version: 66.13
glider: 527
mission: 5
dive: 21
start: 5 19 119 21 28 51
data:
$ID,527
$MISSION,5
$DIVE,21
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55590
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,180
$PITCH_MAX,3650
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,50
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,270
$ROLL_MAX,3850
$ROLL_DEG,30
$C_ROLL_DIVE,2850
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3925
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00065
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-173.77016
$PRESSURE_SLOPE,0.00010843292
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.38999999
$DEEPGLIDER,0
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.004412075
$SEABIRD_T_H,0.00063827372
$SEABIRD_T_I,2.6317541e-05
$SEABIRD_T_J,3.254017e-06
$SEABIRD_C_G,-9.9840622
$SEABIRD_C_H,1.1688964
$SEABIRD_C_I,-0.0016958674
$SEABIRD_C_J,0.00021397673
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,190519,211832,5933.8853,-2129.4387,38,0.7,46,-12.7,0.4,198.5,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-77.1
$GPS2,190519,212811,5933.8296,-2129.4258,9,0.9,18,-12.7,0.0,0.0,11,9.8
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,N
$TGT_LATLONG,5940.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,30.1,11651,-18.5,-11.000,-21.07,2319
$D_GRID,1000
$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
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.48,-165.5,172,2869,1846,1902,0.0,0.0,0,113,0.00,0.00,-86.82,0.008,16390,0.000,0.000,172,2869,3577,3752,3403,0,0,0,0,0,0,14.59,13.20,14.62
$GC,115,-0.48,-165.5,172,2870,3752,3403,4.6,-8.0,9,132,11.85,1.90,0.00,0.000,2596,0.412,0.082,2563,1791,3577,3752,3403,0,0,0,0,0,0,14.11,14.39,14.32
$GC,259,-0.48,-165.5,2563,1787,3753,3403,30.5,-11.1,37,265,0.00,2.05,0.00,0.000,1030,0.000,0.151,2556,2846,3578,3753,3403,0,0,0,0,0,0,14.54,14.38,14.57
$GC,452,-0.48,-165.5,2556,2847,3753,3403,56.6,-13.9,57,458,0.00,1.95,0.00,0.000,260,0.000,0.174,2549,3849,3578,3753,3404,0,0,0,0,0,0,14.81,14.34,14.83
$GC,515,-0.48,-165.5,2549,3848,3753,3403,65.5,-13.8,69,520,0.00,1.75,0.00,0.000,1030,0.000,0.089,2549,2849,3578,3753,3403,0,0,0,0,0,0,14.66,14.57,14.68
$GC,707,-0.48,-165.5,2549,2848,3753,3403,92.7,-14.3,89,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2848,3578,3753,3403,0,0,0,0,0,0,14.88,14.90,14.90
$GC,887,-0.48,-165.5,2549,2849,3753,3403,118.2,-14.2,107,892,0.00,1.95,0.00,0.000,260,0.000,0.169,2542,3847,3578,3753,3404,0,0,0,0,0,0,14.91,14.44,14.93
$GC,929,-0.48,-165.5,2541,3847,3753,3404,124.2,-13.9,115,935,0.15,1.75,0.00,0.000,3078,0.243,0.087,2576,2839,3578,3753,3404,0,0,0,0,0,0,14.52,14.66,14.70
