version: 66.12
glider: 401
mission: 18
dive: 11
start: 2 24 117 3 53 7
data:
$ID,401
$MISSION,18
$DIVE,11
$N_DIVES,25
$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,65
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,25
$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
$GPS1,240217,034701,4743.9839,-12224.2979,3,0.8,19,16.3,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-64.1
$GPS2,240217,035205,4743.9897,-12224.2930,5,0.8,23,16.3,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.161662,-0.188674
$KALMAN_X,276.943115,95.582947,742.053772,-311.569580,625.021973
$KALMAN_Y,992.003906,314.960968,1355.222412,200.468170,1172.590332
$MHEAD_RNG_PITCHd_Wd,204.3,2830,-12.3,-10.000,-21.92,3652
$D_GRID,173
$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,-244.4,242,1992,1873,4094,0.0,0.0,0,33,0.00,0.00,-6.20,0.000,16390,0.000,0.000,242,1992,2811,2811,4095,0,0,0,0,0,0,26.45,25.63,26.46,9.34,32.39
$GC,35,-1.31,-244.4,242,1992,2811,4094,1.5,0.0,1,65,23.10,3.85,0.00,0.000,2564,0.136,0.066,2047,565,2814,2814,4094,0,0,0,0,0,0,25.78,25.78,25.86,9.53,31.92
$GC,113,-1.31,-244.4,2046,565,2816,4095,30.2,-27.6,7,128,0.00,3.67,0.00,0.000,1030,0.000,0.041,2047,1979,2817,2817,4094,0,0,0,0,0,0,26.00,25.94,26.03,9.54,31.57
$GC,188,-1.31,-244.4,2046,1979,2818,4094,40.3,-13.3,13,203,0.00,4.05,0.00,0.000,260,0.000,0.087,2047,3408,2819,2819,4094,0,0,0,0,0,0,26.36,25.92,26.38,9.54,31.41
$GC,229,-1.31,-244.4,2046,3409,2819,4095,45.8,-13.6,16,244,0.00,3.72,0.00,0.000,1030,0.000,0.041,2047,1985,2820,2820,4094,0,0,0,0,0,0,26.12,26.07,26.14,9.54,31.29
$GC,304,-1.31,-244.4,2046,1986,2822,4094,55.4,-12.7,22,318,0.00,3.92,0.00,0.000,516,0.000,0.084,2047,571,2822,2822,4094,0,0,0,0,0,0,26.46,26.03,26.48,9.54,31.72
$GC,355,-1.31,-244.4,2046,571,2823,4094,62.4,-13.8,26,370,0.00,3.65,0.00,0.000,1030,0.000,0.042,2047,1988,2823,2823,4094,0,0,0,0,0,0,26.21,26.15,26.25,9.54,31.29
$GC,430,-1.31,-244.4,2046,1988,2824,4095,72.1,-12.3,32,444,0.00,3.97,0.00,0.000,260,0.000,0.086,2047,3402,2825,2825,4094,0,0,0,0,0,0,26.55,26.09,26.55,9.54,31.21
$GC,469,-1.31,-244.4,2046,3402,2826,4094,77.5,-13.5,35,484,0.00,3.67,0.00,0.000,1030,0.000,0.041,2047,1989,2826,2826,4094,0,0,0,0,0,0,26.28,26.22,26.32,9.54,31.61
$GC,545,-1.31,-244.4,2046,1989,2827,4094,87.1,-13.1,41,560,0.00,3.90,0.00,0.000,516,0.000,0.083,2047,575,2828,2828,4095,0,0,0,0,0,0,26.60,26.16,26.61,9.54,31.76
$GC,597,-1.31,-244.4,2046,575,2829,4095,94.5,-14.0,45,611,0.00,3.62,0.00,0.000,1030,0.000,0.042,2047,1989,2830,2830,4094,0,0,0,0,0,0,26.33,26.30,26.36,9.54,31.49
$GC,674,-1.31,-244.4,2046,1989,2831,4094,104.6,-13.0,51,689,0.00,3.95,0.00,0.000,260,0.000,0.086,2047,3403,2832,2832,4094,0,0,0,0,0,0,26.65,26.20,26.66,9.54,31.02
$GC,726,-1.31,-244.4,2046,3403,2833,4095,111.3,-12.9,55,739,0.00,3.65,0.00,0.000,1030,0.000,0.041,2047,1992,2833,2833,4094,0,0,0,0,0,0,26.38,26.32,26.41,9.54,31.13
