version: 66.12
glider: 401
mission: 18
dive: 5
start: 2 23 117 23 24 11
data:
$ID,401
$MISSION,18
$DIVE,5
$N_DIVES,15
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,2479
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$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,40
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2520
$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,1
$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
$GPS1,230217,231958,4742.8555,-12225.1328,3,0.9,15,16.3,0.0,0.0,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-41.4
$GPS2,230217,232312,4742.8506,-12225.1514,5,0.9,17,16.3,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.050517,0.219077
$KALMAN_X,-381.758728,-277.535706,-167.918457,555.080994,-31.073898
$KALMAN_Y,-549.885803,-371.954742,-245.844406,1907.484009,-67.837677
$MHEAD_RNG_PITCHd_Wd,356.7,2173,-15.0,-10.000,-23.98,2935
$D_GRID,186
$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,-1.39,-195.5,243,1980,51,4094,0.0,0.0,0,46,0.00,0.00,-18.20,0.000,16390,0.000,0.000,243,1979,2754,2754,4094,0,0,0,0,0,0,26.67,25.82,26.69,9.03,33.26
$GC,48,-1.39,-195.5,243,1980,2754,4094,1.6,-5.9,2,77,22.65,2.22,0.00,0.000,2564,0.137,0.053,2024,1120,2756,2756,4094,0,0,0,0,0,0,25.96,26.01,26.03,9.54,33.18
$GC,102,-1.39,-195.5,2023,1119,2758,4094,21.1,-34.8,6,117,0.00,2.20,0.00,0.000,1030,0.000,0.036,2024,1988,2758,2758,4094,0,0,0,0,0,0,26.16,26.10,26.18,9.54,32.71
$GC,177,-1.39,-195.5,2023,1988,2759,4095,30.7,-12.2,12,191,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1987,2760,2760,4095,0,0,0,0,0,0,26.50,26.52,26.51,9.54,32.43
$GC,251,-1.39,-195.5,2023,1987,2761,4094,40.9,-14.1,18,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1988,2762,2762,4094,0,0,0,0,0,0,26.56,26.58,26.58,9.54,32.12
$GC,324,-1.39,-195.5,2023,1988,2764,4095,51.6,-14.4,24,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1988,2764,2764,4094,0,0,0,0,0,0,26.61,26.63,26.63,9.54,32.43
$GC,398,-1.39,-195.5,2023,1988,2766,4094,61.2,-12.5,30,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1988,2766,2766,4094,0,0,0,0,0,0,26.65,26.67,26.67,9.55,32.63
$GC,472,-1.39,-195.5,2023,1988,2768,4094,71.3,-13.7,36,487,0.00,2.30,0.00,0.000,516,0.000,0.065,2024,1127,2768,2768,4094,0,0,0,0,0,0,26.69,26.27,26.70,9.54,32.20
$GC,537,-1.39,-195.5,2024,1127,2770,4094,79.9,-13.6,41,551,0.00,2.15,0.00,0.000,1030,0.000,0.037,2024,1985,2770,2770,4094,0,0,0,0,0,0,26.43,26.39,26.46,9.54,32.04
$GC,611,-1.39,-195.5,2023,1986,2771,4094,89.5,-12.1,47,626,0.00,2.33,0.00,0.000,260,0.000,0.067,2024,2855,2772,2772,4094,0,0,0,0,0,0,26.74,26.32,26.75,9.55,32.31
$GC,651,-1.39,-195.5,2023,2855,2773,4094,94.5,-12.5,50,666,0.00,2.17,0.00,0.000,1030,0.000,0.037,2024,1998,2773,2773,4094,0,0,0,0,0,0,26.46,26.41,26.50,9.55,31.80
