version: 66.13
glider: 527
mission: 5
dive: 25
start: 5 20 119 17 12 33
data:
$ID,527
$MISSION,5
$DIVE,25
$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,26
$R_STBD_OVSHOOT,17
$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
$GPS1,200519,170335,5939.2671,-2126.8511,41,0.8,52,-12.7,0.0,196.1,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-76.2
$GPS2,200519,171153,5939.2334,-2126.8567,12,0.8,22,-12.7,0.0,183.2,11,9.7
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S
$TGT_LATLONG,5920.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,178.9,35620,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.48,-165.5,164,2865,1842,1905,0.0,0.0,0,112,0.00,0.00,-86.70,0.008,16390,0.000,0.000,163,2866,3576,3753,3400,0,0,0,0,0,0,14.54,13.09,14.57
$GC,114,-0.48,-165.5,163,2866,3753,3400,4.6,-7.8,9,131,11.82,1.90,0.00,0.000,2340,0.409,0.142,2561,3844,3577,3753,3401,0,0,0,0,0,0,14.09,14.19,14.31
$GC,322,-0.48,-165.5,2560,3844,3753,3400,41.7,-11.9,50,329,0.00,1.77,0.00,0.000,1030,0.000,0.091,2561,2847,3577,3753,3401,0,0,0,0,0,0,14.55,14.46,14.57
$GC,509,-0.48,-165.5,2562,2847,3754,3401,63.9,-12.2,69,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2846,3577,3754,3401,0,0,0,0,0,0,14.73,14.75,14.75
$GC,689,-0.48,-165.5,2561,2846,3753,3401,86.7,-12.7,87,694,0.00,1.95,0.00,0.000,260,0.000,0.168,2554,3837,3577,3753,3401,0,0,0,0,0,0,14.78,14.34,14.79
$GC,721,-0.48,-165.5,2554,3837,3753,3400,91.0,-13.7,93,727,0.00,1.77,0.00,0.000,1030,0.000,0.084,2554,2831,3577,3753,3401,0,0,0,0,0,0,14.63,14.54,14.64
$GC,914,-0.48,-165.5,2554,2830,3753,3401,116.8,-13.3,113,920,0.00,1.98,0.00,0.000,260,0.000,0.168,2547,3837,3577,3754,3401,0,0,0,0,0,0,14.80,14.38,14.81
$GC,966,-0.48,-165.5,2547,3837,3753,3400,123.6,-13.3,123,972,0.00,1.73,0.00,0.000,1030,0.000,0.083,2547,2848,3577,3754,3401,0,0,0,0,0,0,14.60,14.52,14.62
$GC,1159,-0.48,-165.5,2546,2847,3753,3401,150.3,-13.6,143,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2847,3577,3753,3401,0,0,0,0,0,0,14.80,14.82,14.82
$GC,1339,-0.48,-165.5,2547,2848,3753,3401,174.9,-13.9,161,1345,0.00,1.95,0.00,0.000,260,0.000,0.169,2539,3842,3577,3753,3401,0,0,0,0,0,0,14.82,14.39,14.84
$GC,1405,-0.48,-165.5,2539,3843,3753,3401,184.3,-13.6,174,1413,0.15,1.73,0.00,0.000,3078,0.237,0.084,2574,2849,3577,3754,3401,0,0,0,0,0,0,14.40,14.52,14.57
$GC,1592,-0.48,-165.5,2573,2849,3753,3401,205.5,-10.9,193,1598,0.00,1.83,0.00,0.000,516,0.000,0.086,2574,1790,3577,3753,3401,0,0,0,0,0,0,14.83,14.58,14.85
