version: 66.14
glider: 403
mission: 5
dive: 25
start: 5 1 118 16 7 57
data:
$ID,403
$MISSION,5
$DIVE,25
$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
$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,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,250
$VBD_MAX,3765
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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
$GPS1,010518,155601,4742.5596,-12224.6396,19,0.8,47,16.3,0.4,53.6,9,5.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.6
$GPS2,010518,160705,4742.6445,-12224.4668,15,0.8,34,16.3,0.5,49.8,9,5.8
$SPEED_LIMITS,0.208,0.396
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.252517,-0.305294
$KALMAN_X,-6451.165039,214.364594,-332.227295,7289.604492,318.948242
$KALMAN_Y,501.151154,-75.716690,-401.865997,-422.958221,592.254150
$MHEAD_RNG_PITCHd_Wd,203.3,494,-13.0,-12.000,-16.85,4260
$D_GRID,163
$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,-1.34,-342.1,539,2500,2268,1690,0.0,0.0,0,17,0.00,0.00,-6.55,0.000,16390,0.000,0.000,537,2497,3021,3021,2051,0,0,0,0,0,0,26.25,24.91,26.27,10.47,37.79
$GC,19,-1.34,-342.1,552,2496,3022,2051,1.5,0.0,1,45,22.60,2.47,-0.03,0.000,18692,0.135,0.091,2337,3380,3032,3032,2050,0,0,0,0,0,0,25.84,25.10,25.43,10.64,38.02
$GC,219,-1.34,-342.1,2337,3380,3035,2050,28.8,-11.1,20,224,0.00,2.25,0.00,0.000,1030,0.000,0.044,2337,2507,3036,3036,2051,0,0,0,0,0,0,26.18,26.15,26.22,10.66,37.59
$GC,284,-1.34,-342.1,2337,2508,3037,2051,36.0,-10.3,27,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2506,3036,3036,2051,0,0,0,0,0,0,26.46,26.48,26.47,10.65,37.32
$GC,344,-1.34,-342.1,2337,2513,3038,2051,42.9,-11.5,33,348,0.00,2.45,0.00,0.000,260,0.000,0.083,2340,3381,3037,3037,2050,0,0,0,0,0,0,26.50,26.10,26.51,10.65,37.55
$GC,454,-1.34,-342.1,2337,3374,3041,2050,56.1,-12.2,44,458,0.00,2.25,0.00,0.000,1030,0.000,0.045,2337,2499,3040,3040,2051,0,0,0,0,0,0,26.32,26.27,26.33,10.68,37.36
$GC,524,-1.34,-342.1,2337,2499,3043,2051,63.6,-10.6,51,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2499,3041,3041,2050,0,0,0,0,0,0,26.56,26.60,26.59,10.63,37.28
$GC,584,-1.34,-342.1,2337,2501,3039,2050,69.3,-8.4,57,588,0.00,2.45,0.00,0.000,260,0.000,0.083,2335,3376,3042,3042,2048,0,0,0,0,0,0,26.60,26.22,26.62,10.65,36.96
$GC,619,-1.34,-342.1,2336,3381,3052,2048,72.2,-9.3,60,624,0.00,2.25,0.00,0.000,1030,0.000,0.045,2337,2499,3042,3042,2051,0,0,0,0,0,0,26.38,26.34,26.40,10.64,36.92
$GC,684,-1.34,-342.1,2337,2500,3050,2051,78.4,-8.4,67,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2498,3044,3044,2042,0,0,0,0,0,0,26.62,26.70,26.67,10.62,37.12
$GC,744,-1.34,-342.1,2337,2498,3050,2042,83.7,-8.9,73,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2502,3035,3035,2051,0,0,0,0,0,0,26.67,26.67,26.67,10.63,37.00
$GC,804,-1.34,-342.1,2338,2499,3047,2051,89.1,-9.1,79,808,0.00,2.45,0.00,0.000,260,0.000,0.083,2337,3377,3046,3046,2051,0,0,0,0,0,0,26.71,26.29,26.69,10.64,37.00
$GC,839,-1.34,-342.1,2337,3378,3047,2051,92.1,-9.7,82,844,0.00,2.25,0.00,0.000,1030,0.000,0.047,2337,2498,3045,3045,2051,0,0,0,0,0,0,26.44,26.42,26.48,10.64,37.36
$GC,904,-1.34,-342.1,2337,2497,3047,2051,98.5,-8.6,89,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2498,3046,3046,2050,0,0,0,0,0,0,26.70,26.76,26.70,10.65,37.24
