version: 66.12
glider: 401
mission: 18
dive: 25
start: 2 24 117 16 18 30
data:
$ID,401
$MISSION,18
$DIVE,25
$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,400
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,950
$C_ROLL_CLIMB,950
$HEAD_ERRBAND,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,3
$R_STBD_OVSHOOT,31
$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
$GPS1,240217,161201,4744.1074,-12224.7324,3,1.0,38,16.3,0.0,0.0,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-45.1
$GPS2,240217,161707,4744.1455,-12224.6826,6,1.0,17,16.3,0.0,0.0,10,4.6
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.113579,-0.355503
$KALMAN_X,-764.761047,-269.846771,460.446381,879.882690,73.350220
$KALMAN_Y,1554.001343,-614.978516,663.832031,1524.350464,417.911804
$MHEAD_RNG_PITCHd_Wd,181.4,307,-2.0,-10.000,-15.00,9491
$D_GRID,176
$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,-0.92,-391.0,231,963,1032,4094,0.0,0.0,0,34,0.00,0.05,-13.05,0.000,16390,0.000,1.465,232,951,2983,2983,4095,0,0,0,0,0,0,26.39,24.73,26.40,9.16,31.05
$GC,36,-0.92,-391.0,231,951,2984,4094,1.0,0.0,1,64,24.45,0.00,0.00,0.000,2054,0.131,0.000,2174,942,2987,2987,4094,0,0,0,0,0,0,25.87,26.06,26.03,9.54,31.45
$GC,125,-0.92,-391.0,2174,943,2988,4094,27.3,-11.4,8,138,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,2989,2989,4094,0,0,0,0,0,0,26.36,26.37,26.37,9.55,31.76
$GC,199,-0.92,-391.0,2174,943,2990,4094,34.1,-9.2,14,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,2990,2990,4094,0,0,0,0,0,0,26.43,26.44,26.44,9.55,31.25
$GC,273,-0.92,-391.0,2174,943,2991,4095,41.6,-10.1,20,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,943,2992,2992,4095,0,0,0,0,0,0,26.48,26.50,26.50,9.56,31.41
$GC,346,-0.92,-391.0,2174,943,2993,4094,49.2,-10.5,26,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,943,2993,2993,4095,0,0,0,0,0,0,26.53,26.55,26.55,9.55,31.17
$GC,420,-0.92,-391.0,2174,943,2994,4094,56.7,-10.1,32,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,2994,2994,4095,0,0,0,0,0,0,26.57,26.59,26.58,9.56,31.02
$GC,495,-0.92,-391.0,2174,943,2995,4094,63.7,-9.4,38,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,2995,2995,4095,0,0,0,0,0,0,26.61,26.63,26.62,9.56,31.02
$GC,569,-0.92,-391.0,2174,943,2997,4094,70.6,-9.3,44,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,943,2997,2997,4095,0,0,0,0,0,0,26.64,26.65,26.65,9.56,31.02
$GC,643,-0.92,-391.0,2174,943,2998,4094,77.4,-9.1,50,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,2998,2998,4095,0,0,0,0,0,0,26.67,26.68,26.68,9.56,30.94
$GC,717,-0.92,-391.0,2174,943,2999,4095,84.5,-9.5,56,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,3000,3000,4095,0,0,0,0,0,0,26.70,26.71,26.71,9.57,31.09
$GC,791,-0.92,-391.0,2174,943,3001,4094,90.9,-8.6,62,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,943,3001,3001,4094,0,0,0,0,0,0,26.72,26.73,26.73,9.56,31.68
$GC,866,-0.92,-391.0,2174,943,3002,4094,97.0,-7.9,68,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,3002,3002,4094,0,0,0,0,0,0,26.73,26.75,26.75,9.57,30.90
