version: 66.12
glider: 401
mission: 18
dive: 28
start: 2 24 117 19 0 29
data:
$ID,401
$MISSION,18
$DIVE,28
$N_DIVES,35
$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,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,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$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,16
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$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
$GPS1,240217,185510,4744.0015,-12224.5703,3,0.8,15,16.3,0.0,0.0,10,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.9
$GPS2,240217,185927,4744.0249,-12224.5674,5,0.9,16,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.084,0.225
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.000769,-0.224830
$KALMAN_X,-210.771729,-484.961487,721.542908,426.762756,-57.099030
$KALMAN_Y,2838.979248,-751.483826,1509.941406,-672.878235,92.893860
$MHEAD_RNG_PITCHd_Wd,163.9,2839,-15.0,-10.000,-23.98,2935
$D_GRID,174
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.39,-195.5,231,1989,1827,4094,0.0,0.0,0,32,0.00,0.00,-6.12,0.000,16390,0.000,0.000,231,1989,2751,2751,4094,0,0,0,0,0,0,26.44,25.65,26.45,9.31,31.17
$GC,34,-1.39,-195.5,231,1989,2752,4094,1.5,0.0,1,63,22.90,0.00,0.00,0.000,2054,0.135,0.000,2021,1986,2755,2755,4094,0,0,0,0,0,0,25.79,25.91,25.86,9.50,31.33
$GC,123,-1.39,-195.5,2020,1986,2757,4094,28.8,-17.0,8,137,0.00,2.65,0.00,0.000,516,0.000,0.067,2021,1013,2757,2757,4095,0,0,0,0,0,0,26.28,25.91,26.29,9.51,30.94
$GC,174,-1.39,-195.5,2020,1013,2758,4094,36.5,-14.9,12,189,0.00,2.45,0.00,0.000,1030,0.000,0.034,2021,1974,2759,2759,4094,0,0,0,0,0,0,26.09,26.03,26.10,9.52,31.21
$GC,249,-1.39,-195.5,2020,1974,2761,4095,46.3,-12.6,18,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1974,2761,2761,4094,0,0,0,0,0,0,26.41,26.43,26.42,9.52,30.94
$GC,323,-1.39,-195.5,2020,1974,2762,4094,56.1,-13.5,24,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1974,2763,2763,4094,0,0,0,0,0,0,26.47,26.48,26.48,9.52,30.98
$GC,397,-1.39,-195.5,2020,1974,2765,4094,66.4,-13.8,30,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1974,2765,2765,4095,0,0,0,0,0,0,26.51,26.53,26.53,9.52,31.05
$GC,471,-1.39,-195.5,2020,1974,2766,4094,76.7,-13.7,36,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1974,2767,2767,4095,0,0,0,0,0,0,26.55,26.57,26.58,9.52,30.78
$GC,546,-1.39,-195.5,2020,1974,2768,4094,86.5,-13.1,42,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1974,2769,2769,4094,0,0,0,0,0,0,26.60,26.61,26.61,9.52,31.02
$GC,619,-1.39,-195.5,2020,1974,2770,4094,96.0,-13.0,48,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1974,2770,2770,4094,0,0,0,0,0,0,26.63,26.64,26.64,9.52,31.29
$GC,697,-1.39,-195.5,2020,1974,2773,4094,107.5,-15.2,54,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1975,2773,2773,4095,0,0,0,0,0,0,26.65,26.67,26.67,9.53,30.90