$GC,1629,-0.48,-165.5,2574,1787,3753,3401,209.1,-9.7,200,1637,0.00,2.00,0.00,0.000,1030,0.000,0.138,2568,2846,3577,3753,3401,0,0,0,0,0,0,14.64,14.48,14.67
$GC,1815,-0.48,-165.5,2568,2846,3753,3400,230.6,-11.9,219,1820,0.00,1.95,0.00,0.000,260,0.000,0.174,2561,3850,3577,3753,3401,0,0,0,0,0,0,14.83,14.36,14.85
$GC,1888,-0.48,-165.5,2561,3850,3753,3401,239.2,-11.7,233,1893,0.00,1.75,0.00,0.000,1030,0.000,0.086,2561,2850,3577,3753,3401,0,0,0,0,0,0,14.67,14.59,14.69
$GC,2080,-0.48,-165.5,2560,2849,3753,3401,262.5,-12.0,248,2086,0.00,1.95,0.00,0.000,260,0.000,0.171,2554,3843,3577,3753,3401,0,0,0,0,0,0,14.85,14.41,14.87
$GC,2143,-0.48,-165.5,2553,3843,3753,3401,270.2,-11.9,260,2149,0.00,1.73,0.00,0.000,1030,0.000,0.085,2554,2847,3577,3753,3401,0,0,0,0,0,0,14.71,14.62,14.72
$GC,2466,-0.48,-165.5,2553,2848,3753,3401,310.7,-12.5,279,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2848,3577,3753,3401,0,0,0,0,0,0,14.90,14.92,14.91
$GC,2766,-0.48,-165.5,2553,2847,3753,3401,347.8,-12.2,294,2771,0.00,1.98,0.00,0.000,260,0.000,0.173,2546,3850,3577,3753,3401,0,0,0,0,0,0,14.92,14.42,14.93
$GC,2812,-0.48,-165.5,2546,3850,3753,3401,353.8,-12.3,303,2818,0.00,1.75,0.00,0.000,1030,0.000,0.087,2546,2845,3577,3753,3401,0,0,0,0,0,0,14.75,14.66,14.77
$GC,3130,-0.48,-165.5,2546,2845,3753,3401,392.3,-12.0,321,3136,0.00,1.98,0.00,0.000,260,0.000,0.172,2539,3850,3577,3753,3401,0,0,0,0,0,0,14.90,14.44,14.92
$GC,3176,-0.48,-165.5,2538,3850,3753,3401,398.3,-12.5,330,3182,0.15,1.75,0.00,0.000,3078,0.234,0.088,2574,2849,3577,3753,3401,0,0,0,0,0,0,14.52,14.61,14.69
$GC,3494,-0.48,-165.5,2574,2849,3753,3401,430.3,-9.8,348,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2849,3577,3753,3401,0,0,0,0,0,0,14.90,14.92,14.92
$GC,3794,-0.48,-165.5,2574,2849,3753,3401,459.0,-9.4,363,3800,0.00,1.95,0.00,0.000,260,0.000,0.174,2569,3843,3577,3753,3401,0,0,0,0,0,0,14.90,14.45,14.92
$GC,3856,-0.48,-165.5,2569,3843,3753,3401,464.9,-9.4,375,3862,0.00,1.75,0.00,0.000,1030,0.000,0.087,2569,2841,3577,3753,3401,0,0,0,0,0,0,14.76,14.67,14.78
$GC,4178,-0.48,-165.5,2569,2841,3753,3401,496.2,-9.9,394,4184,0.00,1.98,0.00,0.000,260,0.000,0.173,2562,3846,3577,3753,3401,0,0,0,0,0,0,14.90,14.45,14.92
$GC,4216,-0.48,-165.5,2562,3846,3753,3401,500.1,-10.4,401,4223,0.00,1.77,0.00,0.000,1030,0.000,0.088,2562,2826,3577,3753,3401,0,0,0,0,0,0,14.71,14.62,14.73
$GC,4521,-0.48,-165.5,2561,2826,3753,3401,531.5,-10.2,417,4527,0.00,2.03,0.00,0.000,260,0.000,0.174,2555,3847,3576,3753,3400,0,0,0,0,0,0,14.92,14.45,14.95
$GC,4565,-0.48,-165.5,2554,3847,3753,3400,536.1,-10.7,425,4570,0.00,1.75,0.00,0.000,1030,0.000,0.089,2555,2842,3577,3753,3401,0,0,0,0,0,0,14.76,14.68,14.78
