version: 66.12
glider: 401
mission: 18
dive: 20
start: 2 24 117 11 43 54
data:
$ID,401
$MISSION,18
$DIVE,20
$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,24
$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
$GPS1,240217,113829,4742.6011,-12224.9688,3,0.9,15,16.3,0.0,0.0,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.6
$GPS2,240217,114253,4742.6245,-12224.9209,5,0.9,15,16.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.002163,0.248451
$KALMAN_X,-246.554932,316.823242,-965.402527,908.035706,55.148987
$KALMAN_Y,1414.498291,624.210266,-1577.705078,-139.503555,79.756714
$MHEAD_RNG_PITCHd_Wd,343.2,2552,-12.3,-10.000,-21.92,3652
$D_GRID,184
$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,-1.31,-244.4,231,1996,1682,4094,0.0,0.0,0,32,0.00,0.00,-7.57,0.000,16390,0.000,0.000,231,1995,2812,2812,4094,0,0,0,0,0,0,26.45,25.66,26.46,9.29,31.53
$GC,34,-1.31,-244.4,231,1995,2813,4094,1.3,0.0,1,64,23.20,2.65,0.00,0.000,2564,0.136,0.055,2048,1004,2816,2816,4095,0,0,1,0,0,0,25.83,25.88,25.98,9.52,31.29
$GC,228,-1.31,-244.4,2047,1004,2820,4094,39.6,-13.5,17,243,0.00,2.50,0.00,0.000,1030,0.000,0.037,2048,1985,2821,2821,4094,0,0,0,0,0,0,26.17,26.11,26.20,9.53,31.13
$GC,303,-1.31,-244.4,2047,1985,2822,4094,50.5,-14.4,23,317,0.00,2.67,0.00,0.000,260,0.000,0.070,2048,2968,2823,2823,4094,0,0,0,0,0,0,26.48,26.10,26.50,9.53,31.33
$GC,378,-1.31,-244.4,2047,2968,2825,4094,61.0,-14.1,29,392,0.00,2.50,0.00,0.000,1030,0.000,0.034,2048,1990,2825,2825,4095,0,0,0,0,0,0,26.27,26.22,26.30,9.53,31.41
$GC,452,-1.31,-244.4,2047,1990,2826,4095,72.4,-15.5,35,467,0.00,2.62,0.00,0.000,516,0.000,0.069,2048,1010,2827,2827,4094,0,0,0,0,0,0,26.57,26.19,26.58,9.54,31.76
$GC,504,-1.31,-244.4,2047,1010,2829,4094,80.4,-15.7,39,519,0.00,2.47,0.00,0.000,1030,0.000,0.036,2048,1988,2829,2829,4095,0,0,0,0,0,0,26.32,26.28,26.36,9.54,31.25
$GC,579,-1.31,-244.4,2047,1989,2831,4094,91.7,-14.9,45,593,0.00,2.65,0.00,0.000,260,0.000,0.070,2048,2968,2831,2831,4094,0,0,0,0,0,0,26.62,26.23,26.63,9.53,31.65
$GC,630,-1.31,-244.4,2047,2968,2832,4094,99.5,-15.2,49,648,0.00,2.50,0.00,0.000,1030,0.000,0.035,2048,1988,2833,2833,4094,0,0,0,0,0,0,26.37,26.33,26.41,9.54,31.49
$GC,712,-1.31,-244.4,2047,1988,2835,4094,111.2,-14.5,55,727,0.00,2.60,0.00,0.000,516,0.000,0.069,2048,1013,2835,2835,4094,0,0,0,0,0,0,26.67,26.28,26.68,9.54,31.13
$GC,787,-1.31,-244.4,2047,1013,2838,4094,123.4,-16.3,61,802,0.00,2.47,0.00,0.000,1030,0.000,0.036,2048,1995,2838,2838,4094,0,0,0,0,0,0,26.43,26.39,26.46,9.54,30.74
$GC,862,-1.31,-244.4,2047,1996,2840,4094,134.2,-13.7,67,876,0.00,2.60,0.00,0.000,260,0.000,0.068,2048,2964,2841,2841,4095,0,0,0,0,0,0,26.71,26.33,26.72,9.54,31.17
$GC,914,-1.31,-244.4,2047,2964,2842,4094,141.3,-14.0,71,928,0.00,2.47,0.00,0.000,1030,0.000,0.036,2048,1990,2842,2842,4094,0,0,0,0,0,0,26.46,26.41,26.48,9.54,31.09
$STATE,987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,987,begin apogee
$GC,990,-0.33,0.0,2047,1990,2844,4094,151.6,-14.0,77,1019,3.45,0.00,17.77,2.042,10246,0.073,0.000,2362,1988,2518,2518,4094,0,0,0,0,0,0,26.40,25.20,24.15,9.54,30.74
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1021,1.31,244.4,2362,1988,2518,4094,155.0,0.0,79,1050,5.53,2.72,16.05,2.010,10500,0.045,0.057,2880,2974,2233,2233,4094,0,0,0,0,0,0,25.78,24.71,23.66,9.49,30.78
$GC,1099,1.48,326.2,2879,2974,2233,4094,151.6,7.7,85,1115,0.50,2.60,6.53,1.565,11270,0.032,0.036,2933,1992,2139,2139,4094,0,0,0,0,0,0,25.58,25.56,23.87,9.43,30.62
$GC,1175,1.48,326.2,2933,1992,2137,4094,143.8,10.9,91,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1992,2137,2137,4094,0,0,0,0,0,0,25.92,25.94,25.93,9.41,30.78
$GC,1249,1.48,326.2,2933,1992,2136,4094,135.5,11.6,97,1262,0.00,2.70,0.00,0.000,516,0.000,0.073,2934,1010,2135,2135,4094,0,0,0,0,0,0,26.10,25.75,26.11,9.40,30.66
$GC,1299,1.48,326.2,2933,1010,2134,4094,129.4,11.9,101,1314,0.00,2.50,0.00,0.000,1030,0.000,0.032,2934,1992,2134,2134,4094,0,0,0,0,0,0,25.95,25.89,25.98,9.41,30.74