$GC,799,-1.31,-244.4,2046,1991,2835,4094,121.0,-13.4,61,814,0.00,3.90,0.00,0.000,516,0.000,0.084,2047,571,2835,2835,4095,0,0,0,0,0,0,26.69,26.24,26.70,9.54,31.33
$GC,840,-1.31,-244.4,2046,571,2837,4094,126.9,-14.5,64,855,0.00,3.62,0.00,0.000,1030,0.000,0.044,2047,1983,2837,2837,4095,0,0,0,0,0,0,26.39,26.32,26.46,9.54,31.17
$GC,915,-1.31,-244.4,2046,1984,2839,4094,137.1,-13.1,70,930,0.00,3.97,0.00,0.000,260,0.000,0.086,2047,3409,2840,2840,4094,0,0,0,0,0,0,26.72,26.25,26.73,9.54,31.53
$GC,956,-1.31,-244.4,2046,3409,2841,4094,142.5,-13.6,73,971,0.00,3.67,0.00,0.000,1030,0.000,0.041,2047,1987,2841,2841,4094,0,0,0,0,0,0,26.44,26.37,26.47,9.54,31.13
$STATE,1019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1019,begin apogee
$GC,1022,-0.33,0.0,2047,1986,2842,4094,151.1,-13.5,78,1050,3.45,0.00,17.52,2.026,10246,0.072,0.000,2362,1983,2519,2519,4094,0,0,0,0,0,0,26.39,25.21,24.18,9.54,30.94
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1052,1.31,244.4,2362,1983,2519,4094,154.3,0.0,80,1082,5.53,4.07,15.75,2.000,10500,0.045,0.073,2880,3412,2239,2239,4095,0,0,0,0,0,0,25.80,24.72,23.70,9.49,31.17
$GC,1131,1.33,254.6,2879,3412,2238,4095,149.4,9.7,86,1146,0.00,3.80,2.75,0.615,9222,0.000,0.041,2880,1991,2222,2222,4094,0,0,0,0,0,0,25.64,25.55,24.05,9.44,30.86
$GC,1206,1.33,254.6,2879,1991,2220,4094,141.8,10.1,92,1220,0.00,4.03,0.00,0.000,516,0.000,0.086,2880,569,2220,2220,4094,0,0,0,0,0,0,26.06,25.63,26.06,9.43,30.94
$GC,1257,1.33,254.6,2879,569,2219,4094,136.3,10.8,96,1272,0.00,3.67,0.00,0.000,1030,0.000,0.037,2880,1990,2219,2219,4094,0,0,0,0,0,0,25.90,25.85,25.93,9.43,31.61
$GC,1332,1.36,268.9,2879,1990,2218,4094,128.9,9.6,102,1348,0.10,3.95,2.53,0.431,10500,0.075,0.076,2896,3404,2206,2206,4094,0,0,0,0,0,0,26.06,25.46,24.46,9.43,31.45
$GC,1397,1.36,268.9,2896,3404,2205,4094,121.5,11.9,107,1411,0.00,3.70,0.00,0.000,1030,0.000,0.041,2896,1994,2204,2204,4095,0,0,0,0,0,0,26.05,25.99,26.08,9.42,30.98
$GC,1472,1.36,268.9,2896,1994,2202,4094,113.2,10.5,113,1486,0.00,3.97,0.00,0.000,516,0.000,0.086,2896,570,2201,2201,4094,0,0,0,0,0,0,26.40,25.96,26.41,9.43,30.86
$GC,1500,1.36,268.9,2896,570,2201,4094,110.1,10.9,115,1514,0.00,3.62,0.00,0.000,1030,0.000,0.038,2896,1985,2201,2201,4094,0,0,0,0,0,0,26.15,26.09,26.18,9.43,31.02
$GC,1575,1.36,268.9,2896,1985,2199,4094,101.7,10.9,121,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1985,2199,2199,4094,0,0,0,0,0,0,26.47,26.48,26.48,9.42,30.66
$GC,1649,1.36,268.9,2896,1985,2197,4094,94.1,10.2,127,1663,0.00,3.90,0.00,0.000,260,0.000,0.076,2897,3401,2197,2197,4094,0,0,0,0,0,0,26.52,26.10,26.53,9.42,31.68
$GC,1688,1.36,268.9,2896,3401,2196,4094,89.6,11.1,130,1703,0.00,3.67,0.00,0.000,1030,0.000,0.041,2896,1990,2195,2195,4094,0,0,0,0,0,0,26.26,26.20,26.29,9.42,31.72
