version: 66.12
glider: 401
mission: 19
dive: 26
start: 3 15 117 14 33 21
data:
$ID,401
$MISSION,19
$DIVE,26
$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,10
$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,18
$R_STBD_OVSHOOT,38
$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
$GPS1,150317,142807,4742.6670,-12224.7354,2,1.1,15,16.3,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-57.3
$GPS2,150317,143235,4742.6377,-12224.7354,4,1.1,16,16.3,0.0,0.0,10,4.7
$SPEED_LIMITS,0.567,0.577
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.041971,0.575600
$KALMAN_X,-16.326134,-348.001709,-644.299194,980.493164,-175.534393
$KALMAN_Y,523.521423,-125.364655,-1196.456421,-1451.091553,-165.853607
$MHEAD_RNG_PITCHd_Wd,347.9,2524,-1.8,-10.000,-9.83,24676
$D_GRID,181
$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,14,-0.42,-171.1,243,1910,1729,4094,0.0,0.0,0,35,0.00,0.00,-3.85,0.000,16390,0.000,0.000,242,1909,2286,2286,4094,0,0,0,0,0,0,26.42,25.55,26.43,10.23,35.39
$GC,37,-0.42,-171.1,243,1908,2287,4095,2.1,0.0,1,66,26.77,0.00,0.00,0.000,2310,0.120,0.000,2384,1903,2289,2289,4094,0,0,0,0,0,0,25.67,25.81,25.78,10.35,36.37
$GC,116,-0.42,-171.1,2384,1903,2290,4095,18.0,-4.3,8,130,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1903,2290,2290,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.36,35.58
$GC,180,-0.42,-171.1,2384,1905,2292,4094,20.6,-3.6,14,194,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1904,2290,2290,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.36,35.70
$GC,244,-0.42,-171.1,2384,1904,2291,4095,23.4,-5.0,20,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1904,2291,2291,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.36,35.23
$GC,308,-0.42,-171.1,2384,1904,2292,4095,26.3,-4.2,26,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1904,2291,2291,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.36,35.19
$GC,373,-0.42,-171.1,2384,1903,2292,4095,29.5,-5.5,32,391,0.00,3.45,0.00,0.000,260,0.000,0.062,2384,3177,2292,2292,4094,0,0,0,0,0,0,26.45,26.01,26.46,10.36,35.31
$GC,403,-0.42,-171.1,2384,3178,2294,4094,31.5,-6.5,34,417,0.00,3.28,0.00,0.000,1030,0.000,0.031,2384,1891,2293,2293,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.36,35.27
$GC,468,-0.42,-171.1,2384,1891,2294,4095,36.2,-7.7,40,486,0.00,3.53,0.00,0.000,516,0.000,0.077,2384,602,2294,2294,4094,0,0,0,0,0,0,26.51,26.04,26.51,10.36,35.11
$GC,528,-0.42,-171.1,2384,603,2296,4094,41.6,-8.8,45,542,0.00,3.17,0.00,0.000,1030,0.000,0.034,2384,1893,2295,2295,4094,0,0,0,0,0,0,26.31,26.28,26.33,10.37,35.46
$GC,593,-0.42,-171.1,2385,1893,2296,4095,47.4,-8.9,51,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1893,2297,2297,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.36,35.54
$GC,660,-0.42,-171.1,2384,1893,2298,4095,53.1,-8.4,57,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1893,2297,2297,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.36,35.11
$GC,725,-0.42,-171.1,2385,1893,2299,4095,58.2,-7.9,63,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1893,2299,2299,4094,0,0,0,0,0,0,26.62,26.64,26.64,10.36,34.87
$GC,789,-0.42,-171.1,2384,1894,2300,4094,62.9,-7.3,69,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1894,2300,2300,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.37,35.78
