version: 66.12
glider: 401
mission: 19
dive: 13
start: 3 15 117 4 46 3
data:
$ID,401
$MISSION,19
$DIVE,13
$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,16
$R_STBD_OVSHOOT,57
$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
$GPS1,150317,043612,4744.0840,-12224.8125,2,1.2,49,16.3,0.5,23.0,9,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-57.6
$GPS2,150317,044518,4744.2739,-12224.6709,13,1.3,58,16.3,0.9,21.6,7,12.9
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.133224,-0.175715
$KALMAN_X,1022.347351,-70.343063,-331.557068,-570.479797,370.671753
$KALMAN_Y,613.284973,-207.189911,-523.284241,890.548828,435.638611
$MHEAD_RNG_PITCHd_Wd,200.9,532,-19.9,-10.000,-24.39,2610
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.93,-171.1,242,1902,1729,4094,0.0,0.0,0,31,0.00,0.00,-3.85,0.000,16390,0.000,0.000,242,1900,2286,2286,4094,0,0,0,0,0,0,26.38,25.47,26.38,10.24,36.41
$GC,32,-1.93,-171.1,242,1900,2287,4095,2.1,0.0,1,65,20.85,3.60,0.00,0.000,2564,0.126,0.070,1899,597,2288,2288,4095,0,0,0,0,0,0,25.61,25.62,25.70,10.36,36.76
$GC,97,-1.93,-171.1,1899,596,2290,4095,19.3,-25.6,6,112,0.00,3.22,0.00,0.000,1030,0.000,0.034,1899,1861,2290,2290,4094,0,0,0,0,0,0,25.90,25.86,25.91,10.37,36.21
$GC,162,-1.93,-171.1,1900,1864,2293,4095,31.7,-17.3,12,177,0.00,3.67,0.00,0.000,260,0.000,0.069,1899,3193,2292,2292,4094,0,0,0,0,0,0,26.27,25.79,26.29,10.37,35.94
$GC,218,-1.93,-171.1,1899,3193,2294,4095,40.3,-15.4,17,233,0.00,3.30,0.00,0.000,1030,0.000,0.033,1899,1915,2294,2294,4094,0,0,0,0,0,0,26.04,26.00,26.07,10.36,35.90
$GC,283,-1.93,-171.1,1900,1914,2296,4095,49.9,-14.9,23,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1915,2297,2297,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.37,35.58
$GC,351,-1.93,-171.1,1900,1914,2298,4095,60.5,-15.9,29,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1915,2299,2299,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.37,35.58
$GC,420,-1.93,-171.1,1899,1915,2302,4094,71.3,-15.5,35,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1915,2301,2301,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.37,36.13
$GC,487,-1.93,-171.1,1899,1916,2304,4094,81.9,-15.5,41,505,0.00,3.58,0.00,0.000,516,0.000,0.074,1899,598,2304,2304,4094,0,0,0,0,0,0,26.54,26.07,26.55,10.37,35.94
$GC,538,-1.93,-171.1,1900,598,2306,4095,91.2,-18.5,45,552,0.00,3.30,0.00,0.000,1030,0.000,0.035,1899,1909,2306,2306,4094,0,0,0,0,0,0,26.27,26.23,26.30,10.37,35.27
$GC,606,-1.93,-171.1,1899,1911,2309,4094,103.2,-16.6,51,619,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1910,2308,2308,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.38,35.62
$GC,669,-1.93,-171.1,1899,1911,2310,4094,113.2,-15.7,57,686,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1910,2310,2310,4094,0,0,0,0,0,0,26.62,26.64,26.63,10.37,36.02
$GC,738,-1.93,-171.1,1900,1910,2313,4095,123.3,-14.7,63,751,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1910,2312,2312,4094,0,0,0,0,0,0,26.65,26.67,26.66,10.38,35.31
$GC,802,-1.93,-171.1,1899,1911,2315,4095,132.5,-14.2,69,815,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1910,2315,2315,4094,0,0,0,0,0,0,26.67,26.69,26.68,10.38,35.54
$GC,866,-1.93,-171.1,1900,1911,2317,4094,142.5,-16.1,75,883,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1910,2317,2317,4094,0,0,0,0,0,0,26.70,26.71,26.70,10.38,35.39
$STATE,913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,913,begin apogee
$GC,916,-0.42,0.0,1900,1910,2319,4095,150.3,-15.8,79,945,5.47,0.00,13.70,1.952,10244,0.080,0.000,2385,1911,2082,2082,4094,0,0,0,0,0,0,26.27,24.94,23.74,10.38,35.66
$STATE,946,end apogee,CONTROL_FINISHED_OK
$STATE,946,begin climb
$GC,947,1.93,171.1,2385,1912,2083,4094,153.6,0.0,81,980,7.88,0.00,11.82,1.894,11270,0.037,0.000,3132,1912,1882,1882,4094,0,0,0,0,0,0,25.90,26.07,23.36,10.33,35.46
$GC,1030,1.93,171.1,3131,1913,1882,4094,147.5,10.2,88,1044,0.00,3.53,0.00,0.000,260,0.000,0.061,3131,3195,1881,1881,4095,0,0,0,0,0,0,25.99,25.59,26.01,10.29,35.07
$GC,1066,1.93,171.1,3131,3196,1881,4094,143.6,10.6,91,1084,0.00,3.38,0.00,0.000,1030,0.000,0.034,3131,1907,1880,1880,4094,0,0,0,0,0,0,25.80,25.75,25.84,10.29,35.82
