version: 66.12
glider: 401
mission: 18
dive: 6
start: 2 24 117 0 17 15
data:
$ID,401
$MISSION,18
$DIVE,6
$N_DIVES,15
$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,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,40
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$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,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
$GPS1,240217,001139,4743.2886,-12224.9941,3,0.9,17,16.3,0.5,281.3,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-41.3
$GPS2,240217,001616,4743.3052,-12224.9990,5,0.8,18,16.3,0.0,0.0,10,4.8
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.048417,0.219550
$KALMAN_X,-409.308289,-274.704651,-116.778503,714.586487,-7.526451
$KALMAN_Y,-461.453064,-350.267426,-205.400787,2594.930176,54.652191
$MHEAD_RNG_PITCHd_Wd,356.1,1311,-15.0,-10.000,-23.98,2935
$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,15,-1.39,-195.5,243,1992,51,4094,0.0,0.0,0,47,0.00,0.00,-18.30,0.000,16390,0.000,0.000,243,1992,2753,2753,4094,0,0,0,0,0,0,26.35,25.54,26.36,9.02,31.45
$GC,49,-1.39,-195.5,243,1992,2753,4094,1.6,-6.1,2,78,22.88,2.30,0.00,0.000,2564,0.136,0.051,2018,1110,2756,2756,4094,0,0,0,0,0,0,25.68,25.74,25.77,9.54,32.43
$GC,127,-1.39,-195.5,2017,1110,2758,4094,26.3,-22.3,8,141,0.00,2.22,0.00,0.000,1030,0.000,0.035,2018,1981,2758,2758,4094,0,0,0,0,0,0,25.98,25.91,25.98,9.54,32.51
$GC,201,-1.39,-195.5,2017,1981,2760,4094,37.8,-16.2,14,216,0.00,2.38,0.00,0.000,260,0.000,0.066,2018,2856,2761,2761,4094,0,0,0,0,0,0,26.33,25.95,26.34,9.54,31.72
$GC,253,-1.39,-195.5,2018,2856,2761,4095,45.7,-15.2,18,267,0.00,2.22,0.00,0.000,1030,0.000,0.035,2018,1989,2762,2762,4094,0,0,0,0,0,0,26.12,26.07,26.15,9.54,31.68
$GC,327,-1.39,-195.5,2018,1989,2764,4095,56.2,-13.9,24,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1989,2764,2764,4094,0,0,0,0,0,0,26.46,26.48,26.48,9.54,31.72
$GC,401,-1.39,-195.5,2018,1989,2766,4094,66.3,-13.9,30,415,0.00,2.35,0.00,0.000,516,0.000,0.067,2018,1109,2766,2766,4095,0,0,0,0,0,0,26.53,26.11,26.53,9.54,32.35
$GC,476,-1.39,-195.5,2017,1110,2768,4094,77.7,-15.4,36,490,0.00,2.22,0.00,0.000,1030,0.000,0.036,2018,1991,2768,2768,4095,0,0,0,0,0,0,26.29,26.24,26.32,9.54,32.12
$GC,550,-1.39,-195.5,2018,1991,2770,4095,89.2,-15.3,42,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1992,2771,2771,4094,0,0,0,0,0,0,26.62,26.63,26.63,9.54,31.80
$GC,624,-1.39,-195.5,2018,1992,2773,4094,99.7,-14.1,48,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1992,2773,2773,4095,0,0,0,0,0,0,26.65,26.67,26.66,9.54,32.20
$GC,701,-1.39,-195.5,2018,1992,2775,4095,110.7,-14.3,54,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1992,2777,2777,4095,0,0,0,0,0,0,26.68,26.70,26.70,9.54,31.96