$GC,964,-1.34,-342.1,2337,2499,3048,2050,103.6,-8.4,95,968,0.00,2.45,0.00,0.000,260,0.000,0.083,2337,3376,3047,3047,2051,0,0,0,0,0,0,26.72,26.32,26.73,10.71,37.43
$GC,1009,-1.34,-342.1,2337,3377,3048,2051,107.1,-8.9,99,1014,0.00,2.25,0.00,0.000,1030,0.000,0.046,2337,2495,3048,3048,2051,0,0,0,0,0,0,26.49,26.46,26.50,10.68,37.28
$GC,1074,-1.34,-342.1,2336,2494,3050,2051,113.0,-8.2,106,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2501,3049,3049,2051,0,0,0,0,0,0,26.72,26.72,26.78,10.64,36.80
$GC,1134,-1.34,-342.1,2338,2507,3052,2051,117.9,-7.7,112,1138,0.00,2.45,0.00,0.000,260,0.000,0.084,2337,3376,3050,3050,2051,0,0,0,0,0,0,26.72,26.34,26.75,10.63,37.32
$GC,1194,-1.34,-342.1,2332,3381,3047,2051,123.0,-8.6,118,1198,0.00,2.22,0.00,0.000,1030,0.000,0.046,2337,2505,3047,3047,2051,0,0,0,0,0,0,26.52,26.51,26.53,10.65,37.32
$GC,1264,-1.34,-342.1,2337,2506,3052,2051,128.5,-7.3,125,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2505,3051,3051,2051,0,0,0,0,0,0,26.75,26.79,26.77,10.63,36.96
$GC,1324,-1.34,-342.1,2336,2503,3052,2051,132.5,-6.5,131,1328,0.00,2.42,0.00,0.000,260,0.000,0.084,2337,3376,3053,3053,2051,0,0,0,0,0,0,26.76,26.39,26.80,10.64,37.12
$GC,1369,-1.34,-342.1,2337,3376,3053,2051,135.7,-8.1,135,1374,0.00,2.25,0.00,0.000,1030,0.000,0.046,2337,2493,3052,3052,2051,0,0,0,0,0,0,26.55,26.51,26.57,10.65,37.75
$GC,1434,-1.34,-342.1,2335,2492,3055,2051,141.5,-8.3,142,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2488,3062,3062,2051,0,0,0,0,0,0,26.76,26.84,26.82,10.65,37.16
$GC,1494,-1.34,-342.1,2343,2494,3064,2051,145.9,-6.4,148,1498,0.00,2.45,0.00,0.000,260,0.000,0.084,2336,3376,3054,3054,2051,0,0,0,0,0,0,26.84,26.40,26.81,10.65,37.47
$GC,1539,-1.34,-342.1,2337,3377,3056,2051,148.6,-6.8,152,1544,0.00,2.25,0.00,0.000,1030,0.000,0.044,2337,2491,3054,3054,2051,0,0,0,0,0,0,26.55,26.54,26.60,10.61,37.71
$GC,1604,-1.34,-342.1,2337,2491,3057,2051,153.6,-5.7,159,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2492,3055,3055,2057,0,0,0,0,0,0,26.81,26.82,26.81,10.66,37.04
$GC,1664,-1.34,-342.1,2337,2491,3057,2057,157.9,-7.6,165,1669,0.00,2.45,0.00,0.000,260,0.000,0.083,2336,3375,3058,3058,2047,0,0,0,0,0,0,26.82,26.41,26.83,10.63,36.96
$STATE,1723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1723,begin apogee
$GC,1727,-0.36,0.0,2337,2501,3058,2051,163.8,-10.2,171,1764,3.42,0.00,29.80,1.607,10246,0.072,0.000,2652,2500,2652,2652,2051,0,0,0,0,0,0,26.48,25.06,24.19,10.62,36.80
$STATE,1765,end apogee,CONTROL_FINISHED_OK
$STATE,1765,begin climb
$GC,1766,1.34,342.1,2653,2501,2653,2051,165.0,0.0,175,1804,5.82,0.00,27.80,1.577,10246,0.052,0.000,3187,2497,2284,2284,2051,0,0,0,0,0,0,25.59,24.73,23.84,10.56,37.51
$GC,1864,1.34,342.1,3187,2500,2284,2051,151.1,17.9,185,1869,0.00,2.50,0.68,0.003,8452,0.000,0.079,3187,3378,2283,2283,2049,0,0,0,0,0,0,25.75,25.41,25.75,10.47,37.08
$GC,1924,1.34,342.1,3192,3379,2282,2049,139.9,18.7,191,1928,0.00,2.30,0.00,0.000,1030,0.000,0.041,3187,2495,2280,2280,2051,0,0,0,0,0,0,25.74,25.73,25.78,10.46,37.36
$GC,1994,1.34,342.1,3186,2493,2279,2051,127.9,15.5,198,1998,0.00,2.53,0.00,0.000,260,0.000,0.083,3187,3374,2278,2278,2051,0,0,0,0,0,0,26.13,25.76,26.13,10.46,36.88
