version: 66.12
glider: 401
mission: 19
dive: 16
start: 3 15 117 7 0 59
data:
$ID,401
$MISSION,19
$DIVE,16
$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,17
$R_STBD_OVSHOOT,37
$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
$GPS1,150317,065607,4744.3433,-12225.1465,28,0.9,40,16.3,0.5,30.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-57.5
$GPS2,150317,070015,4744.4180,-12225.0850,4,0.9,15,16.3,0.8,90.9,9,5.0
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.076309,-0.206885
$KALMAN_X,1032.496338,51.526844,175.597702,-1721.486328,198.894287
$KALMAN_Y,1604.231323,-81.776825,241.521973,-713.742432,686.609985
$MHEAD_RNG_PITCHd_Wd,183.9,852,-19.9,-10.000,-24.39,2610
$D_GRID,190
$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,-171.1,244,1911,1729,4095,0.0,0.0,0,31,0.00,0.00,-3.95,0.000,16390,0.000,0.000,243,1911,2290,2290,4094,0,0,0,0,0,0,26.44,24.71,26.44,10.23,36.25
$GC,33,-1.93,-171.1,243,1912,2291,4094,2.0,0.0,1,65,21.05,3.47,0.00,0.000,2308,0.129,0.063,1900,3190,2292,2292,4094,0,0,0,0,0,0,25.66,25.67,25.75,10.36,35.90
$GC,77,-1.93,-171.1,1900,3191,2294,4094,15.4,-27.3,4,95,0.00,3.35,0.00,0.000,1030,0.000,0.032,1900,1897,2293,2293,4094,0,0,0,0,0,0,25.89,25.85,25.92,10.37,35.66
$GC,146,-1.93,-171.1,1900,1898,2296,4094,25.6,-14.2,10,160,0.00,3.58,0.00,0.000,516,0.000,0.074,1900,598,2295,2295,4095,0,0,0,0,0,0,26.28,25.81,26.29,10.36,35.23
$GC,182,-1.93,-171.1,1901,597,2297,4095,31.3,-15.3,13,196,0.00,3.28,0.00,0.000,1030,0.000,0.034,1901,1885,2297,2297,4094,0,0,0,0,0,0,26.04,26.00,26.07,10.37,35.31
$GC,246,-1.93,-171.1,1900,1886,2299,4094,40.9,-13.8,19,261,0.00,3.62,0.00,0.000,260,0.000,0.070,1901,3201,2300,2300,4094,0,0,0,0,0,0,26.39,25.90,26.39,10.37,35.66
$GC,292,-1.93,-171.1,1900,3202,2301,4094,47.4,-14.5,23,310,0.00,3.30,0.00,0.000,1030,0.000,0.032,1901,1916,2300,2300,4095,0,0,0,0,0,0,26.10,26.10,26.16,10.37,35.43
$GC,360,-1.93,-171.1,1901,1916,2302,4095,56.9,-13.8,29,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1916,2302,2302,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.37,35.19
$GC,425,-1.93,-171.1,1900,1917,2305,4094,66.4,-14.6,35,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1915,2304,2304,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.37,35.15
$GC,488,-1.93,-171.1,1901,1916,2307,4095,75.8,-14.9,41,502,0.00,3.58,0.00,0.000,516,0.000,0.073,1900,598,2306,2306,4094,0,0,0,0,0,0,26.55,26.06,26.56,10.37,35.31
$GC,523,-1.93,-171.1,1900,599,2308,4094,81.7,-16.2,44,538,0.00,3.30,0.00,0.000,1030,0.000,0.036,1900,1907,2308,2308,4094,0,0,0,0,0,0,26.29,26.22,26.30,10.37,35.31
$GC,589,-1.93,-171.1,1901,1908,2310,4094,92.8,-16.4,50,603,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1907,2309,2309,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.37,35.27
$GC,656,-1.93,-171.1,1901,1907,2313,4095,103.9,-17.1,56,670,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1908,2313,2313,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.37,34.99
$GC,720,-1.93,-171.1,1901,1908,2315,4095,114.9,-17.2,62,734,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1907,2315,2315,4094,0,0,0,0,0,0,26.64,26.66,26.65,10.38,35.31
$GC,784,-1.93,-171.1,1901,1908,2317,4095,126.1,-18.0,68,798,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1908,2317,2317,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.37,35.58
$GC,849,-1.93,-171.1,1900,1907,2320,4095,138.0,-18.5,74,867,0.00,3.55,0.00,0.000,260,0.000,0.071,1901,3209,2320,2320,4094,0,0,0,0,0,0,26.70,26.18,26.70,10.37,35.15
$GC,890,-1.93,-171.1,1900,3209,2323,4094,145.5,-18.5,77,904,0.00,3.30,0.00,0.000,1030,0.000,0.033,1901,1909,2321,2321,4094,0,0,0,0,0,0,26.39,26.34,26.46,10.38,35.19
$STATE,916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,916,begin apogee
$GC,919,-0.42,0.0,1901,1910,2323,4094,150.2,-18.3,79,948,5.45,0.00,13.88,1.955,10244,0.081,0.000,2384,1908,2082,2082,4094,0,0,0,0,0,0,26.27,24.95,23.77,10.38,35.23
$STATE,949,end apogee,CONTROL_FINISHED_OK
$STATE,949,begin climb
$GC,950,1.93,171.1,2385,1908,2083,4095,154.1,0.0,81,978,7.90,0.00,12.07,1.897,11270,0.038,0.000,3131,1908,1880,1880,4094,0,0,0,0,0,0,25.89,26.06,23.37,10.32,35.07