$GC,942,-0.92,-391.0,2174,943,3003,4094,102.3,-7.0,74,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,943,3003,3003,4094,0,0,0,0,0,0,26.76,26.77,26.77,9.57,31.45
$GC,1017,-0.92,-391.0,2174,943,3004,4095,107.5,-6.9,80,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,3004,3004,4095,0,0,0,0,0,0,26.77,26.79,26.79,9.56,30.90
$GC,1091,-0.92,-391.0,2174,943,3005,4095,112.8,-7.1,86,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,3005,3005,4095,0,0,0,0,0,0,26.79,26.81,26.80,9.57,30.94
$GC,1166,-0.92,-391.0,2174,943,3007,4095,118.4,-7.7,92,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,3007,3007,4095,0,0,0,0,0,0,26.80,26.82,26.82,9.57,31.53
$GC,1240,-0.92,-391.0,2174,943,3007,4094,124.5,-8.2,98,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,3008,3008,4095,0,0,0,0,0,0,26.82,26.84,26.83,9.57,30.66
$GC,1314,-0.92,-391.0,2174,943,3009,4094,131.1,-9.0,104,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,3010,3010,4094,0,0,0,0,0,0,26.84,26.85,26.84,9.56,30.54
$GC,1389,-0.92,-391.0,2174,943,3011,4094,138.1,-9.3,110,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,3011,3011,4094,0,0,0,0,0,0,26.84,26.86,26.86,9.57,31.13
$GC,1463,-0.92,-391.0,2174,943,3013,4095,145.1,-9.6,116,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,943,3013,3013,4094,0,0,0,0,0,0,26.86,26.87,26.86,9.56,31.02
$STATE,1524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1525,begin apogee
$GC,1528,-0.33,0.0,2174,943,3014,4094,150.9,-9.5,121,1569,1.98,0.00,25.92,2.105,10246,0.058,0.000,2362,943,2520,2520,4094,0,0,0,0,0,0,26.55,25.00,23.96,9.57,31.41
$STATE,1570,end apogee,CONTROL_FINISHED_OK
$STATE,1570,begin climb
$GC,1571,0.92,391.0,2362,943,2520,4095,154.1,0.0,124,1613,4.28,0.00,24.75,2.101,10246,0.054,0.000,2751,943,2063,2063,4094,0,0,0,0,0,0,25.60,24.36,23.36,9.48,30.42
$GC,1674,1.87,865.1,2751,943,2063,4094,152.0,4.9,132,1716,3.17,0.00,29.38,2.076,10246,0.025,0.000,3061,944,1511,1511,4094,0,0,0,0,0,0,25.58,24.22,23.25,9.39,30.46
$GC,1777,1.87,865.1,3061,943,1510,4094,141.4,10.6,140,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,943,1510,1510,4094,0,0,0,0,0,0,25.67,25.70,25.69,9.29,30.07
$GC,1851,2.05,958.7,3061,943,1508,4094,134.7,9.0,146,1866,0.50,0.00,6.97,1.479,10246,0.034,0.000,3118,943,1404,1404,4094,0,0,0,0,0,0,25.74,25.03,24.08,9.29,30.39
$GC,1927,2.11,988.0,3118,943,1403,4094,127.4,9.7,152,1942,0.10,0.00,3.65,0.910,10246,0.075,0.000,3136,943,1367,1367,4094,0,0,0,0,0,0,25.77,25.18,24.26,9.27,30.58
$GC,2002,2.11,988.0,3136,943,1366,4094,119.6,10.4,158,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,943,1365,1365,4094,0,0,0,0,0,0,26.08,26.09,26.09,9.26,30.42
$GC,2076,2.11,988.0,3136,943,1363,4094,111.5,10.9,164,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,943,1363,1363,4094,0,0,0,0,0,0,26.20,26.22,26.21,9.25,30.54
$GC,2150,2.11,988.0,3135,943,1361,4094,103.1,11.3,170,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,943,1361,1361,4095,0,0,0,0,0,0,26.29,26.31,26.30,9.26,30.46
$GC,2224,2.11,988.0,3136,943,1359,4095,94.4,11.8,176,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,943,1358,1358,4094,0,0,0,0,0,0,26.36,26.38,26.38,9.25,30.46
