version: 66.12
glider: 401
mission: 19
dive: 5
start: 3 14 117 22 27 34
data:
$ID,401
$MISSION,19
$DIVE,5
$N_DIVES,20
$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,250
$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,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,21
$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
$GPS1,140317,222209,4743.5107,-12224.5371,3,0.8,15,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-55.3
$GPS2,140317,222649,4743.5171,-12224.4883,5,0.8,18,16.3,0.0,0.0,10,5.0
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.085223,-0.245803
$KALMAN_X,329.824402,222.988312,185.638855,-456.716766,96.722931
$KALMAN_Y,327.084900,302.908203,357.477112,-1597.744385,-34.371460
$MHEAD_RNG_PITCHd_Wd,182.8,1923,-16.1,-10.000,-21.03,3723
$D_GRID,174
$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,-1.73,-244.4,243,2046,1665,4094,0.0,0.0,0,32,0.00,0.00,-5.38,0.000,16390,0.000,0.000,242,2045,2372,2372,4094,0,0,0,0,0,0,26.54,25.60,26.55,10.25,38.18
$GC,33,-1.73,-244.4,243,2045,2372,4095,1.5,0.0,1,62,21.73,3.70,0.00,0.000,2308,0.127,0.078,1966,3356,2374,2374,4094,0,0,0,0,0,0,25.75,25.75,25.85,10.40,38.06
$GC,122,-1.73,-244.4,1965,3357,2377,4094,22.6,-14.7,9,141,0.00,3.35,0.00,0.000,1030,0.000,0.034,1966,2054,2376,2376,4094,0,0,0,0,0,0,26.08,26.03,26.10,10.40,37.36
$GC,193,-1.73,-244.4,1966,2054,2379,4095,31.8,-12.8,15,208,0.00,3.55,0.00,0.000,516,0.000,0.072,1966,749,2378,2378,4094,0,0,0,0,0,0,26.47,25.91,26.48,10.40,37.12
$GC,259,-1.73,-244.4,1966,749,2380,4095,41.5,-15.2,21,277,0.00,3.22,0.00,0.000,1030,0.000,0.037,1965,2020,2380,2380,4094,0,0,0,0,0,0,26.19,26.14,26.22,10.40,36.92
$GC,328,-1.73,-244.4,1966,2020,2383,4095,51.5,-14.1,27,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2020,2382,2382,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.40,37.16
$GC,392,-1.73,-244.4,1966,2020,2385,4095,60.7,-14.6,33,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2020,2384,2384,4094,0,0,0,0,0,0,26.63,26.64,26.63,10.40,37.28
$GC,457,-1.73,-244.4,1966,2020,2386,4095,69.7,-14.0,39,471,0.00,3.45,0.00,0.000,516,0.000,0.070,1965,749,2386,2386,4094,0,0,0,0,0,0,26.66,26.06,26.67,10.40,37.59
$GC,502,-1.73,-244.4,1965,749,2387,4094,76.9,-16.1,43,516,0.00,3.17,0.00,0.000,1030,0.000,0.037,1966,2006,2388,2388,4094,0,0,0,0,0,0,26.32,26.31,26.36,10.41,36.88
$GC,567,-1.73,-244.4,1965,2005,2390,4095,86.9,-14.9,49,580,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2006,2389,2389,4095,0,0,0,0,0,0,26.70,26.72,26.72,10.40,37.04
$GC,631,-1.73,-244.4,1966,2006,2392,4095,96.6,-15.1,55,645,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2006,2391,2391,4094,0,0,0,0,0,0,26.73,26.74,26.74,10.41,37.24
$GC,697,-1.73,-244.4,1965,2007,2394,4094,106.9,-14.9,61,711,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2006,2394,2394,4094,0,0,0,0,0,0,26.75,26.77,26.77,10.40,36.57
$GC,761,-1.73,-244.4,1966,2006,2396,4095,116.3,-14.7,67,780,0.00,3.70,0.00,0.000,260,0.000,0.076,1965,3351,2396,2396,4094,0,0,0,0,0,0,26.78,26.10,26.79,10.41,36.65
