version: 66.12
glider: 401
mission: 19
dive: 19
start: 3 15 117 9 23 15
data:
$ID,401
$MISSION,19
$DIVE,19
$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,14
$R_STBD_OVSHOOT,50
$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
$GPS1,150317,091823,4743.8560,-12224.9014,18,0.9,69,16.3,0.9,302.2,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-57.4
$GPS2,150317,092231,4743.8574,-12224.9131,4,0.8,18,16.3,0.0,0.0,11,5.0
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.035418,-0.217645
$KALMAN_X,1020.610718,19.376076,365.450653,-1652.362305,-67.078964
$KALMAN_Y,1353.155151,204.751831,861.358032,-2405.269531,-58.966507
$MHEAD_RNG_PITCHd_Wd,154.5,2518,-19.9,-10.000,-24.39,2610
$D_GRID,178
$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,-171.1,242,1921,1729,4094,0.0,0.0,0,32,0.00,0.00,-3.95,0.000,16390,0.000,0.000,242,1920,2290,2290,4094,0,0,0,0,0,0,26.44,25.08,26.44,10.23,35.62
$GC,33,-1.93,-171.1,243,1920,2290,4095,2.0,0.0,1,62,21.05,3.47,0.00,0.000,2308,0.129,0.068,1900,3175,2292,2292,4094,0,0,0,0,0,0,25.67,25.67,25.75,10.36,35.90
$GC,114,-1.93,-171.1,1900,3174,2295,4095,23.3,-18.5,8,128,0.00,3.30,0.00,0.000,1030,0.000,0.032,1900,1897,2295,2295,4095,0,0,0,0,0,0,25.95,25.93,25.98,10.36,35.58
$GC,178,-1.93,-171.1,1900,1897,2298,4095,33.9,-16.1,14,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1897,2297,2297,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.36,35.39
$GC,242,-1.93,-171.1,1900,1898,2300,4094,44.3,-16.4,20,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1897,2299,2299,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.36,35.27
$GC,307,-1.93,-171.1,1900,1898,2302,4094,55.5,-17.2,26,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1897,2301,2301,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.36,35.27
$GC,371,-1.93,-171.1,1900,1897,2304,4095,66.6,-17.3,32,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1898,2304,2304,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.37,35.94
$GC,440,-1.93,-171.1,1900,1898,2307,4095,78.0,-16.2,38,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1897,2307,2307,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.37,35.35
$GC,504,-1.93,-171.1,1900,1898,2310,4094,88.0,-15.9,44,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1897,2309,2309,4094,0,0,0,0,0,0,26.55,26.58,26.57,10.37,35.07
$GC,569,-1.93,-171.1,1900,1897,2311,4095,97.9,-15.5,50,583,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1897,2311,2311,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.37,35.54
$GC,636,-1.93,-171.1,1900,1897,2314,4095,108.8,-16.6,56,650,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1897,2313,2313,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.37,35.70
$GC,700,-1.93,-171.1,1900,1897,2316,4095,119.4,-16.2,62,718,0.00,3.53,0.00,0.000,516,0.000,0.074,1900,594,2316,2316,4094,0,0,0,0,0,0,26.64,26.15,26.65,10.37,35.19
$GC,741,-1.93,-171.1,1900,594,2318,4095,126.6,-17.5,65,759,0.00,3.20,0.00,0.000,1030,0.000,0.034,1900,1872,2318,2318,4094,0,0,0,0,0,0,26.37,26.32,26.40,10.37,35.27
$GC,811,-1.93,-171.1,1901,1872,2320,4095,139.2,-16.6,71,825,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1872,2320,2320,4094,0,0,0,0,0,0,26.67,26.69,26.69,10.37,34.95
$STATE,876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,876,begin apogee
$GC,879,-0.42,0.0,1901,1924,2323,4095,150.3,-17.1,77,908,5.45,0.00,13.88,1.945,10244,0.080,0.000,2386,1925,2082,2082,4094,0,0,0,0,0,0,26.28,24.98,23.79,10.37,35.03
$STATE,909,end apogee,CONTROL_FINISHED_OK
$STATE,909,begin climb
$GC,910,1.93,171.1,2386,1926,2083,4094,154.1,0.0,79,940,7.95,3.70,12.07,1.893,10756,0.046,0.076,3130,596,1881,1881,4094,0,0,0,0,0,0,25.78,25.68,23.40,10.32,34.87
$GC,1009,1.96,189.6,3131,595,1880,4095,147.8,9.3,88,1028,0.00,3.30,2.95,0.718,9222,0.000,0.033,3130,1887,1861,1861,4094,0,0,0,0,0,0,25.76,25.72,23.80,10.28,35.03
$GC,1079,2.01,219.3,3130,1887,1860,4095,141.7,8.8,94,1094,0.15,0.00,3.67,0.979,10246,0.062,0.000,3151,1887,1825,1825,4094,0,0,0,0,0,0,25.88,25.02,23.91,10.28,34.91
$GC,1144,2.01,219.3,3152,1887,1825,4095,135.1,10.6,100,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1887,1824,1824,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.27,34.95
$GC,1208,2.01,219.3,3151,1887,1823,4095,128.1,11.1,106,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1887,1822,1822,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.27,35.07
