version: 66.13
glider: 527
mission: 5
dive: 37
start: 5 23 119 3 50 30
data:
$ID,527
$MISSION,5
$DIVE,37
$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,36
$R_STBD_OVSHOOT,22
$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
$GPS1,230519,034338,5925.0469,-2125.7029,44,1.0,51,-12.6,1.1,95.9,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-75.6
$GPS2,230519,034949,5925.0625,-2125.6218,12,1.0,20,-12.6,0.7,323.7,8,9.2
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,N
$TGT_LATLONG,5940.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,334.4,27694,-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,-165.5,116,2869,1838,1908,0.0,0.0,0,112,0.00,0.00,-86.53,0.008,16390,0.000,0.000,112,2870,3576,3752,3401,0,0,0,0,0,0,14.62,13.08,14.64
$GC,114,-0.48,-165.5,112,2869,3753,3401,4.8,-8.6,9,131,12.10,1.88,0.00,0.000,2340,0.409,0.145,2558,3833,3577,3753,3402,0,0,0,0,0,0,14.12,14.26,14.34
$GC,299,-0.48,-165.5,2558,3834,3753,3401,40.3,-12.5,45,305,0.00,1.73,0.00,0.000,1030,0.000,0.089,2558,2856,3577,3753,3402,0,0,0,0,0,0,14.59,14.51,14.62
$GC,492,-0.48,-165.5,2558,2855,3753,3402,65.7,-13.5,65,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2856,3577,3753,3402,0,0,0,0,0,0,14.84,14.85,14.85
$GC,671,-0.48,-165.5,2558,2855,3753,3402,90.8,-14.2,83,677,0.00,1.85,0.00,0.000,516,0.000,0.086,2557,1778,3577,3753,3402,0,0,0,0,0,0,14.88,14.61,14.90
$GC,704,-0.48,-165.5,2558,1775,3753,3402,95.2,-13.0,89,710,0.00,2.00,0.00,0.000,1030,0.000,0.135,2550,2841,3577,3753,3402,0,0,0,0,0,0,14.69,14.54,14.72
$GC,897,-0.48,-165.5,2550,2841,3753,3402,122.9,-14.6,109,903,0.00,1.92,0.00,0.000,260,0.000,0.164,2543,3847,3577,3753,3402,0,0,0,0,0,0,14.92,14.44,14.94
$GC,1010,-0.48,-165.5,2543,3847,3753,3402,139.2,-14.3,131,1016,0.12,1.75,0.00,0.000,3078,0.250,0.084,2570,2836,3577,3753,3402,0,0,0,0,0,0,14.53,14.67,14.71
$GC,1203,-0.48,-165.5,2570,2835,3753,3402,163.2,-11.8,151,1209,0.00,1.77,0.00,0.000,516,0.000,0.080,2570,1787,3577,3753,3402,0,0,0,0,0,0,14.96,14.68,14.97
$GC,1239,-0.48,-165.5,2570,1783,3753,3402,167.4,-11.3,158,1246,0.00,2.00,0.00,0.000,1030,0.000,0.133,2564,2857,3577,3753,3402,0,0,0,0,0,0,14.75,14.60,14.78
$GC,1426,-0.48,-165.5,2564,2857,3753,3402,190.8,-12.8,177,1431,0.00,1.88,0.00,0.000,260,0.000,0.164,2557,3844,3577,3753,3402,0,0,0,0,0,0,14.98,14.50,15.00
$GC,1509,-0.48,-165.5,2556,3844,3753,3402,201.5,-12.4,193,1514,0.00,1.73,0.00,0.000,1030,0.000,0.082,2557,2841,3577,3753,3401,0,0,0,0,0,0,14.80,14.71,14.82