$GC,1122,-0.48,-165.5,2576,2839,3753,3404,146.1,-11.1,135,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2839,3578,3753,3404,0,0,0,0,0,0,14.94,14.96,14.96
$GC,1302,-0.48,-165.5,2576,2839,3753,3404,166.4,-11.1,153,1308,0.00,1.95,0.00,0.000,260,0.000,0.168,2571,3843,3578,3753,3404,0,0,0,0,0,0,14.97,14.50,14.98
$GC,1328,-0.48,-165.5,2570,3843,3753,3404,169.5,-11.8,158,1335,0.00,1.77,0.00,0.000,1030,0.000,0.087,2571,2848,3578,3753,3403,0,0,0,0,0,0,14.74,14.69,14.77
$GC,1515,-0.48,-165.5,2570,2847,3753,3403,191.2,-11.9,177,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2847,3578,3753,3403,0,0,0,0,0,0,14.98,15.00,15.00
$GC,1694,-0.48,-165.5,2570,2847,3754,3403,212.2,-11.6,195,1700,0.00,1.95,0.00,0.000,260,0.000,0.169,2564,3851,3578,3753,3404,0,0,0,0,0,0,15.00,14.52,15.02
$GC,1727,-0.48,-165.5,2563,3851,3753,3404,216.0,-12.2,201,1733,0.00,1.75,0.00,0.000,1030,0.000,0.089,2564,2839,3577,3753,3402,0,0,0,0,0,0,14.82,14.73,14.84
$GC,1920,-0.48,-165.5,2563,2839,3753,3403,238.4,-11.8,221,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2839,3578,3753,3404,0,0,0,0,0,0,15.01,15.02,15.02
$GC,2099,-0.48,-165.5,2563,2839,3753,3404,259.7,-11.9,235,2105,0.00,1.95,0.00,0.000,260,0.000,0.169,2556,3846,3578,3753,3404,0,0,0,0,0,0,15.02,14.54,15.04
$GC,2131,-0.48,-165.5,2556,3846,3752,3403,263.6,-12.3,241,2136,0.00,1.73,0.00,0.000,1030,0.000,0.089,2556,2846,3578,3753,3404,0,0,0,0,0,0,14.85,14.76,14.86
$GC,2443,-0.48,-165.5,2556,2845,3753,3404,301.7,-12.3,258,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2846,3578,3753,3404,0,0,0,0,0,0,15.04,15.06,15.06
$GC,2744,-0.48,-165.5,2556,2846,3753,3404,337.5,-11.9,273,2749,0.00,1.95,0.00,0.000,260,0.000,0.172,2549,3850,3578,3753,3403,0,0,0,0,0,0,15.06,14.57,15.07
$GC,2815,-0.48,-165.5,2549,3850,3753,3404,346.0,-11.3,287,2821,0.00,1.73,0.00,0.000,1030,0.000,0.088,2549,2848,3578,3753,3404,0,0,0,0,0,0,14.88,14.79,14.90
$GC,3127,-0.48,-165.5,2549,2848,3753,3403,382.0,-11.3,304,3133,0.00,1.95,0.00,0.000,260,0.000,0.174,2541,3851,3578,3753,3403,0,0,0,0,0,0,15.07,14.57,15.09
$GC,3174,-0.48,-165.5,2541,3851,3753,3403,387.4,-11.1,313,3180,0.12,1.73,0.00,0.000,3078,0.250,0.090,2569,2850,3578,3753,3404,0,0,0,0,0,0,14.66,14.80,14.84
$GC,3492,-0.48,-165.5,2569,2850,3753,3403,417.4,-9.6,331,3498,0.00,1.92,0.00,0.000,260,0.000,0.174,2564,3846,3578,3753,3403,0,0,0,0,0,0,15.08,14.58,15.09
$GC,3528,-0.48,-165.5,2564,3847,3753,3403,421.0,-10.0,338,3535,0.00,1.73,0.00,0.000,1030,0.000,0.090,2564,2848,3578,3753,3403,0,0,0,0,0,0,14.89,14.80,14.91
$GC,3834,-0.48,-165.5,2564,2848,3753,3403,452.4,-10.6,354,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2848,3578,3752,3404,0,0,0,0,0,0,15.08,15.10,15.09
$GC,4135,-0.48,-165.5,2564,2848,3753,3403,485.8,-11.1,369,4141,0.00,1.95,0.00,0.000,260,0.000,0.177,2557,3849,3578,3753,3403,0,0,0,0,0,0,15.09,14.59,15.11