$GC,1374,1.48,326.2,2933,1992,2132,4094,121.0,11.2,107,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1992,2131,2131,4094,0,0,0,0,0,0,26.29,26.30,26.29,9.40,30.82
$GC,1448,1.48,326.2,2933,1992,2130,4094,112.6,11.2,113,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1992,2129,2129,4094,0,0,0,0,0,0,26.36,26.38,26.37,9.40,30.70
$GC,1522,1.48,326.2,2933,1993,2128,4094,104.0,12.0,119,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1992,2127,2127,4094,0,0,0,0,0,0,26.43,26.44,26.44,9.40,30.78
$GC,1596,1.48,326.2,2933,1992,2126,4094,95.6,10.6,125,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1992,2125,2125,4094,0,0,0,0,0,0,26.48,26.50,26.49,9.40,31.49
$GC,1670,1.48,326.2,2933,1994,2124,4095,87.5,10.9,131,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1994,2123,2123,4095,0,0,0,0,0,0,26.53,26.54,26.54,9.40,31.41
$GC,1744,1.48,326.2,2933,1994,2122,4094,79.0,11.6,137,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1994,2122,2122,4094,0,0,0,0,0,0,26.57,26.58,26.58,9.40,30.86
$GC,1818,1.48,326.2,2933,1994,2120,4095,70.4,11.7,143,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1994,2120,2120,4094,0,0,0,0,0,0,26.60,26.62,26.61,9.39,30.82
$GC,1892,1.48,326.2,2933,1994,2118,4094,61.8,11.8,149,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1994,2117,2117,4094,0,0,0,0,0,0,26.63,26.65,26.65,9.39,30.94
$GC,1965,1.48,326.2,2933,1994,2116,4094,52.8,12.4,155,1980,0.00,2.65,0.00,0.000,516,0.000,0.070,2934,1012,2115,2115,4095,0,0,0,0,0,0,26.66,26.28,26.67,9.39,30.66
$GC,2005,1.48,326.2,2933,1012,2114,4094,48.0,12.2,158,2020,0.00,2.42,0.00,0.000,1030,0.000,0.032,2933,1984,2114,2114,4094,0,0,0,0,0,0,26.42,26.38,26.45,9.39,30.82
$GC,2080,1.48,326.2,2933,1985,2113,4094,39.4,11.2,164,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1985,2113,2113,4094,0,0,0,0,0,0,26.69,26.71,26.70,9.39,30.86
$GC,2154,1.55,361.2,2933,1985,2111,4095,32.5,9.0,170,2169,0.15,0.00,2.50,0.222,10246,0.059,0.000,2957,1985,2098,2098,4094,0,0,0,0,0,0,26.49,25.98,25.43,9.39,31.13
$GC,2229,1.55,361.2,2956,1985,2096,4094,24.7,11.0,176,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1984,2096,2096,4094,0,0,0,0,0,0,26.72,26.74,26.73,9.39,30.90
$GC,2304,1.55,361.2,2956,1985,2094,4094,15.8,12.0,182,2319,0.00,2.62,0.00,0.000,516,0.000,0.070,2957,1010,2093,2093,4094,0,0,0,0,0,0,26.74,26.35,26.75,9.38,30.94
$GC,2379,1.55,361.2,2956,1010,2092,4094,6.8,12.0,188,2392,0.00,2.42,0.00,0.000,1030,0.000,0.031,2956,1989,2091,2091,4095,0,0,0,0,0,0,26.51,26.46,26.53,9.38,30.58
$GC,2453,1.97,575.8,2956,1989,2090,4094,2.4,4.0,194,2469,1.33,0.00,11.88,0.568,10246,0.031,0.000,3095,1989,1846,1846,4094,0,0,0,0,0,0,26.54,26.22,25.65,9.38,30.90
$STATE,2481,end climb,SURFACE_DEPTH_REACHED
$STATE,2481,begin surface coast
$FINISH,0.1,1.010689
$STATE,2622,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2622,begin surface
$SM_CCo,2718,0.00,0.000,0,0,1845,579.55
$SM_GC,1.49,29.50,0.00,0.00,0.030,0.000,0.000,232,1994,1845,-7.02,0.18,579.55,0,0,0,0,0,0,26.12,26.71,26.36
$IRIDIUM_FIX,4748.51,-12337.82,240217,104938
$TT8_MAMPS,0.025466,0.207473
$HUMID,30.58
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,7.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.6,5.0
$ALTIM_BOTTOM_PING,105.6,4.8
$24V_AH,23.66,3.965
$10V_AH,9.58,4.259
$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,63.650,51.375,54.725,0.000,0.000,26.355,19.739,143.432,1.250,0.000,16.564,577.774,59.788,184.407,2146.957,35.958,33.442,707.290,0.000,311.944,0.000,8.769,0.000
$DEVICE_MAMPS,136.170,73.440,2041.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,139.911,266.907,0.000,1080.801,1906.177,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322212
$DATA_FILE_SIZE,17642,208
$CAP_FILE_SIZE,50180,0
$CFSIZE,1024409600,1017200640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,240217,123021,4742.892,-12225.028,3,0.8,37,16.3,0.0,0.0,10,4.9