version: 66.12
glider: 401
mission: 18
dive: 3
start: 2 23 117 21 14 26
data:
$ID,401
$MISSION,18
$DIVE,3
$N_DIVES,3
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,2490
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2505
$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
$GPS1,230217,211006,4742.4639,-12225.2119,2,0.8,14,16.3,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-64.6
$GPS2,230217,211327,4742.4580,-12225.2246,5,1.0,19,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.100,0.225
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.091459,0.205390
$KALMAN_X,-197.077942,-149.288681,-143.516037,125.263245,-209.654510
$KALMAN_Y,-247.882278,-192.647842,-185.748520,640.805115,-266.079468
$MHEAD_RNG_PITCHd_Wd,7.7,2904,-15.0,-10.000,-23.98,2936
$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,-1.39,-195.5,243,2001,2013,4094,0.0,0.0,0,33,0.00,0.00,-4.43,0.000,16390,0.000,0.000,243,2001,2739,2739,4094,0,0,0,0,0,0,26.82,25.91,26.82,9.42,33.30
$GC,35,-1.39,-195.5,243,2001,2739,4094,1.9,0.0,1,64,22.40,2.30,0.00,0.000,2820,0.132,0.058,2033,2868,2742,2742,4095,0,0,0,0,0,0,26.07,26.12,26.15,9.56,34.28
$GC,252,-1.39,-195.5,2032,2868,2747,4094,43.3,-13.5,19,267,0.00,2.22,0.00,0.000,1030,0.000,0.036,2033,1995,2747,2747,4094,0,0,0,0,0,0,26.39,26.34,26.43,9.56,33.02
$GC,327,-1.39,-195.5,2033,1996,2749,4094,53.1,-12.6,25,341,0.00,2.30,0.00,0.000,516,0.000,0.069,2033,1130,2750,2750,4094,0,0,0,0,0,0,26.73,26.29,26.74,9.57,33.06
$GC,413,-1.39,-195.5,2032,1130,2752,4094,65.3,-14.5,32,428,0.00,2.17,0.00,0.000,1030,0.000,0.037,2033,1998,2752,2752,4094,0,0,0,0,0,0,26.47,26.43,26.51,9.57,33.61
$GC,488,-1.39,-195.5,2033,1998,2754,4094,75.3,-13.3,38,503,0.00,2.33,0.00,0.000,260,0.000,0.067,2033,2870,2754,2754,4094,0,0,0,0,0,0,26.80,26.36,26.82,9.57,33.42
$GC,551,-1.39,-195.5,2033,2869,2755,4095,83.6,-13.1,43,566,0.00,2.20,0.00,0.000,1030,0.000,0.036,2033,2001,2756,2756,4094,0,0,0,0,0,0,26.51,26.46,26.55,9.57,32.67
$GC,626,-1.39,-195.5,2033,2000,2758,4095,93.5,-13.4,49,640,0.00,2.30,0.00,0.000,516,0.000,0.069,2033,1131,2758,2758,4095,0,0,0,0,0,0,26.84,26.39,26.86,9.57,32.94
$GC,666,-1.39,-195.5,2033,1131,2759,4095,99.4,-14.3,52,683,0.00,2.15,0.00,0.000,1030,0.000,0.037,2033,1993,2760,2760,4094,0,0,0,0,0,0,26.55,26.50,26.58,9.57,32.55
$GC,743,-1.39,-195.5,2032,1993,2761,4094,110.4,-14.1,58,757,0.00,2.33,0.00,0.000,260,0.000,0.067,2033,2867,2762,2762,4094,0,0,0,0,0,0,26.87,26.41,26.89,9.57,32.67
$GC,806,-1.39,-195.5,2033,2867,2764,4094,119.3,-14.2,63,820,0.00,2.17,0.00,0.000,1030,0.000,0.037,2033,2003,2765,2765,4094,0,0,0,0,0,0,26.58,26.52,26.62,9.57,32.43
