version: 66.12
glider: 401
mission: 18
dive: 18
start: 2 24 117 10 3 44
data:
$ID,401
$MISSION,18
$DIVE,18
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,240217,095841,4742.1895,-12225.0508,3,0.9,14,16.3,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-60.3
$GPS2,240217,100243,4742.2036,-12225.0508,6,0.9,26,16.3,0.0,0.0,9,4.5
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.121193,0.216897
$KALMAN_X,-354.538910,496.268921,-675.305725,385.145782,-353.184021
$KALMAN_Y,1094.226074,1003.663574,-1040.885376,-1514.258667,-582.796143
$MHEAD_RNG_PITCHd_Wd,12.9,3342,-12.3,-10.000,-21.92,3652
$D_GRID,148
$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,-1.31,-244.4,232,1987,1782,4094,0.0,0.0,0,32,0.00,0.00,-6.88,0.000,16390,0.000,0.000,232,1988,2808,2808,4095,0,0,0,0,0,0,26.44,25.65,26.46,9.32,31.29
$GC,34,-1.31,-244.4,232,1987,2809,4095,1.4,0.0,1,64,23.15,2.72,0.00,0.000,2308,0.135,0.066,2049,2967,2811,2811,4094,0,0,0,0,0,0,25.81,25.84,25.96,9.53,31.61
$GC,217,-1.31,-244.4,2048,2967,2816,4094,38.9,-11.2,16,231,0.00,2.50,0.00,0.000,1030,0.000,0.034,2049,1994,2817,2817,4094,0,0,0,0,0,0,26.15,26.10,26.19,9.54,31.68
$GC,291,-1.31,-244.4,2048,1993,2818,4094,48.0,-12.5,22,306,0.00,2.62,0.00,0.000,516,0.000,0.067,2048,1016,2818,2818,4094,0,0,0,0,0,0,26.47,26.09,26.48,9.53,31.49
$GC,342,-1.31,-244.4,2048,1015,2820,4094,55.3,-14.3,26,357,0.00,2.45,0.00,0.000,1030,0.000,0.036,2048,1981,2820,2820,4094,0,0,0,0,0,0,26.24,26.19,26.27,9.53,31.53
$GC,417,-1.31,-244.4,2048,1981,2821,4094,65.2,-12.9,32,431,0.00,2.67,0.00,0.000,260,0.000,0.069,2048,2969,2822,2822,4095,0,0,0,0,0,0,26.55,26.17,26.55,9.54,31.09
$GC,480,-1.31,-244.4,2048,2969,2823,4095,73.3,-12.7,37,495,0.00,2.50,0.00,0.000,1030,0.000,0.035,2048,1990,2824,2824,4094,0,0,0,0,0,0,26.32,26.27,26.34,9.54,31.37
$GC,555,-1.31,-244.4,2048,1990,2825,4094,81.8,-11.0,43,569,0.00,2.62,0.00,0.000,516,0.000,0.070,2049,1011,2825,2825,4094,0,0,0,0,0,0,26.61,26.22,26.63,9.54,31.09
$GC,595,-1.31,-244.4,2048,1010,2826,4095,86.3,-11.1,46,609,0.00,2.47,0.00,0.000,1030,0.000,0.036,2049,1989,2826,2826,4094,0,0,0,0,0,0,26.36,26.31,26.39,9.53,31.02
$GC,669,-1.31,-244.4,2048,1989,2827,4095,94.6,-10.9,52,684,0.00,2.65,0.00,0.000,260,0.000,0.070,2048,2970,2827,2827,4094,0,0,0,0,0,0,26.65,26.27,26.67,9.54,31.05
$GC,721,-1.31,-244.4,2048,2971,2828,4094,99.7,-9.8,56,738,0.00,2.50,0.00,0.000,1030,0.000,0.035,2048,1988,2829,2829,4094,0,0,0,0,0,0,26.40,26.33,26.44,9.54,31.21
$GC,798,-1.31,-244.4,2048,1988,2830,4094,108.2,-12.1,62,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1988,2831,2831,4095,0,0,0,0,0,0,26.69,26.70,26.70,9.54,31.21
$GC,872,-1.31,-244.4,2048,1988,2832,4094,117.5,-12.6,68,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1988,2833,2833,4094,0,0,0,0,0,0,26.72,26.73,26.73,9.54,31.65
$GC,946,-1.31,-244.4,2048,1988,2835,4094,126.7,-12.2,74,961,0.00,2.58,0.00,0.000,516,0.000,0.064,2049,1012,2835,2835,4094,0,0,0,0,0,0,26.74,26.35,26.75,9.54,30.98
$GC,986,-1.31,-244.4,2048,1012,2836,4094,132.0,-13.4,77,1001,0.00,2.47,0.00,0.000,1030,0.000,0.037,2048,1993,2836,2836,4095,0,0,0,0,0,0,26.48,26.42,26.51,9.54,31.45
$GC,1061,-1.31,-244.4,2048,1998,2838,4094,141.9,-12.7,83,1076,0.00,2.65,0.00,0.000,260,0.000,0.075,2048,2969,2839,2839,4094,0,0,0,0,0,0,26.76,26.36,26.77,9.54,31.33
$GC,1113,-1.31,-244.4,2048,2969,2839,4094,146.7,-9.3,87,1127,0.00,2.47,0.00,0.000,1030,0.000,0.035,2048,1990,2839,2839,4094,0,0,0,0,0,0,26.50,26.44,26.53,9.54,30.98
$STATE,1142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1142,begin apogee
$GC,1145,-0.33,0.0,2048,1989,2840,4095,148.4,-7.1,89,1172,3.40,0.00,17.42,1.999,10246,0.070,0.000,2360,1988,2518,2518,4094,0,0,0,0,0,0,26.44,25.27,24.23,9.54,30.86
$STATE,1173,end apogee,CONTROL_FINISHED_OK
$STATE,1174,begin climb
