version: 66.14
glider: 403
mission: 5
dive: 23
start: 5 1 118 14 28 28
data:
$ID,403
$MISSION,5
$DIVE,23
$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,26
$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
$GPS1,010518,141519,4742.8213,-12224.9150,15,0.8,38,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-56.5
$GPS2,010518,142736,4742.8809,-12224.8457,13,0.8,28,16.3,0.0,49.7,10,6.0
$SPEED_LIMITS,0.208,0.396
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.014245,-0.241347
$KALMAN_X,-6934.225586,71.712845,-391.876404,7510.726074,13.513382
$KALMAN_Y,-410.119873,-112.699097,-486.729340,1041.098633,29.529358
$MHEAD_RNG_PITCHd_Wd,160.3,708,-23.6,-12.000,-26.40,1427
$D_GRID,180
$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,-1.80,-112.8,537,2394,2196,1692,0.0,0.0,0,13,0.00,0.00,-4.68,0.000,16390,0.000,0.000,540,2394,2733,2733,2051,0,0,0,0,0,0,26.22,24.82,26.25,10.52,37.71
$GC,15,-1.80,-112.8,541,2402,2726,2051,0.0,0.0,0,40,20.80,2.75,0.00,0.000,2820,0.137,0.076,2193,3378,2734,2734,2051,0,0,0,0,0,0,25.76,25.81,25.86,10.59,37.99
$GC,78,-1.81,-120.8,2194,3378,2736,2051,8.6,-11.4,7,83,0.00,2.55,0.00,0.000,1030,0.000,0.044,2192,2397,2734,2734,2051,0,0,0,0,0,0,26.03,25.99,26.04,10.59,37.83
$GC,144,-1.89,-173.9,2193,2397,2738,2051,14.6,-8.2,14,148,0.00,2.58,-0.22,0.000,16900,0.000,0.055,2200,1417,2798,2798,2051,0,0,0,0,0,0,26.32,24.87,26.12,10.55,38.02
$GC,158,-1.97,-231.5,2193,1420,2800,2051,15.4,-7.9,15,164,0.20,2.60,-0.17,0.000,21510,0.034,0.050,2166,2390,2867,2867,2054,0,0,0,0,0,0,26.10,25.99,26.06,10.57,37.79
$GC,224,-1.98,-234.3,2166,2390,2861,2054,23.2,-11.8,22,228,0.00,2.78,0.00,0.000,260,0.000,0.080,2165,3383,2864,2864,2051,0,0,0,0,0,0,26.42,26.01,26.41,10.57,38.02
$GC,274,-1.98,-234.3,2166,3383,2862,2051,30.8,-15.8,27,278,0.00,2.55,0.00,0.000,1030,0.000,0.043,2165,2394,2860,2860,2051,0,0,0,0,0,0,26.20,26.16,26.22,10.62,37.39
$GC,343,-1.98,-234.3,2166,2395,2864,2051,40.0,-12.0,34,348,0.00,2.80,0.00,0.000,260,0.000,0.080,2165,3385,2862,2862,2051,0,0,0,0,0,0,26.45,26.08,26.48,10.64,37.87
$GC,489,-1.98,-234.3,2166,3392,2866,2051,57.6,-13.2,48,493,0.00,2.53,0.00,0.000,1030,0.000,0.043,2165,2402,2862,2862,2054,0,0,0,0,0,0,26.32,26.29,26.34,10.58,37.16
$GC,554,-1.98,-235.4,2166,2405,2868,2054,66.0,-11.9,55,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2404,2866,2866,2051,0,0,0,0,0,0,26.57,26.59,26.57,10.65,36.96
$GC,614,-2.00,-250.3,2160,2405,2868,2051,72.4,-10.9,61,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2404,2863,2863,2050,0,0,0,0,0,0,26.60,26.63,26.62,10.61,36.92
$GC,674,-2.04,-277.0,2166,2405,2870,2050,78.6,-10.1,67,675,0.17,0.00,0.00,0.000,4102,0.060,0.000,2140,2405,2869,2869,2051,0,0,0,0,0,0,26.41,26.46,26.44,10.61,37.12