$GC,1134,1.97,197.8,3131,1908,1880,4095,137.1,9.0,97,1150,0.00,3.67,3.40,0.866,8708,0.000,0.080,3131,592,1850,1850,4094,0,0,0,0,0,0,26.21,25.09,23.94,10.29,35.90
$GC,1229,1.97,197.8,3131,594,1850,4094,127.2,11.2,106,1247,0.00,3.28,0.00,0.000,1030,0.000,0.033,3131,1900,1848,1848,4094,0,0,0,0,0,0,26.03,26.01,26.08,10.27,35.31
$GC,1298,1.97,197.8,3131,1901,1847,4094,119.8,10.6,112,1316,0.00,3.62,0.00,0.000,516,0.000,0.080,3131,598,1846,1846,4094,0,0,0,0,0,0,26.36,25.85,26.37,10.28,36.02
$GC,1349,1.97,197.8,3131,599,1847,4094,114.3,10.8,116,1364,0.00,3.17,0.00,0.000,1030,0.000,0.033,3131,1872,1845,1845,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.28,35.50
$GC,1414,1.98,201.8,3131,1873,1845,4094,107.6,9.8,122,1429,0.08,0.00,0.00,0.000,2054,0.096,0.000,3146,1872,1844,1844,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.27,35.54
$GC,1479,1.98,201.8,3146,1873,1843,4094,101.2,10.3,128,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1872,1842,1842,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.27,35.46
$GC,1543,1.98,201.8,3146,1872,1842,4095,94.4,10.7,134,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1872,1841,1841,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.27,36.13
$GC,1607,1.98,201.8,3146,1873,1840,4094,87.0,11.6,140,1622,0.00,3.53,0.00,0.000,516,0.000,0.079,3146,594,1838,1838,4094,0,0,0,0,0,0,26.57,26.03,26.58,10.27,35.39
$GC,1663,1.98,201.8,3146,595,1838,4094,79.6,13.4,145,1678,0.00,3.20,0.00,0.000,1030,0.000,0.033,3146,1889,1837,1837,4094,0,0,0,0,0,0,26.33,26.30,26.35,10.27,35.66
$GC,1728,1.98,201.8,3147,1889,1837,4095,71.7,11.3,151,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1889,1835,1835,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.27,35.58
$GC,1792,1.98,201.8,3146,1890,1835,4094,64.9,10.5,157,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1890,1833,1833,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.27,35.58
$GC,1856,2.02,226.7,3146,1890,1834,4095,58.9,9.0,163,1871,0.00,0.00,2.70,0.346,8198,0.000,0.000,3146,1890,1816,1816,4094,0,0,0,0,0,0,26.66,25.58,24.77,10.27,35.62
$GC,1921,2.05,242.1,3146,1891,1815,4094,53.0,9.4,169,1936,0.12,0.00,2.72,0.338,10246,0.070,0.000,3166,1890,1797,1797,4094,0,0,0,0,0,0,26.43,25.62,24.85,10.26,35.94
$GC,1987,2.05,242.1,3166,1890,1796,4094,45.1,12.6,175,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1890,1794,1794,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.25,35.43
$GC,2051,2.05,242.1,3166,1890,1795,4094,36.8,11.5,181,2065,0.00,3.47,0.00,0.000,260,0.000,0.063,3166,3181,1793,1793,4094,0,0,0,0,0,0,26.69,26.20,26.70,10.25,36.21
$GC,2154,2.05,242.1,3166,3181,1790,4095,21.7,13.9,191,2169,0.00,3.28,0.00,0.000,1030,0.000,0.033,3166,1896,1789,1789,4094,0,0,0,0,0,0,26.40,26.34,26.43,10.25,35.70
$GC,2220,2.05,242.1,3166,1896,1788,4095,14.2,11.1,197,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1896,1787,1787,4094,0,0,0,0,0,0,26.73,26.75,26.75,10.25,35.94
$GC,2284,2.05,242.1,3166,1897,1786,4094,6.1,13.3,203,2299,0.00,3.55,0.00,0.000,516,0.000,0.082,3166,598,1785,1785,4094,0,0,0,0,0,0,26.75,26.20,26.77,10.25,35.62
$STATE,2330,end climb,SURFACE_DEPTH_REACHED
$STATE,2330,begin surface coast
$FINISH,0.3,1.001377
$STATE,2360,end surface coast,CONTROL_FINISHED_OK
$STATE,2360,begin surface
$SM_CCo,2399,4.12,0.367,0,0,1729,301.37
$SM_GC,3.22,30.05,3.25,4.12,0.028,0.034,0.367,242,1904,1729,-7.14,-1.78,301.37,0,0,0,0,0,0,26.40,26.51,25.40
$IRIDIUM_FIX,4748.51,-12337.82,150317,043706
$TT8_MAMPS,0.051681,0.24717
$HUMID,36.10
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,7.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,18.6,4.5
$ALTIM_BOTTOM_PING,101.2,2.3
$24V_AH,23.36,4.990
$10V_AH,9.37,5.783
$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,64.450,61.675,34.350,4.125,0.000,47.290,64.662,211.882,1.750,0.000,59.526,0.000,59.498,297.147,2486.562,113.466,33.684,774.647,0.000,1988.847,0.000,7.140,0.000
$DEVICE_MAMPS,126.225,133.110,1951.515,367.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,141.500,269.489,451.397,1113.348,1949.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322244
$DATA_FILE_SIZE,17886,210
$CAP_FILE_SIZE,55128,11
$CFSIZE,1024409600,1018478592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,052724,4744.231,-12224.836,18,0.9,59,16.3,0.7,16.4,9,4.8