version: 66.14
glider: 403
mission: 5
dive: 22
start: 5 1 118 13 24 18
data:
$ID,403
$MISSION,5
$DIVE,22
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$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,50
$T_MISSION,60
$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,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,17
$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
$GPS1,010518,131402,4743.2202,-12225.2529,7,0.7,38,16.3,0.3,52.6,12,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-57.6
$GPS2,010518,132326,4743.2788,-12225.1738,9,0.8,27,16.3,0.0,12.8,10,6.0
$SPEED_LIMITS,0.208,0.396
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.175080,-0.355410
$KALMAN_X,-6795.001465,-28.183788,-318.151215,6988.736816,-67.049652
$KALMAN_Y,-883.954529,-118.047691,-279.306274,2062.925293,-356.630005
$MHEAD_RNG_PITCHd_Wd,137.5,1516,-13.0,-12.000,-16.85,4260
$D_GRID,181
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8,-1.41,-342.1,539,2413,2214,1692,0.0,0.0,0,18,0.00,0.00,-6.62,0.000,16390,0.000,0.000,539,2411,2976,2976,2052,0,0,0,0,0,0,26.25,24.85,26.27,10.47,37.75
$GC,19,-1.41,-342.1,539,2411,2990,2052,1.5,0.0,1,48,22.48,2.70,0.00,0.000,2308,0.138,0.080,2319,3380,2978,2978,2055,0,0,0,0,0,0,25.79,25.83,25.87,10.65,38.02
$GC,114,-1.41,-342.1,2319,3380,2983,2055,17.4,-10.1,10,118,0.00,2.55,0.00,0.000,1030,0.000,0.044,2319,2398,2979,2979,2051,0,0,0,0,0,0,26.08,26.05,26.10,10.65,37.63
$GC,179,-1.41,-342.1,2320,2399,2983,2051,24.8,-11.1,17,183,0.00,2.75,0.00,0.000,260,0.000,0.081,2319,3370,2984,2984,2047,0,0,0,0,0,0,26.37,25.95,26.38,10.65,37.63
$GC,334,-1.41,-342.1,2319,3372,2984,2047,40.3,-9.7,32,338,0.00,2.50,0.00,0.000,1030,0.000,0.044,2327,2401,2983,2983,2052,0,0,0,0,0,0,26.27,26.20,26.30,10.64,37.87
$GC,399,-1.41,-342.1,2320,2402,2989,2052,46.8,-9.2,39,403,0.00,2.75,0.00,0.000,260,0.000,0.081,2321,3370,2988,2988,2051,0,0,0,0,0,0,26.52,26.12,26.53,10.64,37.43
$GC,434,-1.41,-342.1,2320,3381,2988,2051,49.8,-10.0,42,438,0.00,2.50,0.00,0.000,1030,0.000,0.044,2312,2413,2984,2984,2046,0,0,0,0,0,0,26.29,26.25,26.32,10.64,37.36
$GC,499,-1.41,-342.1,2319,2400,2987,2046,57.1,-10.4,49,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2404,2986,2986,2051,0,0,0,0,0,0,26.56,26.58,26.58,10.70,37.63
$GC,559,-1.41,-342.1,2319,2403,2987,2051,63.0,-10.0,55,563,0.00,2.72,0.00,0.000,260,0.000,0.081,2319,3378,2986,2986,2046,0,0,0,0,0,0,26.61,26.20,26.60,10.64,37.00
$GC,628,-1.41,-342.1,2320,3379,2984,2046,71.4,-12.3,62,633,0.00,2.53,0.00,0.000,1030,0.000,0.044,2320,2387,2988,2988,2051,0,0,0,0,0,0,26.39,26.39,26.41,10.65,36.96
