version: 66.12
glider: 401
mission: 18
dive: 2
start: 2 23 117 20 22 37
data:
$ID,401
$MISSION,18
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$D_ABORT,220
$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,30
$T_MISSION,45
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74087
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0020000001
$HD_B,0.017689999
$HD_C,5.7000002e-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,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16
$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,55
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2420
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,0
$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,-50.917877
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$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
$GPS1,230217,201743,4742.4380,-12225.1523,2,0.8,15,16.3,0.5,172.7,10,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-61.1
$GPS2,230217,202139,4742.4160,-12225.1826,5,1.0,50,16.3,0.0,0.0,8,3.0
$SPEED_LIMITS,0.100,0.225
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.107041,0.197717
$KALMAN_X,-82.131981,-82.131981,-82.131981,-59.156609,-174.537003
$KALMAN_Y,-114.262634,-114.262634,-114.262634,289.782990,-242.817215
$MHEAD_RNG_PITCHd_Wd,12.1,2972,-15.0,-10.000,-23.98,2935
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.33,-195.5,231,2055,1745,4094,0.0,0.0,0,33,0.00,0.00,-5.82,0.000,16390,0.000,0.000,231,2055,2653,2653,4094,0,0,0,0,0,0,26.87,25.98,26.88,9.40,33.61
$GC,35,-1.33,-195.5,231,2056,2653,4094,1.4,0.0,1,65,22.65,3.28,0.00,0.000,2820,0.131,0.070,2053,3252,2656,2656,4094,0,0,0,0,0,0,26.16,26.16,26.24,9.57,34.13
$GC,218,-1.33,-195.5,2052,3252,2661,4094,35.4,-12.8,16,232,0.00,3.10,0.00,0.000,1030,0.000,0.037,2053,2043,2661,2661,4094,0,0,0,0,0,0,26.43,26.37,26.47,9.58,33.14
$GC,292,-1.33,-195.5,2052,2043,2662,4095,44.5,-12.2,22,307,0.00,3.22,0.00,0.000,516,0.000,0.077,2053,848,2663,2663,4094,0,0,0,0,0,0,26.78,26.29,26.79,9.58,33.38
$GC,378,-1.33,-195.5,2053,848,2665,4095,55.7,-13.1,29,393,0.00,3.03,0.00,0.000,1030,0.000,0.039,2053,2048,2665,2665,4095,0,0,0,0,0,0,26.50,26.44,26.54,9.57,33.10
$GC,453,-1.33,-195.5,2052,2048,2667,4094,64.9,-11.8,35,467,0.00,3.30,0.00,0.000,260,0.000,0.079,2053,3251,2667,2667,4094,0,0,0,0,0,0,26.85,26.35,26.86,9.57,33.02
$GC,516,-1.33,-195.5,2052,3251,2669,4094,72.6,-12.2,40,531,0.00,3.08,0.00,0.000,1030,0.000,0.038,2053,2048,2669,2669,4095,0,0,0,0,0,0,26.55,26.49,26.58,9.57,33.14
$GC,591,-1.33,-195.5,2052,2048,2670,4094,81.4,-11.5,46,605,0.00,3.20,0.00,0.000,516,0.000,0.076,2053,855,2671,2671,4094,0,0,0,0,0,0,26.89,26.39,26.91,9.57,33.34
$GC,654,-1.33,-195.5,2052,855,2673,4095,89.4,-13.1,51,668,0.00,3.03,0.00,0.000,1030,0.000,0.041,2053,2056,2673,2673,4094,0,0,0,0,0,0,26.61,26.52,26.63,9.57,33.42
$STATE,681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,681,begin apogee
$GC,684,-0.31,0.0,2053,2057,2673,4094,93.0,-12.9,53,713,3.60,0.00,13.32,1.369,10246,0.076,0.000,2380,2056,2419,2419,4095,0,0,0,0,0,0,26.50,25.79,25.00,9.58,32.91
$STATE,714,end apogee,CONTROL_FINISHED_OK
$STATE,714,begin climb
$GC,715,1.33,195.5,2380,2057,2419,4094,95.5,0.0,55,744,5.43,0.00,12.30,1.344,10246,0.047,0.000,2897,2057,2190,2190,4094,0,0,0,0,0,0,26.27,25.49,24.75,9.54,32.43