$GC,1702,-0.48,-165.5,2556,2841,3753,3402,226.1,-12.8,213,1707,0.00,1.92,0.00,0.000,260,0.000,0.161,2550,3841,3577,3753,3402,0,0,0,0,0,0,14.99,14.52,15.01
$GC,1754,-0.48,-165.5,2549,3841,3753,3402,233.1,-12.9,223,1760,0.00,1.70,0.00,0.000,1030,0.000,0.082,2550,2848,3577,3753,3402,0,0,0,0,0,0,14.82,14.73,14.83
$GC,1946,-0.48,-165.5,2549,2847,3753,3402,258.9,-13.7,240,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2847,3577,3753,3402,0,0,0,0,0,0,15.01,15.03,15.02
$GC,2246,-0.48,-165.5,2549,2848,3753,3402,298.9,-13.0,255,2252,0.00,1.80,0.00,0.000,516,0.000,0.083,2550,1786,3577,3753,3402,0,0,0,0,0,0,15.03,14.75,15.05
$GC,2269,-0.48,-165.5,2549,1784,3753,3402,301.8,-12.5,259,2275,0.15,1.98,0.00,0.000,3078,0.253,0.135,2575,2848,3577,3753,3402,0,0,0,0,0,0,14.59,14.65,14.79
$GC,2592,-0.48,-165.5,2575,2849,3753,3402,336.7,-10.7,278,2597,0.00,1.90,0.00,0.000,260,0.000,0.167,2570,3847,3577,3753,3402,0,0,0,0,0,0,15.05,14.52,15.07
$GC,2664,-0.48,-165.5,2570,3848,3753,3402,344.6,-10.4,292,2671,0.00,1.73,0.00,0.000,1030,0.000,0.084,2570,2846,3577,3753,3402,0,0,0,0,0,0,14.85,14.76,14.88
$GC,2978,-0.48,-165.5,2570,2846,3753,3402,378.7,-10.9,309,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2846,3577,3753,3402,0,0,0,0,0,0,15.06,15.08,15.08
$GC,3278,-0.48,-165.5,2570,2846,3753,3402,412.8,-11.4,324,3284,0.00,1.92,0.00,0.000,260,0.000,0.164,2563,3845,3577,3753,3402,0,0,0,0,0,0,15.08,14.54,15.09
$GC,3345,-0.48,-165.5,2562,3845,3753,3402,420.7,-11.2,337,3351,0.00,1.75,0.00,0.000,1030,0.000,0.085,2563,2831,3577,3753,3402,0,0,0,0,0,0,14.87,14.77,14.90
$GC,3663,-0.48,-165.5,2562,2829,3753,3402,458.3,-11.9,355,3669,0.00,1.95,0.00,0.000,260,0.000,0.164,2555,3842,3577,3753,3402,0,0,0,0,0,0,15.08,14.55,15.09
$GC,3695,-0.48,-165.5,2555,3842,3753,3402,462.2,-12.5,361,3701,0.00,1.75,0.00,0.000,1030,0.000,0.084,2555,2826,3577,3753,3402,0,0,0,0,0,0,14.88,14.77,14.90
$GC,4008,-0.48,-165.5,2555,2825,3753,3402,498.1,-10.9,378,4013,0.00,1.98,0.00,0.000,260,0.000,0.165,2548,3845,3577,3753,3401,0,0,0,0,0,0,15.09,14.53,15.10
$GC,4050,-0.48,-165.5,2548,3844,3753,3401,502.7,-10.5,386,4055,0.00,1.75,0.00,0.000,1030,0.000,0.085,2548,2831,3577,3753,3401,0,0,0,0,0,0,14.88,14.77,14.90
$GC,4373,-0.48,-165.5,2548,2829,3753,3402,537.7,-10.8,405,4378,0.00,1.95,0.00,0.000,260,0.000,0.165,2540,3842,3577,3753,3402,0,0,0,0,0,0,15.09,14.53,15.11
$GC,4399,-0.48,-165.5,2540,3842,3753,3402,540.7,-11.4,410,4405,0.08,1.75,0.00,0.000,3078,0.188,0.086,2575,2854,3577,3753,3401,0,0,0,0,0,0,14.59,14.76,14.81
$GC,4717,-0.48,-165.5,2574,2854,3753,3402,568.6,-9.0,428,4724,0.00,1.83,0.00,0.000,516,0.000,0.083,2576,1774,3577,3753,3402,0,0,0,0,0,0,15.09,14.77,15.11
