version: 66.12
glider: 401
mission: 18
dive: 14
start: 2 24 117 6 48 55
data:
$ID,401
$MISSION,18
$DIVE,14
$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,250
$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,45
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$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,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,-50.917877
$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
$GPS1,240217,064308,4743.0151,-12224.5674,3,0.9,19,16.3,1.0,84.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.2
$GPS2,240217,064754,4743.0161,-12224.5996,5,0.9,19,16.3,0.5,305.3,9,4.7
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.005054,-0.240612
$KALMAN_X,57.190834,431.090179,644.652710,-722.965088,-261.971344
$KALMAN_Y,1453.305786,846.450012,1010.671387,-2268.811279,-228.645081
$MHEAD_RNG_PITCHd_Wd,162.5,988,-13.2,-10.000,-22.56,3403
$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,16,-1.33,-227.4,231,1992,1818,4095,0.0,0.0,0,33,0.00,0.00,-6.40,0.000,16390,0.000,0.000,232,1992,2788,2788,4095,0,0,0,0,0,0,26.48,25.66,26.48,9.32,31.65
$GC,35,-1.33,-227.4,231,1992,2788,4094,1.5,0.0,1,64,23.00,2.60,0.00,0.000,2564,0.135,0.053,2042,1008,2791,2791,4095,0,0,1,0,0,0,25.82,25.86,25.96,9.52,31.49
$GC,89,-1.33,-227.4,2041,1008,2792,4094,21.9,-37.7,5,104,0.00,2.50,0.00,0.000,1030,0.000,0.037,2042,1981,2793,2793,4095,0,0,0,0,0,0,26.01,25.95,26.03,9.53,32.00
$GC,164,-1.33,-227.4,2041,1981,2794,4094,32.5,-13.5,11,178,0.00,2.70,0.00,0.000,260,0.000,0.070,2042,2968,2795,2795,4094,0,0,0,0,0,0,26.36,25.97,26.37,9.54,31.09
$GC,216,-1.33,-227.4,2041,2968,2796,4095,39.8,-14.3,15,230,0.00,2.53,0.00,0.000,1030,0.000,0.036,2041,1989,2796,2796,4094,0,0,0,0,0,0,26.15,26.09,26.17,9.54,31.57
$GC,290,-1.33,-227.4,2041,1989,2798,4094,50.0,-13.5,21,304,0.00,2.62,0.00,0.000,516,0.000,0.069,2042,1013,2798,2798,4094,0,0,0,0,0,0,26.47,26.08,26.48,9.54,31.17
$GC,342,-1.33,-227.4,2041,1013,2799,4095,56.7,-13.2,25,356,0.00,2.47,0.00,0.000,1030,0.000,0.037,2042,1987,2800,2800,4095,0,0,0,0,0,0,26.25,26.19,26.27,9.54,31.13
$GC,416,-1.33,-227.4,2041,1986,2801,4094,66.2,-12.5,31,430,0.00,2.67,0.00,0.000,260,0.000,0.070,2042,2971,2801,2801,4094,0,0,0,0,0,0,26.55,26.15,26.56,9.54,31.17
$GC,456,-1.33,-227.4,2042,2971,2802,4094,71.4,-12.9,34,470,0.00,2.50,0.00,0.000,1030,0.000,0.035,2042,1993,2802,2802,4094,0,0,0,0,0,0,26.30,26.25,26.34,9.54,31.13
$GC,530,-1.33,-227.4,2041,1993,2804,4094,81.1,-13.1,40,545,0.00,2.62,0.00,0.000,516,0.000,0.070,2042,1013,2804,2804,4094,0,0,0,0,0,0,26.60,26.20,26.62,9.54,31.13
$GC,570,-1.33,-227.4,2041,1013,2805,4095,86.5,-13.6,43,585,0.00,2.47,0.00,0.000,1030,0.000,0.036,2042,1991,2805,2805,4094,0,0,0,0,0,0,26.35,26.30,26.38,9.54,31.05
$GC,645,-1.33,-227.4,2041,1992,2807,4094,96.8,-13.7,49,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1992,2808,2808,4095,0,0,0,0,0,0,26.65,26.66,26.66,9.54,31.21