$GC,771,-1.39,-195.5,2020,1974,2775,4094,118.0,-14.4,60,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1974,2776,2776,4095,0,0,0,0,0,0,26.68,26.70,26.70,9.53,31.02
$GC,845,-1.39,-195.5,2020,1974,2778,4094,128.7,-14.2,66,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1975,2778,2778,4094,0,0,0,0,0,0,26.71,26.72,26.72,9.53,31.29
$GC,919,-1.39,-195.5,2020,1975,2780,4094,138.7,-13.7,72,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1975,2781,2781,4095,0,0,0,0,0,0,26.72,26.74,26.74,9.53,31.61
$GC,993,-1.39,-195.5,2020,1975,2783,4094,149.1,-14.1,78,1007,0.00,2.67,0.00,0.000,260,0.000,0.067,2020,2972,2783,2783,4094,0,0,0,0,0,0,26.74,26.36,26.76,9.53,30.98
$STATE,1020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1020,begin apogee
$GC,1026,-0.33,0.0,2020,1988,2784,4095,153.2,-14.5,80,1054,3.72,0.00,14.73,2.009,10244,0.073,0.000,2362,1988,2519,2519,4094,0,0,0,0,0,0,26.41,25.34,24.27,9.53,30.82
$STATE,1055,end apogee,CONTROL_FINISHED_OK
$STATE,1055,begin climb
$GC,1056,1.39,195.5,2362,1988,2519,4094,156.9,0.0,82,1085,5.75,0.00,13.20,1.973,11270,0.043,0.000,2906,1988,2291,2291,4094,0,0,0,0,0,0,25.91,26.10,23.88,9.47,31.33
$GC,1146,1.44,221.0,2905,1988,2290,4094,151.1,9.1,89,1161,0.10,0.00,3.35,0.917,10246,0.073,0.000,2921,1988,2262,2262,4094,0,0,0,0,0,0,25.76,25.13,24.09,9.44,30.82
$GC,1221,1.44,221.0,2921,1988,2261,4094,143.5,10.2,95,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1988,2260,2260,4095,0,0,0,0,0,0,26.08,26.10,26.10,9.43,30.78
$GC,1295,1.44,221.0,2921,1988,2258,4094,135.8,10.3,101,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1988,2258,2258,4094,0,0,0,0,0,0,26.22,26.23,26.23,9.43,30.70
$GC,1369,1.44,221.0,2921,1988,2256,4094,127.1,12.2,107,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1988,2256,2256,4094,0,0,0,0,0,0,26.31,26.32,26.32,9.43,30.54
$GC,1443,1.44,221.0,2921,1988,2255,4094,118.1,13.0,113,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1988,2253,2253,4094,0,0,0,0,0,0,26.39,26.40,26.39,9.42,31.25
$GC,1517,1.44,221.0,2921,1988,2252,4094,109.5,10.5,119,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1988,2252,2252,4094,0,0,0,0,0,0,26.44,26.46,26.46,9.42,30.86
$GC,1591,1.44,221.0,2921,1988,2250,4094,101.3,11.4,125,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1988,2250,2250,4094,0,0,0,0,0,0,26.49,26.51,26.51,9.42,30.82
$GC,1665,1.44,221.0,2921,1988,2248,4094,92.9,10.9,131,1679,0.00,2.62,0.00,0.000,516,0.000,0.071,2922,1014,2248,2248,4094,0,0,0,0,0,0,26.53,26.16,26.55,9.42,31.21
$GC,1728,1.44,221.0,2921,1014,2246,4094,85.8,11.3,136,1743,0.00,2.47,0.00,0.000,1030,0.000,0.032,2922,2003,2246,2246,4094,0,0,0,0,0,0,26.30,26.28,26.37,9.42,31.13
$GC,1803,1.44,221.0,2922,2003,2245,4094,78.1,10.1,142,1817,0.00,2.55,0.00,0.000,260,0.000,0.061,2922,2960,2245,2245,4094,0,0,0,0,0,0,26.60,26.25,26.61,9.42,31.37
$GC,1854,1.44,221.0,2921,2960,2243,4094,72.5,10.7,146,1869,0.00,2.45,0.00,0.000,1030,0.000,0.036,2922,2003,2243,2243,4094,0,0,0,0,0,0,26.36,26.30,26.39,9.42,30.98
