version: 66.12
glider: 401
mission: 19
dive: 22
start: 3 15 117 11 39 51
data:
$ID,401
$MISSION,19
$DIVE,22
$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,39
$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
$GPS1,150317,113456,4742.5820,-12224.8271,15,0.8,27,16.3,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-57.0
$GPS2,150317,113907,4742.5405,-12224.8760,3,0.8,14,16.3,0.0,0.0,10,4.8
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.140961,0.169572
$KALMAN_X,316.828552,9.353130,73.027687,-600.786133,-426.268677
$KALMAN_Y,688.370605,249.607147,160.906769,-3529.322021,-606.949158
$MHEAD_RNG_PITCHd_Wd,23.4,2705,-19.9,-10.000,-24.39,2610
$D_GRID,181
$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,-171.1,243,1905,1730,4094,0.0,0.0,0,32,0.00,0.00,-3.95,0.000,16390,0.000,0.000,243,1904,2288,2288,4094,0,0,0,0,0,0,26.44,25.08,26.44,10.23,35.39
$GC,33,-1.93,-171.1,243,1905,2290,4094,2.0,0.0,1,66,20.83,3.60,0.00,0.000,2564,0.127,0.068,1901,593,2291,2291,4094,0,0,0,0,0,0,25.67,25.69,25.76,10.36,35.90
$GC,107,-1.93,-171.1,1901,593,2294,4095,22.3,-22.4,7,122,0.00,3.28,0.00,0.000,1030,0.000,0.034,1901,1880,2293,2293,4094,0,0,0,0,0,0,25.96,25.91,25.98,10.36,35.39
$GC,172,-1.93,-171.1,1901,1881,2296,4094,34.7,-18.5,13,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1880,2296,2296,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.36,35.46
$GC,239,-1.93,-171.1,1901,1881,2299,4094,47.0,-17.9,19,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1880,2299,2299,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.36,35.07
$GC,304,-1.93,-171.1,1901,1883,2301,4094,57.9,-16.8,25,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1881,2301,2301,4094,0,0,0,0,0,0,26.43,26.45,26.44,10.37,35.03
$GC,372,-1.93,-171.1,1901,1881,2304,4095,69.6,-17.7,31,386,0.00,3.62,0.00,0.000,260,0.000,0.070,1901,3204,2304,2304,4094,0,0,0,0,0,0,26.48,26.01,26.49,10.37,35.07
$GC,427,-1.93,-171.1,1901,3204,2306,4095,79.7,-18.5,36,445,0.00,3.38,0.00,0.000,1030,0.000,0.032,1901,1884,2306,2306,4094,0,0,0,0,0,0,26.22,26.17,26.25,10.37,35.19
$GC,497,-1.93,-171.1,1901,1885,2309,4095,91.6,-16.8,42,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1884,2309,2309,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.37,34.91
$GC,565,-1.93,-171.1,1901,1884,2311,4095,102.6,-15.8,48,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1884,2311,2311,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.37,34.87
$GC,629,-1.93,-171.1,1902,1885,2313,4094,112.1,-14.4,54,642,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1884,2313,2313,4094,0,0,0,0,0,0,26.60,26.63,26.62,10.37,35.15
$GC,693,-1.93,-171.1,1902,1885,2316,4094,122.2,-16.1,60,711,0.00,3.47,0.00,0.000,516,0.000,0.072,1901,595,2315,2315,4094,0,0,0,0,0,0,26.63,26.16,26.65,10.37,34.76
$GC,722,-1.93,-171.1,1901,595,2316,4095,127.4,-16.7,62,737,0.00,3.25,0.00,0.000,1030,0.000,0.034,1901,1892,2316,2316,4094,0,0,0,0,0,0,26.36,26.32,26.39,10.37,34.95
$GC,787,-1.93,-171.1,1901,1894,2319,4094,139.2,-17.6,68,801,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1892,2319,2319,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.38,34.91
$STATE,852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,852,begin apogee
$GC,855,-0.42,0.0,1902,1893,2322,4094,150.4,-17.3,74,883,5.47,0.00,13.88,1.965,10244,0.078,0.000,2389,1892,2080,2080,4094,0,0,0,0,0,0,26.27,24.98,23.81,10.38,35.03
$STATE,884,end apogee,CONTROL_FINISHED_OK
$STATE,884,begin climb
$GC,885,1.93,171.1,2389,1893,2081,4094,153.9,0.0,76,914,7.82,0.00,12.00,1.909,11270,0.037,0.000,3131,1895,1881,1881,4094,0,0,0,0,0,0,25.87,26.04,23.45,10.33,34.87
$GC,964,1.99,208.6,3131,1895,1881,4094,149.1,8.5,83,984,0.10,3.67,4.05,1.131,10756,0.076,0.077,3147,599,1838,1838,4094,0,0,0,0,0,0,25.75,24.87,23.70,10.28,34.80
$GC,1005,2.01,222.1,3146,601,1839,4094,145.2,9.5,86,1021,0.00,3.33,2.80,0.628,9222,0.000,0.032,3147,1908,1822,1822,4094,0,0,0,0,0,0,25.75,25.72,23.80,10.28,34.87
$GC,1071,2.01,222.1,3146,1909,1821,4094,138.3,10.1,92,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1908,1821,1821,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.27,35.27