$GC,4761,-0.48,-165.5,2575,1773,3752,3402,572.3,-8.1,436,4768,0.00,2.00,0.00,0.000,1062,0.000,0.133,2569,2852,3577,3753,3402,0,0,0,0,0,0,14.83,14.64,14.88
$GC,5085,-0.48,-165.5,2569,2852,3753,3401,601.9,-9.1,455,5090,0.00,1.90,0.00,0.000,260,0.000,0.170,2562,3847,3577,3752,3402,0,0,0,0,0,0,15.10,14.47,15.11
$GC,5238,-0.48,-165.5,2562,3847,3753,3401,616.3,-9.3,485,5244,0.00,1.73,0.00,0.000,1030,0.000,0.086,2562,2845,3577,3752,3402,0,0,0,0,0,0,14.85,14.75,14.89
$GC,5551,-0.48,-165.5,2562,2844,3752,3401,647.1,-9.9,502,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2844,3577,3752,3402,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5851,-0.48,-165.5,2562,2843,3752,3402,676.0,-9.6,517,5856,0.00,1.92,0.00,0.000,260,0.000,0.168,2555,3840,3577,3752,3402,0,0,0,0,0,0,15.10,14.57,15.12
$GC,5897,-0.48,-165.5,2555,3840,3751,3402,680.7,-9.8,526,5902,0.00,1.70,0.00,0.000,1030,0.000,0.085,2555,2848,3576,3751,3402,0,0,0,0,0,0,14.90,14.80,14.92
$GC,6214,-0.48,-165.5,2555,2848,3750,3402,712.7,-10.2,544,6220,0.00,1.80,0.00,0.000,516,0.000,0.086,2555,1784,3575,3750,3401,0,0,0,0,0,0,15.10,14.79,15.12
$GC,6246,-0.48,-165.5,2554,1784,3750,3402,715.9,-9.8,550,6252,0.00,2.00,0.00,0.000,1030,0.000,0.138,2548,2859,3575,3750,3401,0,0,0,0,0,0,14.86,14.69,14.90
$GC,6559,-0.48,-165.5,2547,2859,3749,3401,750.0,-11.2,567,6564,0.00,1.88,0.00,0.000,260,0.000,0.172,2540,3842,3575,3749,3401,0,0,0,0,0,0,15.10,14.55,15.12
$GC,6621,-0.48,-165.5,2540,3842,3749,3402,757.1,-11.0,579,6627,0.15,1.70,0.00,0.000,3078,0.230,0.086,2577,2853,3575,3748,3402,0,0,0,0,0,0,14.64,14.79,14.84
$GC,6945,-0.48,-165.5,2576,2853,3749,3402,785.5,-8.6,598,6950,0.00,1.83,0.00,0.000,548,0.000,0.086,2577,1776,3575,3749,3402,0,0,0,0,0,0,15.10,14.79,15.11
$GC,6977,-0.48,-165.5,2577,1773,3749,3401,788.3,-8.4,604,6984,0.00,2.00,0.00,0.000,1062,0.000,0.136,2571,2852,3574,3748,3401,0,0,0,0,0,0,14.85,14.68,14.90
$GC,7291,-0.48,-165.5,2571,2852,3748,3401,816.3,-9.1,621,7296,0.00,1.90,0.00,0.000,260,0.000,0.173,2564,3848,3574,3748,3401,0,0,0,0,0,0,15.11,14.52,15.12
$GC,7343,-0.48,-165.5,2564,3848,3747,3402,821.1,-8.8,631,7349,0.00,1.73,0.00,0.000,1062,0.000,0.088,2564,2847,3574,3747,3401,0,0,0,0,0,0,14.89,14.78,14.92
$GC,7655,-0.48,-165.5,2564,2846,3747,3401,851.5,-9.9,648,7662,0.00,1.95,0.00,0.000,260,0.000,0.171,2556,3848,3574,3747,3402,0,0,0,0,0,0,15.11,14.52,15.12
$GC,7683,-0.48,-165.5,2556,3848,3746,3402,854.3,-10.3,653,7689,0.00,1.73,0.00,0.000,1030,0.000,0.088,2557,2850,3574,3746,3402,0,0,0,0,0,0,14.89,14.79,14.92