$GC,4887,-0.48,-165.5,2554,2841,3753,3400,570.1,-10.5,444,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2841,3577,3753,3401,0,0,0,0,0,0,14.95,14.96,14.96
$GC,5187,-0.48,-165.5,2554,2841,3753,3401,602.5,-10.9,459,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2841,3577,3753,3401,0,0,0,0,0,0,14.95,14.97,14.97
$GC,5487,-0.48,-165.5,2554,2840,3752,3400,635.8,-11.1,474,5492,0.00,1.98,0.00,0.000,260,0.000,0.175,2547,3844,3576,3752,3401,0,0,0,0,0,0,14.96,14.45,14.97
$GC,5553,-0.48,-165.5,2547,3844,3752,3401,643.3,-10.6,487,5558,0.00,1.77,0.00,0.000,1030,0.000,0.088,2547,2851,3576,3752,3400,0,0,0,0,0,0,14.73,14.68,14.76
$GC,5871,-0.48,-165.5,2546,2851,3752,3400,679.6,-11.6,505,5876,0.00,1.98,0.00,0.000,260,0.000,0.178,2540,3850,3576,3752,3401,0,0,0,0,0,0,14.93,14.45,14.95
$GC,5913,-0.48,-165.5,2539,3851,3750,3401,684.9,-11.6,513,5920,0.15,1.75,0.00,0.000,3078,0.230,0.090,2576,2847,3575,3750,3401,0,0,0,0,0,0,14.56,14.69,14.73
$GC,6237,-0.48,-165.5,2575,2846,3750,3401,715.8,-9.4,532,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2846,3575,3750,3401,0,0,0,0,0,0,14.95,14.97,14.96
$GC,6537,-0.48,-165.5,2575,2846,3750,3401,743.5,-9.1,547,6542,0.00,1.98,0.00,0.000,260,0.000,0.179,2570,3843,3574,3748,3400,0,0,0,0,0,0,14.95,14.46,14.97
$GC,6589,-0.48,-165.5,2570,3842,3747,3401,748.3,-8.9,557,6595,0.00,1.75,0.00,0.000,1062,0.000,0.089,2571,2841,3574,3748,3401,0,0,0,0,0,0,14.78,14.69,14.80
$GC,6902,-0.48,-165.5,2570,2840,3747,3400,777.3,-9.0,574,6903,0.00,0.00,0.00,0.000,38,0.000,0.000,2570,2840,3574,3748,3401,0,0,0,0,0,0,14.95,14.97,14.97
$GC,7202,-0.48,-165.5,2570,2840,3747,3400,803.7,-8.8,589,7203,0.00,0.00,0.00,0.000,38,0.000,0.000,2571,2840,3573,3747,3400,0,0,0,0,0,0,14.95,14.97,14.97
$GC,7502,-0.48,-165.5,2570,2839,3746,3400,830.1,-8.8,604,7508,0.00,2.00,0.00,0.000,292,0.000,0.184,2563,3844,3573,3746,3400,0,0,0,0,0,0,14.96,14.47,14.97
$GC,7550,-0.48,-165.5,2563,3844,3745,3400,834.5,-8.8,613,7556,0.00,1.75,0.00,0.000,1062,0.000,0.089,2563,2841,3572,3744,3400,0,0,0,0,0,0,14.76,14.67,14.78
$GC,7867,-0.48,-165.5,2563,2841,3746,3401,865.8,-10.0,631,7873,0.00,2.00,0.00,0.000,260,0.000,0.181,2556,3844,3572,3745,3400,0,0,0,0,0,0,14.96,14.45,14.97
$GC,7904,-0.48,-165.5,2556,3844,3744,3401,869.7,-10.3,638,7910,0.00,1.75,0.00,0.000,1030,0.000,0.090,2556,2841,3573,3745,3401,0,0,0,0,0,0,14.78,14.69,14.81
$GC,8209,-0.48,-165.5,2556,2841,3745,3400,902.2,-10.6,654,8215,0.00,2.00,0.00,0.000,260,0.000,0.184,2549,3844,3572,3744,3400,0,0,0,0,0,0,14.92,14.43,14.94