$GC,881,-1.39,-195.5,2032,2003,2767,4094,129.4,-13.6,69,895,0.00,2.30,0.00,0.000,516,0.000,0.070,2033,1132,2767,2767,4095,0,0,0,0,0,0,26.91,26.48,26.92,9.57,32.43
$GC,955,-1.39,-195.5,2033,1132,2769,4094,140.6,-15.1,75,970,0.00,2.15,0.00,0.000,1030,0.000,0.037,2033,1995,2770,2770,4094,0,0,0,0,0,0,26.61,26.55,26.64,9.57,32.35
$STATE,1029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1029,begin apogee
$GC,1032,-0.33,0.0,2032,1995,2772,4094,151.5,-14.2,81,1061,3.72,0.00,14.57,1.927,10246,0.076,0.000,2372,1996,2507,2507,4095,0,0,0,0,0,0,26.51,25.53,24.51,9.58,32.20
$STATE,1062,end apogee,CONTROL_FINISHED_OK
$STATE,1062,begin climb
$GC,1063,1.39,195.5,2372,1995,2507,4095,154.3,0.0,83,1092,5.72,0.00,13.10,1.880,10758,0.044,0.000,2918,1996,2276,2276,4094,0,0,0,0,0,0,26.12,25.10,24.13,9.53,31.88
$GC,1152,1.39,195.5,2917,1995,2274,4094,147.5,10.6,90,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1995,2273,2273,4094,0,0,0,0,0,0,26.22,26.24,26.24,9.49,31.68
$GC,1226,1.39,195.5,2917,1996,2272,4094,139.6,10.7,96,1240,0.00,2.35,0.00,0.000,516,0.000,0.070,2918,1136,2272,2272,4094,0,0,0,0,0,0,26.38,26.00,26.39,9.48,31.76
$GC,1300,1.39,195.5,2917,1136,2270,4094,131.8,10.3,102,1315,0.00,2.15,0.00,0.000,1030,0.000,0.032,2918,1996,2270,2270,4094,0,0,0,0,0,0,26.22,26.17,26.25,9.48,32.59
$GC,1375,1.42,208.1,2917,1997,2269,4095,124.4,9.6,108,1390,0.00,0.00,2.33,0.285,8198,0.000,0.000,2918,1997,2261,2261,4094,0,0,0,0,0,0,26.56,25.69,24.75,9.48,31.49
$GC,1450,1.42,208.1,2917,1997,2259,4094,116.6,10.8,114,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1997,2259,2259,4094,0,0,0,0,0,0,26.61,26.63,26.63,9.48,31.88
$GC,1524,1.42,208.1,2917,1997,2258,4094,108.4,11.0,120,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1997,2257,2257,4094,0,0,0,0,0,0,26.66,26.68,26.67,9.47,32.08
$GC,1598,1.42,208.1,2917,1997,2255,4094,100.0,11.2,126,1613,0.00,2.33,0.00,0.000,516,0.000,0.068,2918,1132,2255,2255,4094,0,0,0,0,0,0,26.70,26.27,26.72,9.47,31.76
$GC,1638,1.42,208.1,2918,1132,2254,4094,95.4,11.5,129,1652,0.00,2.15,0.00,0.000,1030,0.000,0.032,2918,1999,2254,2254,4095,0,0,0,0,0,0,26.45,26.40,26.47,9.47,31.76
$GC,1712,1.42,208.1,2917,1999,2253,4094,87.5,10.2,135,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1999,2252,2252,4094,0,0,0,0,0,0,26.76,26.77,26.77,9.47,31.80
$GC,1787,1.43,212.1,2917,1999,2251,4095,80.2,9.9,141,1801,0.00,2.28,0.00,0.000,260,0.000,0.058,2918,2864,2251,2251,4094,0,0,0,0,0,0,26.79,26.37,26.79,9.47,32.04
$GC,1850,1.43,212.1,2917,2864,2249,4094,73.7,10.5,146,1864,0.00,2.20,0.00,0.000,1030,0.000,0.037,2918,2001,2249,2249,4094,0,0,0,0,0,0,26.50,26.44,26.53,9.47,31.53
