version: 66.12
glider: 401
mission: 19
dive: 8
start: 3 15 117 0 45 47
data:
$ID,401
$MISSION,19
$DIVE,8
$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,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,34
$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
$GPS1,150317,004052,4742.6816,-12224.9609,2,0.9,15,16.3,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-50.4
$GPS2,150317,004503,4742.6851,-12224.9365,4,0.8,17,16.3,0.0,0.0,10,4.7
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.092634,0.243107
$KALMAN_X,-104.266228,245.070206,68.520317,-486.764404,-260.660797
$KALMAN_Y,-501.020294,261.823822,29.820925,-1951.366333,-481.073639
$MHEAD_RNG_PITCHd_Wd,4.6,2441,-16.1,-10.000,-21.03,3723
$D_GRID,185
$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,-244.4,242,1919,1625,4094,0.0,0.0,0,32,0.00,0.00,-5.72,0.000,16390,0.000,0.000,243,1918,2369,2369,4094,0,0,0,0,0,0,26.50,25.58,26.51,10.22,36.96
$GC,33,-1.73,-244.4,243,1919,2371,4094,1.5,0.0,1,62,21.73,3.62,0.00,0.000,2564,0.127,0.070,1965,592,2372,2372,4094,0,0,0,0,0,0,25.73,25.73,25.82,10.38,37.08
$GC,267,-1.73,-244.4,1965,591,2380,4095,48.7,-16.8,24,281,0.00,3.28,0.00,0.000,1030,0.000,0.035,1965,1888,2379,2379,4095,0,0,0,0,0,0,26.19,26.15,26.24,10.39,36.73
$GC,331,-1.73,-244.4,1965,1888,2382,4095,57.9,-13.0,30,346,0.00,3.60,0.00,0.000,260,0.000,0.072,1965,3198,2381,2381,4094,0,0,0,0,0,0,26.53,25.98,26.55,10.38,36.53
$GC,396,-1.73,-244.4,1965,3198,2384,4095,66.5,-13.3,36,411,0.00,3.25,0.00,0.000,1030,0.000,0.034,1965,1930,2383,2383,4094,0,0,0,0,0,0,26.25,26.19,26.28,10.39,36.53
$GC,461,-1.73,-244.4,1965,1930,2386,4094,75.3,-14.2,42,475,0.00,3.65,0.00,0.000,516,0.000,0.078,1965,595,2385,2385,4094,0,0,0,0,0,0,26.60,26.03,26.62,10.39,36.61
$GC,497,-1.73,-244.4,1965,596,2387,4094,80.9,-15.3,45,511,0.00,3.35,0.00,0.000,1030,0.000,0.037,1965,1922,2386,2386,4094,0,0,0,0,0,0,26.29,26.25,26.33,10.39,36.45
$GC,561,-1.73,-244.4,1965,1924,2389,4095,90.8,-14.6,51,575,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1922,2388,2388,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.39,36.49
$GC,626,-1.73,-244.4,1965,1923,2390,4095,100.7,-14.9,57,641,0.00,3.50,0.00,0.000,260,0.000,0.072,1965,3202,2390,2390,4094,0,0,0,0,0,0,26.62,26.10,26.63,10.39,36.17
$GC,675,-1.73,-244.4,1965,3203,2391,4094,108.4,-15.6,61,693,0.00,3.25,0.00,0.000,1030,0.000,0.034,1965,1929,2391,2391,4094,0,0,0,0,0,0,26.35,26.29,26.39,10.39,36.17
$GC,746,-1.73,-244.4,1965,1928,2394,4095,118.7,-14.6,67,760,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1929,2394,2394,4094,0,0,0,0,0,0,26.71,26.72,26.72,10.39,36.33
$GC,810,-1.73,-244.4,1965,1928,2397,4095,128.5,-15.1,73,827,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1928,2396,2396,4094,0,0,0,0,0,0,26.73,26.74,26.74,10.39,36.13
$GC,878,-1.73,-244.4,1965,1928,2398,4095,138.1,-14.1,79,891,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1928,2397,2397,4095,0,0,0,0,0,0,26.75,26.77,26.77,10.40,36.13
$GC,942,-1.73,-244.4,1965,1929,2401,4094,147.4,-14.1,85,955,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1928,2400,2400,4094,0,0,0,0,0,0,26.77,26.79,26.79,10.39,35.94
$STATE,966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,966,begin apogee
$GC,970,-0.42,0.0,1965,2027,2401,4095,150.4,-12.9,87,999,4.68,0.05,17.92,2.006,10244,0.075,0.060,2386,1989,2080,2080,4094,0,0,0,0,0,0,26.31,24.72,23.51,10.39,36.61
$STATE,1000,end apogee,CONTROL_FINISHED_OK
$STATE,1000,begin climb
$GC,1001,1.73,244.4,2386,1990,2082,4094,152.9,0.0,89,1034,7.25,0.00,16.27,1.963,11270,0.039,0.000,3068,1988,1797,1797,4094,0,0,0,0,0,0,25.77,25.94,23.07,10.34,35.86
$GC,1085,1.80,291.0,3068,1988,1796,4095,148.0,8.7,96,1103,0.10,0.00,4.68,1.237,10246,0.077,0.000,3085,1988,1741,1741,4094,0,0,0,0,0,0,25.68,24.63,23.46,10.28,35.90
$GC,1154,1.80,291.0,3085,1989,1741,4094,140.3,11.2,102,1168,0.00,3.58,0.00,0.000,516,0.000,0.075,3085,704,1739,1739,4094,0,0,0,0,0,0,26.05,25.59,26.06,10.26,35.62
$GC,1189,1.80,291.0,3085,704,1740,4095,135.9,12.0,105,1204,0.00,3.22,0.00,0.000,1030,0.000,0.034,3085,1970,1738,1738,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.26,36.33