$GC,1273,2.01,219.3,3151,1887,1822,4095,121.1,10.7,112,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1887,1820,1820,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.27,35.03
$GC,1337,2.01,219.3,3152,1887,1820,4095,114.0,11.1,118,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1887,1819,1819,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.27,35.15
$GC,1401,2.01,219.3,3151,1888,1819,4094,107.2,10.5,124,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1887,1817,1817,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.27,34.95
$GC,1466,2.02,225.8,3151,1888,1817,4094,100.9,9.7,130,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1887,1816,1816,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.27,35.62
$GC,1530,2.02,225.8,3151,1887,1815,4095,93.8,11.3,136,1544,0.00,3.58,0.00,0.000,516,0.000,0.081,3151,597,1814,1814,4094,0,0,0,0,0,0,26.53,26.03,26.54,10.27,35.19
$GC,1623,2.02,225.8,3152,598,1813,4094,81.9,13.6,145,1638,0.00,3.25,0.00,0.000,1030,0.000,0.032,3151,1906,1811,1811,4094,0,0,0,0,0,0,26.32,26.29,26.34,10.26,35.50
$GC,1688,2.02,225.8,3151,1907,1811,4094,73.6,12.4,151,1703,0.00,3.47,0.00,0.000,260,0.000,0.063,3151,3194,1810,1810,4094,0,0,0,0,0,0,26.60,26.13,26.61,10.26,35.23
$GC,1734,2.02,225.8,3151,3194,1809,4095,68.0,12.3,155,1748,0.00,3.28,0.00,0.000,1030,0.000,0.033,3151,1911,1808,1808,4094,0,0,0,0,0,0,26.31,26.26,26.34,10.26,35.27
$GC,1799,2.02,225.8,3151,1912,1808,4094,60.5,11.2,161,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1911,1806,1806,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.26,35.50
$GC,1863,2.02,225.8,3151,1912,1806,4094,53.5,11.0,167,1881,0.00,3.60,0.00,0.000,516,0.000,0.081,3151,596,1804,1804,4094,0,0,0,0,0,0,26.66,26.13,26.67,10.26,35.19
$GC,1913,2.02,225.8,3152,596,1805,4095,47.2,12.7,171,1927,0.00,3.25,0.00,0.000,1030,0.000,0.033,3151,1908,1803,1803,4094,0,0,0,0,0,0,26.41,26.37,26.44,10.26,35.43
$GC,1978,2.02,225.8,3151,1909,1803,4094,39.4,11.5,177,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1908,1801,1801,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.25,35.03
$GC,2046,2.02,225.8,3152,1908,1801,4095,31.9,11.0,183,2060,0.00,3.42,0.00,0.000,260,0.000,0.062,3152,3184,1799,1799,4094,0,0,0,0,0,0,26.71,26.23,26.72,10.25,35.03
$GC,2082,2.02,225.8,3151,3185,1799,4094,27.4,12.1,186,2096,0.00,3.22,0.00,0.000,1030,0.000,0.033,3151,1917,1798,1798,4094,0,0,0,0,0,0,26.41,26.37,26.44,10.25,35.31
$GC,2147,2.02,225.8,3152,1917,1797,4095,19.6,12.2,192,2165,0.00,3.60,0.00,0.000,516,0.000,0.080,3151,597,1797,1797,4094,0,0,0,0,0,0,26.67,26.20,26.69,10.26,35.50
$GC,2207,2.02,225.8,3151,598,1796,4094,12.0,12.6,197,2221,0.00,3.25,0.00,0.000,1030,0.000,0.033,3151,1917,1795,1795,4094,0,0,0,0,0,0,26.48,26.45,26.51,10.25,36.02
$GC,2273,2.06,251.5,3151,1919,1795,4095,6.0,9.0,203,2289,0.12,3.60,0.12,0.003,10756,0.068,0.077,3171,601,1793,1793,4094,0,0,0,0,0,0,26.51,26.20,26.52,10.25,35.78
$GC,2310,2.11,281.1,3171,602,1794,4094,2.7,8.8,206,2326,0.10,3.17,3.42,0.295,11270,0.056,0.031,3187,1891,1754,1754,4094,0,0,0,0,0,0,26.43,26.46,25.44,10.25,35.46
$STATE,2337,end climb,SURFACE_DEPTH_REACHED
$STATE,2337,begin surface coast
$FINISH,0.3,1.008143
$STATE,2367,end surface coast,CONTROL_FINISHED_OK
$STATE,2367,begin surface
$SM_CCo,2402,2.92,0.234,0,0,1729,300.51
$SM_GC,3.11,30.23,0.00,2.92,0.028,0.000,0.234,242,1894,1729,-7.14,-0.23,300.51,0,0,0,0,0,0,26.40,26.76,25.41
$IRIDIUM_FIX,4748.51,-12337.82,150317,083616
$TT8_MAMPS,0.053179,0.255409
$HUMID,34.91
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,7.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,4.6
$ALTIM_BOTTOM_PING,101.9,2.3
$24V_AH,23.40,5.169
$10V_AH,9.34,6.211
$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,65.050,61.250,36.125,2.925,0.000,23.692,18.369,137.863,0.750,0.000,19.776,0.000,0.000,289.235,2256.566,113.636,33.521,770.839,0.000,1996.836,0.000,7.139,0.000
$DEVICE_MAMPS,128.520,146.115,1945.395,234.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,142.145,270.722,453.579,1115.685,1956.869,0.000,0.000,0.000,0.000,0.000
$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,17752,211
$CAP_FILE_SIZE,54007,7
$CFSIZE,1024409600,1018167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,100409,4743.351,-12224.960,13,0.9,31,16.3,0.0,0.0,10,5.0