$GC,775,-1.39,-195.5,2018,1992,2778,4094,121.6,-14.6,60,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1991,2778,2778,4094,0,0,0,0,0,0,26.72,26.73,26.72,9.54,31.65
$GC,849,-1.39,-195.5,2017,1992,2780,4094,132.7,-14.8,66,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1992,2781,2781,4094,0,0,0,0,0,0,26.74,26.75,26.75,9.54,32.08
$GC,922,-1.39,-195.5,2018,1992,2783,4094,144.0,-15.4,72,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1992,2784,2784,4095,0,0,0,0,0,0,26.77,26.78,26.77,9.54,31.65
$STATE,960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,961,begin apogee
$GC,964,-0.33,0.0,2018,1992,2785,4094,150.1,-15.3,75,992,3.80,0.00,14.82,1.949,10246,0.077,0.000,2362,1992,2519,2519,4095,0,0,0,0,0,0,26.38,25.35,24.32,9.55,31.37
$STATE,993,end apogee,CONTROL_FINISHED_OK
$STATE,993,begin climb
$GC,995,1.39,195.5,2361,1992,2519,4094,153.5,0.0,77,1023,5.72,0.00,13.07,1.902,10246,0.044,0.000,2902,1992,2291,2291,4094,0,0,0,0,0,0,25.94,24.92,23.94,9.50,31.53
$GC,1084,1.49,242.2,2901,1992,2290,4094,148.3,8.4,84,1099,0.30,0.00,4.40,1.193,10246,0.044,0.000,2938,1992,2240,2240,4094,0,0,0,0,0,0,25.82,25.16,24.17,9.46,31.53
$GC,1160,1.51,253.2,2937,1992,2238,4094,141.3,9.6,90,1174,0.00,0.00,2.67,0.545,8198,0.000,0.000,2938,1992,2224,2224,4094,0,0,0,0,0,0,26.15,25.32,24.32,9.44,31.09
$GC,1234,1.51,253.2,2938,1992,2222,4094,133.2,11.1,96,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1992,2222,2222,4095,0,0,0,0,0,0,26.27,26.29,26.28,9.44,31.25
$GC,1308,1.51,253.2,2937,1992,2220,4094,124.6,11.5,102,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1992,2219,2219,4094,0,0,0,0,0,0,26.36,26.39,26.38,9.44,31.68
$GC,1382,1.51,253.2,2937,1992,2218,4094,116.0,11.6,108,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1992,2217,2217,4094,0,0,0,0,0,0,26.45,26.46,26.46,9.43,31.13
$GC,1456,1.51,253.2,2937,1992,2216,4094,107.5,11.3,114,1470,0.00,2.38,0.00,0.000,516,0.000,0.069,2938,1116,2215,2215,4094,0,0,0,0,0,0,26.51,26.11,26.52,9.43,31.68
$GC,1496,1.51,253.2,2938,1116,2215,4094,102.8,11.5,117,1510,0.00,2.20,0.00,0.000,1030,0.000,0.033,2938,1994,2215,2215,4094,0,0,0,0,0,0,26.25,26.22,26.29,9.44,31.25
$GC,1571,1.51,253.2,2938,1994,2213,4094,94.2,11.3,123,1585,0.00,2.30,0.00,0.000,260,0.000,0.060,2938,2859,2213,2213,4094,0,0,0,0,0,0,26.58,26.20,26.59,9.43,31.41
$GC,1599,1.51,253.2,2938,2859,2212,4094,90.9,11.4,125,1614,0.00,2.25,0.00,0.000,1030,0.000,0.039,2938,1988,2212,2212,4094,0,0,0,0,0,0,26.31,26.25,26.34,9.43,31.17
$GC,1674,1.51,253.2,2938,1988,2210,4094,82.1,11.7,131,1688,0.00,2.33,0.00,0.000,516,0.000,0.071,2938,1121,2210,2210,4094,0,0,0,0,0,0,26.63,26.22,26.64,9.43,31.37
$GC,1749,1.51,253.2,2938,1121,2208,4094,73.4,11.5,137,1762,0.00,2.15,0.00,0.000,1030,0.000,0.031,2938,1987,2208,2208,4094,0,0,0,0,0,0,26.40,26.36,26.42,9.44,31.65
