version: 66.12
glider: 401
mission: 19
dive: 15
start: 3 15 117 6 17 1
data:
$ID,401
$MISSION,19
$DIVE,15
$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,45
$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
$GPS1,150317,061115,4744.2856,-12224.9863,9,1.0,54,16.3,1.1,19.6,8,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-55.5
$GPS2,150317,061617,4744.3794,-12224.9443,4,0.9,49,16.3,0.0,0.0,8,3.1
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.123923,-0.182393
$KALMAN_X,1039.341431,20.463118,8.859535,-1354.307739,312.690735
$KALMAN_Y,1443.608765,-190.710373,-102.920967,-172.881454,781.519409
$MHEAD_RNG_PITCHd_Wd,197.9,726,-19.9,-10.000,-24.39,2610
$D_GRID,185
$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,-171.1,243,1926,1729,4094,0.0,0.0,0,31,0.00,0.00,-3.90,0.000,16390,0.000,0.000,243,1925,2289,2289,4094,0,0,0,0,0,0,26.41,24.70,26.43,10.23,35.98
$GC,33,-1.93,-171.1,243,1925,2289,4095,2.0,0.0,1,67,20.98,0.00,0.00,0.000,2054,0.128,0.000,1901,1919,2290,2290,4094,0,0,0,0,0,0,25.67,25.83,25.77,10.35,36.73
$GC,118,-1.93,-171.1,1900,1919,2293,4095,22.1,-17.9,8,132,0.00,3.65,0.00,0.000,516,0.000,0.073,1901,598,2293,2293,4094,0,0,0,0,0,0,26.25,25.77,26.27,10.36,36.29
$GC,154,-1.93,-171.1,1901,598,2294,4095,29.0,-19.0,11,168,0.00,3.25,0.00,0.000,1030,0.000,0.034,1900,1879,2294,2294,4094,0,0,0,0,0,0,26.02,26.01,26.05,10.36,35.54
$GC,220,-1.93,-171.1,1901,1879,2297,4095,40.9,-17.2,17,238,0.00,3.65,0.00,0.000,260,0.000,0.072,1900,3198,2297,2297,4094,0,0,0,0,0,0,26.37,25.88,26.38,10.36,35.39
$GC,260,-1.93,-171.1,1901,3199,2299,4094,47.4,-16.4,20,275,0.00,3.30,0.00,0.000,1030,0.000,0.032,1900,1914,2298,2298,4094,0,0,0,0,0,0,26.11,26.07,26.15,10.37,36.02
$GC,326,-1.93,-171.1,1900,1915,2301,4094,58.3,-16.2,26,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1914,2300,2300,4094,0,0,0,0,0,0,26.45,26.47,26.46,10.37,35.23
$GC,390,-1.93,-171.1,1900,1915,2303,4094,68.9,-16.6,32,405,0.00,3.58,0.00,0.000,516,0.000,0.074,1901,599,2303,2303,4094,0,0,0,0,0,0,26.50,26.00,26.51,10.37,35.31
$GC,426,-1.93,-171.1,1901,599,2305,4095,75.5,-18.0,35,440,0.00,3.30,0.00,0.000,1030,0.000,0.035,1900,1909,2304,2304,4095,0,0,0,0,0,0,26.23,26.19,26.26,10.37,35.58
$GC,491,-1.93,-171.1,1900,1910,2308,4095,86.9,-16.9,41,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1909,2307,2307,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.37,35.15
$GC,555,-1.93,-171.1,1900,1909,2310,4095,98.5,-18.6,47,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1910,2309,2309,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.37,36.06
$GC,624,-1.93,-171.1,1901,1911,2312,4094,110.9,-17.4,53,638,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1910,2312,2312,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.38,35.15
$GC,688,-1.93,-171.1,1901,1910,2315,4095,122.1,-17.5,59,702,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1910,2315,2315,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.38,35.19
$GC,752,-1.93,-171.1,1901,1911,2317,4094,133.3,-17.6,65,766,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1910,2317,2317,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.37,35.50
$GC,816,-1.93,-171.1,1901,1911,2320,4095,144.7,-17.8,71,831,0.00,3.50,0.00,0.000,260,0.000,0.070,1901,3194,2320,2320,4094,0,0,0,0,0,0,26.68,26.17,26.70,10.38,35.62
$STATE,851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,851,begin apogee
$GC,858,-0.42,0.0,1901,1901,2321,4095,151.3,-18.5,74,887,5.47,0.00,13.90,1.966,10244,0.080,0.000,2386,1901,2081,2081,4094,0,0,0,0,0,0,26.26,24.92,23.70,10.37,35.46
$STATE,887,end apogee,CONTROL_FINISHED_OK
$STATE,888,begin climb
$GC,888,1.93,171.1,2387,1902,2082,4094,155.8,0.0,76,917,7.85,0.00,12.07,1.913,11270,0.038,0.000,3129,1901,1881,1881,4094,0,0,0,0,0,0,25.88,26.05,23.35,10.33,35.07
$GC,968,2.02,225.2,3129,1901,1881,4095,151.6,7.9,83,983,0.22,0.00,5.03,1.345,10246,0.052,0.000,3156,1901,1820,1820,4094,0,0,0,0,0,0,25.70,24.72,23.56,10.29,34.80
$GC,1033,2.03,233.3,3156,1900,1820,4095,145.7,9.7,89,1048,0.00,0.00,0.20,0.003,8198,0.000,0.000,3156,1901,1818,1818,4094,0,0,0,0,0,0,26.03,26.03,26.04,10.28,35.43
$GC,1098,2.03,233.3,3156,1901,1818,4095,138.7,11.0,95,1113,0.00,0.00,2.42,0.383,8198,0.000,0.000,3156,1901,1808,1808,4094,0,0,0,0,0,0,26.16,25.03,23.90,10.27,35.11