$GC,725,-1.33,-227.4,2041,1992,2810,4095,108.3,-14.2,55,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1992,2810,2810,4095,0,0,0,0,0,0,26.67,26.70,26.69,9.54,31.37
$GC,799,-1.33,-227.4,2041,1993,2812,4094,119.2,-14.8,61,813,0.00,2.62,0.00,0.000,260,0.000,0.070,2042,2966,2813,2813,4095,0,0,0,0,0,0,26.70,26.30,26.72,9.54,31.21
$GC,839,-1.33,-227.4,2041,2966,2813,4095,125.1,-14.9,64,853,0.00,2.47,0.00,0.000,1030,0.000,0.036,2042,1991,2814,2814,4095,0,0,0,0,0,0,26.44,26.39,26.47,9.54,31.25
$GC,913,-1.33,-227.4,2041,1992,2817,4094,135.7,-14.2,70,928,0.00,2.62,0.00,0.000,516,0.000,0.070,2042,1006,2817,2817,4094,0,0,0,0,0,0,26.73,26.36,26.74,9.54,30.90
$GC,965,-1.33,-227.4,2041,1007,2818,4094,143.7,-15.6,74,980,0.00,2.47,0.00,0.000,1030,0.000,0.037,2042,1989,2819,2819,4095,0,0,0,0,0,0,26.48,26.42,26.51,9.54,30.74
$STATE,1004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1004,begin apogee
$GC,1007,-0.33,0.0,2041,1989,2820,4094,150.2,-16.2,77,1036,3.50,0.00,16.48,2.007,10246,0.071,0.000,2362,1989,2519,2519,4094,0,0,0,0,0,0,26.40,25.27,24.23,9.54,30.94
$STATE,1037,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1038,1.33,227.4,2362,1989,2519,4095,153.9,0.0,79,1068,5.60,2.75,14.90,1.980,10756,0.044,0.070,2888,1008,2255,2255,4095,0,0,0,0,0,0,25.86,24.80,23.76,9.48,30.86
$GC,1140,1.41,264.1,2887,1008,2253,4094,148.1,8.9,87,1155,0.17,2.55,4.10,1.141,11270,0.048,0.032,2909,1999,2210,2210,4094,0,0,0,0,0,0,25.70,25.68,24.09,9.44,30.62
$GC,1216,1.47,293.3,2908,1999,2209,4094,141.3,9.1,93,1231,0.15,2.65,3.22,0.825,10500,0.062,0.061,2929,2966,2182,2182,4094,0,0,0,0,0,0,25.85,25.27,24.24,9.42,31.45
$GC,1268,1.47,293.3,2929,2966,2182,4094,135.3,11.4,97,1283,0.00,2.55,1.00,0.004,9222,0.000,0.036,2929,1991,2181,2181,4094,0,0,0,0,0,0,25.86,25.82,25.90,9.42,30.70
$GC,1344,1.47,293.3,2929,1990,2179,4094,126.5,11.6,103,1358,0.00,2.67,0.00,0.000,516,0.000,0.073,2930,1010,2179,2179,4094,0,0,0,0,0,0,26.25,25.87,26.25,9.42,31.41
$GC,1407,1.47,293.3,2929,1010,2177,4094,119.3,11.4,108,1421,0.00,2.47,0.00,0.000,1030,0.000,0.032,2930,1988,2177,2177,4094,0,0,0,0,0,0,26.08,26.03,26.10,9.42,30.90
$GC,1481,1.47,293.3,2929,1988,2175,4094,110.7,11.4,114,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1988,2175,2175,4095,0,0,0,0,0,0,26.39,26.41,26.41,9.41,31.13
$GC,1556,1.47,293.3,2929,1988,2173,4094,102.7,10.5,120,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1988,2174,2174,4094,0,0,0,0,0,0,26.46,26.47,26.47,9.42,31.53
$GC,1629,1.47,293.3,2929,1988,2172,4094,94.5,11.0,126,1644,0.00,2.62,0.00,0.000,260,0.000,0.062,2930,2967,2171,2171,4094,0,0,0,0,0,0,26.51,26.13,26.52,9.41,31.53
$GC,1681,1.47,293.3,2929,2967,2169,4094,88.4,11.8,130,1696,0.00,2.50,0.00,0.000,1030,0.000,0.037,2930,1994,2170,2170,4094,0,0,0,0,0,0,26.26,26.22,26.30,9.42,30.94
