3.58,0.00,0.000,516,0.000,0.075,3132,689,1776,1776,4094,0,0,0,0,0,0,26.71,26.15,26.72,10.26,35.74
$GC,2142,1.94,251.7,3132,689,1775,4095,29.9,12.2,191,2157,0.00,3.22,0.00,0.000,1030,0.000,0.033,3132,1988,1774,1774,4094,0,0,0,0,0,0,26.43,26.39,26.46,10.25,35.58
$GC,2207,1.94,251.7,3131,1989,1774,4094,22.9,10.5,197,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1989,1773,1773,4094,0,0,0,0,0,0,26.74,26.75,26.74,10.25,35.66
$GC,2273,1.94,251.7,3132,1990,1773,4094,15.5,11.1,203,2288,0.00,3.50,0.00,0.000,516,0.000,0.072,3132,696,1771,1771,4094,0,0,0,0,0,0,26.75,26.20,26.77,10.25,36.13
$STATE,2405,end climb,SURFACE_DEPTH_REACHED
$STATE,2405,begin surface coast
$FINISH,0.4,1.021130
$STATE,2455,end surface coast,CONTROL_FINISHED_OK
$STATE,2455,begin surface
$SM_CCo,2493,3.45,0.302,0,0,1729,300.51
$SM_GC,3.25,29.75,3.03,3.45,0.029,0.035,0.302,243,1905,1729,-7.14,-1.41,300.51,0,0,0,0,0,0,26.43,26.49,25.41
$IRIDIUM_FIX,4748.51,-12337.82,150317,021645
$TT8_MAMPS,0.053179,0.251664
$HUMID,36.41
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,7.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.9,4.5
$ALTIM_BOTTOM_PING,100.8,2.3
$24V_AH,23.32,4.928
$10V_AH,9.40,5.635
$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,63.975,61.325,34.925,3.450,0.000,55.316,36.172,171.669,1.250,0.000,19.989,0.000,60.274,289.451,2436.796,112.249,33.662,765.386,0.000,2087.050,0.000,7.364,0.000
$DEVICE_MAMPS,125.460,1295.910,1952.280,302.175,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,149.262,283.727,475.028,1165.427,2046.485,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322220
$DATA_FILE_SIZE,21253,221
$CAP_FILE_SIZE,53656,9
$CFSIZE,1024409600,1018576896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,035118,4743.812,-12224.585,39,1.0,56,16.3,0.0,0.0,9,4.9