version: 66.13
glider: 527
mission: 5
dive: 24
start: 5 20 119 12 22 39
data:
$ID,527
$MISSION,5
$DIVE,24
$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,31
$R_STBD_OVSHOOT,19
$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
$GPS1,200519,121331,5937.8794,-2127.3586,45,0.8,52,-12.7,0.5,212.9,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-77.3
$GPS2,200519,122158,5937.8359,-2127.3418,8,0.8,22,-12.7,0.0,239.5,10,9.1
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,N
$TGT_LATLONG,5940.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,28.3,4021,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.48,-165.5,165,2864,1844,1903,0.0,0.0,0,111,0.00,0.00,-86.05,0.008,16390,0.000,0.000,164,2868,3576,3752,3400,0,0,0,0,0,0,14.54,13.01,14.56
$GC,113,-0.48,-165.5,164,2867,3752,3400,4.9,-8.9,9,130,11.88,1.92,0.00,0.000,2596,0.409,0.086,2568,1793,3577,3753,3401,0,0,0,0,0,0,14.08,14.31,14.28
$GC,217,-0.48,-165.5,2567,1791,3753,3400,25.7,-10.8,29,223,0.00,2.05,0.00,0.000,1030,0.000,0.151,2560,2846,3576,3753,3400,0,0,0,0,0,0,14.48,14.33,14.51
$GC,410,-0.48,-165.5,2560,2846,3754,3400,51.6,-14.7,49,416,0.00,1.98,0.00,0.000,260,0.000,0.176,2553,3850,3577,3754,3400,0,0,0,0,0,0,14.71,14.26,14.73
$GC,522,-0.48,-165.5,2553,3849,3753,3400,68.0,-13.9,71,528,0.00,1.75,0.00,0.000,1030,0.000,0.090,2553,2859,3576,3753,3400,0,0,0,0,0,0,14.59,14.51,14.62
$GC,714,-0.48,-165.5,2552,2858,3753,3400,95.0,-14.2,91,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2858,3576,3753,3400,0,0,0,0,0,0,14.78,14.80,14.79
$GC,895,-0.48,-165.5,2552,2858,3753,3400,119.9,-13.5,109,900,0.00,1.95,0.00,0.000,260,0.000,0.169,2545,3846,3577,3753,3401,0,0,0,0,0,0,14.80,14.30,14.81
$GC,930,-0.48,-165.5,2545,3846,3754,3400,125.3,-13.4,116,938,0.00,1.77,0.00,0.000,1030,0.000,0.090,2546,2839,3577,3754,3400,0,0,0,0,0,0,14.64,14.55,14.66
$GC,1117,-0.48,-165.5,2545,2839,3753,3401,150.2,-13.8,135,1122,0.00,2.00,0.00,0.000,260,0.000,0.170,2538,3851,3576,3753,3400,0,0,0,0,0,0,14.83,14.35,14.84
$GC,1139,-0.48,-165.5,2538,3851,3753,3401,153.4,-13.8,139,1145,0.15,1.77,0.00,0.000,3078,0.245,0.090,2572,2840,3576,3753,3400,0,0,0,0,0,0,14.43,14.57,14.59
$GC,1332,-0.48,-165.5,2572,2840,3753,3400,176.9,-11.7,159,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2840,3576,3753,3400,0,0,0,0,0,0,14.82,14.83,14.84
$GC,1512,-0.48,-165.5,2571,2841,3753,3400,198.6,-12.0,177,1518,0.00,1.98,0.00,0.000,260,0.000,0.170,2567,3844,3576,3753,3400,0,0,0,0,0,0,14.84,14.38,14.85
