version: 66.12
glider: 401
mission: 18
dive: 19
start: 2 24 117 10 54 2
data:
$ID,401
$MISSION,18
$DIVE,19
$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,14
$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
$GPS1,240217,104457,4742.3560,-12224.9297,3,0.8,33,16.3,0.0,0.0,10,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.8
$GPS2,240217,105301,4742.3560,-12224.8848,5,0.9,26,16.3,0.0,0.0,10,4.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.053034,0.242734
$KALMAN_X,-185.565659,399.863495,-908.116333,748.133789,-141.774246
$KALMAN_Y,1328.214966,812.990234,-1452.233887,-867.503662,-242.961121
$MHEAD_RNG_PITCHd_Wd,356.0,3047,-12.3,-10.000,-21.92,3652
$D_GRID,154
$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,-244.4,241,1992,1890,4094,0.0,0.0,0,33,0.00,0.00,-6.12,0.000,16390,0.000,0.000,242,1992,2808,2808,4095,0,0,0,0,0,0,26.46,25.67,26.48,9.33,31.76
$GC,35,-1.31,-244.4,242,1992,2809,4094,1.4,0.0,1,64,23.08,2.67,0.00,0.000,2564,0.135,0.063,2048,1004,2812,2812,4094,0,0,1,0,0,0,25.79,25.82,25.94,9.52,31.84
$GC,263,-1.31,-244.4,2047,1004,2819,4094,53.0,-16.0,20,278,0.00,2.47,0.00,0.000,1030,0.000,0.034,2047,1984,2819,2819,4094,0,0,0,0,0,0,26.18,26.13,26.21,9.53,31.68
$GC,338,-1.31,-244.4,2047,1984,2821,4094,66.5,-17.6,26,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1984,2822,2822,4094,0,0,0,0,0,0,26.49,26.51,26.51,9.54,31.33
$GC,412,-1.31,-244.4,2047,1984,2824,4094,78.5,-15.8,32,426,0.00,2.65,0.00,0.000,260,0.000,0.067,2048,2963,2825,2825,4094,0,0,0,0,0,0,26.54,26.15,26.55,9.54,31.45
$GC,463,-1.31,-244.4,2047,2963,2825,4094,86.0,-14.6,36,478,0.00,2.50,0.00,0.000,1030,0.000,0.035,2048,1988,2826,2826,4094,0,0,0,0,0,0,26.29,26.25,26.33,9.53,31.84
$GC,539,-1.31,-244.4,2047,1988,2827,4094,96.4,-13.9,42,554,0.00,2.62,0.00,0.000,516,0.000,0.070,2047,1009,2828,2828,4094,0,0,0,0,0,0,26.60,26.22,26.61,9.54,31.05
$GC,595,-1.31,-244.4,2047,1010,2830,4094,105.9,-16.8,46,609,0.00,2.47,0.00,0.000,1030,0.000,0.037,2048,1986,2830,2830,4094,0,0,0,0,0,0,26.35,26.30,26.39,9.54,31.65
$GC,670,-1.31,-244.4,2047,1987,2833,4094,119.2,-17.7,52,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1991,2834,2834,4094,0,0,0,0,0,0,26.65,26.67,26.66,9.54,31.05
$GC,743,-1.31,-244.4,2047,1990,2835,4094,129.4,-14.0,58,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1991,2835,2835,4094,0,0,0,0,0,0,26.67,26.70,26.69,9.54,31.17
$GC,817,-1.31,-244.4,2047,1989,2837,4094,139.0,-11.8,64,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1989,2838,2838,4095,0,0,0,0,0,0,26.70,26.72,26.71,9.54,31.17
$STATE,890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,891,begin apogee
$GC,894,-0.33,0.0,2047,1990,2840,4094,151.3,-17.9,70,922,3.40,0.00,17.23,2.034,10246,0.072,0.000,2358,1990,2523,2523,4094,0,0,0,0,0,0,26.39,25.22,24.15,9.54,30.98
$STATE,923,end apogee,CONTROL_FINISHED_OK
$STATE,923,begin climb
$GC,925,1.31,244.4,2358,1990,2523,4094,155.2,0.0,72,952,5.62,0.00,16.25,2.023,10246,0.050,0.000,2878,1990,2235,2235,4094,0,0,0,0,0,0,25.77,24.68,23.67,9.48,30.70
$GC,1013,1.50,336.3,2877,1990,2234,4094,151.9,7.4,79,1028,0.57,0.00,7.25,1.642,10246,0.039,0.000,2938,1990,2126,2126,4094,0,0,0,0,0,0,25.63,24.88,23.88,9.43,30.94
$GC,1088,1.50,336.3,2937,1990,2125,4094,143.2,12.6,85,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1990,2124,2124,4094,0,0,0,0,0,0,25.93,25.94,25.94,9.40,30.62
$GC,1162,1.50,336.3,2937,1990,2122,4094,133.4,13.1,91,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1990,2122,2122,4094,0,0,0,0,0,0,26.10,26.12,26.12,9.40,31.33
$GC,1236,1.50,336.3,2937,1989,2120,4094,123.7,13.1,97,1251,0.00,2.67,0.00,0.000,516,0.000,0.069,2938,1013,2120,2120,4094,0,0,0,0,0,0,26.23,25.86,26.24,9.40,30.86