$GC,4198,-0.48,-165.5,2557,3850,3752,3404,493.0,-10.9,381,4203,0.00,1.75,0.00,0.000,1030,0.000,0.090,2557,2840,3578,3753,3404,0,0,0,0,0,0,14.90,14.82,14.92
$GC,4520,-0.48,-165.5,2557,2840,3752,3403,530.0,-11.4,400,4526,0.00,1.77,0.00,0.000,516,0.000,0.087,2557,1791,3578,3753,3403,0,0,0,0,0,0,15.09,14.80,15.11
$GC,4552,-0.48,-165.5,2557,1789,3752,3403,533.6,-10.5,406,4557,0.00,1.98,0.00,0.000,1030,0.000,0.141,2549,2852,3577,3752,3403,0,0,0,0,0,0,14.88,14.71,14.91
$GC,4864,-0.48,-165.5,2549,2853,3752,3403,570.9,-12.2,423,4869,0.00,1.90,0.00,0.000,260,0.000,0.177,2542,3847,3577,3752,3403,0,0,0,0,0,0,15.09,14.59,15.11
$GC,4920,-0.48,-165.5,2541,3847,3751,3403,577.9,-12.3,434,4927,0.12,1.75,0.00,0.000,3078,0.246,0.092,2570,2838,3577,3751,3403,0,0,0,0,0,0,14.69,14.81,14.87
$GC,5226,-0.48,-165.5,2570,2839,3751,3403,609.4,-10.0,450,5232,0.00,1.95,0.00,0.000,260,0.000,0.176,2565,3842,3576,3750,3403,0,0,0,0,0,0,15.10,14.61,15.11
$GC,5252,-0.48,-165.5,2564,3843,3750,3403,612.2,-10.6,455,5258,0.00,1.73,0.00,0.000,1030,0.000,0.090,2565,2839,3577,3750,3404,0,0,0,0,0,0,14.91,14.83,14.93
$GC,5570,-0.48,-165.5,2564,2839,3750,3403,643.8,-9.9,473,5575,0.00,1.95,0.00,0.000,260,0.000,0.176,2558,3843,3576,3749,3403,0,0,0,0,0,0,15.10,14.60,15.12
$GC,5613,-0.48,-165.5,2557,3843,3749,3403,648.1,-9.9,481,5618,0.00,1.73,0.00,0.000,1030,0.000,0.090,2557,2840,3576,3749,3403,0,0,0,0,0,0,14.91,14.83,14.94
$GC,5935,-0.48,-165.5,2557,2840,3749,3403,681.1,-10.3,500,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2841,3576,3749,3403,0,0,0,0,0,0,15.11,15.13,15.12
$GC,6235,-0.48,-165.5,2557,2840,3748,3403,712.3,-10.3,515,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2841,3575,3748,3403,0,0,0,0,0,0,15.11,15.14,15.13
$GC,6535,-0.48,-165.5,2557,2841,3747,3403,743.4,-10.4,530,6540,0.00,1.98,0.00,0.000,260,0.000,0.181,2550,3843,3575,3747,3403,0,0,0,0,0,0,15.11,14.61,15.14
$GC,6597,-0.48,-165.5,2550,3843,3746,3403,750.1,-10.5,542,6602,0.00,1.73,0.00,0.000,1030,0.000,0.090,2550,2839,3575,3746,3404,0,0,0,0,0,0,14.92,14.83,14.95
$GC,6919,-0.48,-165.5,2550,2839,3746,3404,786.5,-11.5,561,6925,0.00,1.98,0.00,0.000,260,0.000,0.181,2543,3848,3574,3746,3403,0,0,0,0,0,0,15.11,14.59,15.13
$GC,6962,-0.48,-165.5,2542,3849,3745,3403,791.5,-11.4,569,6968,0.12,1.73,0.00,0.000,3078,0.241,0.092,2571,2849,3574,3745,3403,0,0,0,0,0,0,14.69,14.83,14.88
$GC,7285,-0.48,-165.5,2571,2847,3744,3403,822.9,-9.6,588,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2847,3574,3745,3403,0,0,0,0,0,0,15.11,15.14,15.13
$GC,7585,-0.48,-165.5,2571,2847,3744,3404,850.8,-9.0,603,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2847,3574,3744,3404,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7885,-0.48,-165.5,2571,2847,3744,3404,877.5,-9.0,618,7891,0.00,1.95,0.00,0.000,292,0.000,0.183,2566,3842,3573,3743,3404,0,0,0,0,0,0,15.12,14.62,15.14
