version: 66.12
glider: 401
mission: 18
dive: 26
start: 2 24 117 17 18 10
data:
$ID,401
$MISSION,18
$DIVE,26
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,3150
$C_ROLL_CLIMB,3150
$HEAD_ERRBAND,180
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,3
$R_STBD_OVSHOOT,11
$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
$GPS1,240217,171222,4744.3057,-12224.5898,3,0.8,14,16.3,0.0,0.0,12,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-54.9
$GPS2,240217,171704,4744.3159,-12224.5967,5,0.9,16,16.3,0.0,0.0,11,4.8
$SPEED_LIMITS,0.084,0.160
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.018288,-0.158681
$KALMAN_X,-338.385437,-437.863403,636.661560,549.857788,124.212524
$KALMAN_Y,2865.917969,-931.622559,1018.544800,485.480255,635.725647
$MHEAD_RNG_PITCHd_Wd,170.3,637,-25.0,-10.000,-32.05,1483
$D_GRID,175
$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,-1.86,-97.8,232,3130,1223,4094,0.0,0.0,0,34,0.00,0.03,-9.65,0.000,16390,0.000,1.357,232,3144,2639,2639,4094,0,0,0,0,0,0,26.44,25.05,26.46,9.20,31.68
$GC,36,-1.86,-97.8,233,3144,2640,4094,1.1,0.0,1,64,21.20,0.00,0.00,0.000,2054,0.145,0.000,1870,3144,2642,2642,4095,0,0,0,0,0,0,25.86,25.99,25.96,9.49,31.96
$GC,124,-1.86,-97.8,1870,3144,2645,4094,27.1,-20.1,8,138,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3144,2645,2645,4094,0,0,0,0,0,0,26.34,26.36,26.36,9.50,31.33
$GC,198,-1.86,-97.8,1870,3144,2648,4094,41.0,-18.9,14,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3144,2648,2648,4094,0,0,0,0,0,0,26.41,26.44,26.43,9.50,31.65
$GC,272,-1.86,-97.8,1870,3144,2651,4094,55.3,-19.0,20,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3144,2651,2651,4094,0,0,0,0,0,0,26.48,26.49,26.49,9.50,31.17
$GC,346,-1.86,-97.8,1870,3144,2653,4094,67.9,-16.6,26,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3144,2654,2654,4094,0,0,0,0,0,0,26.53,26.54,26.54,9.50,31.57
$GC,420,-1.86,-97.8,1870,3144,2656,4094,80.9,-17.9,32,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3144,2656,2656,4094,0,0,0,0,0,0,26.57,26.58,26.58,9.50,30.98
$GC,494,-1.86,-97.8,1870,3144,2658,4095,94.6,-19.0,38,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3144,2659,2659,4095,0,0,0,0,0,0,26.60,26.62,26.62,9.50,31.09
$GC,572,-1.86,-97.8,1870,3144,2662,4095,110.5,-20.0,44,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3144,2663,2663,4094,0,0,0,0,0,0,26.64,26.65,26.65,9.50,31.68
$GC,646,-1.86,-97.8,1870,3144,2666,4095,126.1,-21.3,50,660,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3144,2667,2667,4094,0,0,0,0,0,0,26.67,26.68,26.68,9.51,31.09
$GC,720,-1.86,-97.8,1870,3144,2670,4094,141.4,-20.7,56,734,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3144,2671,2671,4094,0,0,0,0,0,0,26.70,26.71,26.70,9.51,31.05
$STATE,770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,770,begin apogee
$GC,773,-0.33,0.0,1870,3144,2673,4094,151.5,-19.7,60,802,5.65,0.00,9.12,1.803,10246,0.096,0.000,2360,3145,2524,2524,4094,0,0,0,0,0,0,26.34,25.56,24.49,9.51,31.45
$STATE,803,end apogee,CONTROL_FINISHED_OK
$STATE,803,begin climb
$GC,804,1.86,97.8,2360,3145,2524,4094,156.1,0.0,62,833,7.28,0.00,7.53,1.706,10246,0.039,0.000,3060,3145,2409,2409,4094,0,0,0,0,0,0,26.15,25.32,24.25,9.47,31.02
$GC,893,1.94,136.5,3060,3144,2408,4094,151.1,7.3,69,908,0.15,0.00,4.30,1.217,10246,0.062,0.000,3080,3145,2360,2360,4094,0,0,0,0,0,0,26.02,25.35,24.31,9.46,30.78
$GC,969,1.95,143.7,3080,3145,2358,4094,144.7,9.5,75,983,0.00,0.00,2.38,0.362,8198,0.000,0.000,3080,3145,2350,2350,4095,0,0,0,0,0,0,26.26,25.42,24.36,9.45,30.74
$GC,1045,1.95,143.7,3080,3145,2349,4094,136.4,11.4,81,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,3145,2348,2348,4094,0,0,0,0,0,0,26.34,26.35,26.35,9.44,31.09
$GC,1119,1.99,162.8,3080,3145,2347,4094,129.1,8.7,87,1134,0.08,0.00,2.78,0.581,10246,0.098,0.000,3094,3145,2330,2330,4094,0,0,0,0,0,0,26.19,25.55,24.56,9.44,30.94
