version: 66.12
glider: 401
mission: 19
dive: 14
start: 3 15 117 5 32 35
data:
$ID,401
$MISSION,19
$DIVE,14
$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,18
$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
$GPS1,150317,052724,4744.2314,-12224.8359,18,0.9,59,16.3,0.7,16.4,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-56.3
$GPS2,150317,053150,4744.3164,-12224.7930,3,0.9,13,16.3,1.3,37.1,9,4.9
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.129283,-0.178633
$KALMAN_X,1098.630127,-37.974319,-189.049042,-969.557800,390.525543
$KALMAN_Y,1136.181396,-251.253326,-390.518585,362.530609,686.036804
$MHEAD_RNG_PITCHd_Wd,199.6,586,-19.9,-10.000,-24.39,2610
$D_GRID,177
$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,-171.1,243,1910,1730,4094,0.0,0.0,0,31,0.00,0.00,-3.90,0.000,16390,0.000,0.000,243,1909,2289,2289,4094,0,0,0,0,0,0,26.44,24.67,26.43,10.23,35.90
$GC,33,-1.93,-171.1,243,1909,2290,4095,2.1,0.0,1,65,20.98,0.00,0.00,0.000,2054,0.126,0.000,1901,1908,2291,2291,4094,0,0,0,0,0,0,25.65,25.79,25.74,10.36,36.29
$GC,115,-1.93,-171.1,1901,1908,2294,4095,20.8,-16.7,8,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1908,2294,2294,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.37,36.06
$GC,180,-1.93,-171.1,1901,1908,2295,4095,30.9,-15.5,14,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1908,2296,2296,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.36,35.62
$GC,245,-1.93,-171.1,1901,1908,2297,4095,40.7,-15.0,20,259,0.00,3.50,0.00,0.000,260,0.000,0.067,1901,3182,2298,2298,4094,0,0,0,0,0,0,26.39,25.90,26.40,10.36,35.74
$GC,291,-1.93,-171.1,1901,3182,2300,4095,48.2,-16.0,24,306,0.00,3.30,0.00,0.000,1030,0.000,0.032,1901,1899,2299,2299,4094,0,0,0,0,0,0,26.13,26.08,26.16,10.37,35.50
$GC,356,-1.93,-171.1,1901,1898,2302,4095,59.2,-17.1,30,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1898,2302,2302,4094,0,0,0,0,0,0,26.48,26.48,26.48,10.37,35.90
$GC,422,-1.93,-171.1,1901,1899,2305,4094,70.2,-17.1,36,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1898,2305,2305,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.37,35.35
$GC,490,-1.93,-171.1,1901,1898,2308,4095,82.4,-18.2,42,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1898,2307,2307,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.37,35.90
$GC,554,-1.93,-171.1,1900,1900,2311,4094,93.5,-17.1,48,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1899,2309,2309,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.37,35.54
$GC,624,-1.93,-171.1,1901,1898,2313,4095,105.2,-16.2,54,638,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1899,2312,2312,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.37,35.66
$GC,689,-1.93,-171.1,1901,1898,2315,4095,116.3,-17.4,60,703,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1898,2314,2314,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.38,35.62
$GC,753,-1.93,-171.1,1900,1900,2317,4094,127.9,-18.1,66,767,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1898,2317,2317,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.38,35.39
$GC,817,-1.93,-171.1,1901,1898,2320,4095,140.0,-19.1,72,831,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1898,2320,2320,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.37,35.78
$STATE,871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,871,begin apogee
$GC,874,-0.42,0.0,1901,1899,2322,4094,150.1,-18.3,77,903,5.45,0.00,13.90,1.941,10244,0.080,0.000,2385,1898,2080,2080,4094,0,0,0,0,0,0,26.27,24.93,23.75,10.38,35.31
$STATE,904,end apogee,CONTROL_FINISHED_OK
$STATE,904,begin climb
$GC,904,1.93,171.1,2386,1897,2081,4095,153.6,0.0,79,934,7.82,3.55,11.98,1.890,10500,0.040,0.064,3133,3183,1881,1881,4094,0,0,0,0,0,0,25.79,25.72,23.38,10.33,36.02
$GC,984,2.03,233.1,3134,3182,1881,4095,150.3,7.6,86,1000,0.22,3.35,5.55,1.418,11270,0.041,0.032,3160,1903,1810,1810,4094,0,0,0,0,0,0,25.71,25.65,23.56,10.28,34.99
$GC,1051,2.04,238.8,3161,1903,1809,4095,144.3,9.8,92,1066,0.00,3.70,0.38,0.003,8708,0.000,0.080,3161,588,1808,1808,4094,0,0,0,0,0,0,26.02,25.55,26.01,10.27,35.86