$GC,7952,-0.48,-165.5,2566,3842,3743,3403,883.7,-9.0,631,7958,0.00,1.73,0.00,0.000,1062,0.000,0.091,2566,2845,3573,3743,3403,0,0,0,0,0,0,14.92,14.83,14.95
$GC,8270,-0.48,-165.5,2566,2844,3742,3403,913.3,-9.5,649,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2844,3573,3743,3403,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8569,-0.48,-165.5,2566,2844,3742,3403,941.8,-9.4,664,8575,0.00,1.98,0.00,0.000,260,0.000,0.185,2559,3847,3572,3742,3403,0,0,0,0,0,0,15.12,14.59,15.14
$GC,8601,-0.48,-165.5,2559,3847,3741,3404,945.0,-10.2,670,8607,0.00,1.73,0.00,0.000,1030,0.000,0.093,2559,2848,3572,3741,3404,0,0,0,0,0,0,14.93,14.83,14.95
$GC,8913,-0.48,-165.5,2559,2847,3741,3404,975.9,-9.9,687,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2847,3572,3741,3404,0,0,0,0,0,0,15.11,15.14,15.14
$STATE,9072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9072,begin apogee
$GC,9076,-0.10,0.0,2560,2598,3741,3403,991.9,-9.9,695,9241,0.47,0.00,161.55,2.348,10246,0.194,0.000,2696,2598,2900,2924,2877,0,0,0,0,0,0,14.71,13.69,12.48
$STATE,9242,end apogee,CONTROL_FINISHED_OK
$STATE,9242,begin climb
$GC,9243,0.48,165.5,2697,2598,2924,2876,995.8,0.0,703,9416,0.60,2.12,164.57,2.292,10756,0.118,0.097,2888,1537,2225,2227,2224,0,0,0,0,0,0,13.77,13.41,12.33
$GC,9507,0.49,165.5,2888,1537,2225,2221,975.4,10.2,750,9513,0.00,2.12,0.00,0.000,1094,0.000,0.128,2888,2607,2222,2225,2220,0,0,0,0,0,0,13.96,13.84,13.98
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$STATE,17033,end climb,SURFACE_DEPTH_REACHED
$STATE,17033,begin surface coast
$FINISH,0.1,1.026991
$STATE,17054,end surface coast,CONTROL_FINISHED_OK
$STATE,17054,begin surface
$SM_CCo,17069,42.20,0.571,1,0,1880,250.20
$SM_GC,1.01,7.95,0.47,42.20,0.069,0.122,0.571,166,2861,1880,-7.94,-0.31,250.20,0,0,0,0,1,0,14.54,14.49,13.63
$IRIDIUM_FIX,5932.95,-2122.07,190519,162132
$TT8_MAMPS,0.02247,0.586467
$HUMID,37.71
$INTERNAL_PRESSURE,8.80829
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3893408
$24V_AH,12.33,0.000
$10V_AH,12.80,12.364
$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,22.000,156.425,376.525,42.200,0.000,0.000,0.000,434.100,0.000,0.000,27.561,3239.613,11178.073,670.782,2516.861,97.814,0.000,2237.830,0.000,1939.292,0.000,0.536,0.000
$DEVICE_MAMPS,411.570,185.130,2347.785,571.455,0.000,0.000,0.000,211.140,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7854.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.999,0.000,0.000,0.000
$MEM,304332
$DATA_FILE_SIZE,46651,1358
$CAP_FILE_SIZE,169338,0
$CFSIZE,2097872896,2091810816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.105,201.91,1
$GPS,200519,021537,5935.103,-2128.381,44,0.8,51,-12.7,0.3,190.3,9,10.0