version: 66.12
glider: 401
mission: 19
dive: 25
start: 3 15 117 13 49 26
data:
$ID,401
$MISSION,19
$DIVE,25
$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,20
$R_STBD_OVSHOOT,32
$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
$GPS1,150317,134431,4742.5454,-12224.7363,2,0.8,30,16.3,0.6,139.3,10,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-56.3
$GPS2,150317,134843,4742.5015,-12224.7402,4,0.8,13,16.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.094707,0.199135
$KALMAN_X,93.627609,-279.587463,-547.353149,697.327942,-290.270752
$KALMAN_Y,577.131348,-31.903717,-1000.328369,-2047.329834,-361.462463
$MHEAD_RNG_PITCHd_Wd,9.1,2776,-19.9,-10.000,-24.39,2610
$D_GRID,166
$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,-171.1,243,1909,1690,4094,0.0,0.0,0,32,0.00,0.00,-4.38,0.000,16390,0.000,0.000,243,1908,2287,2287,4094,0,0,0,0,0,0,26.45,25.57,26.45,10.22,35.66
$GC,33,-1.93,-171.1,243,1908,2289,4094,1.8,0.0,1,61,20.98,0.00,0.00,0.000,2566,0.129,0.000,1899,1902,2290,2290,4094,0,0,0,0,0,0,25.70,25.84,25.77,10.35,35.90
$GC,112,-1.93,-171.1,1899,1903,2292,4094,21.4,-16.6,8,126,0.00,3.60,0.00,0.000,516,0.000,0.073,1900,598,2292,2292,4094,0,0,0,0,0,0,26.23,25.79,26.25,10.36,35.66
$GC,186,-1.93,-171.1,1899,599,2296,4094,35.3,-19.9,15,200,0.00,3.28,0.00,0.000,1030,0.000,0.033,1900,1893,2295,2295,4095,0,0,0,0,0,0,26.07,26.03,26.09,10.36,35.27
$GC,251,-1.93,-171.1,1899,1894,2298,4094,46.8,-17.7,21,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1893,2297,2297,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.37,35.15
$GC,315,-1.93,-171.1,1900,1893,2300,4095,59.0,-18.8,27,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1893,2300,2300,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.36,35.07
$GC,380,-1.93,-171.1,1899,1894,2302,4095,70.9,-18.5,33,398,0.00,3.55,0.00,0.000,516,0.000,0.073,1900,595,2303,2303,4094,0,0,0,0,0,0,26.49,26.03,26.50,10.37,35.07
$GC,430,-1.93,-171.1,1900,596,2306,4094,81.4,-20.8,37,445,0.00,3.33,0.00,0.000,1030,0.000,0.034,1899,1917,2305,2305,4094,0,0,0,0,0,0,26.25,26.20,26.27,10.37,35.39
$GC,495,-1.93,-171.1,1900,1918,2308,4094,93.5,-18.3,43,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1917,2308,2308,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.37,35.50
$GC,567,-1.93,-171.1,1900,1917,2310,4095,106.0,-18.0,49,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1917,2310,2310,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.37,35.03
$GC,631,-1.93,-171.1,1900,1923,2313,4095,118.5,-19.0,55,649,0.00,3.50,0.00,0.000,260,0.000,0.071,1900,3202,2313,2313,4094,0,0,0,0,0,0,26.61,26.14,26.63,10.37,34.68
$GC,690,-1.93,-171.1,1900,3203,2315,4094,128.7,-16.9,60,708,0.00,3.25,0.00,0.000,1030,0.000,0.032,1900,1926,2315,2315,4094,0,0,0,0,0,0,26.34,26.29,26.37,10.37,35.31
$GC,760,-1.93,-171.1,1899,1925,2318,4095,139.7,-15.8,66,773,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1925,2317,2317,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.37,35.23
$STATE,823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,823,begin apogee
$GC,826,-0.42,0.0,1900,1925,2320,4095,150.8,-16.6,72,859,5.43,0.00,13.60,1.929,10244,0.077,0.000,2384,1925,2080,2080,4094,0,0,0,0,0,0,26.28,25.02,23.87,10.37,34.87
$STATE,860,end apogee,CONTROL_FINISHED_OK
$STATE,860,begin climb
$GC,861,1.93,171.1,2385,1926,2081,4094,153.1,0.0,74,894,7.90,0.00,11.70,1.868,11270,0.039,0.000,3132,1925,1882,1882,4094,0,0,0,0,0,0,25.91,26.08,23.53,10.33,35.35
$GC,945,1.93,171.1,3132,1925,1881,4095,146.1,11.8,81,962,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1925,1880,1880,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.29,34.52
$GC,1014,1.93,171.1,3132,1925,1880,4095,138.8,10.3,87,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1925,1879,1879,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.29,34.64
$GC,1082,1.99,207.3,3132,1925,1878,4095,132.6,8.6,93,1101,0.10,0.00,3.67,0.940,10246,0.075,0.000,3147,1925,1842,1842,4094,0,0,0,0,0,0,26.03,25.18,24.11,10.28,34.80
