version: 66.12
glider: 401
mission: 19
dive: 23
start: 3 15 117 12 24 42
data:
$ID,401
$MISSION,19
$DIVE,23
$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,30
$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
$GPS1,150317,121917,4742.5303,-12224.8672,20,0.8,31,16.3,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-57.8
$GPS2,150317,122358,4742.4805,-12224.9033,4,0.8,15,16.3,0.0,0.0,10,4.5
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.153817,0.158003
$KALMAN_X,99.193451,-35.645744,-123.353600,-176.947220,-466.681030
$KALMAN_Y,551.705322,188.224640,-259.870605,-3020.259521,-588.622314
$MHEAD_RNG_PITCHd_Wd,27.9,2817,-19.9,-10.000,-24.39,2610
$D_GRID,169
$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,-171.1,243,1877,1729,4095,0.0,0.0,0,31,0.00,0.00,-3.90,0.000,16390,0.000,0.000,242,1877,2288,2288,4094,0,0,0,0,0,0,26.41,24.73,26.41,10.23,35.43
$GC,33,-1.93,-171.1,243,1877,2289,4095,2.1,0.0,1,66,20.88,3.55,0.00,0.000,2564,0.128,0.069,1901,591,2290,2290,4094,0,0,0,0,0,0,25.65,25.66,25.73,10.36,35.58
$GC,165,-1.93,-171.1,1902,592,2296,4095,32.9,-19.4,13,179,0.00,3.30,0.00,0.000,1030,0.000,0.034,1902,1892,2295,2295,4094,0,0,0,0,0,0,26.01,25.98,26.05,10.36,35.43
$GC,230,-1.93,-171.1,1902,1893,2298,4094,44.0,-16.4,19,244,0.00,3.62,0.00,0.000,260,0.000,0.071,1902,3205,2297,2297,4094,0,0,0,0,0,0,26.35,25.89,26.36,10.36,35.74
$GC,265,-1.93,-171.1,1902,3205,2298,4095,49.8,-16.0,22,280,0.00,3.30,0.00,0.000,1030,0.000,0.031,1902,1918,2299,2299,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.37,35.98
$GC,330,-1.93,-171.1,1901,1919,2301,4094,60.4,-16.3,28,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1919,2301,2301,4094,0,0,0,0,0,0,26.43,26.45,26.44,10.37,35.74
$GC,394,-1.93,-171.1,1902,1918,2303,4095,71.5,-16.9,34,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1918,2304,2304,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.37,34.83
$GC,458,-1.93,-171.1,1902,1918,2306,4095,81.7,-15.8,40,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1918,2306,2306,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.37,34.80
$GC,526,-1.93,-171.1,1902,1919,2308,4095,92.5,-16.5,46,540,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1918,2308,2308,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.37,35.70
$GC,593,-1.93,-171.1,1902,1918,2310,4095,103.7,-16.8,52,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1918,2310,2310,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.37,35.07
$GC,657,-1.93,-171.1,1902,1920,2313,4094,114.1,-17.4,58,670,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1918,2312,2312,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.37,34.87
$GC,721,-1.93,-171.1,1902,1919,2316,4094,124.6,-16.2,64,734,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1918,2315,2315,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.37,35.07
$GC,785,-1.93,-171.1,1902,1918,2317,4095,135.5,-16.8,70,799,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1918,2317,2317,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.37,34.99
$GC,849,-1.93,-171.1,1902,1920,2321,4094,146.3,-17.1,76,863,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1918,2320,2320,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.37,35.19
$STATE,873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,873,begin apogee
$GC,876,-0.42,0.0,1902,1919,2321,4094,151.2,-18.4,78,905,5.43,0.00,13.80,1.969,10244,0.079,0.000,2385,1918,2082,2082,4094,0,0,0,0,0,0,26.28,25.01,23.84,10.38,35.54
$STATE,906,end apogee,CONTROL_FINISHED_OK
$STATE,906,begin climb
$GC,907,1.93,171.1,2385,1918,2083,4095,155.5,0.0,80,936,7.90,0.00,12.07,1.925,11270,0.037,0.000,3132,1918,1881,1881,4094,0,0,0,0,0,0,25.89,26.06,23.46,10.33,34.76
$GC,986,2.13,294.5,3132,1918,1882,4095,153.8,5.2,87,1001,0.57,0.00,9.10,1.776,10246,0.038,0.000,3192,1918,1738,1738,4094,0,0,0,0,0,0,25.70,24.97,23.46,10.28,34.68