$GC,734,-2.05,-281.5,2146,2404,2871,2051,85.5,-11.7,73,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2404,2870,2870,2052,0,0,0,0,0,0,26.65,26.67,26.66,10.61,37.71
$GC,793,-2.05,-281.5,2138,2406,2872,2052,93.4,-12.7,79,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2404,2872,2872,2047,0,0,0,0,0,0,26.67,26.68,26.68,10.61,37.43
$GC,854,-2.05,-281.5,2143,2406,2873,2047,101.6,-13.9,85,858,0.00,2.72,0.00,0.000,260,0.000,0.080,2140,3385,2873,2873,2049,0,0,0,0,0,0,26.68,26.29,26.70,10.63,37.12
$GC,894,-2.05,-281.5,2138,3393,2874,2049,107.6,-15.2,89,898,0.00,2.50,0.00,0.000,1030,0.000,0.043,2143,2415,2874,2874,2051,0,0,0,0,0,0,26.48,26.43,26.51,10.63,37.00
$GC,963,-2.05,-281.5,2144,2409,2877,2051,117.8,-14.3,96,968,0.00,2.58,0.00,0.000,516,0.000,0.044,2144,1409,2875,2875,2051,0,0,0,0,0,0,26.71,26.39,26.72,10.61,37.55
$GC,1014,-2.05,-281.5,2146,1409,2878,2051,124.7,-13.7,101,1018,0.00,2.62,0.00,0.000,1030,0.000,0.050,2152,2410,2875,2875,2053,0,0,0,0,0,0,26.49,26.36,26.48,10.62,37.71
$GC,1083,-2.05,-281.5,2143,2412,2879,2053,134.0,-13.0,108,1088,0.00,2.65,0.00,0.000,260,0.000,0.080,2143,3377,2877,2877,2051,0,0,0,0,0,0,26.70,26.36,26.69,10.62,37.16
$GC,1138,-2.05,-281.5,2143,3376,2880,2051,140.8,-13.8,113,1143,0.00,2.53,0.00,0.000,1030,0.000,0.043,2143,2387,2879,2879,2051,0,0,0,0,0,0,26.50,26.46,26.50,10.61,37.51
$GC,1203,-2.05,-281.5,2143,2388,2881,2051,150.1,-13.0,120,1208,0.00,2.50,0.00,0.000,516,0.000,0.044,2143,1417,2880,2880,2059,0,0,0,0,0,0,26.71,26.43,26.74,10.62,37.32
$GC,1284,-2.05,-284.3,2140,1416,2886,2059,159.9,-11.8,128,1288,0.00,2.58,0.00,0.000,1030,0.000,0.050,2143,2391,2880,2880,2055,0,0,0,0,0,0,26.46,26.39,26.50,10.60,36.96
$GC,1354,-2.05,-284.3,2146,2401,2885,2055,168.5,-12.2,135,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2394,2888,2888,2052,0,0,0,0,0,0,26.77,26.77,26.77,10.60,37.67
$GC,1414,-2.05,-285.1,2144,2396,2885,2052,175.8,-11.9,141,1418,0.00,2.55,0.00,0.000,516,0.000,0.043,2144,1412,2884,2884,2051,0,0,0,0,0,0,26.76,26.46,26.79,10.61,37.51
$GC,1439,-2.06,-288.8,2142,1412,2886,2051,178.2,-11.7,143,1443,0.00,2.62,0.00,0.000,1030,0.000,0.051,2144,2408,2885,2885,2051,0,0,0,0,0,0,26.51,26.43,26.52,10.58,37.08
$STATE,1453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1453,begin apogee
$GC,1455,-0.34,0.0,2144,2406,2887,2051,180.6,-12.0,145,1484,5.85,0.00,21.10,1.656,10246,0.093,0.000,2658,2408,2609,2609,2055,0,0,0,0,0,0,26.38,25.49,24.31,10.65,37.87
$STATE,1485,end apogee,CONTROL_FINISHED_OK
$STATE,1485,begin climb
$GC,1486,2.06,288.8,2659,2408,2610,2055,181.8,0.0,148,1520,8.00,0.00,24.30,1.655,10758,0.042,0.000,3416,2408,2290,2290,2052,0,0,0,0,0,0,25.77,24.84,23.82,10.56,36.84
$GC,1574,2.06,288.8,3420,2404,2286,2052,164.3,25.8,157,1578,0.00,2.80,0.00,0.000,260,0.000,0.081,3420,3380,2286,2286,2051,0,0,0,0,0,0,25.77,25.43,25.77,10.46,36.76