$GC,1255,1.80,291.0,3085,1971,1738,4094,127.5,12.8,111,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1970,1736,1736,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.26,36.49
$GC,1319,1.80,291.0,3084,1971,1736,4093,119.5,11.8,117,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1970,1735,1735,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.26,35.82
$GC,1383,1.80,291.0,3085,1970,1734,4095,111.2,12.9,123,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1969,1733,1733,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.27,35.82
$GC,1447,1.80,291.0,3084,1971,1732,4094,102.6,13.9,129,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1970,1731,1731,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.26,35.86
$GC,1511,1.80,291.0,3085,1971,1731,4094,94.4,12.4,135,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1970,1729,1729,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.26,35.98
$GC,1575,1.83,308.1,3085,1971,1729,4094,87.9,9.5,141,1589,0.00,0.00,2.28,0.203,8198,0.000,0.000,3085,1970,1722,1722,4094,0,0,0,0,0,0,26.55,25.28,24.30,10.26,36.84
$GC,1640,1.90,348.7,3085,1971,1722,4094,82.2,8.9,147,1658,0.30,0.00,4.18,0.793,10246,0.046,0.000,3119,1970,1674,1674,4094,0,0,0,0,0,0,26.29,25.40,24.51,10.25,35.98
$GC,1710,1.90,348.7,3119,1971,1674,4094,74.8,10.9,153,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1970,1673,1673,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.24,35.86
$GC,1778,1.90,348.7,3120,1971,1673,4094,67.1,11.0,159,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1970,1671,1671,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.24,36.29
$GC,1842,1.90,348.7,3120,1970,1670,4095,60.1,10.9,165,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1971,1668,1668,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.24,36.25
$GC,1907,1.90,348.7,3120,1970,1668,4095,52.6,10.7,171,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1971,1667,1667,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.24,35.94
$GC,1972,1.90,348.7,3119,1971,1669,4094,45.6,10.1,177,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1970,1666,1666,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.24,36.29
$GC,2038,1.90,348.7,3119,1972,1666,4094,38.2,11.7,183,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1970,1664,1664,4094,0,0,0,0,0,0,26.70,26.72,26.72,10.24,36.17
$GC,2102,1.90,348.7,3119,1972,1663,4094,31.3,10.9,189,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1970,1662,1662,4094,0,0,0,0,0,0,26.72,26.74,26.74,10.24,36.13
$GC,2166,1.90,348.7,3120,1970,1661,4095,22.9,13.4,195,2180,0.00,3.45,0.00,0.000,516,0.000,0.077,3119,708,1660,1660,4094,0,0,0,0,0,0,26.74,26.15,26.76,10.23,36.13
$GC,2270,1.90,348.7,3119,709,1658,4094,7.9,15.7,205,2284,0.00,3.15,0.00,0.000,1030,0.000,0.034,3120,1980,1657,1657,4094,0,0,0,0,0,0,26.46,26.44,26.49,10.23,36.02
$STATE,2324,end climb,SURFACE_DEPTH_REACHED
$STATE,2324,begin surface coast
$FINISH,0.3,1.013356
$STATE,2345,end surface coast,CONTROL_FINISHED_OK
$STATE,2345,begin surface
$SM_CCo,2441,0.00,0.000,0,0,1655,366.62
$SM_GC,1.41,29.77,0.17,0.00,0.029,0.072,0.000,232,1888,1655,-7.18,1.28,366.62,0,0,1,0,0,0,25.89,26.48,26.20
$IRIDIUM_FIX,4748.51,-12337.82,140317,235329
$TT8_MAMPS,0.05243,0.243425
$HUMID,36.10
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,7.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,4.6
$ALTIM_BOTTOM_PING,106.3,2.3
$24V_AH,23.07,4.830
$10V_AH,9.43,5.413
$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,63.825,41.300,45.325,0.000,0.000,25.108,17.497,140.641,1.500,0.000,18.779,0.000,61.393,262.617,2262.427,108.550,33.657,722.741,0.000,2000.188,0.000,8.730,0.000
$DEVICE_MAMPS,126.990,78.030,2005.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,143.164,272.168,455.704,1118.343,1960.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,17711,212
$CAP_FILE_SIZE,49727,6
$CFSIZE,1024409600,1018724352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,150317,012659,4742.870,-12224.972,2,1.0,15,16.3,0.0,0.0,9,4.7