version: 66.14
glider: 403
mission: 5
dive: 18
start: 5 1 118 10 30 12
data:
$ID,403
$MISSION,5
$DIVE,18
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$D_ABORT,200
$D_NO_BLEED,50
$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,30
$T_MISSION,40
$T_ABORT,1440
$T_TURN,360
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,350
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74036
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,350
$N_FILEKB,8
$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,10
$CALL_WAIT,50
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,60840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,520
$PITCH_MAX,3845
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.5
$PITCH_TIMEOUT,45
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3840
$ROLL_DEG,45
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,6
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$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,20
$AH0_24V,150
$AH0_10V,280
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,1
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.942665
$PRESSURE_SLOPE,2.6182999e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,15
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.5
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,145
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044036745
$SEABIRD_T_H,0.00064191263
$SEABIRD_T_I,2.5792477e-05
$SEABIRD_T_J,3.2129112e-06
$SEABIRD_C_G,-9.8522949
$SEABIRD_C_H,1.1415073
$SEABIRD_C_I,-0.0017661594
$SEABIRD_C_J,0.00021273457
$SEABIRD_C_Z,2942.1799
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,010518,102014,4742.9067,-12225.2539,5,1.2,39,16.3,0.0,0.0,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-55.8
$GPS2,010518,102920,4742.8789,-12225.2363,12,1.2,42,16.3,0.0,0.0,8,6.0
$SPEED_LIMITS,0.173,0.368
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.125720,0.345649
$KALMAN_X,-6156.411133,-413.819275,190.459000,6152.457520,-120.204819
$KALMAN_Y,50.566956,-17.810673,392.078705,-376.810669,-215.963226
$MHEAD_RNG_PITCHd_Wd,3.7,2146,-10.6,-10.000,-15.21,5056
$D_GRID,186
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.25,-342.1,537,2243,2210,1692,0.0,0.0,0,17,0.00,0.00,-6.53,0.000,16390,0.000,0.000,538,2243,2969,2969,2051,0,0,0,0,0,0,26.27,24.84,26.27,10.46,38.81
$GC,18,-1.25,-342.1,538,2243,2970,2051,1.6,0.0,1,46,23.02,2.53,0.00,0.000,2564,0.135,0.044,2372,1273,2971,2971,2052,0,0,0,0,0,0,25.82,25.91,25.89,10.68,38.10
$GC,234,-1.25,-342.1,2379,1273,2980,2052,25.2,-7.8,22,239,0.00,2.58,0.00,0.000,1030,0.000,0.044,2372,2255,2973,2973,2051,0,0,0,0,0,0,26.16,26.10,26.19,10.69,37.67
$GC,304,-1.25,-342.1,2373,2256,2975,2051,30.6,-7.9,29,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2255,2974,2974,2051,0,0,0,0,0,0,26.52,26.50,26.51,10.64,37.47
$GC,364,-1.25,-342.1,2372,2258,2983,2051,35.8,-8.6,35,368,0.00,2.72,0.00,0.000,260,0.000,0.078,2373,3228,2975,2975,2051,0,0,0,0,0,0,26.52,26.12,26.53,10.67,37.83
$GC,454,-1.25,-342.1,2376,3229,2977,2051,44.4,-9.4,44,458,0.00,2.50,0.00,0.000,1030,0.000,0.042,2372,2255,2976,2976,2051,0,0,0,0,0,0,26.34,26.31,26.36,10.64,37.20
$GC,524,-1.25,-342.1,2368,2261,2979,2051,50.4,-8.1,51,528,0.00,2.70,0.00,0.000,260,0.000,0.077,2369,3223,2978,2978,2051,0,0,0,0,0,0,26.60,26.19,26.60,10.63,37.83
$GC,609,-1.25,-342.1,2372,3223,2979,2051,57.4,-9.1,59,614,0.00,2.50,0.00,0.000,1030,0.000,0.042,2371,2249,2978,2978,2051,0,0,0,0,0,0,26.40,26.36,26.39,10.63,37.36
$GC,674,-1.25,-342.1,2373,2257,2981,2051,63.3,-8.3,66,678,0.00,2.70,0.00,0.000,260,0.000,0.076,2372,3224,2988,2988,2045,0,0,0,0,0,0,26.65,26.25,26.66,10.64,37.63
$GC,724,-1.25,-342.1,2372,3218,2981,2045,67.6,-8.7,71,728,0.00,2.50,0.00,0.000,1030,0.000,0.042,2373,2246,2980,2980,2051,0,0,0,0,0,0,26.43,26.41,26.44,10.63,37.83