$GC,730,-1.39,-195.5,2023,1997,2775,4094,106.2,-15.4,56,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1997,2776,2776,4095,0,0,0,0,0,0,26.77,26.79,26.79,9.55,31.92
$GC,804,-1.39,-195.5,2023,1997,2778,4094,118.0,-16.0,62,818,0.00,2.33,0.00,0.000,516,0.000,0.067,2024,1119,2778,2778,4095,0,0,0,0,0,0,26.80,26.35,26.81,9.54,31.84
$GC,867,-1.39,-195.5,2023,1119,2780,4094,128.2,-16.1,67,881,0.00,2.15,0.00,0.000,1030,0.000,0.035,2024,1983,2781,2781,4095,0,0,0,0,0,0,26.51,26.48,26.55,9.54,31.88
$GC,941,-1.39,-195.5,2023,1983,2783,4094,139.1,-14.5,73,956,0.00,2.33,0.00,0.000,260,0.000,0.066,2024,2857,2783,2783,4095,0,0,0,0,0,0,26.83,26.40,26.84,9.54,32.08
$GC,993,-1.39,-195.5,2023,2857,2785,4094,146.7,-15.0,77,1007,0.00,2.20,0.00,0.000,1030,0.000,0.037,2024,1988,2785,2785,4095,0,0,0,0,0,0,26.53,26.49,26.58,9.55,31.68
$STATE,1020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1020,begin apogee
$GC,1023,-0.33,0.0,2024,1988,2786,4094,150.7,-14.1,79,1052,3.72,0.00,14.80,1.942,10246,0.078,0.000,2361,1986,2518,2518,4094,0,0,0,0,0,0,26.44,25.41,24.39,9.55,32.00
$STATE,1053,end apogee,CONTROL_FINISHED_OK
$STATE,1053,begin climb
$GC,1054,1.39,195.5,2361,1985,2518,4094,154.0,0.0,81,1083,5.78,2.40,12.98,1.892,10500,0.045,0.057,2908,2854,2292,2292,4095,0,0,0,0,0,0,26.01,25.01,23.99,9.50,31.45
$GC,1120,1.44,220.6,2907,2854,2291,4094,149.8,9.1,86,1136,0.08,2.25,3.40,0.900,11270,0.063,0.037,2921,1996,2261,2261,4094,0,0,0,0,0,0,25.75,25.72,24.20,9.47,31.41
$GC,1197,1.49,241.5,2920,1996,2260,4094,142.5,9.3,92,1212,0.10,2.40,3.05,0.734,10756,0.076,0.070,2937,1119,2237,2237,4094,0,0,0,0,0,0,25.97,25.39,24.38,9.45,31.49
$GC,1250,1.49,241.5,2936,1120,2236,4094,136.5,11.2,96,1264,0.00,2.20,0.00,0.000,1030,0.000,0.032,2937,1990,2235,2235,4094,0,0,0,0,0,0,26.00,25.96,26.03,9.45,31.65
$GC,1324,1.49,241.5,2936,1990,2234,4094,127.9,11.7,102,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1990,2233,2233,4094,0,0,0,0,0,0,26.36,26.37,26.37,9.45,31.53
$GC,1398,1.49,241.5,2936,1990,2231,4094,119.3,11.2,108,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1990,2231,2231,4094,0,0,0,0,0,0,26.44,26.46,26.45,9.45,31.49
$GC,1472,1.49,241.5,2936,1990,2229,4094,111.0,11.4,114,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1990,2229,2229,4094,0,0,0,0,0,0,26.51,26.53,26.53,9.45,31.49
$GC,1546,1.49,241.5,2936,1990,2228,4094,102.7,11.2,120,1561,0.00,2.35,0.00,0.000,516,0.000,0.068,2937,1121,2227,2227,4094,0,0,0,0,0,0,26.56,26.15,26.58,9.44,31.33
$GC,1598,1.49,241.5,2936,1120,2226,4094,96.6,11.7,124,1612,0.00,2.17,0.00,0.000,1030,0.000,0.032,2937,1994,2226,2226,4094,0,0,0,0,0,0,26.32,26.29,26.36,9.44,31.84
$GC,1673,1.49,241.5,2936,1995,2225,4094,88.3,11.0,130,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1994,2224,2224,4094,0,0,0,0,0,0,26.64,26.65,26.65,9.44,31.49
$GC,1747,1.49,241.5,2937,1994,2223,4094,80.0,11.0,136,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1994,2222,2222,4094,0,0,0,0,0,0,26.67,26.69,26.69,9.44,31.72