$GC,699,-1.41,-342.1,2320,2389,2994,2051,78.4,-9.7,69,703,0.00,2.72,0.00,0.000,260,0.000,0.080,2321,3378,2983,2983,2050,0,0,0,0,0,0,26.63,26.25,26.65,10.64,37.39
$GC,739,-1.41,-342.1,2320,3373,2996,2050,82.7,-10.6,73,743,0.00,2.47,0.00,0.000,1030,0.000,0.044,2320,2402,2992,2992,2051,0,0,0,0,0,0,26.42,26.39,26.44,10.64,37.32
$GC,809,-1.41,-342.1,2321,2404,2991,2051,89.6,-9.9,80,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2403,2991,2991,2051,0,0,0,0,0,0,26.67,26.68,26.68,10.64,37.47
$GC,869,-1.41,-342.1,2321,2403,2995,2051,95.2,-9.2,86,873,0.00,2.70,0.00,0.000,260,0.000,0.083,2320,3375,2992,2992,2056,0,0,0,0,0,0,26.69,26.27,26.70,10.64,37.39
$GC,909,-1.41,-342.1,2320,3375,2994,2056,99.1,-9.9,90,913,0.00,2.50,0.00,0.000,1030,0.000,0.044,2320,2400,2985,2985,2054,0,0,0,0,0,0,26.48,26.43,26.48,10.64,37.04
$GC,979,-1.41,-342.1,2317,2402,2993,2054,105.4,-8.9,97,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2404,2993,2993,2047,0,0,0,0,0,0,26.71,26.72,26.72,10.64,37.28
$GC,1039,-1.41,-342.1,2320,2400,2993,2047,110.6,-8.5,103,1043,0.00,2.70,0.00,0.000,260,0.000,0.082,2320,3372,2996,2996,2051,0,0,0,0,0,0,26.72,26.31,26.77,10.60,37.63
$GC,1079,-1.41,-342.1,2320,3373,3006,2051,114.1,-8.8,107,1083,0.00,2.47,0.00,0.000,1030,0.000,0.044,2320,2402,2997,2997,2051,0,0,0,0,0,0,26.50,26.46,26.52,10.58,37.24
$GC,1149,-1.41,-342.1,2320,2402,2993,2051,119.9,-7.9,114,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2402,2995,2995,2051,0,0,0,0,0,0,26.71,26.76,26.76,10.67,37.04
$GC,1209,-1.41,-342.1,2317,2403,3008,2051,124.9,-8.5,120,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2402,2996,2996,2051,0,0,0,0,0,0,26.76,26.75,26.75,10.59,37.39
$GC,1269,-1.41,-342.1,2327,2403,2998,2051,130.6,-9.4,126,1273,0.00,2.70,0.00,0.000,260,0.000,0.081,2326,3373,2997,2997,2050,0,0,0,0,0,0,26.75,26.35,26.77,10.64,37.32
$GC,1329,-1.41,-342.1,2323,3374,3000,2050,137.1,-11.2,132,1333,0.00,2.47,0.00,0.000,1030,0.000,0.044,2324,2406,3000,3000,2052,0,0,0,0,0,0,26.53,26.51,26.55,10.63,37.04
$GC,1399,-1.41,-342.1,2320,2405,3000,2052,143.9,-9.2,139,1403,0.00,2.67,0.00,0.000,260,0.000,0.081,2324,3372,3004,3004,2051,0,0,0,0,0,0,26.75,26.40,26.77,10.57,37.39
$GC,1424,-1.41,-342.1,2320,3373,3005,2051,145.8,-9.4,141,1428,0.00,2.47,0.00,0.000,1030,0.000,0.044,2319,2403,3006,3006,2048,0,0,0,0,0,0,26.55,26.51,26.56,10.63,37.12
$GC,1489,-1.41,-342.1,2320,2400,3001,2048,152.5,-9.4,148,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2402,3000,3000,2051,0,0,0,0,0,0,26.77,26.82,26.80,10.59,37.12
