version: 66.12
glider: 401
mission: 18
dive: 13
start: 2 24 117 5 56 50
data:
$ID,401
$MISSION,18
$DIVE,13
$N_DIVES,30
$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,400
$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,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,29
$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
$GPS1,240217,055003,4743.5308,-12224.5410,3,1.1,49,16.3,0.0,0.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-56.3
$GPS2,240217,055549,4743.5312,-12224.5811,5,1.2,50,16.3,0.0,0.0,7,3.0
$SPEED_LIMITS,0.173,0.303
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.050649,-0.299052
$KALMAN_X,-91.944862,387.924072,1034.920532,-896.771973,-336.955811
$KALMAN_Y,940.222168,777.877686,1690.834229,-1418.963379,-399.301270
$MHEAD_RNG_PITCHd_Wd,154.1,1929,-7.2,-10.000,-18.25,5764
$D_GRID,174
$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,-1.26,-391.0,231,1984,1382,4094,0.0,0.0,0,32,0.00,0.00,-10.60,0.000,16390,0.000,0.000,231,1984,2980,2980,4094,0,0,0,0,0,0,26.46,25.65,26.47,9.24,31.53
$GC,34,-1.26,-391.0,231,1984,2980,4094,1.2,0.0,1,62,23.20,0.00,0.00,0.000,2054,0.136,0.000,2064,1981,2984,2984,4095,0,0,0,0,0,0,25.89,26.08,26.04,9.55,32.04
$GC,122,-1.26,-391.0,2063,1981,2985,4095,28.3,-14.7,8,136,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1981,2986,2986,4095,0,0,0,0,0,0,26.39,26.40,26.39,9.56,31.53
$GC,196,-1.26,-391.0,2063,1981,2987,4095,36.6,-11.1,14,211,0.00,2.38,0.00,0.000,260,0.000,0.069,2063,2846,2987,2987,4095,0,0,0,0,0,0,26.45,26.07,26.47,9.56,31.72
$GC,248,-1.26,-391.0,2063,2846,2988,4094,42.5,-11.5,18,262,0.00,2.20,0.00,0.000,1030,0.000,0.035,2064,1990,2988,2988,4094,0,0,0,0,0,0,26.23,26.17,26.25,9.56,31.25
$GC,322,-1.26,-391.0,2063,1989,2989,4094,50.8,-11.2,24,338,0.00,2.30,0.00,0.000,516,0.000,0.065,2064,1124,2990,2990,4095,0,0,0,0,0,0,26.54,26.15,26.55,9.56,31.76
$GC,375,-1.26,-391.0,2063,1124,2990,4094,57.0,-11.8,28,390,0.00,2.15,0.00,0.000,1030,0.000,0.036,2064,1977,2991,2991,4094,0,0,0,0,0,0,26.30,26.26,26.33,9.57,31.05
$GC,450,-1.26,-391.0,2063,1977,2992,4094,65.4,-11.4,34,464,0.00,2.40,0.00,0.000,260,0.000,0.070,2064,2863,2993,2993,4094,0,0,0,0,0,0,26.60,26.20,26.62,9.56,31.80
$GC,513,-1.26,-391.0,2063,2863,2993,4094,72.7,-11.1,39,527,0.00,2.22,0.00,0.000,1030,0.000,0.034,2064,1990,2994,2994,4095,0,0,0,0,0,0,26.36,26.32,26.39,9.56,31.33
$GC,587,-1.26,-391.0,2063,1990,2995,4094,80.8,-11.1,45,602,0.00,2.30,0.00,0.000,516,0.000,0.064,2064,1119,2995,2995,4095,0,0,0,0,0,0,26.66,26.28,26.67,9.57,31.13
$GC,627,-1.26,-391.0,2063,1120,2996,4095,85.6,-11.8,48,642,0.00,2.20,0.00,0.000,1030,0.000,0.036,2064,1995,2997,2997,4094,0,0,0,0,0,0,26.41,26.35,26.42,9.57,31.09
$GC,702,-1.26,-391.0,2063,1995,2997,4095,93.7,-11.0,54,716,0.00,2.33,0.00,0.000,260,0.000,0.070,2064,2858,2998,2998,4095,0,0,0,0,0,0,26.70,26.30,26.71,9.57,31.21