$GC,1052,2.17,322.6,3193,1919,1738,4094,148.9,8.9,93,1067,0.08,0.00,3.60,0.994,10246,0.093,0.000,3207,1918,1705,1705,4094,0,0,0,0,0,0,25.68,24.82,23.68,10.26,34.87
$GC,1117,2.17,322.6,3207,1919,1705,4094,141.6,11.6,99,1132,0.00,3.55,0.00,0.000,260,0.000,0.062,3207,3201,1703,1703,4094,0,0,0,0,0,0,26.02,25.63,26.03,10.25,35.43
$GC,1153,2.17,322.6,3207,3201,1704,4094,136.4,14.3,102,1168,0.00,3.38,0.00,0.000,1030,0.000,0.034,3208,1910,1702,1702,4094,0,0,0,0,0,0,25.83,25.77,25.86,10.25,34.91
$GC,1218,2.17,322.6,3208,1909,1702,4095,126.5,14.9,108,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1909,1700,1700,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.24,34.87
$GC,1282,2.17,322.6,3207,1910,1699,4094,116.8,15.4,114,1297,0.00,3.65,0.00,0.000,516,0.000,0.079,3207,592,1697,1697,4094,0,0,0,0,0,0,26.28,25.82,26.29,10.24,34.80
$GC,1366,2.17,322.6,3207,592,1696,4094,102.4,17.7,122,1381,0.00,3.30,0.00,0.000,1030,0.000,0.031,3207,1905,1694,1694,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.24,34.95
$GC,1431,2.17,322.6,3208,1905,1693,4095,92.0,16.1,128,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1905,1692,1692,4094,0,0,0,0,0,0,26.41,26.44,26.43,10.24,35.31
$GC,1495,2.17,322.6,3208,1908,1691,4095,81.7,16.1,134,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1908,1690,1690,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.23,34.95
$GC,1563,2.17,322.6,3208,1907,1688,4095,71.2,15.2,140,1577,0.00,3.47,0.00,0.000,260,0.000,0.063,3207,3194,1687,1687,4094,0,0,1,0,0,0,26.51,26.06,26.52,10.24,35.66
$GC,1599,2.17,322.6,3208,3194,1687,4095,65.3,16.0,143,1613,0.00,3.35,0.00,0.000,1030,0.000,0.033,3208,1889,1685,1685,4094,0,0,0,0,0,0,26.23,26.18,26.26,10.24,34.91
$GC,1664,2.17,322.6,3208,1888,1684,4095,54.8,16.0,149,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1889,1683,1683,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.24,35.23
$GC,1728,2.17,322.6,3208,1888,1682,4095,44.5,16.1,155,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1888,1681,1681,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.23,35.31
$GC,1795,2.17,322.6,3208,1889,1679,4095,33.7,16.1,161,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1889,1678,1678,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.23,34.99
$GC,1859,2.17,322.6,3208,1889,1678,4095,24.4,13.8,167,1874,0.00,3.55,0.00,0.000,516,0.000,0.079,3208,590,1677,1677,4094,0,0,0,0,0,0,26.64,26.15,26.65,10.23,35.62
$GC,1908,2.17,322.6,3208,590,1675,4095,17.1,15.6,171,1922,0.00,3.22,0.00,0.000,1030,0.000,0.031,3207,1892,1674,1674,4094,0,0,0,0,0,0,26.38,26.36,26.42,10.22,35.70
$GC,1973,2.17,322.6,3208,1896,1673,4094,6.9,15.1,177,1987,0.00,3.55,0.00,0.000,516,0.000,0.079,3208,599,1672,1672,4094,0,0,0,0,0,0,26.67,26.17,26.67,10.22,35.03
$STATE,2008,end climb,SURFACE_DEPTH_REACHED
$STATE,2008,begin surface coast
$FINISH,0.3,1.001330
$STATE,2028,end surface coast,CONTROL_FINISHED_OK
$STATE,2028,begin surface
$SM_CCo,2127,0.00,0.000,0,0,1671,352.88
$SM_GC,1.78,30.60,3.28,0.00,0.028,0.034,0.000,243,1900,1671,-7.14,-1.50,352.88,0,0,0,0,0,0,26.36,26.39,26.41
$IRIDIUM_FIX,4748.51,-12337.82,150317,113551
$TT8_MAMPS,0.05243,0.250915
$HUMID,34.64
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,7.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.8,4.6
$ALTIM_BOTTOM_PING,101.6,2.3
$24V_AH,23.46,5.287
$10V_AH,9.33,6.489
$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,65.450,48.075,38.575,0.000,0.000,23.531,30.424,162.084,1.000,0.000,16.474,0.000,61.171,250.274,1997.484,102.649,33.646,674.770,0.000,1713.104,0.000,7.140,0.000
$DEVICE_MAMPS,127.755,78.795,1969.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.468,233.487,391.187,951.835,1677.412,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322256
$DATA_FILE_SIZE,17725,182
$CAP_FILE_SIZE,46181,4
$CFSIZE,1024409600,1017987072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,150317,130049,4742.507,-12224.820,2,0.9,24,16.3,0.0,0.0,9,5.0