$GC,1549,-1.41,-342.1,2321,2403,3001,2051,158.0,-9.2,154,1553,0.00,2.70,0.00,0.000,260,0.000,0.081,2320,3378,3000,3000,2051,0,0,0,0,0,0,26.83,26.39,26.83,10.63,37.24
$GC,1604,-1.41,-342.1,2319,3376,3003,2051,162.9,-10.0,159,1608,0.00,2.50,0.00,0.000,1030,0.000,0.044,2320,2394,3003,3003,2051,0,0,0,0,0,0,26.56,26.53,26.57,10.64,37.79
$GC,1669,-1.41,-342.1,2319,2397,3000,2051,169.1,-8.3,166,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2397,3003,3003,2051,0,0,0,0,0,0,26.81,26.82,26.84,10.67,36.96
$GC,1729,-1.41,-342.1,2323,2400,3011,2051,174.0,-8.5,172,1733,0.00,2.70,0.00,0.000,260,0.000,0.081,2323,3373,3005,3005,2051,0,0,0,0,0,0,26.82,26.44,26.83,10.65,37.71
$GC,1769,-1.41,-342.1,2320,3374,3006,2051,177.8,-9.3,176,1773,0.00,2.47,0.00,0.000,1030,0.000,0.044,2320,2400,3005,3005,2051,0,0,0,0,0,0,26.59,26.56,26.63,10.64,37.51
$STATE,1798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1798,begin apogee
$GC,1800,-0.34,0.0,2325,2403,3010,2057,180.3,-8.7,179,1835,3.75,0.00,29.58,1.704,10246,0.074,0.000,2660,2399,2605,2605,2051,0,0,0,0,0,0,26.45,25.26,24.23,10.66,37.20
$STATE,1836,end apogee,CONTROL_FINISHED_OK
$STATE,1836,begin climb
$GC,1837,1.41,342.1,2660,2399,2607,2051,180.9,0.0,182,1874,5.88,0.00,28.33,1.680,10758,0.046,0.000,3210,2399,2235,2235,2051,0,0,0,0,0,0,25.58,24.64,23.52,10.54,37.12
$GC,1928,1.41,342.1,3218,2401,2235,2051,169.2,16.0,192,1933,0.00,2.85,0.00,0.000,260,0.000,0.084,3212,3376,2229,2229,2051,0,0,0,0,0,0,25.69,25.36,25.70,10.46,37.43
$GC,1978,1.41,342.1,3212,3377,2228,2051,158.8,21.5,197,1983,0.00,2.58,0.00,0.000,1030,0.000,0.043,3216,2410,2224,2224,2048,0,0,0,0,0,0,25.69,25.66,25.70,10.46,37.16
$GC,2049,1.41,342.1,3213,2402,2226,2048,146.5,16.6,204,2053,0.00,2.78,0.00,0.000,260,0.000,0.082,3212,3375,2234,2234,2051,0,0,0,0,0,0,26.07,25.72,26.08,10.44,37.16
$GC,2074,1.41,342.1,3211,3371,2223,2051,142.6,18.0,206,2078,0.00,2.58,0.00,0.000,1030,0.000,0.044,3212,2387,2224,2224,2051,0,0,0,0,0,0,25.91,25.87,25.95,10.46,37.55
$GC,2139,1.41,342.1,3217,2385,2224,2051,130.4,16.3,213,2143,0.00,2.83,0.00,0.000,260,0.000,0.083,3212,3373,2222,2222,2051,0,0,0,0,0,0,26.22,25.83,26.22,10.47,37.16
$GC,2184,1.41,342.1,3212,3374,2221,2051,123.2,18.1,217,2188,0.00,2.53,0.00,0.000,1030,0.000,0.044,3212,2402,2221,2221,2051,0,0,0,0,0,0,26.06,26.01,26.08,10.45,37.43
$GC,2248,1.41,342.1,3212,2402,2220,2051,111.3,16.2,224,2253,0.00,2.75,0.00,0.000,260,0.000,0.082,3214,3371,2227,2227,2047,0,0,0,0,0,0,26.34,25.96,26.35,10.45,37.24
$GC,2278,1.41,342.1,3206,3373,2218,2047,105.8,17.9,227,2283,0.00,2.53,0.00,0.000,1030,0.000,0.044,3212,2394,2206,2206,2047,0,0,0,0,0,0,26.15,26.11,26.17,10.44,37.67