$GC,1763,1.36,268.9,2896,1989,2195,4094,81.7,10.2,136,1777,0.00,3.92,0.00,0.000,516,0.000,0.087,2896,574,2194,2194,4094,0,0,0,0,0,0,26.58,26.15,26.59,9.42,31.09
$GC,1826,1.36,268.9,2896,574,2193,4094,74.9,11.1,141,1840,0.00,3.58,0.00,0.000,1030,0.000,0.037,2896,1984,2193,2193,4094,0,0,0,0,0,0,26.34,26.28,26.36,9.42,31.05
$GC,1900,1.36,268.9,2896,1985,2191,4094,67.1,10.1,147,1915,0.00,3.90,0.00,0.000,260,0.000,0.076,2897,3403,2191,2191,4094,0,0,0,0,0,0,26.63,26.20,26.65,9.42,31.09
$GC,1951,1.36,268.9,2896,3403,2189,4094,61.4,11.2,151,1966,0.00,3.65,0.00,0.000,1030,0.000,0.041,2896,1993,2190,2190,4094,0,0,0,0,0,0,26.36,26.30,26.40,9.42,31.45
$GC,2026,1.39,281.4,2896,1993,2188,4094,54.0,9.7,157,2041,0.00,3.92,0.00,0.000,516,0.000,0.086,2896,570,2188,2188,4094,0,0,0,0,0,0,26.67,26.23,26.69,9.42,31.76
$GC,2101,1.39,281.4,2896,570,2187,4094,46.5,10.2,163,2116,0.00,3.60,0.00,0.000,1030,0.000,0.038,2896,1989,2187,2187,4095,0,0,0,0,0,0,26.42,26.36,26.46,9.41,31.33
$GC,2176,1.46,318.1,2896,1989,2184,4094,39.5,9.0,169,2192,0.25,3.88,3.47,0.468,10500,0.049,0.074,2928,3405,2149,2149,4094,0,0,0,0,0,0,26.48,25.96,25.32,9.41,31.57
$GC,2252,1.46,318.1,2928,3405,2147,4094,30.3,13.3,175,2267,0.00,3.65,0.00,0.000,1030,0.000,0.040,2929,1990,2146,2146,4095,0,0,0,0,0,0,26.42,26.36,26.45,9.40,31.25
$GC,2327,1.46,318.1,2928,1990,2145,4094,22.1,10.4,181,2341,0.00,3.90,0.00,0.000,516,0.000,0.086,2928,574,2145,2145,4095,0,0,0,0,0,0,26.72,26.28,26.74,9.41,31.37
$GC,2390,1.46,318.1,2928,574,2143,4094,15.3,10.8,186,2405,0.00,3.58,0.00,0.000,1030,0.000,0.037,2929,1990,2143,2143,4094,0,0,0,0,0,0,26.46,26.41,26.50,9.41,31.57
$GC,2466,1.53,351.9,2928,1991,2141,4094,8.2,9.1,192,2481,0.15,3.88,3.28,0.304,10500,0.060,0.076,2952,3406,2108,2108,4094,0,0,0,0,0,0,26.53,26.08,25.61,9.39,30.98
$STATE,2657,end climb,NO_VERTICAL_VELOCITY
$STATE,2657,begin surface
$SM_CCo,2659,88.57,0.641,0,0,50,2118.17
$SM_GC,0.81,28.58,3.75,0.00,0.027,0.035,0.000,243,1983,50,-6.98,0.82,2121.60,0,0,1,0,0,0,25.67,25.65,25.77
$IRIDIUM_FIX,4748.51,-12337.82,240217,025730
$TT8_MAMPS,0.025466,0.229943
$HUMID,30.82
$INTERNAL_PRESSURE,8.93945
$TCM_TEMP,7.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,5.0
$ALTIM_BOTTOM_PING,101.2,4.7
$24V_AH,23.70,3.551
$10V_AH,9.58,3.798
$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,61.150,144.475,45.300,88.575,0.000,22.284,34.405,162.979,0.750,0.000,24.580,598.461,90.481,292.503,2186.925,37.399,33.459,868.789,0.000,327.729,0.000,7.178,0.000
$DEVICE_MAMPS,136.170,155.295,2025.720,641.070,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,139.321,266.724,0.000,1080.818,1909.127,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,17780,208
$CAP_FILE_SIZE,59355,0
$CFSIZE,1024409600,1017692160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,240217,044246,4743.835,-12224.527,23,1.0,68,16.3,0.0,0.0,8,3.0