$GC,2298,2.11,988.0,3136,943,1356,4094,85.6,11.5,182,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,943,1356,1356,4094,0,0,0,0,0,0,26.42,26.44,26.44,9.25,30.39
$GC,2372,2.11,988.0,3136,943,1354,4094,77.1,11.5,188,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,943,1354,1354,4094,0,0,0,0,0,0,26.48,26.49,26.49,9.25,30.35
$GC,2446,2.11,988.0,3136,943,1351,4094,68.6,11.2,194,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,943,1351,1351,4094,0,0,0,0,0,0,26.52,26.53,26.53,9.25,30.66
$GC,2520,2.11,988.0,3136,943,1350,4094,60.8,10.5,200,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,943,1349,1349,4094,0,0,0,0,0,0,26.56,26.58,26.57,9.25,30.50
$GC,2594,2.19,1024.2,3136,943,1347,4094,53.5,9.6,206,2609,0.17,0.00,2.95,0.410,10246,0.054,0.000,3161,943,1325,1325,4094,0,0,0,0,0,0,26.36,25.82,25.15,9.24,30.46
$GC,2669,2.19,1024.2,3161,943,1323,4094,46.0,10.2,212,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,943,1322,1322,4094,0,0,0,0,0,0,26.60,26.62,26.61,9.24,30.90
$GC,2743,2.19,1024.2,3161,943,1320,4094,37.2,12.1,218,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,943,1320,1320,4094,0,0,0,0,0,0,26.63,26.65,26.65,9.24,30.78
$GC,2817,2.19,1024.2,3160,943,1318,4094,28.5,11.6,224,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,943,1318,1318,4094,0,0,0,0,0,0,26.66,26.67,26.67,9.24,30.86
$GC,2891,2.19,1024.2,3160,943,1316,4094,20.2,11.2,230,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,943,1315,1315,4094,0,0,0,0,0,0,26.69,26.70,26.70,9.23,31.33
$GC,2968,2.35,1106.7,3160,943,1313,4094,12.7,9.1,236,2983,0.47,0.00,5.50,0.505,10246,0.044,0.000,3211,943,1226,1226,4094,0,0,0,0,0,0,26.46,26.03,25.58,9.24,30.54
$GC,3044,2.35,1106.7,3211,943,1224,4094,5.0,10.9,242,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,943,1224,1224,4094,0,0,0,0,0,0,26.67,26.69,26.69,9.22,30.42
$STATE,3072,end climb,SURFACE_DEPTH_REACHED
$STATE,3072,begin surface coast
$FINISH,0.1,1.019490
$STATE,3097,end surface coast,CONTROL_FINISHED_OK
$STATE,3097,begin surface
$SM_CCo,3194,0.00,0.000,0,0,1223,1113.60
$SM_GC,1.14,31.25,0.00,0.00,0.039,0.000,0.000,233,943,1223,-7.02,-0.32,1113.60,1,0,0,0,0,0,25.77,26.71,26.27
$IRIDIUM_FIX,4748.51,-12337.82,240217,151826
$TT8_MAMPS,0.026215,0.226947
$HUMID,30.31
$INTERNAL_PRESSURE,9.14453
$TCM_TEMP,7.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.8,5.0
$ALTIM_BOTTOM_PING,100.4,4.8
$24V_AH,23.25,4.208
$10V_AH,9.53,4.542
$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,66.375,3.275,99.125,0.000,0.000,21.220,40.629,164.228,1.250,0.000,18.285,662.285,59.738,231.040,2540.653,41.882,33.433,883.593,0.000,365.623,0.000,7.168,0.000
$DEVICE_MAMPS,130.815,1464.975,2104.515,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,164.984,315.485,0.000,1279.788,2258.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322164
$DATA_FILE_SIZE,21182,246
$CAP_FILE_SIZE,55654,1
$CFSIZE,1024409600,1016922112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,240217,171222,4744.306,-12224.590,3,0.8,14,16.3,0.0,0.0,12,4.8