$GC,1569,-0.48,-165.5,2568,3845,3753,3401,205.0,-11.3,188,1576,0.00,1.75,0.00,0.000,1030,0.000,0.088,2566,2846,3576,3753,3400,0,0,0,0,0,0,14.68,14.59,14.70
$GC,1754,-0.48,-165.5,2566,2846,3753,3400,227.5,-12.1,207,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2846,3576,3753,3400,0,0,0,0,0,0,14.85,14.87,14.87
$GC,1935,-0.48,-165.5,2566,2846,3754,3400,249.5,-12.2,225,1940,0.00,1.98,0.00,0.000,260,0.000,0.171,2560,3847,3576,3753,3400,0,0,0,0,0,0,14.85,14.33,14.87
$GC,2012,-0.48,-165.5,2559,3847,3753,3400,259.2,-12.1,240,2019,0.00,1.75,0.00,0.000,1030,0.000,0.089,2560,2847,3576,3752,3400,0,0,0,0,0,0,14.69,14.61,14.71
$GC,2317,-0.48,-165.5,2560,2847,3753,3400,297.0,-12.8,256,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2847,3576,3753,3400,0,0,0,0,0,0,14.88,14.90,14.90
$GC,2617,-0.48,-165.5,2560,2847,3753,3400,335.3,-12.6,271,2623,0.00,1.95,0.00,0.000,260,0.000,0.171,2553,3844,3576,3753,3400,0,0,0,0,0,0,14.90,14.42,14.92
$GC,2639,-0.48,-165.5,2552,3843,3753,3400,338.1,-12.0,275,2645,0.00,1.73,0.00,0.000,1030,0.000,0.090,2553,2853,3576,3753,3400,0,0,0,0,0,0,14.74,14.64,14.76
$GC,2961,-0.48,-165.5,2553,2853,3753,3400,378.0,-12.0,294,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2853,3576,3753,3400,0,0,0,0,0,0,14.92,14.94,14.93
$GC,3262,-0.48,-165.5,2552,2853,3753,3400,414.4,-12.2,309,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2853,3576,3753,3400,0,0,0,0,0,0,14.93,14.95,14.95
$GC,3562,-0.48,-165.5,2552,2853,3753,3401,450.6,-11.7,324,3568,0.00,1.95,0.00,0.000,260,0.000,0.173,2546,3846,3576,3753,3400,0,0,0,0,0,0,14.92,14.42,14.94
$GC,3639,-0.48,-165.5,2545,3846,3753,3400,459.7,-11.6,339,3646,0.00,1.75,0.00,0.000,1030,0.000,0.091,2546,2843,3576,3753,3400,0,0,0,0,0,0,14.75,14.66,14.77
$GC,3945,-0.48,-165.5,2545,2843,3753,3400,496.2,-12.3,355,3950,0.00,1.98,0.00,0.000,260,0.000,0.173,2538,3847,3576,3753,3400,0,0,0,0,0,0,14.93,14.38,14.95
$GC,4027,-0.48,-165.5,2538,3847,3753,3400,506.2,-11.8,371,4033,0.15,1.75,0.00,0.000,3078,0.233,0.090,2573,2847,3576,3753,3400,0,0,0,0,0,0,14.50,14.64,14.69
$GC,4349,-0.48,-165.5,2573,2849,3753,3400,537.7,-9.7,390,4355,0.00,1.83,0.00,0.000,516,0.000,0.091,2574,1792,3576,3753,3400,0,0,0,0,0,0,14.91,14.62,14.92
$GC,4376,-0.48,-165.5,2573,1789,3753,3400,540.4,-9.7,395,4382,0.00,2.00,0.00,0.000,1030,0.000,0.139,2568,2854,3576,3753,3400,0,0,0,0,0,0,14.73,14.56,14.76
$GC,4694,-0.48,-165.5,2568,2854,3753,3400,572.7,-10.2,413,4699,0.00,1.92,0.00,0.000,260,0.000,0.177,2560,3847,3576,3753,3400,0,0,0,0,0,0,14.92,14.41,14.93