$GC,1299,1.50,336.3,2938,1013,2118,4094,115.1,14.2,102,1314,0.00,2.47,0.00,0.000,1030,0.000,0.033,2938,1988,2117,2117,4094,0,0,0,0,0,0,26.06,26.01,26.08,9.40,30.66
$GC,1374,1.50,336.3,2938,1988,2115,4094,105.3,12.8,108,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1989,2115,2115,4094,0,0,0,0,0,0,26.38,26.39,26.39,9.40,30.90
$GC,1448,1.50,336.3,2937,1988,2114,4094,96.5,12.0,114,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1989,2113,2113,4095,0,0,0,0,0,0,26.44,26.46,26.45,9.39,30.86
$GC,1522,1.50,336.3,2938,1988,2111,4094,87.6,12.4,120,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1988,2111,2111,4094,0,0,0,0,0,0,26.49,26.51,26.51,9.39,30.62
$GC,1596,1.50,336.3,2937,1988,2109,4094,78.2,12.8,126,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1988,2109,2109,4094,0,0,0,0,0,0,26.53,26.55,26.55,9.39,31.13
$GC,1670,1.50,336.3,2937,1989,2107,4094,68.7,12.6,132,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1988,2107,2107,4094,0,0,0,0,0,0,26.58,26.59,26.59,9.39,31.05
$GC,1744,1.50,336.3,2938,1988,2105,4094,59.8,11.8,138,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1988,2105,2105,4094,0,0,0,0,0,0,26.61,26.63,26.62,9.40,30.66
$GC,1818,1.50,336.3,2937,1988,2103,4094,51.4,11.5,144,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1988,2103,2103,4094,0,0,0,0,0,0,26.64,26.65,26.65,9.39,30.74
$GC,1891,1.50,336.3,2937,1988,2101,4094,42.3,12.3,150,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1989,2100,2100,4094,0,0,0,0,0,0,26.67,26.68,26.68,9.39,30.90
$GC,1965,1.50,336.3,2937,1989,2099,4094,33.3,12.1,156,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1989,2098,2098,4094,0,0,0,0,0,0,26.69,26.71,26.70,9.39,31.68
$GC,2039,1.50,336.3,2938,1989,2097,4094,25.4,10.4,162,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1989,2096,2096,4094,0,0,0,0,0,0,26.71,26.73,26.72,9.39,30.94
$GC,2114,1.52,346.6,2938,1989,2095,4094,18.0,9.7,168,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1989,2095,2095,4094,0,0,0,0,0,0,26.73,26.74,26.74,9.39,31.25
$GC,2188,1.60,387.7,2938,1989,2093,4094,11.4,8.8,174,2203,0.20,0.00,3.03,0.278,10246,0.051,0.000,2965,1989,2066,2066,4094,0,0,0,0,0,0,26.53,26.09,25.63,9.39,30.90
$GC,2264,1.66,417.1,2964,1989,2064,4094,4.2,9.2,180,2280,0.20,2.65,3.28,0.289,10756,0.050,0.070,2993,1008,2030,2030,4094,0,0,0,0,0,0,26.53,26.11,25.69,9.38,30.82
$GC,2352,2.26,717.3,2992,1008,2030,4094,2.1,1.6,187,2381,1.88,2.42,16.10,0.595,11270,0.028,0.030,3184,1997,1683,1683,4094,0,0,0,0,0,0,26.52,26.48,25.59,9.37,31.29
$STATE,2394,end climb,SURFACE_DEPTH_REACHED
$STATE,2394,begin surface coast
$FINISH,0.2,1.019459
$STATE,2524,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2524,begin surface
$SM_CCo,2621,0.00,0.000,0,0,1682,719.51
$SM_GC,1.18,30.45,0.00,0.00,0.029,0.000,0.000,231,1998,1682,-7.02,0.32,719.51,0,0,0,0,0,0,26.03,26.65,26.29
$IRIDIUM_FIX,4748.51,-12337.82,240217,095952
$TT8_MAMPS,0.026215,0.214214
$HUMID,30.70
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,7.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,5.2
$ALTIM_BOTTOM_PING,101.2,4.8
$24V_AH,23.67,3.929
$10V_AH,9.59,4.207
$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,65.400,25.625,63.125,0.000,0.000,70.702,70.556,132.536,0.750,0.000,27.969,554.195,180.715,174.949,2184.132,34.834,33.441,673.643,0.000,308.851,0.000,7.178,0.000
$DEVICE_MAMPS,135.405,70.380,2034.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.289,257.960,0.000,1044.215,1845.058,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322228
$DATA_FILE_SIZE,17754,201
$CAP_FILE_SIZE,47387,0
$CFSIZE,1024409600,1017266176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,240217,113829,4742.601,-12224.969,3,0.9,15,16.3,0.0,0.0,10,4.5