version: 66.12
glider: 401
mission: 19
dive: 24
start: 3 15 117 13 5 59
data:
$ID,401
$MISSION,19
$DIVE,24
$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,27
$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
$GPS1,150317,130049,4742.5073,-12224.8203,2,0.9,24,16.3,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-56.2
$GPS2,150317,130515,4742.4590,-12224.8457,4,0.9,28,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.141566,0.169062
$KALMAN_X,37.098618,-138.425354,-346.552795,281.423584,-424.684448
$KALMAN_Y,547.362183,87.841751,-667.227661,-2549.250977,-506.460083
$MHEAD_RNG_PITCHd_Wd,23.6,2855,-19.9,-10.000,-24.39,2610
$D_GRID,162
$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,-171.1,243,1906,1671,4094,0.0,0.0,0,32,0.00,0.00,-4.53,0.000,16390,0.000,0.000,243,1905,2287,2287,4094,0,0,0,0,0,0,26.44,25.56,26.44,10.22,35.90
$GC,33,-1.93,-171.1,243,1905,2287,4095,1.7,0.0,1,61,21.00,0.00,0.00,0.000,2054,0.128,0.000,1900,1901,2289,2289,4094,0,0,0,0,0,0,25.67,25.81,25.77,10.37,36.06
$GC,112,-1.93,-171.1,1900,1901,2291,4095,21.2,-16.9,8,126,0.00,3.60,0.00,0.000,516,0.000,0.073,1900,591,2291,2291,4094,0,0,1,0,0,0,26.22,25.79,26.24,10.36,35.46
$GC,176,-1.93,-171.1,1900,592,2294,4095,33.0,-19.0,14,194,0.00,3.30,0.00,0.000,1030,0.000,0.034,1900,1892,2294,2294,4094,0,0,0,0,0,0,26.05,25.99,26.07,10.36,35.23
$GC,246,-1.93,-171.1,1900,1893,2297,4094,45.2,-16.9,20,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1892,2296,2296,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.37,35.23
$GC,311,-1.93,-171.1,1900,1892,2299,4095,56.4,-17.5,26,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1892,2299,2299,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.37,35.31
$GC,379,-1.93,-171.1,1900,1892,2301,4095,68.3,-17.8,32,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1892,2301,2301,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.37,34.87
$GC,446,-1.93,-171.1,1900,1892,2304,4095,80.1,-17.4,38,461,0.00,3.58,0.00,0.000,260,0.000,0.070,1900,3200,2304,2304,4094,0,0,0,0,0,0,26.52,26.06,26.54,10.37,34.91
$GC,482,-1.93,-171.1,1900,3201,2306,4095,86.3,-17.1,41,497,0.00,3.38,0.00,0.000,1030,0.000,0.033,1900,1880,2305,2305,4094,0,0,0,0,0,0,26.25,26.20,26.29,10.37,34.83
$GC,547,-1.93,-171.1,1900,1882,2308,4094,97.1,-16.2,47,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1880,2307,2307,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.37,35.23
$GC,614,-1.93,-171.1,1900,1881,2311,4095,108.4,-17.6,53,628,0.00,3.47,0.00,0.000,516,0.000,0.074,1900,597,2310,2310,4094,0,0,0,0,0,0,26.60,26.13,26.61,10.37,34.95
$GC,640,-1.93,-171.1,1900,598,2312,4094,113.4,-18.8,55,654,0.00,3.22,0.00,0.000,1030,0.000,0.034,1900,1884,2312,2312,4094,0,0,0,0,0,0,26.34,26.27,26.36,10.37,34.83
$GC,705,-1.93,-171.1,1900,1884,2314,4095,125.5,-18.4,61,719,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1884,2314,2314,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.37,34.95
$GC,769,-1.93,-171.1,1900,1885,2317,4094,137.5,-19.2,67,782,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1884,2316,2316,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.38,35.66
$GC,832,-1.93,-171.1,1900,1886,2320,4094,148.6,-17.2,73,846,0.00,3.55,0.00,0.000,260,0.000,0.067,1900,3197,2319,2319,4094,0,0,0,0,0,0,26.67,26.20,26.69,10.38,35.15
$STATE,857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,857,begin apogee
$GC,864,-0.42,0.0,1900,1900,2320,4094,153.1,-16.7,75,896,5.43,0.00,13.68,1.974,10244,0.078,0.000,2384,1899,2084,2084,4095,0,0,0,0,0,0,26.27,24.99,23.80,10.37,35.27
$STATE,897,end apogee,CONTROL_FINISHED_OK
$STATE,897,begin climb
$GC,898,1.93,171.1,2384,1899,2085,4094,157.5,0.0,77,927,7.90,0.00,12.18,1.950,11270,0.036,0.000,3133,1899,1882,1882,4094,0,0,0,0,0,0,25.89,26.06,23.44,10.33,34.91
$GC,978,2.11,285.6,3133,1899,1883,4094,156.5,5.5,84,993,0.52,0.00,8.62,1.760,10246,0.041,0.000,3187,1898,1748,1748,4094,0,0,0,0,0,0,25.72,24.60,23.47,10.29,34.83
$GC,1044,2.15,307.3,3188,1898,1749,4095,151.4,9.2,90,1059,0.00,3.62,3.12,0.814,8452,0.000,0.060,3188,3197,1724,1724,4094,0,0,0,0,0,0,25.91,24.89,23.72,10.26,35.50