$GC,804,1.33,195.5,2896,2057,2190,4094,88.9,10.7,62,818,0.00,3.33,0.00,0.000,516,0.000,0.078,2897,855,2189,2189,4094,0,0,0,0,0,0,26.42,26.01,26.44,9.49,31.96
$GC,844,1.33,195.5,2896,855,2188,4094,84.1,11.6,65,858,0.00,3.05,0.00,0.000,1030,0.000,0.039,2897,2048,2188,2188,4094,0,0,0,0,0,0,26.21,26.15,26.24,9.49,32.04
$GC,918,1.33,195.5,2896,2048,2187,4094,75.5,11.4,71,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2048,2187,2187,4094,0,0,0,0,0,0,26.58,26.60,26.60,9.49,32.47
$GC,992,1.33,195.5,2896,2048,2185,4094,67.5,10.8,77,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2048,2185,2185,4094,0,0,0,0,0,0,26.65,26.67,26.67,9.49,32.20
$GC,1066,1.33,195.6,2896,2048,2183,4094,59.9,10.0,83,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2048,2183,2183,4094,0,0,0,0,0,0,26.71,26.72,26.72,9.49,32.12
$GC,1140,1.33,196.6,2896,2048,2182,4094,52.5,10.0,89,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2048,2182,2182,4094,0,0,0,0,0,0,26.75,26.77,26.77,9.48,31.96
$GC,1214,1.34,201.5,2896,2048,2180,4095,45.1,9.8,95,1229,0.00,3.25,0.00,0.000,516,0.000,0.078,2897,856,2180,2180,4095,0,0,0,0,0,0,26.79,26.30,26.80,9.48,32.00
$GC,1277,1.34,201.5,2896,856,2179,4094,38.9,10.1,100,1292,0.00,3.00,0.00,0.000,1030,0.000,0.037,2897,2050,2179,2179,4094,0,0,0,0,0,0,26.51,26.46,26.54,9.49,32.28
$GC,1352,1.36,209.7,2896,2050,2177,4094,31.5,9.7,106,1367,0.00,3.22,0.00,0.000,260,0.000,0.073,2897,3243,2177,2177,4094,0,0,0,0,0,0,26.84,26.36,26.86,9.48,32.00
$GC,1392,1.36,209.7,2896,3243,2176,4094,27.3,10.1,109,1407,0.00,3.05,0.00,0.000,1030,0.000,0.041,2897,2058,2176,2176,4094,0,0,0,0,0,0,26.52,26.46,26.57,9.48,31.72
$GC,1468,1.37,217.5,2896,2058,2174,4094,19.9,9.7,115,1484,0.10,3.28,2.35,0.145,10756,0.077,0.080,2915,848,2164,2164,4094,0,0,0,0,0,0,26.63,26.11,25.58,9.48,31.88
$GC,1556,1.37,217.5,2914,848,2162,4094,10.6,10.6,122,1570,0.00,3.00,0.00,0.000,1030,0.000,0.036,2914,2049,2161,2161,4094,0,0,0,0,0,0,26.58,26.53,26.61,9.47,32.28
$GC,1631,1.44,250.3,2914,2050,2160,4095,4.3,8.9,128,1646,0.12,3.25,3.40,0.288,10756,0.064,0.076,2936,851,2123,2123,4095,0,0,0,0,0,0,26.72,26.22,25.79,9.47,31.84
$GC,1661,1.63,345.7,2935,851,2123,4095,2.7,6.7,130,1677,0.52,2.97,6.30,0.447,11270,0.031,0.037,2995,2046,2013,2013,4094,0,0,0,0,0,0,26.59,26.54,25.80,9.46,31.84
$STATE,1689,end climb,SURFACE_DEPTH_REACHED
$STATE,1690,begin surface coast
$FINISH,0.1,1.018455
$STATE,1773,end surface coast,CONTROL_FINISHED_OK
$STATE,1773,begin surface
$SM_CCo,1868,0.00,0.000,0,0,2013,349.45
$SM_GC,2.38,28.23,0.00,0.00,0.030,0.000,0.000,243,2046,2013,-7.01,-0.18,349.45,0,0,0,0,0,0,26.55,26.89,26.61
$IRIDIUM_FIX,4748.51,-12337.82,230217,201334
$TT8_MAMPS,0.025466,0.214214
$HUMID,32.00
$INTERNAL_PRESSURE,9.35939
$TCM_TEMP,8.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,4.1
$24V_AH,24.75,3.086
$10V_AH,9.89,3.389
$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,60.650,56.625,37.675,0.000,0.000,0.000,0.000,0.000,0.750,0.000,51.752,411.419,60.530,141.969,1344.494,19.510,30.290,522.770,0.000,228.318,0.000,2.744,0.000
$DEVICE_MAMPS,130.815,79.560,1369.350,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.276,178.313,0.000,722.315,1276.968,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322272
$DATA_FILE_SIZE,10727,139
$CAP_FILE_SIZE,49431,0
$CFSIZE,1024409600,1018232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230217,205445,4742.487,-12225.153,2,0.8,28,16.3,0.0,0.0,11,4.7