version: 66.12
glider: 401
mission: 19
dive: 28
start: 3 15 117 16 14 32
data:
$ID,401
$MISSION,19
$DIVE,28
$N_DIVES,33
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,27
$R_STBD_OVSHOOT,55
$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,110
$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
$GPS1,150317,160941,4742.8203,-12224.9307,2,1.0,26,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-32.5
$GPS2,150317,161348,4742.8340,-12224.9326,4,0.8,21,16.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.020268,0.233952
$KALMAN_X,-900.199402,-278.032104,-403.845734,1310.680298,-134.630859
$KALMAN_Y,-5818.931641,1077.007324,51.967651,2833.787598,-1666.258179
$MHEAD_RNG_PITCHd_Wd,348.7,2166,-18.4,-10.000,-23.07,2982
$D_GRID,185
$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,-1.85,-195.5,232,1908,14,4095,0.0,0.0,0,49,0.00,0.00,-18.33,0.000,16390,0.000,0.000,232,1908,2311,2311,4094,0,0,0,0,0,0,26.36,25.53,26.37,9.89,35.86
$GC,50,-1.85,-195.5,232,1909,2312,4094,1.5,-5.3,2,80,21.50,3.58,0.00,0.000,2564,0.126,0.070,1927,602,2314,2314,4094,0,0,0,0,0,0,25.58,25.60,25.67,10.37,36.06
$GC,150,-1.85,-195.5,1927,603,2317,4094,29.4,-17.7,11,165,0.00,3.22,0.00,0.000,1030,0.000,0.033,1927,1870,2317,2317,4094,0,0,0,0,0,0,25.96,25.90,25.96,10.37,35.54
$GC,215,-1.85,-195.5,1927,1871,2320,4095,40.1,-15.7,17,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1871,2320,2320,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.37,35.43
$GC,279,-1.85,-195.5,1928,1871,2322,4095,50.5,-16.6,23,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1871,2322,2322,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.37,35.50
$GC,344,-1.85,-195.5,1927,1872,2324,4094,61.0,-16.2,29,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1871,2324,2324,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.37,35.35
$GC,408,-1.85,-195.5,1927,1873,2326,4094,71.6,-16.3,35,423,0.00,3.62,0.00,0.000,260,0.000,0.070,1927,3194,2326,2326,4094,0,0,0,0,0,0,26.46,26.01,26.48,10.37,35.58
$GC,463,-1.85,-195.5,1927,3195,2329,4094,80.7,-16.6,40,478,0.00,3.30,0.00,0.000,1030,0.000,0.032,1927,1905,2328,2328,4095,0,0,0,0,0,0,26.22,26.19,26.25,10.38,35.35
$GC,529,-1.85,-195.5,1928,1905,2331,4095,90.8,-15.4,46,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1905,2330,2330,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.38,35.39
$GC,593,-1.85,-195.5,1928,1906,2333,4094,101.2,-16.7,52,607,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1905,2333,2333,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.38,35.27
$GC,660,-1.85,-195.5,1927,1906,2336,4094,112.8,-17.5,58,674,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1905,2335,2335,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.38,35.50
$GC,724,-1.85,-195.5,1927,1905,2337,4095,123.0,-16.3,64,741,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1905,2337,2337,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.38,35.07
$GC,792,-1.85,-195.5,1928,1905,2340,4095,134.5,-18.2,70,806,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1905,2340,2340,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.38,35.03
$GC,857,-1.85,-195.5,1927,1906,2342,4094,145.3,-16.1,76,871,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1905,2342,2342,4094,0,0,0,0,0,0,26.67,26.69,26.69,10.38,35.43
$STATE,891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,891,begin apogee
$GC,894,-0.42,0.0,1928,1906,2345,4095,151.2,-16.8,79,926,5.12,0.00,14.62,1.983,10244,0.078,0.000,2385,1905,2080,2080,4094,0,0,0,0,0,0,26.29,25.01,23.84,10.38,35.07
$STATE,927,end apogee,CONTROL_FINISHED_OK
$STATE,927,begin climb
$GC,928,1.85,195.5,2385,1905,2081,4095,154.8,0.0,81,961,7.62,0.00,13.12,1.951,11270,0.038,0.000,3106,1905,1854,1854,4094,0,0,0,0,0,0,25.88,26.04,23.45,10.33,34.80
$GC,1012,1.92,242.1,3106,1905,1854,4095,150.2,8.4,88,1027,0.12,0.00,4.55,1.258,10246,0.065,0.000,3125,1905,1802,1802,4094,0,0,0,0,0,0,25.73,24.84,23.72,10.28,35.07
$GC,1078,1.92,242.1,3125,1905,1803,4095,143.7,10.0,94,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1905,1801,1801,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.27,35.23