$GC,1929,1.48,239.7,2922,2003,2242,4094,65.3,9.3,152,1944,0.00,2.65,0.00,0.000,516,0.000,0.072,2922,1012,2242,2242,4094,0,0,0,0,0,0,26.65,26.27,26.65,9.42,30.82
$GC,2062,1.48,239.7,2921,1012,2239,4094,51.6,10.9,163,2077,0.00,2.38,0.00,0.000,1030,0.000,0.031,2922,1969,2239,2239,4095,0,0,0,0,0,0,26.44,26.40,26.47,9.42,31.09
$GC,2137,1.48,239.7,2922,1969,2237,4094,43.5,10.9,169,2151,0.00,2.62,0.00,0.000,260,0.000,0.060,2922,2958,2237,2237,4094,0,0,0,0,0,0,26.71,26.35,26.72,9.42,31.05
$GC,2189,1.48,239.7,2921,2958,2235,4094,37.9,10.8,173,2203,0.00,2.55,0.00,0.000,1030,0.000,0.037,2922,1961,2236,2236,4094,0,0,0,0,0,0,26.45,26.40,26.49,9.42,31.09
$GC,2264,1.51,251.4,2922,1961,2234,4094,30.5,9.6,179,2279,0.15,2.55,2.38,0.177,10756,0.062,0.070,2943,1007,2224,2224,4095,0,0,0,0,0,0,26.51,26.03,25.42,9.41,30.94
$GC,2328,1.51,251.4,2943,1007,2222,4094,23.6,11.0,184,2343,0.00,2.30,0.00,0.000,1030,0.000,0.030,2944,1942,2222,2222,4095,0,0,0,0,0,0,26.52,26.46,26.53,9.41,30.82
$GC,2404,1.52,260.2,2943,1942,2221,4094,16.3,9.7,190,2419,0.00,2.50,2.22,0.109,8708,0.000,0.069,2944,1013,2213,2213,4094,0,0,0,0,0,0,26.76,26.10,25.58,9.41,30.90
$GC,2456,1.52,260.2,2943,1013,2212,4094,10.9,10.1,194,2471,0.00,2.25,0.00,0.000,1030,0.000,0.030,2944,1929,2212,2212,4094,0,0,0,0,0,0,26.52,26.48,26.55,9.41,30.74
$GC,2531,1.83,413.9,2943,1930,2211,4094,6.3,4.6,200,2547,1.00,0.00,9.18,0.584,10502,0.032,0.000,3049,1931,2034,2034,4094,0,0,0,0,0,0,26.54,26.25,25.63,9.41,30.78
$GC,2607,2.29,645.6,3048,1931,2034,4094,5.3,1.9,206,2636,1.40,0.00,12.77,0.610,10246,0.031,0.000,3194,1931,1768,1768,4094,0,0,0,0,0,0,26.46,25.94,25.53,9.37,30.94
$STATE,2672,end climb,SURFACE_DEPTH_REACHED
$STATE,2672,begin surface coast
$FINISH,0.1,1.006112
$STATE,2732,end surface coast,CONTROL_FINISHED_OK
$STATE,2732,begin surface
$SM_CCo,2829,0.00,0.000,0,0,1767,646.53
$SM_GC,1.40,30.25,0.15,0.00,0.024,0.079,0.000,243,2019,1767,-6.98,-0.96,646.53,0,0,0,0,0,0,26.27,26.34,26.35
$IRIDIUM_FIX,4748.51,-12337.82,240217,180242
$TT8_MAMPS,0.026215,0.208222
$HUMID,30.35
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,7.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,5.0
$ALTIM_BOTTOM_PING,101.7,4.7
$24V_AH,23.88,4.299
$10V_AH,9.54,4.700
$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,65.275,40.350,57.825,0.000,0.000,24.219,17.573,139.219,0.750,0.000,17.442,597.965,60.060,198.494,2214.627,38.408,33.440,766.213,0.000,346.925,0.000,7.178,0.000
$DEVICE_MAMPS,135.405,78.795,2008.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,145.006,277.075,0.000,1122.612,1982.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,322216
$DATA_FILE_SIZE,17692,216
$CAP_FILE_SIZE,53167,0
$CFSIZE,1024409600,1016774656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240217,194827,4743.540,-12224.591,3,0.9,17,16.3,0.7,313.3,9,4.9