$GC,791,-1.73,-244.4,1965,3352,2397,4094,120.8,-15.1,69,806,0.00,3.42,0.00,0.000,1030,0.000,0.034,1966,2003,2397,2397,4094,0,0,0,0,0,0,26.43,26.36,26.45,10.41,36.61
$GC,857,-1.73,-244.4,1965,2004,2398,4094,130.2,-13.9,75,872,0.00,3.38,0.00,0.000,516,0.000,0.072,1966,747,2398,2398,4094,0,0,0,0,0,0,26.79,26.16,26.81,10.41,36.61
$GC,903,-1.73,-244.4,1966,747,2400,4095,137.3,-15.5,79,921,0.00,3.12,0.00,0.000,1030,0.000,0.037,1966,1993,2400,2400,4094,0,0,0,0,0,0,26.43,26.38,26.47,10.41,36.45
$GC,973,-1.73,-244.4,1966,1993,2402,4095,147.9,-14.7,85,991,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1993,2403,2403,4094,0,0,0,0,0,0,26.82,26.84,26.84,10.41,36.45
$STATE,1001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1001,begin apogee
$GC,1005,-0.42,0.0,1966,2110,2404,4094,152.3,-15.1,87,1036,4.65,0.00,18.02,2.007,10244,0.074,0.000,2385,2109,2082,2082,4094,0,0,0,0,0,0,26.31,24.64,23.44,10.41,36.41
$STATE,1037,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1038,1.73,244.4,2385,2109,2083,4094,155.4,0.0,89,1081,7.35,3.65,16.45,1.968,10756,0.050,0.069,3067,794,1798,1798,4094,0,0,0,0,0,0,25.70,25.63,22.95,10.35,36.45
$GC,1113,1.77,273.0,3067,793,1797,4095,151.4,9.2,95,1128,0.00,3.35,3.70,1.002,9222,0.000,0.034,3067,2091,1762,1762,4094,0,0,0,0,0,0,25.66,25.61,23.34,10.30,35.98
$GC,1178,1.79,283.6,3067,2092,1762,4094,145.0,9.7,101,1192,0.12,0.00,2.47,0.421,10246,0.067,0.000,3085,2091,1750,1750,4094,0,0,0,0,0,0,25.86,24.85,23.64,10.30,36.10
$GC,1243,1.79,283.6,3085,2092,1750,4094,138.3,10.6,107,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2091,1748,1748,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.28,37.00
$GC,1307,1.79,283.6,3086,2091,1747,4095,131.3,11.0,113,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2091,1747,1747,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.28,36.92
$GC,1371,1.79,283.6,3086,2091,1747,4095,124.0,11.5,119,1389,0.00,3.58,0.00,0.000,516,0.000,0.073,3086,795,1745,1745,4094,0,0,0,0,0,0,26.42,25.85,26.44,10.28,36.84
$GC,1449,1.79,283.6,3086,795,1744,4095,114.2,12.7,126,1464,0.00,3.30,0.00,0.000,1030,0.000,0.034,3086,2099,1743,1743,4094,0,0,0,0,0,0,26.15,26.10,26.19,10.28,36.96
$GC,1514,1.79,283.6,3086,2099,1742,4095,106.6,11.6,132,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2099,1741,1741,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.28,36.21
$GC,1578,1.79,283.6,3086,2100,1742,4094,99.2,11.6,138,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2099,1740,1740,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.28,36.65
$GC,1642,1.79,283.6,3086,2099,1739,4095,92.0,11.0,144,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2099,1738,1738,4094,0,0,0,0,0,0,26.62,26.64,26.64,10.28,36.57
$GC,1707,1.79,283.6,3086,2099,1737,4095,85.2,10.6,150,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2099,1736,1736,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.27,36.41