$GC,1135,2.01,222.1,3147,1909,1820,4094,131.7,10.2,98,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1909,1818,1818,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.27,34.68
$GC,1199,2.01,222.1,3147,1909,1818,4095,124.7,11.1,104,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1909,1817,1817,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.28,34.99
$GC,1263,2.01,222.1,3147,1910,1816,4095,116.9,12.0,110,1278,0.00,3.65,0.00,0.000,516,0.000,0.077,3147,593,1815,1815,4094,0,0,0,0,0,0,26.35,25.87,26.37,10.27,35.23
$GC,1358,2.01,222.1,3147,594,1814,4094,103.7,14.3,119,1376,0.00,3.25,0.00,0.000,1030,0.000,0.031,3146,1898,1812,1812,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.26,35.35
$GC,1428,2.01,222.1,3147,1900,1812,4094,94.7,12.7,125,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1899,1810,1810,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.26,34.99
$GC,1493,2.01,222.1,3147,1899,1809,4095,86.9,11.7,131,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1898,1808,1808,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.26,35.66
$GC,1557,2.01,222.1,3147,1898,1807,4095,78.9,12.7,137,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1898,1806,1806,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.27,35.15
$GC,1624,2.01,222.1,3147,1900,1805,4094,70.5,12.4,143,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1898,1804,1804,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.26,35.39
$GC,1688,2.01,222.1,3147,1899,1804,4095,62.9,12.0,149,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1898,1803,1803,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.26,34.91
$GC,1755,2.01,222.1,3146,1900,1802,4094,54.9,12.2,155,1770,0.00,3.50,0.00,0.000,260,0.000,0.061,3147,3201,1801,1801,4094,0,0,0,0,0,0,26.64,26.18,26.65,10.26,35.31
$GC,1801,2.01,222.1,3146,3202,1801,4094,49.0,12.9,159,1815,0.00,3.30,0.00,0.000,1030,0.000,0.033,3147,1907,1799,1799,4094,0,0,0,0,0,0,26.35,26.30,26.39,10.25,35.07
$GC,1866,2.01,222.1,3147,1908,1799,4094,41.5,10.9,165,1880,0.00,3.58,0.00,0.000,516,0.000,0.078,3147,593,1797,1797,4094,0,0,0,0,0,0,26.67,26.17,26.68,10.26,34.91
$GC,1902,2.01,222.1,3147,593,1797,4095,37.5,10.9,168,1920,0.00,3.25,0.00,0.000,1030,0.000,0.032,3147,1911,1796,1796,4094,0,0,0,0,0,0,26.43,26.40,26.45,10.26,35.15
$GC,1971,2.07,256.5,3147,1912,1796,4094,31.3,8.7,174,1986,0.20,0.00,2.55,0.229,10246,0.053,0.000,3172,1911,1781,1781,4094,0,0,0,0,0,0,26.44,25.72,25.09,10.25,35.15
$GC,2037,2.07,256.5,3172,1912,1780,4094,25.0,10.1,180,2051,0.00,3.42,0.00,0.000,260,0.000,0.062,3172,3189,1779,1779,4094,0,0,0,0,0,0,26.70,26.24,26.71,10.25,35.07
$GC,2063,2.07,256.5,3173,3190,1780,4094,21.8,11.2,182,2078,0.00,3.28,0.00,0.000,1030,0.000,0.034,3173,1904,1778,1778,4094,0,0,0,0,0,0,26.40,26.35,26.44,10.25,34.87
$GC,2129,2.07,256.5,3173,1904,1778,4094,13.9,11.8,188,2143,0.00,3.58,0.00,0.000,516,0.000,0.080,3173,592,1777,1777,4095,0,0,0,0,0,0,26.72,26.21,26.73,10.24,35.15
$GC,2213,2.07,256.5,3172,593,1776,4094,4.6,11.0,196,2227,0.00,3.15,0.00,0.000,1030,0.000,0.031,3174,1872,1774,1774,4094,0,0,0,0,0,0,26.48,26.45,26.51,10.25,35.86
$STATE,2248,end climb,SURFACE_DEPTH_REACHED
$STATE,2248,begin surface coast
$FINISH,0.3,1.008564
$STATE,2278,end surface coast,CONTROL_FINISHED_OK
$STATE,2278,begin surface
$SM_CCo,2313,3.70,0.331,0,0,1728,300.51
$SM_GC,3.08,30.08,0.00,3.70,0.028,0.000,0.331,242,1876,1728,-7.14,-1.09,300.51,0,0,0,0,0,0,26.41,26.77,25.42
$IRIDIUM_FIX,4748.51,-12337.82,150317,105227
$TT8_MAMPS,0.05243,0.259903
$HUMID,35.19
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,7.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.5,4.5
$ALTIM_BOTTOM_PING,100.7,2.3
$24V_AH,23.45,5.253
$10V_AH,9.31,6.425
$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,64.500,61.550,35.275,3.700,0.000,25.650,20.898,140.204,1.000,0.000,16.068,0.000,0.000,291.485,2171.205,111.463,33.506,763.088,0.000,1910.113,0.000,7.142,0.000
$DEVICE_MAMPS,126.990,79.560,1965.285,331.245,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.941,259.156,434.194,1069.641,1872.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,17752,202
$CAP_FILE_SIZE,52368,10
$CFSIZE,1024409600,1018019840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,121917,4742.530,-12224.867,20,0.8,31,16.3,0.0,0.0,10,4.6