$GC,1175,1.31,244.4,2360,1988,2518,4094,150.4,0.0,91,1204,5.47,2.72,15.93,1.965,10500,0.037,0.062,2881,2970,2234,2234,4095,0,0,0,0,0,0,25.84,24.77,23.77,9.48,30.82
$GC,1216,1.31,244.4,2881,2970,2233,4094,147.7,11.4,94,1231,0.00,2.60,0.00,0.000,1030,0.000,0.036,2882,1993,2233,2233,4094,0,0,0,0,0,0,25.44,25.39,25.48,9.43,30.35
$GC,1291,1.61,394.6,2881,1993,2233,4094,142.4,5.8,100,1307,0.93,0.00,10.38,1.737,10246,0.034,0.000,2974,1993,2059,2059,4094,0,0,0,0,0,0,25.77,25.19,23.94,9.43,30.50
$GC,1367,1.61,394.6,2974,1993,2057,4094,132.3,13.9,106,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1993,2057,2057,4094,0,0,0,0,0,0,25.93,25.94,25.94,9.39,30.54
$GC,1441,1.61,394.6,2974,1993,2053,4094,117.3,20.6,112,1456,0.00,2.67,0.00,0.000,516,0.000,0.069,2975,1014,2052,2052,4095,0,0,0,0,0,0,26.11,25.75,26.13,9.39,31.33
$GC,1469,1.61,394.6,2973,1014,2052,4094,111.6,20.9,114,1484,0.00,2.50,0.00,0.000,1030,0.000,0.032,2975,1990,2051,2051,4094,0,0,0,0,0,0,25.91,25.87,25.94,9.39,30.90
$GC,1544,1.61,394.6,2974,1991,2048,4094,96.1,20.7,120,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1991,2048,2048,4094,0,0,0,0,0,0,26.27,26.28,26.28,9.38,30.82
$GC,1618,1.61,394.6,2974,1992,2044,4094,80.6,20.3,126,1633,0.00,2.65,0.00,0.000,260,0.000,0.064,2975,2968,2044,2044,4094,0,0,0,0,0,0,26.35,25.98,26.36,9.38,31.49
$GC,1670,1.61,394.6,2974,2969,2042,4094,70.8,19.0,130,1684,0.00,2.53,0.00,0.000,1030,0.000,0.037,2975,1993,2041,2041,4094,0,0,0,0,0,0,26.14,26.09,26.17,9.39,30.90
$GC,1744,1.61,394.6,2974,1993,2039,4094,59.0,15.2,136,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1993,2039,2039,4094,0,0,0,0,0,0,26.46,26.47,26.47,9.38,30.62
$GC,1818,1.61,394.6,2975,1993,2037,4094,49.0,12.9,142,1833,0.00,2.65,0.00,0.000,516,0.000,0.072,2975,1013,2036,2036,4094,0,0,0,0,0,0,26.51,26.12,26.52,9.39,30.98
$GC,1904,1.61,394.6,2975,1013,2034,4095,38.0,13.4,149,1919,0.00,2.45,0.00,0.000,1030,0.000,0.033,2975,1987,2034,2034,4095,0,0,0,0,0,0,26.30,26.25,26.33,9.38,30.82
$GC,1979,1.61,394.6,2974,1990,2032,4094,27.8,14.4,155,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1990,2031,2031,4095,0,0,0,0,0,0,26.58,26.60,26.60,9.38,30.82
$GC,2054,1.61,394.6,2975,1990,2029,4094,18.6,12.5,161,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1990,2029,2029,4094,0,0,0,0,0,0,26.59,26.60,26.60,9.38,30.74
$GC,2128,1.61,394.6,2975,1990,2027,4094,9.0,13.5,167,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1990,2027,2027,4094,0,0,0,0,0,0,26.65,26.67,26.66,9.38,30.78
$GC,2202,1.89,535.0,2975,1990,2026,4094,3.0,6.1,173,2217,0.85,0.00,7.40,0.504,10246,0.034,0.000,3067,1990,1892,1892,4094,0,0,0,0,0,0,26.44,26.01,25.62,9.38,31.53
$STATE,2230,end climb,SURFACE_DEPTH_REACHED
$STATE,2230,begin surface coast
$FINISH,0.1,1.010136
$STATE,2313,end surface coast,CONTROL_FINISHED_OK
$STATE,2313,begin surface
$SM_CCo,2408,0.00,0.000,0,0,1890,540.92
$SM_GC,1.29,29.08,0.00,0.00,0.028,0.000,0.000,242,1990,1890,-6.98,0.00,540.92,0,0,0,0,0,0,26.35,26.66,26.41
$IRIDIUM_FIX,4748.51,-12337.82,240217,092728
$TT8_MAMPS,0.026215,0.214963
$HUMID,30.70
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,7.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.6,5.0
$ALTIM_BOTTOM_PING,100.9,4.8
$24V_AH,23.77,3.888
$10V_AH,9.59,4.155
$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,62.875,56.675,51.125,0.000,0.000,24.236,35.224,102.482,0.750,0.000,27.273,517.955,59.937,177.787,1889.492,31.654,33.445,678.528,0.000,275.127,0.000,7.170,0.000
$DEVICE_MAMPS,134.640,74.970,1998.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.981,233.395,0.000,945.688,1668.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,14210,182
$CAP_FILE_SIZE,47419,0
$CFSIZE,1024409600,1017331712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240217,104457,4742.356,-12224.930,3,0.8,33,16.3,0.0,0.0,10,5.0