$GC,1195,1.99,162.8,3093,3145,2328,4094,120.5,12.2,93,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2327,2327,4094,0,0,0,0,0,0,26.44,26.46,26.45,9.44,31.02
$GC,1269,2.00,166.7,3093,3145,2326,4094,112.6,9.7,99,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2326,2326,4094,0,0,0,0,0,0,26.49,26.51,26.51,9.44,31.13
$GC,1343,2.00,166.7,3093,3145,2324,4094,105.2,10.1,105,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2324,2324,4094,0,0,0,0,0,0,26.54,26.55,26.55,9.43,30.94
$GC,1417,2.00,166.7,3093,3145,2322,4094,96.4,12.1,111,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,3145,2322,2322,4094,0,0,0,0,0,0,26.58,26.60,26.59,9.44,31.57
$GC,1490,2.00,166.7,3094,3145,2320,4094,86.5,13.8,117,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2320,2320,4095,0,0,0,0,0,0,26.61,26.63,26.63,9.44,31.17
$GC,1565,2.00,166.7,3093,3145,2317,4094,76.2,13.7,123,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2317,2317,4094,0,0,0,0,0,0,26.65,26.66,26.65,9.43,31.21
$GC,1638,2.00,166.7,3093,3145,2315,4094,66.6,12.8,129,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2315,2315,4094,0,0,0,0,0,0,26.67,26.69,26.68,9.43,31.02
$GC,1712,2.00,166.7,3093,3145,2313,4094,57.5,12.1,135,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2313,2313,4094,0,0,0,0,0,0,26.70,26.71,26.71,9.43,30.74
$GC,1786,2.00,166.7,3093,3145,2311,4094,48.5,12.7,141,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2310,2310,4095,0,0,0,0,0,0,26.72,26.73,26.73,9.43,30.86
$GC,1860,2.00,166.7,3093,3145,2308,4094,39.1,12.6,147,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2309,2309,4095,0,0,0,0,0,0,26.74,26.75,26.75,9.43,31.09
$GC,1934,2.00,166.7,3093,3145,2306,4094,29.2,13.3,153,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2306,2306,4094,0,0,0,0,0,0,26.76,26.77,26.77,9.43,31.05
$GC,2009,2.00,166.7,3093,3146,2304,4094,20.0,12.2,159,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,3145,2304,2304,4094,0,0,0,0,0,0,26.74,26.76,26.76,9.43,31.13
$GC,2083,2.07,201.3,3093,3145,2303,4094,13.5,7.6,165,2098,0.22,0.00,2.78,0.247,10246,0.054,0.000,3124,3145,2282,2282,4094,0,0,0,0,0,0,26.55,26.12,25.63,9.43,30.94
$GC,2159,2.32,329.2,3123,3145,2282,4094,12.6,1.2,171,2174,0.75,0.00,8.05,0.610,10246,0.036,0.000,3203,3145,2132,2132,4094,0,0,0,0,0,0,26.55,26.08,25.61,9.42,31.17
$GC,2234,2.36,347.4,3202,3145,2131,4094,7.7,8.7,177,2249,0.00,0.00,2.67,0.210,8198,0.000,0.000,3203,3145,2113,2113,4094,0,0,0,0,0,0,26.71,26.09,25.65,9.39,30.94
$GC,2309,2.61,473.8,3202,3145,2112,4095,5.4,1.3,183,2324,0.88,0.00,7.95,0.552,10246,0.034,0.000,3295,3145,1964,1964,4094,0,0,0,0,0,0,26.51,26.04,25.62,9.39,30.94
$GC,2385,2.68,505.9,3294,3145,1963,4094,2.0,7.8,189,2400,0.15,0.00,3.35,0.287,10246,0.063,0.000,3317,3145,1927,1927,4094,0,0,0,0,0,0,26.43,26.05,25.65,9.35,31.13
$STATE,2413,end climb,SURFACE_DEPTH_REACHED
$STATE,2413,begin surface coast
$FINISH,0.1,1.009285
$STATE,2461,end surface coast,CONTROL_FINISHED_OK
$STATE,2461,begin surface
$SM_CCo,2559,0.00,0.000,0,0,1927,509.15
$SM_GC,2.13,31.85,0.00,0.00,0.032,0.000,0.000,235,3145,1927,-6.99,-0.23,509.15,0,0,0,0,0,0,26.42,26.69,26.46
$IRIDIUM_FIX,4748.51,-12056.72,240217,161313
$TT8_MAMPS,0.025466,0.214963
$HUMID,30.58
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,7.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,5.3
$ALTIM_BOTTOM_PING,105.1,4.8
$24V_AH,24.25,4.234
$10V_AH,9.54,4.592
$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,68.200,6.050,50.900,0.000,0.000,23.198,21.425,155.770,1.250,0.000,17.737,541.935,60.068,184.240,2046.148,35.416,33.467,691.466,0.000,293.664,0.000,8.781,0.000
$DEVICE_MAMPS,145.350,1357.110,1803.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,130.986,250.166,0.000,1013.864,1791.877,0.000,0.000,0.000,0.000,0.000
$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,14237,195
$CAP_FILE_SIZE,47110,0
$CFSIZE,1024409600,1016905728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240217,180145,4744.385,-12224.550,3,1.0,24,16.3,0.0,0.0,9,4.9