$GC,2019,1.34,342.1,3192,3377,2278,2051,124.6,17.4,200,2024,0.00,2.28,0.03,0.005,9222,0.000,0.043,3187,2499,2278,2278,2051,0,0,0,0,0,0,25.94,25.91,25.96,10.47,36.84
$GC,2084,1.34,342.1,3187,2498,2277,2051,111.8,17.9,207,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2498,2276,2276,2051,0,0,0,0,0,0,26.23,26.26,26.26,10.46,37.20
$GC,2144,1.34,342.1,3186,2500,2275,2051,101.5,16.8,213,2148,0.00,2.50,0.00,0.000,260,0.000,0.085,3187,3373,2275,2275,2051,0,0,0,0,0,0,26.30,25.94,26.32,10.45,37.12
$GC,2214,1.34,342.1,3187,3386,2273,2051,89.1,17.8,220,2219,0.00,2.25,0.00,0.000,1030,0.000,0.045,3186,2503,2271,2271,2048,0,0,0,0,0,0,26.15,26.11,26.22,10.46,37.04
$GC,2284,1.34,342.1,3188,2504,2269,2048,77.9,16.1,227,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2503,2269,2269,2051,0,0,0,0,0,0,26.45,26.45,26.44,10.46,37.08
$GC,2344,1.34,342.1,3187,2502,2269,2051,69.4,14.0,233,2348,0.00,2.47,0.00,0.000,260,0.000,0.086,3187,3373,2262,2262,2052,0,0,0,0,0,0,26.44,26.10,26.48,10.46,37.00
$GC,2404,1.34,342.1,3187,3375,2267,2052,58.6,18.8,239,2408,0.00,2.25,0.00,0.000,1030,0.000,0.044,3187,2498,2265,2265,2051,0,0,0,0,0,0,26.28,26.25,26.30,10.53,37.59
$GC,2474,1.34,342.1,3187,2499,2264,2051,47.9,14.4,246,2478,0.00,2.47,0.00,0.000,260,0.000,0.084,3187,3381,2263,2263,2051,0,0,0,0,0,0,26.54,26.16,26.55,10.45,37.59
$GC,2549,1.34,342.1,3188,3377,2261,2051,35.8,18.0,253,2554,0.00,2.25,0.00,0.000,1030,0.000,0.045,3187,2495,2253,2253,2051,0,0,0,0,0,0,26.35,26.32,26.37,10.41,38.02
$GC,2614,1.34,342.1,3189,2496,2260,2051,24.6,15.4,260,2619,0.00,2.25,0.00,0.000,516,0.000,0.042,3181,1624,2258,2258,2051,0,0,0,0,0,0,26.60,26.32,26.61,10.45,37.32
$GC,2679,1.34,342.1,3188,1627,2252,2051,16.5,12.9,266,2684,0.00,2.30,0.00,0.000,1030,0.000,0.053,3186,2494,2262,2262,2054,0,0,0,0,0,0,26.35,26.28,26.39,10.45,37.55
$GC,2744,1.34,342.1,3195,2492,2256,2054,7.4,12.9,273,2748,0.00,2.45,0.00,0.000,260,0.000,0.083,3187,3380,2255,2255,2051,0,0,0,0,0,0,26.64,26.26,26.65,10.45,38.14
$STATE,2783,end climb,SURFACE_DEPTH_REACHED
$STATE,2783,begin surface coast
$STATE,2793,end surface coast,CONTROL_FINISHED_OK
$STATE,2793,begin surface
$SM_CCo,2887,0.00,0.000,0,0,2253,367.51
$SM_GC,1.47,26.80,2.28,0.00,0.025,0.047,0.000,537,2501,2253,-7.00,1.41,367.51,0,0,0,0,0,0,26.39,26.39,26.44
$IRIDIUM_FIX,4808.40,-12337.82,010518,150759
$TT8_MAMPS,0.047936,0.62167
$HUMID,37.67
$INTERNAL_PRESSURE,10.3228
$TCM_TEMP,10.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,13.9,13.3
$ALTIM_BOTTOM_PING,120.4,66.0
$SC_FREEKB,3896864
$24V_AH,23.84,5.471
$10V_AH,10.40,7.015
$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,58.650,75.350,58.300,0.000,0.000,48.711,31.649,406.121,1.000,0.000,35.091,0.000,2026.625,188.900,1296.789,48.619,33.462,525.088,0.000,566.382,0.000,12.055,0.000
$DEVICE_MAMPS,135.405,91.035,1606.500,0.000,0.000,32.890,160.000,223.000,420.000,0.000,14.230,0.000,2.190,11.970,37.430,56.160,59.900,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2812.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,73.493,0.000,0.000,0.000
$MEM,312816
$DATA_FILE_SIZE,10478,278
$CAP_FILE_SIZE,72862,0
$CFSIZE,1023623168,1017921536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010518,165719,4742.561,-12224.539,24,0.9,52,16.3,0.5,66.3,8,4.3