$GC,1163,2.04,240.5,3155,1902,1808,4094,132.3,9.7,101,1181,0.00,0.00,2.17,0.184,8198,0.000,0.000,3156,1900,1803,1803,4094,0,0,0,0,0,0,26.25,25.07,23.94,10.27,35.94
$GC,1232,2.04,240.5,3156,1902,1802,4094,124.9,10.8,107,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1900,1801,1801,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.26,35.27
$GC,1297,2.04,240.5,3156,1902,1800,4094,117.8,11.0,113,1311,0.00,3.53,0.00,0.000,260,0.000,0.060,3156,3200,1799,1799,4094,0,0,0,0,0,0,26.38,25.96,26.39,10.27,35.23
$GC,1333,2.04,240.5,3156,3200,1800,4094,113.6,11.4,116,1351,0.00,3.35,0.00,0.000,1030,0.000,0.033,3156,1899,1798,1798,4094,0,0,0,0,0,0,26.11,26.06,26.13,10.26,35.46
$GC,1402,2.04,240.5,3156,1899,1797,4095,105.7,11.7,122,1417,0.00,3.60,0.00,0.000,516,0.000,0.079,3156,593,1796,1796,4094,0,0,0,0,0,0,26.46,25.94,26.47,10.26,35.70
$GC,1486,2.04,240.5,3157,593,1795,4095,95.0,13.3,130,1505,0.00,3.20,0.00,0.000,1030,0.000,0.032,3156,1880,1794,1794,4094,0,0,0,0,0,0,26.24,26.22,26.27,10.26,35.39
$GC,1556,2.04,240.5,3156,1880,1793,4095,85.7,13.5,136,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1880,1791,1791,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.25,35.35
$GC,1619,2.04,240.5,3156,1881,1791,4094,77.2,13.1,142,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1880,1789,1789,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.26,35.23
$GC,1683,2.04,240.5,3156,1881,1789,4094,68.5,14.0,148,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1880,1787,1787,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.26,35.66
$GC,1747,2.04,240.5,3156,1880,1786,4095,59.8,13.1,154,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1880,1785,1785,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.25,35.27
$GC,1811,2.04,240.5,3156,1880,1784,4095,51.6,12.6,160,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1881,1783,1783,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.25,35.46
$GC,1876,2.04,240.5,3156,1882,1783,4094,43.9,11.8,166,1891,0.00,3.53,0.00,0.000,516,0.000,0.077,3156,593,1781,1781,4094,0,0,0,0,0,0,26.68,26.15,26.69,10.25,35.35
$GC,1902,2.04,240.5,3156,593,1782,4095,40.6,12.1,168,1920,0.00,3.15,0.00,0.000,1030,0.000,0.033,3156,1866,1781,1781,4094,0,0,0,0,0,0,26.41,26.38,26.44,10.25,35.19
$GC,1971,2.04,240.5,3156,1868,1780,4094,32.5,11.3,174,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1867,1779,1779,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.25,35.27
$GC,2035,2.04,240.5,3157,1867,1778,4095,25.7,10.4,180,2050,0.00,3.55,0.00,0.000,260,0.000,0.062,3156,3189,1777,1777,4094,0,0,0,0,0,0,26.72,26.22,26.73,10.25,35.39
$GC,2130,2.04,240.5,3156,3191,1775,4094,13.8,13.3,189,2144,0.00,3.33,0.00,0.000,1030,0.000,0.033,3156,1881,1774,1774,4094,0,0,0,0,0,0,26.42,26.36,26.46,10.25,36.06
$GC,2195,2.04,240.5,3156,1881,1773,4095,5.5,12.5,195,2213,0.00,3.53,0.00,0.000,516,0.000,0.081,3156,592,1772,1772,4094,0,0,0,0,0,0,26.75,26.20,26.77,10.25,36.21
$STATE,2224,end climb,SURFACE_DEPTH_REACHED
$STATE,2224,begin surface coast
$FINISH,0.3,1.010602
$STATE,2245,end surface coast,CONTROL_FINISHED_OK
$STATE,2245,begin surface
$SM_CCo,2284,3.60,0.320,0,0,1729,300.51
$SM_GC,3.57,30.02,3.30,3.60,0.029,0.037,0.320,243,1905,1729,-7.14,-1.59,300.51,0,0,0,0,0,0,26.43,26.42,25.39
$IRIDIUM_FIX,4748.51,-12337.82,150317,052820
$TT8_MAMPS,0.053179,0.243425
$HUMID,35.23
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,7.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.0,4.5
$ALTIM_BOTTOM_PING,100.6,2.3
$24V_AH,23.35,5.051
$10V_AH,9.35,5.923
$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,64.550,61.575,35.800,3.600,0.000,22.601,37.804,142.893,1.250,0.000,50.268,0.000,0.000,292.567,2193.156,109.922,33.654,762.565,0.000,1880.963,0.000,7.142,0.000
$DEVICE_MAMPS,127.755,81.090,1966.050,319.770,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,133.850,255.276,427.741,1051.082,1842.522,0.000,0.000,0.000,0.000,0.000
$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,17780,199
$CAP_FILE_SIZE,52242,7
$CFSIZE,1024409600,1018380288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,59.79,0x237c9e,0,24
$GPS,150317,065607,4744.343,-12225.146,28,0.9,40,16.3,0.5,30.0,9,5.0