$GC,1594,2.06,288.8,3420,3381,2287,2051,158.3,27.6,159,1598,0.00,2.58,0.00,0.000,1030,0.000,0.041,3417,2400,2287,2287,2050,0,0,0,0,0,0,25.65,25.62,25.67,10.48,37.00
$GC,1664,2.06,288.8,3425,2402,2282,2050,139.2,26.0,166,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2399,2281,2281,2051,0,0,0,0,0,0,26.05,26.06,26.05,10.42,38.02
$GC,1724,2.06,288.8,3417,2399,2281,2051,124.7,23.8,172,1728,0.00,2.80,0.00,0.000,260,0.000,0.081,3420,3379,2279,2279,2051,0,0,0,0,0,0,26.20,25.80,26.16,10.51,37.47
$GC,1754,2.06,288.8,3421,3377,2277,2051,116.5,26.3,175,1758,0.00,2.53,0.00,0.000,1030,0.000,0.041,3420,2407,2278,2278,2059,0,0,0,0,0,0,25.99,25.96,26.01,10.50,37.00
$GC,1824,2.06,288.8,3421,2408,2276,2059,97.9,26.3,182,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2408,2274,2274,2051,0,0,0,0,0,0,26.31,26.32,26.30,10.46,37.28
$GC,1884,2.06,288.8,3421,2408,2272,2051,81.7,27.3,188,1888,0.00,2.75,0.00,0.000,260,0.000,0.081,3420,3378,2271,2271,2051,0,0,0,0,0,0,26.35,25.97,26.34,10.48,38.06
$GC,1924,2.06,288.8,3420,3377,2270,2051,70.0,29.3,192,1928,0.00,2.53,0.00,0.000,1030,0.000,0.041,3425,2396,2264,2264,2051,0,0,0,0,0,0,26.17,26.15,26.19,10.47,38.06
$GC,1994,2.06,288.8,3429,2394,2270,2051,50.7,26.4,199,1998,0.00,2.80,0.00,0.000,260,0.000,0.083,3420,3384,2266,2266,2051,0,0,0,0,0,0,26.44,26.06,26.48,10.42,37.63
$GC,2134,2.06,288.8,3421,3385,2257,2051,7.6,31.2,213,2138,0.00,2.53,0.00,0.000,1030,0.000,0.041,3423,2393,2257,2257,2050,0,0,0,0,0,0,26.31,26.27,26.34,10.46,37.63
$STATE,2163,end climb,SURFACE_DEPTH_REACHED
$STATE,2163,begin surface coast
$STATE,2173,end surface coast,CONTROL_FINISHED_OK
$STATE,2173,begin surface
$SM_CCo,2207,4.05,0.319,0,0,2218,350.89
$SM_GC,1.91,29.62,0.00,4.05,0.027,0.000,0.319,524,2393,2218,-7.04,-0.32,350.89,0,0,0,0,0,0,26.29,26.55,25.57
$IRIDIUM_FIX,4808.40,-12337.82,010518,131536
$TT8_MAMPS,0.046438,0.442659
$HUMID,37.75
$INTERNAL_PRESSURE,10.3228
$TCM_TEMP,11.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.9,12.0
$ALTIM_BOTTOM_PING,135.3,68.0
$SC_FREEKB,3897952
$24V_AH,23.82,5.365
$10V_AH,10.55,6.874
$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,64.650,68.275,45.400,4.050,0.000,24.526,20.608,557.919,3.250,0.000,29.741,0.000,1465.805,166.065,1275.629,50.834,33.422,439.943,0.000,443.529,0.000,32.641,0.000
$DEVICE_MAMPS,136.935,83.385,1656.225,319.005,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2204.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,71.248,0.000,0.000,0.000
$MEM,312904
$DATA_FILE_SIZE,7061,217
$CAP_FILE_SIZE,62582,0
$CFSIZE,1023623168,1018183680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010518,150624,4742.665,-12224.729,19,1.0,40,16.3,0.4,46.5,8,6.0