$GC,4780,-0.48,-165.5,2560,3847,3753,3400,581.3,-9.7,430,4785,0.00,1.77,0.00,0.000,1030,0.000,0.092,2561,2834,3576,3752,3400,0,0,0,0,0,0,14.75,14.64,14.77
$GC,5097,-0.48,-165.5,2560,2834,3752,3400,613.7,-10.2,448,5103,0.00,1.80,0.00,0.000,516,0.000,0.090,2561,1788,3576,3752,3400,0,0,0,0,0,0,14.93,14.64,14.95
$GC,5124,-0.48,-165.5,2560,1784,3752,3400,616.5,-9.9,453,5130,0.00,2.03,0.00,0.000,1030,0.000,0.141,2552,2850,3576,3752,3400,0,0,0,0,0,0,14.65,14.49,14.68
$GC,5442,-0.48,-165.5,2553,2850,3752,3400,651.4,-11.4,471,5447,0.00,1.92,0.00,0.000,260,0.000,0.179,2546,3842,3576,3752,3400,0,0,0,0,0,0,14.95,14.42,14.96
$GC,5538,-0.48,-165.5,2546,3843,3750,3400,662.6,-11.4,490,5545,0.00,1.73,0.00,0.000,1030,0.000,0.090,2546,2853,3575,3751,3400,0,0,0,0,0,0,14.76,14.66,14.78
$GC,5844,-0.48,-165.5,2545,2853,3750,3399,699.6,-12.3,506,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2853,3575,3750,3400,0,0,0,0,0,0,14.95,14.97,14.97
$GC,6144,-0.48,-165.5,2546,2853,3750,3401,735.9,-11.8,521,6150,0.00,1.98,0.00,0.000,260,0.000,0.182,2539,3846,3574,3749,3400,0,0,0,0,0,0,14.95,14.35,14.97
$GC,6190,-0.48,-165.5,2538,3846,3748,3400,741.6,-11.6,530,6197,0.15,1.75,0.00,0.000,3078,0.229,0.093,2574,2850,3574,3748,3400,0,0,0,0,0,0,14.54,14.67,14.73
$GC,6509,-0.48,-165.5,2574,2850,3748,3399,771.0,-8.9,548,6515,0.00,1.85,0.00,0.000,548,0.000,0.092,2574,1779,3574,3748,3400,0,0,0,0,0,0,14.93,14.65,14.95
$GC,6537,-0.48,-165.5,2574,1776,3748,3400,773.6,-9.0,553,6543,0.00,2.03,0.00,0.000,1062,0.000,0.142,2569,2852,3574,3748,3400,0,0,0,0,0,0,14.73,14.56,14.77
$GC,6854,-0.48,-165.5,2568,2854,3747,3400,803.1,-9.4,571,6860,0.00,1.92,0.00,0.000,260,0.000,0.183,2561,3842,3573,3747,3400,0,0,0,0,0,0,14.92,14.45,14.94
$GC,6921,-0.48,-165.5,2561,3842,3746,3400,809.5,-9.6,584,6927,0.00,1.75,0.00,0.000,1030,0.000,0.092,2561,2841,3573,3746,3400,0,0,0,0,0,0,14.76,14.66,14.78
$GC,7238,-0.48,-165.5,2561,2840,3746,3400,839.8,-9.5,602,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2840,3573,3746,3400,0,0,0,0,0,0,14.92,14.95,14.94
$GC,7539,-0.48,-165.5,2561,2840,3746,3400,868.9,-9.8,617,7544,0.00,2.03,0.00,0.000,260,0.000,0.189,2554,3847,3572,3745,3400,0,0,0,0,0,0,14.92,14.42,14.94
$GC,7601,-0.48,-165.5,2554,3847,3745,3400,875.2,-10.1,629,7607,0.00,1.77,0.00,0.000,1030,0.000,0.093,2554,2841,3572,3745,3400,0,0,0,0,0,0,14.75,14.65,14.77
$GC,7924,-0.48,-165.5,2554,2840,3744,3400,908.3,-10.2,648,7930,0.00,2.03,0.00,0.000,260,0.000,0.187,2547,3843,3572,3744,3400,0,0,0,0,0,0,14.94,14.45,14.95
$GC,7956,-0.48,-165.5,2547,3843,3744,3400,911.9,-11.0,654,7961,0.00,1.75,0.00,0.000,1030,0.000,0.092,2547,2843,3572,3744,3400,0,0,0,0,0,0,14.76,14.67,14.78
