version: 66.12
glider: 401
mission: 19
dive: 17
start: 3 15 117 7 45 2
data:
$ID,401
$MISSION,19
$DIVE,17
$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
$GPS1,150317,073950,4744.2480,-12225.2119,1,0.9,15,16.3,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-55.0
$GPS2,150317,074418,4744.3042,-12225.1631,4,0.9,20,16.3,0.0,0.0,9,4.7
$SPEED_LIMITS,0.100,0.221
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.007617,-0.220378
$KALMAN_X,1057.040161,45.025009,285.647400,-1947.778687,139.140244
$KALMAN_Y,1572.962280,33.386662,558.793457,-1323.777344,515.031616
$MHEAD_RNG_PITCHd_Wd,165.7,723,-19.9,-10.000,-24.39,2610
$D_GRID,195
$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,-171.1,243,1911,1728,4095,0.0,0.0,0,32,0.00,0.00,-4.05,0.000,16390,0.000,0.000,243,1911,2287,2287,4094,0,0,0,0,0,0,26.44,24.71,26.44,10.23,36.41
$GC,33,-1.93,-171.1,243,1912,2288,4094,1.8,0.0,1,66,20.95,3.50,0.00,0.000,2308,0.127,0.070,1900,3188,2289,2289,4094,0,0,0,0,0,0,25.66,25.66,25.74,10.36,35.94
$GC,77,-1.93,-171.1,1899,3189,2290,4094,15.0,-27.1,4,95,0.00,3.35,0.00,0.000,1030,0.000,0.033,1900,1901,2291,2291,4094,0,0,0,0,0,0,25.87,25.82,25.91,10.36,36.02
$GC,147,-1.93,-171.1,1900,1901,2293,4095,27.6,-17.5,10,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1901,2293,2293,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.36,35.31
$GC,211,-1.93,-171.1,1900,1902,2296,4094,38.8,-17.7,16,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1901,2295,2295,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.36,35.27
$GC,275,-1.93,-171.1,1900,1902,2298,4094,50.1,-17.5,22,293,0.00,3.55,0.00,0.000,260,0.000,0.070,1900,3183,2297,2297,4094,0,0,0,0,0,0,26.41,25.93,26.42,10.37,35.23
$GC,304,-1.93,-171.1,1900,3184,2300,4094,55.4,-17.6,24,319,0.00,3.33,0.00,0.000,1030,0.000,0.032,1900,1888,2299,2299,4094,0,0,0,0,0,0,26.14,26.09,26.12,10.37,35.11
$GC,370,-1.93,-171.1,1900,1888,2302,4095,66.3,-16.3,30,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1888,2301,2301,4094,0,0,0,0,0,0,26.47,26.49,26.48,10.37,34.95
$GC,435,-1.93,-171.1,1899,1889,2304,4094,76.1,-14.8,36,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1889,2304,2304,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.36,35.11
$GC,500,-1.93,-171.1,1900,1890,2306,4094,85.5,-14.3,42,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1888,2306,2306,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.37,35.19
$GC,564,-1.93,-171.1,1899,1889,2309,4094,94.5,-13.7,48,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1888,2308,2308,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.37,35.35
$GC,631,-1.93,-171.1,1900,1888,2310,4095,104.0,-14.6,54,645,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1888,2309,2309,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.37,35.03
$GC,695,-1.93,-171.1,1900,1888,2313,4095,113.6,-15.1,60,709,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1888,2312,2312,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.37,35.11
$GC,759,-1.93,-171.1,1900,1889,2315,4094,123.3,-15.3,66,773,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1888,2314,2314,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.37,35.78
$GC,823,-1.93,-171.1,1900,1889,2317,4094,133.4,-16.1,72,841,0.00,3.55,0.00,0.000,260,0.000,0.068,1900,3188,2316,2316,4094,0,0,0,0,0,0,26.68,26.17,26.70,10.37,35.27
$GC,853,-1.93,-171.1,1900,3189,2317,4094,138.3,-16.3,74,867,0.00,3.28,0.00,0.000,1030,0.000,0.033,1900,1901,2317,2317,4094,0,0,0,0,0,0,26.40,26.34,26.41,10.37,35.03
$GC,919,-1.93,-171.1,1899,1902,2321,4094,148.4,-14.8,80,932,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1901,2320,2320,4094,0,0,0,0,0,0,26.70,26.72,26.72,10.37,34.99
$STATE,943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,943,begin apogee
$GC,946,-0.42,0.0,1900,1902,2321,4094,152.2,-14.9,82,978,5.47,0.00,13.75,1.959,10244,0.081,0.000,2386,1900,2082,2082,4094,0,0,0,0,0,0,26.27,24.96,23.75,10.37,34.91
$STATE,979,end apogee,CONTROL_FINISHED_OK
$STATE,979,begin climb
$GC,980,1.93,171.1,2387,1900,2083,4095,155.1,0.0,84,1009,7.82,0.00,12.10,1.903,11270,0.037,0.000,3130,1900,1881,1881,4094,0,0,0,0,0,0,25.91,26.09,23.41,10.33,35.15
$GC,1060,1.93,171.1,3131,1901,1881,4094,148.6,10.5,91,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1900,1880,1880,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.28,34.76
$GC,1128,1.93,171.1,3130,1901,1880,4094,141.7,10.1,97,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1900,1878,1878,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.28,35.07