$GC,794,-1.25,-342.1,2372,2251,2981,2051,73.2,-7.8,78,798,0.00,2.72,0.00,0.000,260,0.000,0.076,2373,3221,2981,2981,2051,0,0,0,0,0,0,26.67,26.27,26.68,10.64,37.36
$GC,869,-1.25,-342.1,2366,3229,2983,2051,78.8,-8.1,85,874,0.00,2.50,0.00,0.000,1030,0.000,0.041,2374,2248,2990,2990,2051,0,0,0,0,0,0,26.47,26.42,26.48,10.64,37.24
$GC,934,-1.25,-342.1,2369,2248,2984,2051,83.9,-7.0,92,938,0.00,2.70,0.00,0.000,260,0.000,0.076,2372,3220,2984,2984,2051,0,0,0,0,0,0,26.71,26.31,26.72,10.63,37.51
$GC,1009,-1.25,-342.1,2371,3220,2983,2051,89.1,-7.6,99,1014,0.00,2.47,0.00,0.000,1030,0.000,0.043,2380,2255,2984,2984,2051,0,0,0,0,0,0,26.50,26.46,26.51,10.63,37.36
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1025,-0.34,0.0,2379,2257,2985,2051,90.6,-7.8,101,1058,3.15,0.00,26.98,1.124,10246,0.067,0.000,2661,2252,2602,2602,2050,0,0,0,0,0,0,26.38,25.60,24.74,10.64,37.67
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1060,1.25,342.1,2662,2256,2604,2050,91.3,0.0,104,1094,5.20,0.00,26.40,1.105,10246,0.047,0.000,3158,2255,2233,2233,2051,0,0,0,0,0,0,25.82,24.89,24.30,10.54,37.43
$GC,1154,1.25,342.1,3158,2256,2233,2051,81.6,12.3,114,1159,0.00,2.78,0.28,0.003,8452,0.000,0.077,3154,3225,2236,2236,2057,0,0,0,0,0,0,25.90,25.54,25.91,10.47,36.73
$GC,1264,1.25,342.1,3158,3224,2230,2057,64.6,16.9,125,1268,0.00,2.55,0.00,0.000,1030,0.000,0.041,3154,2245,2229,2229,2047,0,0,0,0,0,0,25.95,25.91,25.96,10.46,37.16
$GC,1334,1.25,342.1,3158,2246,2228,2047,54.6,13.4,132,1338,0.00,2.78,0.00,0.000,260,0.000,0.077,3160,3227,2228,2228,2057,0,0,0,0,0,0,26.26,25.87,26.28,10.46,37.36
$GC,1389,1.25,342.1,3158,3224,2227,2057,47.2,15.2,137,1394,0.00,2.53,0.00,0.000,1030,0.000,0.041,3158,2249,2226,2226,2043,0,0,0,0,0,0,26.08,26.07,26.12,10.46,37.39
$GC,1454,1.25,342.1,3158,2251,2225,2043,38.2,12.0,144,1458,0.00,2.75,0.00,0.000,260,0.000,0.076,3157,3217,2224,2224,2051,0,0,0,0,0,0,26.38,25.98,26.39,10.45,37.67
$GC,1509,1.25,342.1,3157,3221,2224,2051,31.5,13.8,149,1514,0.00,2.53,0.00,0.000,1030,0.000,0.041,3158,2246,2223,2223,2051,0,0,0,0,0,0,26.20,26.16,26.25,10.45,37.79
$GC,1574,1.25,342.1,3158,2247,2231,2051,22.8,11.8,156,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2245,2230,2230,2051,0,0,0,0,0,0,26.46,26.48,26.50,10.46,37.20
$GC,1634,1.25,342.1,3157,2247,2221,2051,15.9,11.4,162,1638,0.00,2.78,0.00,0.000,260,0.000,0.076,3162,3229,2219,2219,2047,0,0,0,0,0,0,26.50,26.11,26.51,10.45,37.43
$GC,1694,1.25,342.1,3159,3239,2220,2047,8.3,12.8,168,1698,0.00,2.53,0.00,0.000,1030,0.000,0.041,3158,2249,2216,2216,2052,0,0,0,0,0,0,26.31,26.29,26.32,10.45,38.30
$STATE,1753,end climb,SURFACE_DEPTH_REACHED
$STATE,1753,begin surface coast
$STATE,1763,end surface coast,CONTROL_FINISHED_OK
$STATE,1763,begin surface
$SM_CCo,1855,0.00,0.000,0,0,2216,354.59
$SM_GC,1.23,27.00,0.00,0.00,0.034,0.000,0.000,537,2249,2216,-7.00,-0.05,354.59,0,0,0,0,0,0,26.29,26.58,26.34
$IRIDIUM_FIX,4808.40,-12337.82,010518,094002
$TT8_MAMPS,0.045689,0.716044
$HUMID,37.59
$INTERNAL_PRESSURE,10.313
$TCM_TEMP,11.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,14.7,14.0
$SC_FREEKB,3900704
$24V_AH,24.30,5.116
$10V_AH,10.35,6.573
$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,58.375,52.325,53.650,0.000,0.000,22.597,32.679,362.744,0.500,0.000,43.389,0.000,1216.865,151.288,1006.205,38.318,33.437,386.916,0.000,393.875,0.000,7.452,0.000
$DEVICE_MAMPS,135.405,78.030,1123.785,0.000,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1786.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,71.263,0.000,0.000,0.000
$MEM,312968
$DATA_FILE_SIZE,3618,175
$CAP_FILE_SIZE,48032,0
$CFSIZE,1023623168,1018740736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010518,110201,4742.939,-12225.309,5,1.1,31,16.3,0.0,0.0,9,5.6