$GC,1771,1.81,295.6,3085,2100,1737,4094,78.8,9.7,156,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2099,1734,1734,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.27,36.69
$GC,1835,1.81,295.6,3085,2100,1735,4094,71.5,11.4,162,1849,0.00,3.55,0.00,0.000,516,0.000,0.070,3086,794,1733,1733,4094,0,0,0,0,0,0,26.71,26.10,26.72,10.27,36.33
$GC,1880,1.81,295.6,3086,795,1733,4094,65.9,12.2,166,1898,0.00,3.25,0.00,0.000,1030,0.000,0.035,3086,2088,1731,1731,4094,0,0,0,0,0,0,26.39,26.32,26.40,10.27,36.25
$GC,1950,1.81,295.6,3086,2090,1732,4094,58.3,10.6,172,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2089,1730,1730,4094,0,0,0,0,0,0,26.74,26.76,26.75,10.27,36.53
$GC,2018,1.81,295.6,3086,2090,1730,4094,51.1,10.7,178,2032,0.00,3.53,0.00,0.000,516,0.000,0.072,3086,794,1728,1728,4094,0,0,0,0,0,0,26.77,26.13,26.78,10.27,36.21
$GC,2122,1.81,295.6,3086,795,1727,4094,39.3,11.2,188,2137,0.00,3.20,0.00,0.000,1030,0.000,0.034,3086,2075,1725,1725,4094,0,0,0,0,0,0,26.43,26.40,26.47,10.26,36.45
$GC,2187,1.81,295.6,3086,2075,1725,4095,32.4,10.3,194,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2075,1724,1724,4094,0,0,0,0,0,0,26.81,26.82,26.82,10.27,36.69
$GC,2252,1.81,297.1,3086,2076,1723,4094,26.1,10.0,200,2267,0.00,3.47,0.00,0.000,516,0.000,0.073,3086,795,1722,1722,4094,0,0,0,0,0,0,26.82,26.17,26.84,10.26,36.37
$GC,2307,1.81,297.1,3086,795,1722,4095,20.3,10.6,205,2325,0.00,3.15,0.00,0.000,1030,0.000,0.034,3086,2060,1721,1721,4094,0,0,0,0,0,0,26.46,26.41,26.50,10.26,36.25
$GC,2376,1.83,305.1,3086,2060,1721,4095,13.4,9.8,211,2390,0.00,3.65,0.00,0.000,260,0.000,0.073,3086,3398,1720,1720,4094,0,0,0,0,0,0,26.84,26.18,26.86,10.26,36.33
$GC,2421,1.87,330.8,3086,3399,1719,4094,9.3,9.3,215,2441,0.17,3.30,3.03,0.264,11270,0.043,0.033,3109,2088,1692,1692,4094,0,0,0,0,0,0,26.46,26.44,25.29,10.26,36.33
$STATE,2491,end climb,SURFACE_DEPTH_REACHED
$STATE,2492,begin surface coast
$FINISH,0.3,1.021442
$STATE,2513,end surface coast,CONTROL_FINISHED_OK
$STATE,2513,begin surface
$SM_CCo,2609,0.00,0.000,0,0,1690,336.57
$SM_GC,1.79,29.62,0.08,0.00,0.029,0.101,0.000,232,2024,1690,-7.18,1.18,336.57,0,0,0,0,0,0,25.79,26.65,26.13
$IRIDIUM_FIX,4748.51,-12337.82,140317,213549
$TT8_MAMPS,0.05243,0.259903
$HUMID,36.37
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,7.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,4.1
$ALTIM_BOTTOM_PING,100.6,2.3
$24V_AH,22.95,4.733
$10V_AH,9.47,5.201
$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,63.650,75.375,43.675,0.000,0.000,23.207,22.324,158.564,0.750,0.000,19.880,0.000,61.864,308.551,2403.093,118.269,33.651,827.404,0.000,2108.877,0.000,7.144,0.000
$DEVICE_MAMPS,126.990,100.980,2007.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,150.137,286.110,479.315,1180.354,2067.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322208
$DATA_FILE_SIZE,21342,223
$CAP_FILE_SIZE,56835,10
$CFSIZE,1024409600,1018888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140317,231139,4742.895,-12224.859,4,0.7,20,16.3,0.0,0.0,11,4.9