$GC,1107,2.04,238.8,3161,588,1807,4095,138.1,11.1,97,1122,0.00,3.22,0.22,0.004,9222,0.000,0.033,3160,1867,1807,1807,4094,0,0,0,0,0,0,25.89,25.87,25.91,10.26,35.27
$GC,1172,2.07,256.3,3160,1868,1807,4094,131.7,9.3,103,1187,0.00,0.00,3.10,0.730,8198,0.000,0.000,3160,1867,1782,1782,4094,0,0,0,0,0,0,26.24,25.10,24.01,10.27,35.46
$GC,1237,2.07,256.3,3161,1868,1781,4094,125.2,10.4,109,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1867,1781,1781,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.27,35.94
$GC,1302,2.07,256.3,3161,1867,1779,4095,117.9,11.5,115,1320,0.00,3.60,0.00,0.000,260,0.000,0.062,3161,3191,1778,1778,4094,0,0,0,0,0,0,26.35,25.89,26.36,10.26,35.39
$GC,1360,2.07,256.3,3161,3193,1779,4094,109.9,14.1,120,1375,0.00,3.38,0.00,0.000,1030,0.000,0.034,3161,1882,1777,1777,4094,0,0,0,0,0,0,26.09,26.04,26.12,10.26,36.13
$GC,1425,2.07,256.3,3161,1883,1776,4094,101.4,12.6,126,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1882,1775,1775,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.26,35.39
$GC,1489,2.07,256.3,3161,1883,1774,4094,92.9,13.3,132,1504,0.00,3.55,0.00,0.000,516,0.000,0.080,3161,594,1773,1773,4094,0,0,0,0,0,0,26.49,25.96,26.51,10.26,36.21
$GC,1546,2.07,256.3,3161,595,1772,4094,84.9,14.7,137,1564,0.00,3.20,0.00,0.000,1030,0.000,0.032,3161,1879,1771,1771,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.26,35.31
$GC,1614,2.07,256.3,3161,1881,1770,4095,75.8,12.7,143,1629,0.00,3.55,0.00,0.000,260,0.000,0.063,3161,3194,1769,1769,4094,0,0,0,0,0,0,26.55,26.07,26.57,10.26,35.46
$GC,1650,2.07,256.3,3161,3194,1769,4095,72.0,10.4,146,1668,0.00,3.33,0.00,0.000,1030,0.000,0.034,3161,1897,1767,1767,4094,0,0,0,0,0,0,26.25,26.20,26.29,10.25,35.27
$GC,1719,2.07,256.3,3160,1898,1767,4094,63.5,12.3,152,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1897,1765,1765,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.25,35.54
$GC,1783,2.07,256.3,3161,1897,1765,4095,55.9,11.8,158,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1897,1763,1763,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.25,35.82
$GC,1851,2.07,256.3,3161,1897,1763,4095,47.7,12.0,164,1865,0.00,3.55,0.00,0.000,516,0.000,0.080,3161,599,1761,1761,4094,0,0,0,0,0,0,26.65,26.11,26.67,10.25,35.70
$GC,1896,2.07,256.3,3161,599,1761,4095,41.3,14.0,168,1911,0.00,3.22,0.00,0.000,1030,0.000,0.033,3161,1898,1760,1760,4094,0,0,0,0,0,0,26.39,26.36,26.42,10.25,35.35
$GC,1962,2.07,256.3,3161,1900,1759,4094,32.0,14.0,174,1976,0.00,3.47,0.00,0.000,260,0.000,0.065,3161,3188,1757,1757,4094,0,0,0,0,0,0,26.68,26.17,26.70,10.26,35.39
$GC,2047,2.07,256.3,3161,3187,1755,4095,19.9,14.6,182,2061,0.00,3.22,0.00,0.000,1030,0.000,0.032,3160,1920,1754,1754,4094,0,0,0,0,0,0,26.39,26.34,26.43,10.25,35.86
$GC,2112,2.07,256.3,3161,1921,1754,4094,10.7,13.8,188,2126,0.00,3.62,0.00,0.000,516,0.000,0.080,3161,592,1752,1752,4094,0,0,0,0,0,0,26.72,26.16,26.73,10.24,35.46
$STATE,2185,end climb,SURFACE_DEPTH_REACHED
$STATE,2185,begin surface coast
$FINISH,0.4,1.020963
$STATE,2205,end surface coast,CONTROL_FINISHED_OK
$STATE,2205,begin surface
$SM_CCo,2244,2.75,0.204,0,0,1729,300.51
$SM_GC,2.86,29.98,3.30,2.75,0.028,0.036,0.204,243,1920,1729,-7.14,-1.28,300.51,0,0,0,0,0,0,26.41,26.47,25.36
$IRIDIUM_FIX,4748.51,-12337.82,150317,044030
$TT8_MAMPS,0.05243,0.261401
$HUMID,35.27
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,7.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,4.5
$ALTIM_BOTTOM_PING,101.6,2.3
$24V_AH,23.38,5.020
$10V_AH,9.34,5.852
$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,64.450,61.625,35.125,2.750,0.000,24.673,23.142,152.694,0.750,0.000,14.914,0.000,0.000,275.562,2136.360,107.597,33.659,723.712,0.000,1861.865,0.000,7.141,0.000
$DEVICE_MAMPS,126.225,80.325,1940.805,204.255,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,132.740,252.780,423.433,1038.886,1824.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322232
$DATA_FILE_SIZE,17703,197
$CAP_FILE_SIZE,50260,7
$CFSIZE,1024409600,1018429440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,061115,4744.286,-12224.986,9,1.0,54,16.3,1.1,19.6,8,4.0