$GC,8268,-0.48,-165.5,2547,2843,3744,3400,945.4,-10.7,671,8274,0.00,2.00,0.00,0.000,260,0.000,0.184,2540,3844,3572,3744,3400,0,0,0,0,0,0,14.94,14.42,14.96
$GC,8290,-0.48,-165.5,2540,3844,3743,3400,947.8,-11.4,675,8296,0.15,1.75,0.00,0.000,3078,0.225,0.093,2576,2847,3571,3743,3400,0,0,0,0,0,0,14.55,14.66,14.72
$GC,8614,-0.48,-165.5,2576,2846,3743,3400,973.6,-7.8,694,8615,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2847,3571,3743,3400,0,0,0,0,0,0,14.91,14.93,14.92
$STATE,8832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8832,begin apogee
$GC,8836,-0.10,0.0,2576,2601,3742,3400,990.5,-7.5,705,9004,0.40,0.00,163.88,2.351,10246,0.184,0.000,2693,2601,2900,2924,2877,0,0,0,0,0,0,14.57,13.63,12.37
$STATE,9005,end apogee,CONTROL_FINISHED_OK
$STATE,9005,begin climb
$GC,9006,0.48,165.5,2693,2600,2923,2876,993.7,0.0,713,9185,0.62,2.12,166.80,2.305,10756,0.119,0.098,2892,1531,2226,2226,2227,0,0,0,0,0,0,13.74,13.35,12.24
$GC,9256,0.48,165.5,2892,1531,2223,2222,969.7,12.0,760,9264,0.00,2.12,0.00,0.000,1030,0.000,0.127,2892,2601,2222,2223,2222,0,0,0,0,0,0,13.90,13.78,13.93
$GC,9562,0.48,165.5,2891,2603,2223,2216,928.8,13.5,776,9568,0.00,2.10,0.00,0.000,260,0.000,0.171,2892,3668,2219,2223,2215,0,0,0,0,0,0,14.53,14.24,14.54
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$STATE,16634,end climb,SURFACE_DEPTH_REACHED
$STATE,16635,begin surface coast
$FINISH,0.0,1.026877
$STATE,16656,end surface coast,CONTROL_FINISHED_OK
$STATE,16656,begin surface
$SM_CCo,16672,90.25,0.865,1,0,1879,250.20
$SM_GC,0.97,7.85,0.47,90.25,0.064,0.131,0.865,166,2857,1879,-7.94,-0.40,250.20,0,0,0,0,1,0,14.62,14.54,13.52
$IRIDIUM_FIX,5935.78,-2123.61,200519,071808
$TT8_MAMPS,0.023219,0.899549
$HUMID,37.95
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3891520
$24V_AH,12.24,0.000
$10V_AH,12.42,13.531
$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,22.000,160.950,330.675,90.250,0.000,0.000,0.000,370.000,0.000,0.000,31.413,3212.526,10826.772,713.313,2435.735,92.625,0.000,2197.571,0.000,1939.540,0.000,0.535,0.000
$DEVICE_MAMPS,409.275,197.370,2350.845,865.215,0.000,0.000,0.000,205.785,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16676.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.426,0.000,0.000,0.000
$MEM,304340
$DATA_FILE_SIZE,46634,1353
$CAP_FILE_SIZE,167490,0
$CFSIZE,2097872896,2091220992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.106,220.71,1
$GPS,200519,170335,5939.267,-2126.851,41,0.8,52,-12.7,0.0,196.1,11,9.7