$GC,1756,1.47,293.3,2929,1994,2167,4094,79.3,12.0,136,1770,0.00,2.67,0.00,0.000,516,0.000,0.072,2930,1003,2167,2167,4094,0,0,0,0,0,0,26.57,26.18,26.58,9.41,30.98
$GC,1865,1.47,293.3,2929,1003,2165,4094,65.2,12.9,145,1880,0.00,2.45,0.00,0.000,1030,0.000,0.032,2930,1985,2164,2164,4094,0,0,0,0,0,0,26.36,26.32,26.39,9.41,31.33
$GC,1940,1.47,293.3,2929,1985,2162,4094,56.4,11.5,151,1954,0.00,2.60,0.00,0.000,260,0.000,0.061,2930,2961,2162,2162,4094,0,0,0,0,0,0,26.65,26.27,26.66,9.41,30.94
$GC,1991,1.47,293.3,2929,2961,2161,4094,50.2,12.1,155,2006,0.00,2.50,0.00,0.000,1030,0.000,0.036,2930,1984,2161,2161,4094,0,0,0,0,0,0,26.39,26.34,26.43,9.40,31.45
$GC,2066,1.47,293.3,2929,1984,2159,4094,41.8,11.2,161,2081,0.00,2.60,0.00,0.000,516,0.000,0.072,2930,1013,2158,2158,4094,0,0,0,0,0,0,26.69,26.29,26.70,9.41,31.05
$GC,2141,1.47,293.3,2929,1013,2157,4094,32.8,11.8,167,2155,0.00,2.42,0.00,0.000,1030,0.000,0.032,2930,1987,2157,2157,4094,0,0,0,0,0,0,26.46,26.41,26.48,9.41,31.21
$GC,2215,1.47,293.3,2929,1988,2154,4094,24.1,11.6,173,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1987,2154,2154,4094,0,0,0,0,0,0,26.73,26.74,26.74,9.40,30.94
$GC,2290,1.47,293.3,2929,1988,2153,4094,15.6,11.3,179,2305,0.00,2.60,0.00,0.000,260,0.000,0.062,2930,2968,2152,2152,4094,0,0,0,0,0,0,26.74,26.37,26.76,9.40,31.49
$GC,2365,1.47,293.3,2929,2968,2151,4094,7.2,11.1,185,2379,0.00,2.47,0.00,0.000,1030,0.000,0.034,2930,1990,2150,2150,4094,0,0,0,0,0,0,26.50,26.45,26.52,9.40,31.25
$GC,2440,1.87,497.7,2929,1990,2150,4094,3.1,3.9,191,2469,1.27,2.62,10.57,0.557,10756,0.031,0.071,3063,1009,1937,1937,4094,0,0,0,0,0,0,26.54,26.26,25.65,9.40,30.82
$STATE,2482,end climb,SURFACE_DEPTH_REACHED
$STATE,2482,begin surface coast
$FINISH,0.1,1.007866
$STATE,2578,end surface coast,CONTROL_FINISHED_OK
$STATE,2578,begin surface
$SM_CCo,2677,0.00,0.000,0,0,1936,501.42
$SM_GC,1.49,29.25,2.47,0.00,0.031,0.032,0.000,231,2007,1936,-7.02,-0.77,501.42,0,0,1,0,0,0,26.09,26.44,26.35
$IRIDIUM_FIX,4748.51,-12337.82,240217,055105
$TT8_MAMPS,0.026215,0.229194
$HUMID,31.02
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,7.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,5.4
$ALTIM_BOTTOM_PING,106.0,4.8
$24V_AH,23.76,3.698
$10V_AH,9.56,3.973
$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,62.950,82.100,50.275,0.000,0.000,25.869,22.161,156.654,1.250,0.000,20.333,575.039,60.296,198.538,2114.827,36.581,33.451,758.024,0.000,310.380,0.000,8.782,0.000
$DEVICE_MAMPS,134.640,72.675,2007.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.299,259.011,0.000,1049.492,1853.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,17669,202
$CAP_FILE_SIZE,54984,0
$CFSIZE,1024409600,1017495552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,240217,073453,4742.462,-12224.860,3,0.9,49,16.3,0.0,0.0,8,3.8