$GC,1152,1.99,207.3,3148,1925,1841,4095,123.9,12.8,99,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1925,1841,1841,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.27,34.95
$GC,1221,1.99,207.3,3148,1926,1840,4094,115.1,12.9,105,1239,0.00,3.50,0.00,0.000,260,0.000,0.060,3147,3207,1838,1838,4094,0,0,0,0,0,0,26.34,25.92,26.36,10.27,35.03
$GC,1263,1.99,207.3,3147,3208,1839,4094,110.3,12.0,108,1281,0.00,3.40,0.00,0.000,1030,0.000,0.033,3148,1887,1838,1838,4094,0,0,0,0,0,0,26.09,26.04,26.13,10.27,35.15
$GC,1334,1.99,207.3,3147,1888,1837,4094,102.4,10.8,114,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1887,1836,1836,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.26,35.15
$GC,1402,2.02,229.4,3148,1887,1835,4095,95.7,9.1,120,1418,0.00,3.58,2.92,0.539,8452,0.000,0.059,3148,3205,1814,1814,4094,0,0,0,0,0,0,26.48,25.44,24.45,10.27,34.99
$GC,1429,2.06,253.5,3148,3204,1815,4095,93.1,9.1,122,1445,0.17,3.35,3.25,0.637,11270,0.042,0.033,3171,1896,1785,1785,4094,0,0,0,0,0,0,26.19,26.13,24.51,10.26,35.35
$GC,1496,2.06,253.5,3170,1897,1785,4094,85.7,11.9,128,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1896,1783,1783,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.25,35.23
$GC,1560,2.06,253.5,3171,1896,1782,4095,77.6,12.9,134,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1896,1781,1781,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.26,34.95
$GC,1624,2.06,253.5,3171,1897,1781,4094,70.0,11.9,140,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1896,1779,1779,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.25,34.76
$GC,1688,2.06,253.5,3171,1896,1779,4095,63.0,10.8,146,1703,0.00,3.58,0.00,0.000,516,0.000,0.080,3171,592,1778,1778,4094,0,0,0,0,0,0,26.58,26.09,26.58,10.25,35.54
$GC,1791,2.06,253.5,3170,593,1776,4094,49.9,13.2,156,1810,0.00,3.22,0.00,0.000,1030,0.000,0.031,3171,1896,1774,1774,4094,0,0,0,0,0,0,26.36,26.33,26.35,10.25,35.35
$GC,1861,2.06,253.5,3171,1898,1774,4094,41.7,11.8,162,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1897,1773,1773,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.25,35.23
$GC,1925,2.06,253.5,3171,1898,1772,4094,34.5,11.1,168,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1897,1771,1771,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.25,35.19
$GC,1990,2.06,253.5,3171,1898,1770,4094,27.4,10.7,174,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1897,1769,1769,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.25,35.31
$GC,2055,2.06,253.5,3171,1897,1768,4095,20.2,11.0,180,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1897,1767,1767,4094,0,0,0,0,0,0,26.70,26.72,26.72,10.24,35.27
$GC,2124,2.06,253.5,3171,1898,1767,4094,12.9,11.0,186,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1897,1765,1765,4094,0,0,0,0,0,0,26.72,26.73,26.73,10.24,35.23
$GC,2189,2.06,253.5,3172,1897,1765,4095,5.6,11.2,192,2203,0.00,3.55,0.00,0.000,516,0.000,0.078,3171,597,1764,1764,4094,0,0,0,0,0,0,26.74,26.24,26.75,10.24,34.91
$STATE,2225,end climb,SURFACE_DEPTH_REACHED
$STATE,2225,begin surface coast
$FINISH,0.3,1.008360
$STATE,2246,end surface coast,CONTROL_FINISHED_OK
$STATE,2246,begin surface
$SM_CCo,2285,3.22,0.277,0,0,1729,300.51
$SM_GC,2.79,30.02,3.25,3.22,0.028,0.034,0.277,242,1904,1729,-7.14,-1.82,300.51,0,0,0,0,0,0,26.42,26.48,25.43
$IRIDIUM_FIX,4748.51,-12337.82,150317,130140
$TT8_MAMPS,0.05243,0.258405
$HUMID,35.66
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,7.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,106.0,2.3
$24V_AH,23.53,5.346
$10V_AH,9.28,6.625
$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,64.600,47.925,35.150,3.225,0.000,26.159,20.285,141.178,1.250,0.000,14.691,0.000,0.000,294.128,2143.260,108.853,33.645,753.874,0.000,1881.655,0.000,8.784,0.000
$DEVICE_MAMPS,128.520,79.560,1928.565,276.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,132.637,252.774,423.427,1059.204,1844.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322212
$DATA_FILE_SIZE,17679,197
$CAP_FILE_SIZE,49984,14
$CFSIZE,1024409600,1017872384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,142807,4742.667,-12224.735,2,1.1,15,16.3,0.0,0.0,10,4.7