$GC,854,-0.42,-171.1,2384,1894,2302,4095,67.5,-7.2,75,872,0.00,3.45,0.00,0.000,260,0.000,0.063,2385,3172,2301,2301,4094,0,0,0,0,0,0,26.67,26.25,26.68,10.36,35.27
$GC,895,-0.42,-171.1,2384,3172,2302,4095,71.0,-8.3,78,909,0.00,3.25,0.00,0.000,1030,0.000,0.031,2384,1887,2301,2301,4094,0,0,0,0,0,0,26.40,26.37,26.43,10.37,35.82
$GC,960,-0.42,-171.1,2385,1887,2303,4095,77.1,-9.7,84,974,0.00,3.50,0.00,0.000,516,0.000,0.077,2384,598,2303,2303,4094,0,0,0,0,0,0,26.70,26.21,26.71,10.37,35.27
$GC,986,-0.42,-171.1,2384,599,2304,4094,79.7,-9.4,86,1001,0.00,3.12,0.00,0.000,1030,0.000,0.035,2384,1885,2304,2304,4094,0,0,0,0,0,0,26.48,26.47,26.48,10.37,34.95
$GC,1051,-0.42,-171.1,2384,1886,2306,4094,85.9,-10.4,92,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1885,2306,2306,4094,0,0,0,0,0,0,26.72,26.73,26.72,10.37,34.76
$GC,1119,-0.42,-171.1,2385,1885,2307,4095,92.7,-8.7,98,1137,0.00,3.42,0.00,0.000,260,0.000,0.061,2384,3164,2306,2306,4094,0,0,0,0,0,0,26.73,26.27,26.74,10.37,35.50
$GC,1188,-0.42,-171.1,2385,3164,2309,4095,98.8,-9.0,104,1206,0.00,3.25,0.00,0.000,1030,0.000,0.031,2384,1874,2308,2308,4094,0,0,0,0,0,0,26.46,26.44,26.51,10.37,34.99
$GC,1260,-0.42,-171.1,2384,1874,2310,4095,104.5,-7.5,110,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1873,2309,2309,4095,0,0,0,0,0,0,26.76,26.77,26.77,10.37,35.82
$GC,1324,-0.42,-171.1,2384,1873,2310,4095,109.1,-6.9,116,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1874,2310,2310,4094,0,0,0,0,0,0,26.77,26.79,26.79,10.37,35.11
$GC,1389,-0.42,-171.1,2384,1874,2312,4095,113.9,-8.0,122,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1873,2311,2311,4094,0,0,0,0,0,0,26.79,26.80,26.80,10.37,35.46
$GC,1453,-0.42,-171.1,2385,1873,2313,4095,119.9,-9.6,128,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1874,2313,2313,4094,0,0,0,0,0,0,26.80,26.82,26.81,10.37,34.87
$GC,1521,-0.42,-171.1,2384,1874,2315,4094,126.5,-9.8,134,1539,0.00,3.45,0.00,0.000,260,0.000,0.060,2384,3163,2314,2314,4094,0,0,0,0,0,0,26.81,26.35,26.82,10.37,35.11
$GC,1571,-0.42,-171.1,2385,3163,2316,4095,131.5,-9.9,138,1589,0.00,3.22,0.00,0.000,1030,0.000,0.031,2384,1879,2315,2315,4094,0,0,0,0,0,0,26.53,26.50,26.57,10.38,34.99
$GC,1640,-0.42,-171.1,2385,1880,2317,4094,137.7,-8.7,144,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1879,2316,2316,4094,0,0,0,0,0,0,26.82,26.84,26.84,10.37,35.03
$GC,1704,-0.42,-171.1,2384,1879,2318,4095,143.6,-9.5,150,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1879,2318,2318,4094,0,0,0,0,0,0,26.84,26.85,26.85,10.37,34.95
$GC,1769,-0.42,-171.1,2384,1879,2320,4095,149.1,-8.5,156,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1879,2319,2319,4094,0,0,0,0,0,0,26.84,26.86,26.86,10.37,35.19
$STATE,1793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1793,begin apogee
$GC,1796,-0.42,0.0,2384,1880,2320,4094,151.3,-8.4,158,1815,0.00,0.00,13.45,1.944,8196,0.000,0.000,2384,1879,2081,2081,4094,0,0,0,0,0,0,26.78,25.61,24.03,10.38,35.03
$STATE,1815,end apogee,CONTROL_FINISHED_OK
$STATE,1816,begin climb
$GC,1816,0.42,171.1,2384,1881,2083,4094,152.3,0.0,159,1836,2.88,0.00,11.77,1.899,11270,0.045,0.000,2656,1879,1881,1881,4094,0,0,0,0,0,0,25.96,26.19,23.63,10.32,34.72