$GC,1142,1.92,242.1,3125,1905,1801,4095,136.9,11.1,100,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1905,1799,1799,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.27,35.11
$GC,1206,1.92,242.1,3125,1906,1798,4094,128.7,12.7,106,1220,0.00,3.62,0.00,0.000,516,0.000,0.080,3125,601,1797,1797,4094,0,0,0,0,0,0,26.26,25.82,26.27,10.27,35.66
$GC,1311,1.92,242.1,3126,601,1796,4094,114.6,13.8,116,1325,0.00,3.28,0.00,0.000,1030,0.000,0.031,3125,1911,1794,1794,4094,0,0,0,0,0,0,26.13,26.12,26.15,10.27,36.13
$GC,1375,1.92,242.1,3125,1914,1794,4094,106.4,12.9,122,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1913,1792,1792,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.27,35.19
$GC,1443,1.92,242.1,3125,1912,1792,4095,98.7,11.6,128,1458,0.00,3.42,0.00,0.000,260,0.000,0.058,3125,3187,1790,1790,4094,0,0,0,0,0,0,26.48,26.06,26.48,10.26,35.46
$GC,1489,1.92,242.1,3125,3187,1790,4095,92.9,12.7,132,1503,0.00,3.30,0.00,0.000,1030,0.000,0.034,3125,1901,1789,1789,4094,0,0,0,0,0,0,26.22,26.17,26.25,10.26,35.50
$GC,1554,1.92,242.1,3125,1902,1789,4094,85.2,12.6,138,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1901,1787,1787,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.26,35.11
$GC,1618,1.92,242.1,3126,1901,1786,4095,76.9,12.2,144,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1901,1785,1785,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.26,35.35
$GC,1681,1.92,242.1,3125,1902,1785,4094,69.6,11.6,150,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1901,1784,1784,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.26,35.19
$GC,1746,1.92,242.1,3125,1902,1783,4094,61.8,12.4,156,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1901,1782,1782,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.26,36.13
$GC,1810,1.92,242.1,3125,1902,1781,4094,53.9,12.4,162,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1901,1780,1780,4094,0,0,0,0,0,0,26.65,26.67,26.66,10.25,35.62
$GC,1874,1.92,242.1,3125,1902,1778,4095,46.1,11.9,168,1888,0.00,3.58,0.00,0.000,516,0.000,0.079,3125,589,1778,1778,4094,0,0,0,0,0,0,26.67,26.19,26.69,10.26,36.02
$GC,1900,1.92,242.1,3126,589,1778,4095,42.9,12.3,170,1914,0.00,3.22,0.00,0.000,1030,0.000,0.032,3125,1896,1777,1777,4094,0,0,0,0,0,0,26.43,26.39,26.45,10.26,35.46
$GC,1965,1.92,242.1,3125,1900,1777,4094,35.7,10.3,176,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1898,1776,1776,4094,0,0,0,0,0,0,26.69,26.71,26.71,10.26,35.54
$GC,2029,1.92,242.9,3125,1899,1774,4094,29.2,10.0,182,2044,0.00,3.58,0.00,0.000,516,0.000,0.076,3125,587,1774,1774,4094,0,0,0,0,0,0,26.72,26.24,26.72,10.25,35.82
$GC,2104,1.92,242.9,3125,589,1773,4094,20.0,13.1,189,2119,0.00,3.20,0.00,0.000,1030,0.000,0.032,3125,1890,1771,1771,4094,0,0,0,0,0,0,26.48,26.45,26.51,10.25,35.31
$GC,2169,1.92,242.9,3125,1891,1770,4095,11.4,13.0,195,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1891,1769,1769,4094,0,0,0,0,0,0,26.74,26.76,26.75,10.25,35.54
$GC,2234,1.92,242.9,3125,1892,1769,4094,3.4,11.9,201,2252,0.00,3.45,0.00,0.000,260,0.000,0.060,3125,3183,1767,1767,4094,0,0,0,0,0,0,26.76,26.32,26.77,10.25,36.29
$STATE,2263,end climb,SURFACE_DEPTH_REACHED
$STATE,2263,begin surface coast
$FINISH,0.2,1.001011
$STATE,2275,end surface coast,CONTROL_FINISHED_OK
$STATE,2275,begin surface
$SM_CCo,2313,3.42,0.298,0,0,1729,300.51
$SM_GC,2.98,29.75,3.28,3.42,0.031,0.031,0.298,242,1891,1729,-7.14,0.73,300.51,0,0,1,0,0,0,26.42,26.44,25.47
$IRIDIUM_FIX,4748.51,-12337.82,150317,152605
$TT8_MAMPS,0.051681,0.242676
$HUMID,35.66
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,7.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,4.6
$ALTIM_BOTTOM_PING,110.6,2.3
$24V_AH,23.45,5.548
$10V_AH,9.31,6.850
$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,64.125,47.650,32.300,3.425,0.000,23.843,18.480,134.326,0.750,0.000,22.467,0.000,0.000,278.229,2182.950,108.566,33.653,751.006,0.000,1925.837,0.000,7.138,0.000
$DEVICE_MAMPS,126.225,80.325,1982.880,298.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,137.323,261.743,438.481,1077.101,1887.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,17754,204
$CAP_FILE_SIZE,49576,6
$CFSIZE,1024409600,1017708544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,150317,165351,4743.235,-12224.879,2,1.0,24,16.3,0.0,0.0,9,5.0