$GC,1822,1.51,253.2,2938,1987,2207,4094,65.3,10.9,143,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1987,2206,2206,4094,0,0,0,0,0,0,26.69,26.71,26.70,9.43,31.68
$GC,1896,1.51,253.2,2938,1987,2204,4094,57.1,10.9,149,1911,0.00,2.35,0.00,0.000,516,0.000,0.068,2938,1117,2204,2204,4094,0,0,0,0,0,0,26.72,26.31,26.73,9.43,31.21
$GC,1959,1.51,253.2,2938,1117,2202,4094,49.5,12.3,154,1974,0.00,2.15,0.00,0.000,1030,0.000,0.031,2938,1984,2202,2202,4094,0,0,0,0,0,0,26.47,26.43,26.50,9.43,31.25
$GC,2034,1.51,253.2,2938,1984,2201,4094,41.0,11.1,160,2048,0.00,2.28,0.00,0.000,260,0.000,0.059,2938,2848,2200,2200,4095,0,0,0,0,0,0,26.76,26.36,26.77,9.43,31.96
$GC,2086,1.51,253.2,2938,2848,2199,4094,35.2,11.3,164,2100,0.00,2.20,0.00,0.000,1030,0.000,0.037,2938,1987,2199,2199,4094,0,0,0,0,0,0,26.47,26.42,26.52,9.43,32.00
$GC,2160,1.51,253.2,2938,1987,2197,4094,27.3,10.3,170,2174,0.00,2.33,0.00,0.000,516,0.000,0.072,2938,1114,2197,2197,4094,0,0,0,0,0,0,26.79,26.37,26.80,9.42,31.41
$GC,2223,1.51,253.2,2938,1114,2195,4094,20.6,11.0,175,2239,0.00,2.15,0.00,0.000,1030,0.000,0.032,2938,1986,2195,2195,4094,0,0,0,0,0,0,26.53,26.50,26.56,9.43,31.37
$GC,2299,1.57,286.3,2938,1988,2194,4094,13.6,8.8,181,2315,0.20,2.28,2.35,0.140,10500,0.054,0.057,2965,2851,2183,2183,4094,0,0,0,0,0,0,26.58,26.08,25.56,9.42,31.37
$GC,2375,1.61,302.3,2965,2851,2182,4094,6.7,9.4,187,2391,0.00,2.20,2.62,0.187,9222,0.000,0.041,2965,1994,2163,2163,4094,0,0,0,0,0,0,26.53,26.46,25.66,9.42,32.00
$STATE,2438,end climb,SURFACE_DEPTH_REACHED
$STATE,2438,begin surface coast
$FINISH,1.5,1.020348
$STATE,2498,end surface coast,CONTROL_FINISHED_OK
$STATE,2498,begin surface
$SM_CCo,2593,0.00,0.000,0,0,2162,307.38
$SM_GC,2.07,28.40,0.00,0.00,0.039,0.000,0.000,242,1994,2162,-6.98,0.23,307.38,0,0,0,0,0,0,26.51,26.85,26.58
$IRIDIUM_FIX,4748.51,-12337.82,230217,232034
$TT8_MAMPS,0.026215,0.20972
$HUMID,31.17
$INTERNAL_PRESSURE,9.33985
$TCM_TEMP,7.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,4.9
$ALTIM_BOTTOM_PING,101.5,5.0
$24V_AH,23.94,3.264
$10V_AH,9.66,3.610
$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,61.300,45.225,39.950,0.000,0.000,23.927,20.002,154.955,1.000,0.000,20.008,546.079,60.091,188.737,2061.095,34.105,33.451,728.107,0.000,295.889,0.000,7.159,0.000
$DEVICE_MAMPS,136.170,71.910,1949.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,132.043,252.635,0.000,1023.561,1809.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322220
$DATA_FILE_SIZE,14231,197
$CAP_FILE_SIZE,50355,0
$CFSIZE,1024409600,1017987072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240217,010430,4743.844,-12224.764,52,0.9,210,16.3,0.0,0.0,11,8.2