$GC,1192,1.94,177.2,3130,1900,1878,4095,135.5,9.8,103,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1900,1877,1877,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.28,35.19
$GC,1260,1.97,194.0,3130,1901,1877,4094,129.2,9.3,109,1275,0.00,0.00,2.97,0.667,8198,0.000,0.000,3130,1900,1856,1856,4094,0,0,0,0,0,0,26.32,25.20,24.10,10.28,35.03
$GC,1326,1.98,199.4,3130,1899,1855,4095,122.9,9.8,115,1341,0.08,0.00,0.55,0.004,10246,0.093,0.000,3144,1899,1854,1854,4094,0,0,0,0,0,0,26.13,26.26,26.15,10.28,35.86
$GC,1392,1.99,207.7,3144,1900,1854,4095,116.7,9.7,121,1407,0.00,3.50,2.42,0.342,8452,0.000,0.058,3144,3188,1844,1844,4094,0,0,0,0,0,0,26.41,25.32,24.18,10.27,35.46
$GC,1438,1.99,207.7,3144,3189,1844,4094,111.6,11.2,125,1453,0.00,3.33,0.28,0.004,9222,0.000,0.033,3144,1896,1842,1842,4094,0,0,0,0,0,0,26.13,26.08,26.16,10.27,35.39
$GC,1503,1.99,207.7,3144,1897,1842,4094,103.7,11.8,131,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1896,1841,1841,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.27,35.50
$GC,1567,1.99,207.7,3144,1896,1840,4095,96.2,11.9,137,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1896,1838,1838,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.26,35.35
$GC,1631,1.99,207.7,3144,1897,1838,4094,87.4,13.7,143,1646,0.00,3.58,0.00,0.000,516,0.000,0.080,3144,595,1836,1836,4094,0,0,0,0,0,0,26.55,26.03,26.56,10.27,35.27
$GC,1667,1.99,207.7,3144,596,1837,4094,82.4,13.6,146,1685,0.00,3.22,0.00,0.000,1030,0.000,0.032,3144,1896,1835,1835,4094,0,0,0,0,0,0,26.30,26.28,26.33,10.27,35.31
$GC,1737,1.99,207.7,3144,1897,1834,4095,73.6,12.2,152,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1897,1833,1833,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.27,35.39
$GC,1801,1.99,207.7,3144,1897,1833,4095,66.0,11.8,158,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1897,1831,1831,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.26,35.19
$GC,1869,1.99,207.7,3145,1898,1832,4094,58.6,10.6,164,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1897,1830,1830,4094,0,0,0,0,0,0,26.64,26.66,26.65,10.27,35.43
$GC,1937,2.01,221.1,3144,1898,1830,4094,51.8,9.5,170,1952,0.00,0.00,2.20,0.131,8198,0.000,0.000,3144,1897,1823,1823,4094,0,0,0,0,0,0,26.67,25.56,24.82,10.26,35.27
$GC,2002,2.03,234.4,3144,1897,1822,4095,45.6,9.5,176,2017,0.12,0.00,2.60,0.278,10246,0.067,0.000,3164,1897,1806,1806,4094,0,0,0,0,0,0,26.46,25.65,24.92,10.26,35.39
$GC,2068,2.03,234.4,3164,1899,1807,4094,39.2,10.1,182,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1897,1805,1805,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.26,35.19
$GC,2132,2.03,234.4,3164,1897,1804,4095,32.0,11.5,188,2147,0.00,3.47,0.00,0.000,260,0.000,0.062,3164,3192,1803,1803,4094,0,0,0,0,0,0,26.71,26.25,26.72,10.25,35.23
$GC,2187,2.03,234.4,3164,3192,1803,4095,25.0,13.0,193,2202,0.00,3.30,0.00,0.000,1030,0.000,0.034,3164,1897,1801,1801,4094,0,0,0,0,0,0,26.40,26.34,26.44,10.26,35.19
$GC,2254,2.05,245.8,3164,1897,1802,4095,17.8,9.6,199,2269,0.00,3.55,1.48,0.004,8708,0.000,0.080,3164,598,1800,1800,4094,0,0,0,0,0,0,26.73,26.20,26.72,10.25,35.19
$GC,2377,2.05,245.8,3164,598,1797,4095,4.8,11.6,211,2393,0.00,3.15,0.30,0.004,9222,0.000,0.031,3164,1871,1796,1796,4094,0,0,0,0,0,0,26.48,26.45,26.50,10.25,35.94
$STATE,2403,end climb,SURFACE_DEPTH_REACHED
$STATE,2404,begin surface coast
$FINISH,0.3,1.002843
$STATE,2433,end surface coast,CONTROL_FINISHED_OK
$STATE,2433,begin surface
$SM_CCo,2469,4.60,0.401,0,0,1729,300.51
$SM_GC,3.13,30.00,0.00,4.60,0.027,0.000,0.401,243,1875,1729,-7.14,-1.14,300.51,0,0,0,0,0,0,26.46,26.79,25.43
$IRIDIUM_FIX,4748.51,-12337.82,150317,065700
$TT8_MAMPS,0.053928,0.244923
$HUMID,35.39
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,7.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,100.8,2.3
$24V_AH,23.41,5.108
$10V_AH,9.35,6.067
$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,64.450,47.650,38.650,4.600,0.000,23.883,19.993,147.560,1.000,0.000,21.208,0.000,0.000,305.947,2325.703,115.719,33.662,813.790,0.000,2043.548,0.000,7.189,0.000
$DEVICE_MAMPS,126.990,79.560,1959.165,400.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,145.285,277.095,464.325,1142.401,2003.512,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322244
$DATA_FILE_SIZE,17748,216
$CAP_FILE_SIZE,55173,10
$CFSIZE,1024409600,1018281984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150317,082731,4744.055,-12225.149,45,0.8,57,16.3,0.0,0.0,10,4.6