$GC,8000,-0.48,-165.5,2556,2850,3746,3402,886.4,-10.2,671,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2850,3573,3746,3401,0,0,0,0,0,0,15.11,15.13,15.12
$GC,8301,-0.48,-165.5,2556,2850,3745,3401,917.5,-10.5,686,8306,0.00,1.95,0.00,0.000,260,0.000,0.174,2549,3848,3573,3745,3401,0,0,0,0,0,0,15.11,14.52,15.13
$GC,8363,-0.48,-165.5,2549,3848,3744,3402,924.2,-10.3,698,8368,0.00,1.73,0.00,0.000,1030,0.000,0.088,2549,2847,3573,3744,3402,0,0,0,0,0,0,14.89,14.79,14.92
$GC,8686,-0.48,-165.5,2549,2846,3744,3401,958.7,-10.7,717,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2846,3572,3743,3401,0,0,0,0,0,0,15.11,15.13,15.13
$STATE,8984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8984,begin apogee
$GC,8988,-0.10,0.0,2549,2596,3743,3401,990.4,-10.5,732,9153,0.52,0.00,161.50,2.362,10246,0.198,0.000,2699,2595,2900,2923,2877,0,0,0,0,0,0,14.65,13.71,12.58
$STATE,9154,end apogee,CONTROL_FINISHED_OK
$STATE,9154,begin climb
$GC,9156,0.48,165.5,2699,2596,2922,2876,993.5,0.0,740,9330,0.60,2.08,166.48,2.304,10756,0.119,0.090,2889,1543,2225,2220,2231,0,0,0,0,0,0,13.78,13.35,12.28
$GC,9406,0.49,165.5,2888,1543,2218,2228,973.3,10.1,787,9413,0.00,2.10,0.00,0.000,1094,0.000,0.124,2889,2604,2222,2218,2227,0,0,0,0,0,0,13.92,13.81,13.94
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$STATE,16627,end climb,SURFACE_DEPTH_REACHED
$STATE,16627,begin surface coast
$FINISH,-0.0,1.027200
$STATE,16659,end surface coast,CONTROL_FINISHED_OK
$STATE,16659,begin surface
$SM_CCo,16674,91.45,0.869,1,0,1880,250.20
$SM_GC,0.93,7.85,0.57,91.45,0.069,0.155,0.869,169,2853,1880,-7.93,-0.37,250.20,0,0,0,0,1,0,14.64,14.50,13.47
$IRIDIUM_FIX,5923.17,-2119.84,220519,230004
$TT8_MAMPS,0.023219,0.815661
$HUMID,37.99
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.20
$XPDR_PINGS,1
$SC_FREEKB,3883808
$24V_AH,12.28,0.000
$10V_AH,12.49,18.483
$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,22.300,166.650,327.975,91.450,0.000,0.000,0.000,250.000,0.250,0.000,29.702,3304.785,10687.282,712.569,2347.015,99.143,0.000,2098.305,0.000,1975.901,0.000,0.536,0.000
$DEVICE_MAMPS,408.510,174.420,2361.555,869.040,0.000,0.000,0.000,198.135,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7530.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.738,0.000,0.000,0.000
$MEM,304328
$DATA_FILE_SIZE,49898,1384
$CAP_FILE_SIZE,169366,0
$CFSIZE,2097872896,2088665088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.141,73.25,1
$GPS,230519,083122,5927.312,-2125.429,41,0.9,44,-12.6,0.8,46.2,10,9.6