$GC,1821,1.49,242.2,2936,1994,2221,4094,72.5,10.0,142,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1994,2221,2221,4094,0,0,0,0,0,0,26.70,26.72,26.72,9.44,31.84
$GC,1894,1.49,242.2,2936,1994,2219,4094,64.6,10.6,148,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1994,2219,2219,4094,0,0,0,0,0,0,26.73,26.75,26.74,9.43,31.88
$GC,1968,1.49,242.2,2936,1994,2218,4094,56.8,10.3,154,1983,0.00,2.35,0.00,0.000,516,0.000,0.068,2937,1119,2217,2217,4094,0,0,0,0,0,0,26.76,26.33,26.77,9.44,31.37
$GC,2054,1.49,242.2,2936,1119,2215,4094,47.1,11.8,161,2069,0.00,2.15,0.00,0.000,1030,0.000,0.032,2937,1988,2215,2215,4094,0,0,0,0,0,0,26.55,26.46,26.54,9.43,31.37
$GC,2129,1.49,242.7,2936,1988,2213,4094,39.3,10.0,167,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1989,2213,2213,4094,0,0,0,0,0,0,26.80,26.82,26.82,9.44,31.41
$GC,2203,1.51,251.9,2936,1988,2212,4094,32.1,9.7,173,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1988,2212,2212,4094,0,0,0,0,0,0,26.82,26.84,26.83,9.43,31.76
$GC,2277,1.55,273.3,2936,1988,2210,4094,25.3,9.3,179,2293,0.12,0.00,2.28,0.131,10246,0.063,0.000,2957,1988,2202,2202,4094,0,0,0,0,0,0,26.63,26.03,25.46,9.43,31.41
$GC,2354,1.55,273.3,2957,1989,2200,4094,16.8,11.6,185,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1989,2200,2200,4094,0,0,0,0,0,0,26.84,26.86,26.86,9.42,31.84
$GC,2427,1.55,273.3,2957,1988,2198,4095,9.1,10.4,191,2442,0.00,2.28,0.00,0.000,260,0.000,0.058,2957,2858,2197,2197,4094,0,0,0,0,0,0,26.86,26.46,26.87,9.43,31.37
$GC,2479,1.57,281.3,2957,2858,2197,4094,4.2,9.7,195,2495,0.00,2.20,2.20,0.086,9222,0.000,0.037,2957,1992,2189,2189,4094,0,0,0,0,0,0,26.59,26.51,25.68,9.43,31.49
$STATE,2519,end climb,SURFACE_DEPTH_REACHED
$STATE,2519,begin surface coast
$FINISH,2.4,1.020013
$STATE,2579,end surface coast,CONTROL_FINISHED_OK
$STATE,2579,begin surface
$SM_CCo,2581,91.72,0.626,0,0,50,2118.17
$SM_GC,0.82,28.52,0.00,0.00,0.024,0.000,0.000,243,1992,50,-6.98,0.09,2121.60,0,0,0,0,0,0,25.75,26.01,25.84
$IRIDIUM_FIX,4748.51,-12337.82,230217,231556
$TT8_MAMPS,0.026215,0.211967
$HUMID,30.58
$INTERNAL_PRESSURE,8.94921
$TCM_TEMP,7.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,4.3
$ALTIM_BOTTOM_PING,100.1,5.3
$24V_AH,23.99,3.234
$10V_AH,9.66,3.560
$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,60.975,45.125,38.700,91.725,0.000,0.000,0.000,0.000,1.250,0.000,18.247,563.060,89.606,287.230,1905.375,27.540,33.423,844.851,0.000,302.860,0.000,7.175,0.000
$DEVICE_MAMPS,136.935,69.615,1942.335,625.770,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.982,260.317,0.000,1055.277,1864.342,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322268
$DATA_FILE_SIZE,17800,203
$CAP_FILE_SIZE,64735,0
$CFSIZE,1024409600,1018036224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240217,001139,4743.289,-12224.994,3,0.9,17,16.3,0.5,281.3,9,4.6