version: 66.12
glider: 401
mission: 19
dive: 20
start: 3 15 117 10 9 25
data:
$ID,401
$MISSION,19
$DIVE,20
$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,19
$R_STBD_OVSHOOT,31
$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
$GPS1,150317,100409,4743.3506,-12224.9600,13,0.9,31,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-57.6
$GPS2,150317,100841,4743.3335,-12224.9912,4,0.9,21,16.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.113975,-0.188770
$KALMAN_X,840.067322,28.291134,330.901001,-1543.961060,-202.983307
$KALMAN_Y,1011.910400,285.853882,799.625000,-3054.147949,-343.417847
$MHEAD_RNG_PITCHd_Wd,132.6,1562,-19.9,-10.000,-24.39,2610
$D_GRID,178
$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,-171.1,244,1894,1729,4095,0.0,0.0,0,31,0.00,0.00,-3.92,0.000,16390,0.000,0.000,242,1895,2289,2289,4094,0,0,0,0,0,0,26.43,24.72,26.43,10.23,35.82
$GC,33,-1.93,-171.1,243,1895,2290,4095,2.1,0.0,1,62,21.02,3.60,0.00,0.000,2308,0.128,0.067,1901,3197,2292,2292,4094,0,0,0,0,0,0,25.66,25.66,25.76,10.35,35.90
$GC,122,-1.93,-171.1,1900,3197,2295,4095,26.0,-18.9,9,136,0.00,3.35,0.00,0.000,1030,0.000,0.031,1901,1899,2295,2295,4094,0,0,0,0,0,0,25.96,25.92,25.99,10.36,36.33
$GC,187,-1.93,-171.1,1901,1898,2298,4095,36.1,-15.2,15,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1899,2297,2297,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.36,35.98
$GC,251,-1.93,-171.1,1901,1898,2300,4095,46.3,-16.0,21,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1899,2299,2299,4094,0,0,0,0,0,0,26.38,26.40,26.39,10.36,35.11
$GC,315,-1.93,-171.1,1901,1898,2302,4095,56.3,-15.4,27,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1899,2301,2301,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.36,35.19
$GC,379,-1.93,-171.1,1901,1899,2305,4095,66.8,-16.7,33,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1898,2304,2304,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.36,35.78
$GC,447,-1.93,-171.1,1901,1900,2307,4094,78.6,-17.2,39,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1899,2306,2306,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.37,35.70
$GC,511,-1.93,-171.1,1901,1898,2309,4095,88.9,-15.9,45,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1898,2309,2309,4094,0,0,0,0,0,0,26.55,26.58,26.57,10.37,35.07
$GC,579,-1.93,-171.1,1900,1899,2312,4094,99.9,-16.7,51,599,0.00,3.53,0.00,0.000,516,0.000,0.075,1901,599,2312,2312,4094,0,0,0,0,0,0,26.59,26.13,26.60,10.36,35.07
$GC,630,-1.93,-171.1,1901,599,2314,4095,109.6,-18.9,55,648,0.00,3.22,0.00,0.000,1030,0.000,0.034,1901,1886,2314,2314,4094,0,0,0,0,0,0,26.32,26.32,26.36,10.37,34.91
$GC,699,-1.93,-171.1,1901,1887,2317,4094,122.0,-17.3,61,712,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1886,2316,2316,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.38,34.91
$GC,763,-1.93,-171.1,1901,1886,2319,4095,133.0,-17.1,67,780,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1886,2318,2318,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.38,34.99
$GC,831,-1.93,-171.1,1901,1887,2321,4094,144.9,-17.2,73,849,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1887,2321,2321,4094,0,0,0,0,0,0,26.67,26.70,26.69,10.38,35.35
$STATE,869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,869,begin apogee
$GC,872,-0.42,0.0,1901,1888,2323,4094,151.4,-16.7,76,905,5.45,0.00,13.55,1.947,10244,0.080,0.000,2386,1887,2085,2085,4094,0,0,0,0,0,0,26.27,24.98,23.79,10.38,34.91
$STATE,906,end apogee,CONTROL_FINISHED_OK
$STATE,906,begin climb
$GC,907,1.93,171.1,2386,1888,2086,4094,154.9,0.0,78,936,7.88,0.00,12.35,1.909,11270,0.037,0.000,3133,1888,1879,1879,4094,0,0,0,0,0,0,25.91,26.08,23.43,10.33,34.80
$GC,986,1.98,202.6,3133,1889,1880,4094,150.1,8.8,85,1001,0.00,0.00,3.47,0.946,8198,0.000,0.000,3133,1888,1849,1849,4094,0,0,0,0,0,0,25.96,24.84,23.68,10.29,35.03
$GC,1051,1.98,202.6,3134,1889,1849,4094,143.9,10.1,91,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1888,1847,1847,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.28,34.91
$GC,1116,1.98,202.6,3134,1889,1847,4094,137.2,10.2,97,1130,0.00,3.62,0.00,0.000,516,0.000,0.079,3133,594,1846,1846,4094,0,0,0,0,0,0,26.19,25.73,26.20,10.28,35.03
$GC,1171,1.98,202.6,3134,595,1846,4094,130.9,11.9,102,1186,0.00,3.33,0.00,0.000,1030,0.000,0.031,3134,1921,1844,1844,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.28,35.78