$GC,768,-1.26,-391.0,2063,2857,2999,4095,100.6,-10.7,59,782,0.00,2.20,0.00,0.000,1030,0.000,0.034,2064,1989,2999,2999,4094,0,0,0,0,0,0,26.45,26.39,26.48,9.56,31.45
$GC,842,-1.26,-391.0,2063,1989,3001,4095,108.8,-11.1,65,857,0.00,2.28,0.00,0.000,516,0.000,0.063,2064,1123,3001,3001,4094,0,0,0,0,0,0,26.73,26.34,26.75,9.57,31.33
$GC,882,-1.26,-391.0,2063,1123,3002,4094,113.5,-11.6,68,897,0.00,2.15,0.00,0.000,1030,0.000,0.036,2064,1983,3002,3002,4095,0,0,0,0,0,0,26.48,26.42,26.51,9.57,31.68
$GC,957,-1.26,-391.0,2063,1983,3004,4094,122.4,-12.4,74,971,0.00,2.35,0.00,0.000,260,0.000,0.070,2064,2857,3004,3004,4094,0,0,0,0,0,0,26.76,26.36,26.77,9.57,31.02
$GC,1020,-1.26,-391.0,2064,2857,3006,4094,129.6,-11.2,79,1035,0.00,2.20,0.00,0.000,1030,0.000,0.034,2064,1986,3006,3006,4094,0,0,0,0,0,0,26.48,26.46,26.54,9.57,31.02
$GC,1095,-1.26,-391.0,2063,1986,3008,4095,138.6,-13.0,85,1109,0.00,2.28,0.00,0.000,516,0.000,0.065,2064,1121,3008,3008,4094,0,0,0,0,0,0,26.79,26.39,26.81,9.58,31.72
$GC,1135,-1.26,-391.0,2063,1121,3009,4095,144.0,-13.5,88,1149,0.00,2.17,0.00,0.000,1030,0.000,0.036,2064,1990,3009,3009,4095,0,0,0,0,0,0,26.52,26.47,26.55,9.57,31.49
$STATE,1185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1185,begin apogee
$GC,1188,-0.33,0.0,2064,1990,3010,4095,150.5,-12.7,92,1230,3.17,0.00,25.83,2.104,10246,0.066,0.000,2359,1990,2519,2519,4094,0,0,0,0,0,0,26.47,24.94,23.90,9.57,31.21
$STATE,1231,end apogee,CONTROL_FINISHED_OK
$STATE,1232,begin climb
$GC,1233,1.26,391.0,2358,1990,2519,4094,154.1,0.0,95,1275,5.45,2.50,24.67,2.093,10756,0.045,0.069,2865,1126,2062,2062,4094,0,0,0,0,0,0,25.58,24.37,23.36,9.49,30.94
$GC,1336,1.50,510.5,2865,1126,2061,4094,148.8,7.9,103,1352,0.73,2.22,8.62,1.707,11270,0.031,0.031,2940,1990,1924,1924,4094,0,0,0,0,0,0,25.56,25.52,23.81,9.40,30.50
$GC,1413,1.50,510.5,2940,1990,1923,4094,141.1,11.0,109,1427,0.00,2.38,0.00,0.000,260,0.000,0.063,2940,2852,1922,1922,4094,0,0,0,0,0,0,25.86,25.54,25.88,9.37,30.78
$GC,1476,1.50,510.5,2940,2852,1921,4094,133.6,11.9,114,1490,0.00,2.25,0.00,0.000,1030,0.000,0.035,2940,1993,1921,1921,4094,0,0,0,0,0,0,25.79,25.75,25.83,9.37,30.90
$GC,1551,1.50,510.5,2940,1993,1919,4094,125.3,11.2,120,1565,0.00,2.38,0.00,0.000,516,0.000,0.069,2941,1119,1918,1918,4094,0,0,0,0,0,0,26.19,25.82,26.20,9.37,31.17
$GC,1602,1.50,510.5,2940,1119,1917,4094,119.4,11.4,124,1617,0.00,2.20,0.00,0.000,1030,0.000,0.034,2941,1986,1917,1917,4094,0,0,0,0,0,0,26.01,25.97,26.04,9.37,30.78
$GC,1677,1.50,510.5,2939,1986,1915,4094,110.8,12.0,130,1691,0.00,2.35,0.00,0.000,260,0.000,0.063,2940,2855,1914,1914,4094,0,0,0,0,0,0,26.34,25.98,26.36,9.36,30.70
$GC,1740,1.50,510.5,2940,2855,1913,4094,102.5,13.3,135,1755,0.00,2.22,0.00,0.000,1030,0.000,0.036,2941,1991,1912,1912,4094,0,0,0,0,0,0,26.14,26.08,26.17,9.36,30.70
$GC,1815,1.50,510.5,2940,1991,1910,4094,92.5,13.4,141,1829,0.00,2.35,0.00,0.000,516,0.000,0.068,2941,1117,1910,1910,4094,0,0,0,0,0,0,26.46,26.07,26.47,9.36,30.74