$GC,8252,-0.48,-165.5,2548,3845,3743,3400,906.9,-10.7,662,8257,0.00,1.75,0.00,0.000,1030,0.000,0.090,2549,2839,3572,3744,3401,0,0,0,0,0,0,14.77,14.68,14.78
$GC,8574,-0.48,-165.5,2548,2839,3744,3400,942.3,-11.0,681,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2839,3572,3744,3401,0,0,0,0,0,0,14.92,14.95,14.94
$GC,8874,-0.48,-165.5,2548,2839,3743,3400,974.6,-10.5,696,8880,0.00,2.03,0.00,0.000,260,0.000,0.187,2541,3850,3570,3742,3399,0,0,0,0,0,0,14.92,14.43,14.94
$GC,8947,-0.48,-165.5,2541,3850,3742,3400,982.2,-10.2,710,8953,0.15,1.77,0.00,0.000,3078,0.228,0.091,2577,2841,3571,3742,3400,0,0,0,0,0,0,14.52,14.64,14.69
$STATE,9039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9039,begin apogee
$GC,9043,-0.10,0.0,2578,2590,3742,3400,990.1,-8.1,716,9210,0.40,0.00,163.95,2.355,10246,0.183,0.000,2695,2590,2900,2924,2876,0,0,0,0,0,0,14.56,13.66,12.49
$STATE,9212,end apogee,CONTROL_FINISHED_OK
$STATE,9212,begin climb
$GC,9213,0.48,165.5,2695,2590,2923,2876,994.4,0.0,724,9389,0.60,2.10,166.60,2.311,10756,0.118,0.095,2887,1545,2225,2225,2226,0,0,0,0,0,0,13.75,13.34,12.23
$GC,9451,0.48,165.5,2887,1545,2223,2223,974.9,11.0,768,9457,0.00,2.12,0.00,0.000,1030,0.000,0.126,2887,2604,2223,2223,2223,0,0,0,0,0,0,13.86,13.74,13.88
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$STATE,17104,end climb,SURFACE_DEPTH_REACHED
$STATE,17104,begin surface coast
$FINISH,0.9,1.026933
$STATE,17127,end surface coast,CONTROL_FINISHED_OK
$STATE,17127,begin surface
$SM_CCo,17142,90.93,0.869,1,0,1880,250.20
$SM_GC,0.96,7.82,0.57,90.93,0.067,0.133,0.869,169,2861,1880,-7.94,-0.20,250.20,0,0,0,0,1,0,14.62,14.54,13.49
$IRIDIUM_FIX,5939.27,-2121.20,200519,121539
$TT8_MAMPS,0.02247,0.713797
$HUMID,38.34
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3890816
$24V_AH,12.23,0.000
$10V_AH,12.46,13.938
$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,21.700,134.000,330.550,90.925,0.000,0.000,0.000,363.075,0.000,0.000,31.674,3303.927,11248.834,670.922,2428.868,90.595,0.000,2128.068,0.000,1941.433,0.000,0.535,0.000
$DEVICE_MAMPS,408.510,187.425,2354.670,869.040,0.000,0.000,0.000,206.550,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17146.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.466,0.000,0.000,0.000
$MEM,304352
$DATA_FILE_SIZE,46614,1354
$CAP_FILE_SIZE,163785,0
$CFSIZE,2097872896,2091057152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.079,236.04,1
$GPS,200519,220109,5936.340,-2127.284,32,0.8,41,-12.7,0.4,119.5,10,9.8