$GC,1237,1.98,202.6,3133,1922,1845,4094,124.0,10.2,108,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1921,1843,1843,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.28,35.11
$GC,1301,1.98,202.6,3134,1922,1844,4094,117.4,10.1,114,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1921,1841,1841,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.28,34.99
$GC,1365,1.98,202.6,3133,1922,1841,4094,111.0,10.2,120,1383,0.00,3.42,0.00,0.000,260,0.000,0.062,3134,3187,1840,1840,4094,0,0,0,0,0,0,26.44,25.99,26.46,10.27,35.19
$GC,1395,1.98,202.6,3134,3187,1841,4094,107.7,10.9,122,1413,0.00,3.28,0.00,0.000,1030,0.000,0.033,3134,1913,1839,1839,4094,0,0,0,0,0,0,26.16,26.11,26.19,10.28,35.11
$GC,1464,1.99,207.5,3133,1914,1839,4094,100.8,9.8,128,1479,0.10,3.60,0.00,0.000,2564,0.078,0.077,3150,601,1838,1838,4094,0,0,0,0,0,0,26.27,26.01,26.29,10.27,34.99
$GC,1529,1.99,207.5,3150,601,1837,4094,93.7,11.3,134,1547,0.00,3.20,0.00,0.000,1030,0.000,0.031,3150,1892,1836,1836,4094,0,0,0,0,0,0,26.28,26.25,26.31,10.27,34.87
$GC,1598,1.99,207.5,3150,1893,1836,4094,86.1,10.8,140,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1893,1834,1834,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.27,35.62
$GC,1666,1.99,207.5,3150,1893,1835,4095,78.8,10.8,146,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1894,1833,1833,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.27,35.39
$GC,1733,1.99,207.5,3151,1893,1832,4095,71.0,11.5,152,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1893,1831,1831,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.26,35.23
$GC,1801,1.99,207.5,3150,1893,1831,4095,64.0,10.1,158,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1893,1829,1829,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.26,35.19
$GC,1865,1.99,207.5,3150,1894,1829,4094,57.5,10.2,164,1879,0.00,3.55,0.00,0.000,516,0.000,0.076,3150,595,1828,1828,4094,0,0,0,0,0,0,26.67,26.16,26.68,10.26,35.07
$GC,1959,1.99,207.5,3150,595,1826,4095,45.5,13.8,173,1973,0.00,3.17,0.00,0.000,1030,0.000,0.031,3150,1887,1825,1825,4094,0,0,0,0,0,0,26.44,26.41,26.47,10.26,35.78
$GC,2024,1.99,207.5,3150,1887,1824,4095,38.1,10.8,179,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1887,1823,1823,4094,0,0,0,0,0,0,26.71,26.73,26.72,10.27,35.27
$GC,2088,1.99,207.5,3150,1886,1822,4095,31.2,10.7,185,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1887,1821,1821,4094,0,0,0,0,0,0,26.73,26.74,26.74,10.26,35.19
$GC,2153,1.99,207.5,3150,1887,1821,4095,24.1,11.1,191,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1887,1820,1820,4094,0,0,0,0,0,0,26.74,26.76,26.76,10.26,35.15
$GC,2219,1.99,207.5,3150,1888,1819,4094,16.9,11.1,197,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1887,1818,1818,4094,0,0,0,0,0,0,26.76,26.77,26.77,10.26,35.50
$GC,2283,2.00,215.2,3151,1887,1817,4095,10.6,9.7,203,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1887,1817,1817,4094,0,0,0,0,0,0,26.77,26.79,26.79,10.25,35.11
$GC,2347,2.02,229.5,3150,1888,1817,4094,4.6,9.4,209,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1887,1815,1815,4094,0,0,0,0,0,0,26.79,26.80,26.79,10.26,35.82
$STATE,2375,end climb,SURFACE_DEPTH_REACHED
$STATE,2375,begin surface coast
$FINISH,0.3,1.000569
$STATE,2405,end surface coast,CONTROL_FINISHED_OK
$STATE,2405,begin surface
$SM_CCo,2440,5.35,0.438,0,0,1729,300.51
$SM_GC,3.50,29.73,0.00,5.35,0.027,0.000,0.438,243,1888,1729,-7.14,-0.55,300.51,0,0,0,0,0,0,26.47,26.82,25.47
$IRIDIUM_FIX,4748.51,-12337.82,150317,091916
$TT8_MAMPS,0.053179,0.278628
$HUMID,35.62
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,7.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,4.6
$ALTIM_BOTTOM_PING,101.8,2.3
$24V_AH,23.43,5.198
$10V_AH,9.29,6.286
$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,64.175,40.875,29.375,5.350,0.000,22.394,35.284,143.277,1.000,0.000,22.235,0.000,0.000,300.238,2308.949,113.386,33.651,801.395,0.000,2023.787,0.000,7.141,0.000
$DEVICE_MAMPS,127.755,78.795,1946.925,437.580,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,144.127,274.596,460.021,1132.152,1984.220,0.000,0.000,0.000,0.000,0.000
$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,17764,214
$CAP_FILE_SIZE,51756,13
$CFSIZE,1024409600,1018118144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,105131,4742.802,-12224.961,13,0.8,62,16.3,0.0,0.0,10,5.0