$GC,1090,2.15,307.3,3188,3198,1725,4094,145.5,12.4,94,1108,0.00,3.35,0.00,0.000,1030,0.000,0.033,3188,1920,1723,1723,4094,0,0,0,0,0,0,25.73,25.69,25.75,10.25,35.27
$GC,1159,2.15,307.3,3188,1919,1722,4095,136.0,13.9,100,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1920,1721,1721,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.25,34.76
$GC,1223,2.15,307.3,3188,1921,1721,4094,126.7,14.5,106,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1920,1719,1719,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.24,34.91
$GC,1287,2.15,307.3,3188,1920,1718,4095,117.5,14.0,112,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1920,1717,1717,4094,0,0,0,0,0,0,26.31,26.33,26.32,10.25,35.15
$GC,1351,2.15,307.3,3187,1919,1717,4095,108.8,13.1,118,1366,0.00,3.65,0.00,0.000,516,0.000,0.079,3188,595,1715,1715,4094,0,0,0,0,0,0,26.37,25.90,26.39,10.24,34.95
$GC,1397,2.15,307.3,3188,595,1714,4095,102.1,14.6,122,1411,0.00,3.33,0.00,0.000,1030,0.000,0.032,3188,1922,1714,1714,4094,0,0,0,0,0,0,26.15,26.12,26.18,10.24,34.83
$GC,1462,2.15,307.3,3188,1925,1712,4093,93.4,13.2,128,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1923,1711,1711,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.24,34.99
$GC,1526,2.15,307.3,3188,1924,1711,4095,84.2,14.1,134,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1924,1709,1709,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.24,35.11
$GC,1590,2.15,307.3,3188,1925,1708,4094,75.7,13.2,140,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1924,1707,1707,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.24,35.07
$GC,1654,2.15,307.3,3188,1924,1706,4095,67.1,13.4,146,1668,0.00,3.42,0.00,0.000,260,0.000,0.061,3188,3195,1705,1705,4094,0,0,0,0,0,0,26.56,26.12,26.58,10.24,35.07
$GC,1689,2.15,307.3,3188,3195,1705,4095,62.2,13.6,149,1704,0.00,3.22,0.00,0.000,1030,0.000,0.031,3188,1929,1704,1704,4094,0,0,0,0,0,0,26.29,26.27,26.33,10.24,34.95
$GC,1755,2.15,307.3,3188,1930,1703,4094,53.7,12.2,155,1770,0.00,3.62,0.00,0.000,516,0.000,0.078,3188,599,1702,1702,4094,0,0,0,0,0,0,26.60,26.11,26.61,10.24,34.83
$GC,1820,2.15,307.3,3188,600,1701,4094,44.5,14.8,161,1834,0.00,3.22,0.00,0.000,1030,0.000,0.032,3188,1900,1700,1700,4094,0,0,0,0,0,0,26.37,26.34,26.39,10.24,35.19
$GC,1885,2.15,307.3,3188,1901,1698,4094,35.7,13.4,167,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1900,1697,1697,4094,0,0,0,0,0,0,26.65,26.66,26.65,10.24,35.07
$GC,1949,2.15,307.3,3188,1902,1696,4094,26.7,14.2,173,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1901,1695,1695,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.23,35.23
$GC,2018,2.15,307.3,3188,1901,1694,4095,17.5,13.1,179,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1901,1693,1693,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.23,35.66
$GC,2082,2.15,307.3,3188,1903,1693,4094,9.3,12.5,185,2096,0.00,3.58,0.00,0.000,516,0.000,0.078,3188,595,1691,1691,4094,0,0,0,0,0,0,26.71,26.21,26.72,10.23,35.11
$STATE,2146,end climb,SURFACE_DEPTH_REACHED
$STATE,2146,begin surface coast
$FINISH,0.3,1.001655
$STATE,2167,end surface coast,CONTROL_FINISHED_OK
$STATE,2167,begin surface
$SM_CCo,2266,0.00,0.000,0,0,1690,336.57
$SM_GC,1.82,30.40,3.28,0.00,0.029,0.034,0.000,243,1902,1690,-7.14,-1.50,336.57,0,0,0,0,0,0,26.41,26.45,26.46
$IRIDIUM_FIX,4748.51,-12337.82,150317,122011
$TT8_MAMPS,0.05243,0.24717
$HUMID,34.99
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,7.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.9,4.5
$ALTIM_BOTTOM_PING,101.2,2.3
$24V_AH,23.44,5.318
$10V_AH,9.35,6.556
$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,65.250,61.725,37.600,0.000,0.000,22.065,22.420,137.477,1.000,0.000,29.632,0.000,61.462,273.309,2093.553,108.483,33.648,730.691,0.000,1819.470,0.000,7.140,0.000
$DEVICE_MAMPS,127.755,78.795,1974.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,129.770,247.573,414.827,1014.141,1782.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322216
$DATA_FILE_SIZE,17755,193
$CAP_FILE_SIZE,49565,6
$CFSIZE,1024409600,1017921536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,150317,134431,4742.545,-12224.736,2,0.8,30,16.3,0.6,139.3,10,4.4