$GC,1878,1.50,510.5,2940,1117,1908,4094,84.1,13.4,146,1892,0.00,2.20,0.00,0.000,1030,0.000,0.034,2940,1990,1908,1908,4094,0,0,0,0,0,0,26.24,26.20,26.27,9.36,31.41
$GC,1952,1.50,510.5,2940,1990,1906,4094,74.2,13.5,152,1967,0.00,2.33,0.00,0.000,260,0.000,0.063,2940,2857,1906,1906,4094,0,0,0,0,0,0,26.54,26.17,26.55,9.36,31.37
$GC,2027,1.50,510.5,2940,2857,1903,4094,63.7,13.9,158,2041,0.00,2.22,0.00,0.000,1030,0.000,0.035,2940,1988,1903,1903,4094,0,0,0,0,0,0,26.32,26.27,26.34,9.36,30.98
$GC,2102,1.50,510.5,2940,1988,1901,4094,54.0,13.2,164,2116,0.00,2.30,0.00,0.000,516,0.000,0.067,2941,1124,1901,1901,4094,0,0,0,0,0,0,26.61,26.23,26.63,9.36,30.78
$GC,2153,1.50,510.5,2940,1123,1899,4094,47.4,12.6,168,2167,0.00,2.15,0.00,0.000,1030,0.000,0.033,2941,1985,1899,1899,4094,0,0,0,0,0,0,26.41,26.32,26.41,9.36,31.09
$GC,2227,1.50,510.5,2940,1985,1897,4094,39.1,11.4,174,2242,0.00,2.33,0.00,0.000,260,0.000,0.063,2941,2857,1897,1897,4094,0,0,0,0,0,0,26.66,26.29,26.67,9.36,30.86
$GC,2267,1.50,510.5,2940,2857,1896,4094,34.0,12.5,177,2282,0.00,2.20,0.00,0.000,1030,0.000,0.036,2941,1994,1895,1895,4094,0,0,0,0,0,0,26.40,26.34,26.43,9.36,31.45
$GC,2342,1.50,510.5,2940,1994,1894,4094,24.4,12.9,183,2356,0.00,2.33,0.00,0.000,516,0.000,0.067,2941,1118,1893,1893,4094,0,0,0,0,0,0,26.70,26.31,26.70,9.35,30.74
$GC,2394,1.50,510.5,2940,1118,1892,4094,18.8,10.8,187,2409,0.00,2.17,0.00,0.000,1030,0.000,0.033,2941,1989,1892,1892,4094,0,0,0,0,0,0,26.45,26.40,26.50,9.36,30.74
$GC,2469,1.50,510.5,2940,1989,1890,4094,11.5,10.9,193,2483,0.00,2.30,0.00,0.000,260,0.000,0.064,2940,2852,1890,1890,4094,0,0,0,0,0,0,26.72,26.35,26.74,9.35,31.61
$GC,2544,1.68,598.1,2940,2852,1889,4094,4.7,8.4,199,2560,0.52,2.17,4.72,0.406,11270,0.028,0.035,3001,1993,1820,1820,4094,0,0,0,0,0,0,26.48,26.43,25.67,9.35,30.78
$STATE,2584,end climb,SURFACE_DEPTH_REACHED
$STATE,2584,begin surface coast
$FINISH,0.1,1.000956
$STATE,2632,end surface coast,CONTROL_FINISHED_OK
$STATE,2632,begin surface
$SM_CCo,2727,0.00,0.000,0,0,1818,602.74
$SM_GC,1.36,28.62,0.00,0.00,0.031,0.000,0.000,232,1990,1818,-7.02,0.00,602.74,0,0,0,0,0,0,26.09,26.74,26.36
$IRIDIUM_FIX,4748.51,-12337.82,240217,044345
$TT8_MAMPS,0.026215,0.216461
$HUMID,31.25
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,7.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,4.3
$ALTIM_BOTTOM_PING,100.6,4.8
$24V_AH,23.36,3.662
$10V_AH,9.60,3.921
$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,61.700,81.650,63.850,0.000,0.000,24.296,18.125,188.089,0.750,0.000,52.079,578.082,59.636,208.966,2207.328,38.198,33.426,800.433,0.000,309.065,0.000,7.177,0.000
$DEVICE_MAMPS,136.170,70.380,2103.750,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,137.745,264.049,0.000,1070.956,1891.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,17851,206
$CAP_FILE_SIZE,57419,0
$CFSIZE,1024409600,1017561088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,331.56,0x237970,0,24
$GPS,240217,064308,4743.015,-12224.567,3,0.9,19,16.3,1.0,84.1,9,5.0