$GC,1925,1.47,235.2,2917,2001,2248,4094,66.6,9.2,152,1940,0.17,0.00,2.78,0.386,10246,0.057,0.000,2942,2001,2229,2229,4094,0,0,0,0,0,0,26.58,25.98,25.24,9.47,31.88
$GC,2000,1.49,244.3,2941,2001,2228,4094,59.4,9.7,158,2015,0.00,0.00,2.35,0.210,8198,0.000,0.000,2942,2001,2218,2218,4095,0,0,0,0,0,0,26.83,25.98,25.27,9.46,31.96
$GC,2075,1.49,244.3,2941,2000,2217,4094,51.5,10.5,164,2089,0.00,2.33,0.00,0.000,516,0.000,0.072,2942,1129,2216,2216,4094,0,0,0,0,0,0,26.84,26.39,26.86,9.46,31.57
$GC,2208,1.49,244.3,2941,1128,2214,4094,37.8,10.0,175,2222,0.00,2.15,0.00,0.000,1030,0.000,0.032,2942,2001,2213,2213,4095,0,0,0,0,0,0,26.60,26.55,26.67,9.46,32.04
$GC,2282,1.50,248.5,2941,2001,2212,4095,30.5,9.9,181,2297,0.00,2.25,0.00,0.000,260,0.000,0.058,2942,2860,2212,2212,4094,0,0,0,0,0,0,26.89,26.48,26.91,9.46,32.31
$GC,2334,1.50,248.5,2941,2861,2210,4094,24.6,11.5,185,2348,0.00,2.20,0.00,0.000,1030,0.000,0.039,2942,1996,2210,2210,4094,0,0,0,0,0,0,26.59,26.53,26.60,9.46,31.57
$GC,2409,1.50,248.5,2941,1996,2209,4094,16.6,10.3,191,2423,0.00,2.30,0.00,0.000,516,0.000,0.072,2942,1129,2209,2209,4094,0,0,0,0,0,0,26.91,26.45,26.93,9.45,32.16
$GC,2542,1.54,270.5,2941,1128,2206,4094,3.6,9.2,202,2558,0.17,2.12,2.72,0.201,11270,0.042,0.031,2967,1999,2185,2185,4094,0,0,0,0,0,0,26.65,26.63,25.76,9.45,32.47
$GC,2618,2.12,557.7,2966,1999,2184,4094,2.6,-0.0,208,2648,1.80,2.35,15.52,0.592,10756,0.031,0.070,3152,1128,1851,1851,4094,0,0,0,0,0,0,26.67,26.15,25.75,9.45,31.80
$STATE,2672,end climb,SURFACE_DEPTH_REACHED
$STATE,2672,begin surface coast
$FINISH,0.1,1.004075
$STATE,2697,end surface coast,CONTROL_FINISHED_OK
$STATE,2697,begin surface
$SM_CCo,2796,0.00,0.000,0,0,1850,562.38
$SM_GC,1.57,29.95,2.17,0.00,0.030,0.034,0.000,242,2003,1850,-7.02,-1.14,562.38,0,0,1,0,0,0,26.41,26.48,26.50
$IRIDIUM_FIX,4748.51,-12337.82,230217,210602
$TT8_MAMPS,0.026215,0.208222
$HUMID,31.45
$INTERNAL_PRESSURE,9.30079
$TCM_TEMP,7.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,4.1
$ALTIM_BOTTOM_PING,101.2,4.8
$24V_AH,24.13,3.126
$10V_AH,9.80,3.448
$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,63.950,58.250,53.375,0.000,0.000,0.000,0.000,0.000,1.000,0.000,20.867,588.729,60.422,187.419,2011.449,26.778,31.521,724.695,0.000,334.585,0.000,7.161,0.000
$DEVICE_MAMPS,132.345,71.910,1927.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,143.933,274.663,0.000,1112.407,1966.522,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322308
$DATA_FILE_SIZE,17733,214
$CAP_FILE_SIZE,62954,0
$CFSIZE,1024409600,1018167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,230217,220230,4742.619,-12225.066,6,1.1,56,16.3,0.0,0.0,8,3.0