$GC,1030,2.02,227.3,3131,1908,1881,4095,149.8,7.8,88,1045,0.20,0.00,5.20,1.372,10246,0.054,0.000,3156,1908,1816,1816,4094,0,0,0,0,0,0,25.72,24.72,23.58,10.29,34.80
$GC,1095,2.04,239.3,3156,1908,1816,4095,143.9,9.5,94,1110,0.00,0.00,2.62,0.529,8198,0.000,0.000,3156,1909,1802,1802,4094,0,0,0,0,0,0,26.03,24.92,23.77,10.27,35.35
$GC,1160,2.04,239.3,3156,1909,1802,4094,137.0,10.6,100,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1908,1800,1800,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.26,34.91
$GC,1228,2.04,239.3,3156,1909,1800,4094,129.4,11.5,106,1246,0.00,3.55,0.00,0.000,260,0.000,0.061,3156,3203,1798,1798,4094,0,0,0,0,0,0,26.25,25.84,26.26,10.27,35.27
$GC,1268,2.04,239.3,3156,3204,1798,4094,124.5,12.2,109,1282,0.00,3.40,0.00,0.000,1030,0.000,0.034,3156,1889,1797,1797,4095,0,0,0,0,0,0,26.00,25.95,26.03,10.26,35.19
$GC,1333,2.04,239.3,3156,1889,1797,4095,116.8,11.7,115,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1889,1795,1795,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.27,35.03
$GC,1397,2.04,239.3,3156,1889,1795,4095,109.1,12.1,121,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1889,1794,1794,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.26,35.31
$GC,1461,2.04,239.3,3156,1890,1793,4095,101.5,12.1,127,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1889,1792,1792,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.26,35.31
$GC,1525,2.04,239.3,3156,1889,1791,4095,93.1,13.0,133,1539,0.00,3.58,0.00,0.000,516,0.000,0.082,3156,594,1789,1789,4094,0,0,0,0,0,0,26.50,25.98,26.51,10.26,35.11
$GC,1590,2.04,239.3,3156,594,1789,4095,84.0,14.3,139,1604,0.00,3.25,0.00,0.000,1030,0.000,0.032,3156,1900,1788,1788,4094,0,0,0,0,0,0,26.27,26.27,26.29,10.26,35.46
$GC,1656,2.04,239.3,3156,1902,1787,4094,75.0,13.7,145,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1901,1785,1785,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.26,35.90
$GC,1720,2.04,239.3,3156,1902,1785,4094,66.9,12.2,151,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1901,1784,1784,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.26,35.23
$GC,1784,2.04,239.3,3157,1901,1782,4095,59.4,11.6,157,1798,0.00,3.60,0.00,0.000,516,0.000,0.078,3156,593,1781,1781,4094,0,0,0,0,0,0,26.63,26.10,26.63,10.26,35.62
$GC,1829,2.04,239.3,3156,593,1782,4095,53.6,12.8,161,1844,0.00,3.20,0.00,0.000,1030,0.000,0.031,3156,1884,1780,1780,4094,0,0,0,0,0,0,26.35,26.34,26.39,10.26,35.27
$GC,1894,2.04,239.3,3156,1886,1780,4094,46.0,11.0,167,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1885,1779,1779,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.25,35.43
$GC,1962,2.04,239.3,3156,1886,1778,4094,38.6,10.5,173,1976,0.00,3.53,0.00,0.000,260,0.000,0.063,3157,3193,1777,1777,4094,0,0,0,0,0,0,26.68,26.20,26.69,10.25,35.15
$GC,2056,2.04,239.3,3156,3193,1775,4095,26.9,12.7,182,2071,0.00,3.33,0.00,0.000,1030,0.000,0.033,3156,1888,1774,1774,4094,0,0,0,0,0,0,26.39,26.34,26.45,10.25,35.62
$GC,2122,2.04,239.3,3157,1888,1773,4095,19.0,11.9,188,2136,0.00,3.53,0.00,0.000,516,0.000,0.080,3156,598,1772,1772,4094,0,0,0,0,0,0,26.67,26.19,26.68,10.25,35.66
$STATE,2244,end climb,SURFACE_DEPTH_REACHED
$STATE,2244,begin surface coast
$FINISH,0.4,1.021328
$STATE,2255,end surface coast,CONTROL_FINISHED_OK
$STATE,2255,begin surface
$SM_CCo,2294,3.45,0.300,0,0,1729,300.51
$SM_GC,2.59,30.02,3.28,3.45,0.028,0.035,0.300,243,1908,1729,-7.14,-1.46,300.51,0,0,0,0,0,0,26.41,26.47,25.39
$IRIDIUM_FIX,4748.51,-12337.82,150317,061223
$TT8_MAMPS,0.053179,0.244174
$HUMID,35.46
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,7.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.0,4.5
$ALTIM_BOTTOM_PING,100.1,2.3
$24V_AH,23.37,5.080
$10V_AH,9.35,5.993
$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,64.625,68.550,33.775,3.450,0.000,23.759,19.553,139.360,1.250,0.000,16.665,0.000,0.000,285.388,2155.248,110.696,33.660,753.052,0.000,1898.243,0.000,7.140,0.000
$DEVICE_MAMPS,129.285,81.855,1954.575,299.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.224,257.847,432.051,1062.332,1859.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,17763,201
$CAP_FILE_SIZE,51725,7
$CFSIZE,1024409600,1018331136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,073950,4744.248,-12225.212,1,0.9,15,16.3,0.0,0.0,9,4.7