$GC,1886,3.27,1954.1,2656,1880,1882,4094,152.9,2.6,165,1999,9.43,3.83,95.15,2.090,10500,0.026,0.072,3556,3165,53,53,4093,0,0,0,0,0,0,25.79,23.82,22.81,10.28,34.87
$GC,2040,3.27,1954.1,3557,3166,53,4095,122.0,17.4,177,2054,0.00,3.35,0.00,0.000,1030,0.000,0.031,3557,1910,51,51,4094,0,0,0,0,0,0,25.20,25.13,25.20,9.92,33.81
$GC,2105,3.27,1954.1,3556,1910,50,4095,114.3,13.4,183,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1910,48,48,4094,0,0,0,0,0,0,25.72,25.74,25.73,9.93,33.97
$GC,2169,3.27,1954.1,3557,1910,48,4095,107.0,11.3,189,2183,0.00,3.50,0.00,0.000,260,0.000,0.064,3556,3161,48,48,4094,0,0,0,0,0,0,25.91,25.51,25.92,9.92,34.28
$GC,2205,3.27,1954.1,3557,3160,47,4095,103.0,10.6,192,2220,0.00,3.17,0.03,0.008,9222,0.000,0.031,3556,1936,45,45,4094,0,0,0,0,0,0,25.73,25.71,25.77,9.92,34.56
$GC,2270,3.68,2205.1,3557,1935,45,4095,97.3,9.0,198,2285,1.15,0.00,0.00,0.000,2054,0.028,0.000,3677,1935,43,43,4094,0,0,0,0,0,0,25.87,25.91,25.89,9.92,34.20
$GC,2335,3.68,2205.1,3677,1936,40,4093,84.3,25.5,204,2350,0.00,3.47,0.00,0.000,260,0.000,0.075,3677,3163,38,38,4094,0,0,0,0,0,0,26.20,25.74,26.20,9.91,34.64
$GC,2381,3.68,2205.1,3677,3164,36,4095,71.1,28.7,208,2395,0.00,3.10,0.00,0.000,1030,0.000,0.031,3677,1963,34,34,4094,0,0,0,0,0,0,26.00,25.94,26.01,9.91,34.17
$GC,2445,3.68,2205.1,3677,1962,29,4095,52.5,29.7,214,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,3677,1962,28,28,4094,0,0,0,0,0,0,26.31,26.33,26.32,9.90,34.20
$GC,2510,3.68,2205.1,3678,1963,25,4094,34.7,26.7,220,2524,0.00,3.35,0.00,0.000,260,0.000,0.073,3677,3162,22,22,4094,0,0,0,0,0,0,26.36,25.89,26.38,9.90,34.24
$GC,2555,3.68,2205.1,3678,3162,21,4095,24.5,22.4,224,2569,0.00,2.95,0.00,0.000,1030,0.000,0.031,3677,2009,19,19,4094,0,0,0,0,0,0,26.11,26.08,26.15,9.91,34.64
$GC,2622,3.68,2205.1,3677,2009,17,4094,10.4,23.3,230,2636,0.00,3.85,0.00,0.000,516,0.000,0.076,3677,605,14,14,4094,0,0,0,0,0,0,26.45,25.94,26.46,9.90,34.83
$GC,2648,3.68,2205.1,3678,604,15,4095,3.8,24.9,232,2666,0.00,3.45,0.00,0.000,1030,0.000,0.036,3677,1973,14,14,4094,0,0,0,0,0,0,26.19,26.16,26.21,9.90,34.52
$STATE,2678,end climb,SURFACE_DEPTH_REACHED
$STATE,2678,begin surface coast
$FINISH,0.3,1.000251
$STATE,2688,end surface coast,CONTROL_FINISHED_OK
$STATE,2688,begin surface
$SM_CCo,2790,0.00,0.000,0,0,13,1776.44
$SM_GC,0.86,35.65,0.17,0.00,0.024,0.067,0.000,232,1873,13,-7.18,0.64,1776.44,0,0,1,0,0,0,25.70,26.22,26.03
$IRIDIUM_FIX,4748.51,-12337.82,150317,134527
$TT8_MAMPS,0.051681,0.252413
$HUMID,34.05
$INTERNAL_PRESSURE,9.78909
$TCM_TEMP,7.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,101.3,2.3
$24V_AH,22.81,5.428
$10V_AH,9.31,6.706
$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,75.875,74.300,120.400,0.000,0.000,25.884,28.551,145.215,0.750,0.000,17.449,0.000,61.515,363.437,2508.672,129.352,33.510,977.164,0.000,2221.401,0.000,7.193,0.000
$DEVICE_MAMPS,120.105,77.265,2089.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,157.480,301.212,505.104,1243.771,2178.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322228
$DATA_FILE_SIZE,21283,235
$CAP_FILE_SIZE,62502,15
$CFSIZE,1024409600,1017823232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,150317,152025,4742.861,-12224.911,2,0.9,18,16.3,0.0,0.0,11,4.9