$GC,2348,1.41,342.1,3214,2403,2216,2047,94.7,15.0,234,2353,0.00,2.78,0.00,0.000,260,0.000,0.082,3213,3378,2214,2214,2050,0,0,0,0,0,0,26.46,26.05,26.44,10.52,37.43
$GC,2373,1.41,342.1,3207,3379,2221,2050,91.3,15.8,236,2378,0.00,2.53,0.00,0.000,1030,0.000,0.044,3212,2402,2214,2214,2053,0,0,0,0,0,0,26.22,26.18,26.22,10.45,37.55
$GC,2438,1.41,342.1,3212,2395,2223,2053,80.3,15.1,243,2443,0.00,2.75,0.00,0.000,260,0.000,0.083,3212,3380,2212,2212,2050,0,0,0,0,0,0,26.46,26.08,26.52,10.54,38.18
$GC,2488,1.41,342.1,3212,3375,2211,2050,71.0,19.3,248,2493,0.00,2.53,0.00,0.000,1030,0.000,0.044,3212,2391,2220,2220,2052,0,0,0,0,0,0,26.28,26.25,26.30,10.45,37.87
$GC,2558,1.41,342.1,3219,2401,2212,2052,58.7,17.9,255,2563,0.00,2.75,0.00,0.000,260,0.000,0.083,3206,3373,2207,2207,2045,0,0,0,0,0,0,26.51,26.18,26.56,10.53,37.28
$GC,2704,1.41,342.1,3213,3374,2202,2045,30.8,19.3,269,2709,0.00,2.47,0.00,0.000,1030,0.000,0.044,3216,2405,2202,2202,2050,0,0,0,0,0,0,26.37,26.34,26.39,10.41,37.55
$GC,2768,1.41,342.1,3211,2404,2201,2050,20.4,13.7,276,2773,0.00,2.70,0.00,0.000,260,0.000,0.082,3213,3371,2208,2208,2051,0,0,0,0,0,0,26.61,26.22,26.66,10.35,37.83
$GC,2834,1.41,342.1,3212,3372,2200,2051,10.6,17.0,282,2838,0.00,2.50,0.00,0.000,1030,0.000,0.043,3212,2393,2198,2198,2051,0,0,0,0,0,0,26.42,26.39,26.45,10.48,37.79
$STATE,2898,end climb,SURFACE_DEPTH_REACHED
$STATE,2898,begin surface coast
$STATE,2908,end surface coast,CONTROL_FINISHED_OK
$STATE,2908,begin surface
$SM_CCo,3000,0.00,0.000,0,0,2196,373.05
$SM_GC,1.19,27.15,0.00,0.00,0.027,0.000,0.000,540,2394,2196,-6.99,-0.27,373.05,0,0,0,0,0,0,26.40,26.68,26.45
$IRIDIUM_FIX,4808.40,-12337.82,010518,123350
$TT8_MAMPS,0.047187,0.559503
$HUMID,37.43
$INTERNAL_PRESSURE,10.313
$TCM_TEMP,11.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,14.0,13.4
$ALTIM_BOTTOM_PING,122.3,86.6
$SC_FREEKB,3898528
$24V_AH,23.52,5.305
$10V_AH,10.48,6.810
$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,59.250,100.150,57.900,0.000,0.000,25.899,22.063,398.283,1.500,0.000,28.943,0.000,2034.065,195.597,1296.808,49.172,33.429,561.374,0.000,600.674,0.000,16.387,0.000
$DEVICE_MAMPS,137.700,84.150,1704.420,0.000,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2930.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,71.235,0.000,0.000,0.000
$MEM,312928
$DATA_FILE_SIZE,10503,290
$CAP_FILE_SIZE,77739,0
$CFSIZE,1023623168,1018314752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010518,141519,4742.821,-12224.915,15,0.8,38,16.3,0.0,0.0,10,5.0