version: 66.13
glider: 527
mission: 5
dive: 40
start: 5 23 119 18 33 21
data:
$ID,527
$MISSION,5
$DIVE,40
$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,23
$R_STBD_OVSHOOT,18
$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
$GPS1,230519,182217,5932.3169,-2126.1958,37,1.7,54,-12.6,0.7,5.4,7,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.1
$GPS2,230519,183241,5932.3652,-2126.2361,10,1.0,21,-12.6,0.0,72.8,11,9.9
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,N
$TGT_LATLONG,5940.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,1.3,14158,-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,19,-0.48,-165.5,122,2868,1834,1909,0.0,0.0,0,112,0.00,0.00,-86.38,0.008,16390,0.000,0.000,119,2868,3577,3752,3403,0,0,0,0,0,0,14.60,13.61,14.62
$GC,114,-0.48,-165.5,120,2868,3752,3403,4.4,-7.4,9,131,12.18,1.95,0.00,0.000,2340,0.405,0.144,2557,3843,3578,3752,3404,0,0,0,0,0,0,14.12,14.24,14.33
$GC,278,-0.48,-165.5,2557,3844,3753,3404,38.8,-13.2,41,284,0.00,1.75,0.00,0.000,1030,0.000,0.089,2557,2853,3578,3753,3404,0,0,0,0,0,0,14.57,14.49,14.59
$GC,471,-0.48,-165.5,2556,2853,3753,3404,64.8,-13.3,61,477,0.00,1.92,0.00,0.000,260,0.000,0.161,2550,3841,3578,3753,3403,0,0,0,0,0,0,14.83,14.39,14.84
$GC,514,-0.48,-165.5,2550,3841,3753,3404,70.6,-13.4,69,520,0.00,1.73,0.00,0.000,1030,0.000,0.080,2550,2843,3578,3753,3404,0,0,0,0,0,0,14.66,14.59,14.69
$GC,707,-0.48,-165.5,2549,2843,3753,3404,96.0,-13.1,89,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2843,3578,3752,3404,0,0,0,0,0,0,14.88,14.90,14.90
$GC,886,-0.48,-165.5,2549,2843,3752,3403,119.8,-13.4,107,892,0.00,1.92,0.00,0.000,260,0.000,0.158,2542,3843,3578,3753,3403,0,0,0,0,0,0,14.92,14.46,14.93
$GC,920,-0.48,-165.5,2542,3843,3753,3404,124.2,-14.3,113,926,0.12,1.73,0.00,0.000,3078,0.250,0.081,2570,2839,3578,3753,3404,0,0,0,0,0,0,14.52,14.67,14.70
$GC,1114,-0.48,-165.5,2569,2839,3753,3404,146.4,-11.1,133,1119,0.00,1.92,0.00,0.000,260,0.000,0.158,2564,3841,3578,3753,3404,0,0,0,0,0,0,14.95,14.50,14.96
$GC,1170,-0.48,-165.5,2564,3841,3753,3404,152.8,-10.6,144,1178,0.00,1.70,0.00,0.000,1030,0.000,0.080,2564,2849,3578,3753,3404,0,0,0,0,0,0,14.77,14.69,14.79
$GC,1356,-0.48,-165.5,2564,2848,3752,3404,174.0,-11.8,163,1361,0.00,1.90,0.00,0.000,260,0.000,0.158,2556,3837,3578,3753,3404,0,0,0,0,0,0,14.97,14.53,14.99
$GC,1388,-0.48,-165.5,2557,3838,3753,3404,177.9,-12.2,169,1394,0.00,1.70,0.00,0.000,1030,0.000,0.082,2557,2847,3578,3753,3404,0,0,0,0,0,0,14.79,14.71,14.81
$GC,1581,-0.48,-165.5,2557,2847,3753,3404,201.7,-12.8,189,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2847,3578,3753,3404,0,0,0,0,0,0,14.98,15.01,15.00
$GC,1762,-0.48,-165.5,2556,2846,3753,3404,224.6,-12.6,207,1767,0.00,1.90,0.00,0.000,260,0.000,0.158,2550,3837,3578,3753,3404,0,0,0,0,0,0,15.00,14.55,15.02
$GC,1799,-0.48,-165.5,2549,3837,3753,3404,229.5,-13.1,214,1805,0.00,1.70,0.00,0.000,1030,0.000,0.081,2550,2846,3578,3753,3404,0,0,0,0,0,0,14.83,14.74,14.84
$GC,1984,-0.48,-165.5,2549,2845,3753,3404,253.6,-13.1,232,1991,0.00,1.92,0.00,0.000,260,0.000,0.158,2542,3840,3578,3753,3404,0,0,0,0,0,0,15.01,14.55,15.03
$GC,2007,-0.48,-165.5,2542,3839,3753,3404,256.8,-13.7,236,2014,0.12,1.70,0.00,0.000,3078,0.249,0.082,2570,2847,3578,3753,3404,0,0,0,0,0,0,14.60,14.75,14.78
$GC,2331,-0.48,-165.5,2570,2847,3753,3404,292.9,-11.0,255,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2847,3578,3753,3404,0,0,0,0,0,0,15.03,15.05,15.05
$GC,2631,-0.48,-165.5,2570,2847,3753,3404,326.1,-11.0,270,2636,0.00,1.90,0.00,0.000,260,0.000,0.161,2565,3838,3578,3753,3404,0,0,0,0,0,0,15.05,14.59,15.07
$GC,2693,-0.48,-165.5,2564,3838,3753,3404,332.8,-10.4,282,2698,0.00,1.70,0.00,0.000,1030,0.000,0.083,2565,2845,3578,3753,3404,0,0,0,0,0,0,14.87,14.78,14.88
$GC,3015,-0.48,-165.5,2565,2845,3753,3404,368.1,-11.0,301,3021,0.00,1.90,0.00,0.000,260,0.000,0.161,2558,3837,3578,3753,3404,0,0,0,0,0,0,15.07,14.60,15.08
$GC,3058,-0.48,-165.5,2557,3837,3752,3404,372.8,-10.9,309,3064,0.00,1.70,0.00,0.000,1030,0.000,0.083,2558,2843,3578,3753,3404,0,0,0,0,0,0,14.87,14.78,14.90
$GC,3380,-0.48,-165.5,2557,2843,3753,3404,408.8,-11.2,328,3386,0.00,1.90,0.00,0.000,260,0.000,0.161,2550,3837,3578,3753,3403,0,0,0,0,0,0,15.07,14.61,15.09
$GC,3397,-0.48,-165.5,2550,3837,3753,3404,410.8,-11.1,331,3404,0.00,1.70,0.00,0.000,1030,0.000,0.085,2550,2847,3578,3753,3404,0,0,0,0,0,0,14.88,14.79,14.90
$GC,3703,-0.48,-165.5,2550,2847,3753,3403,447.0,-11.9,347,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2847,3578,3752,3404,0,0,0,0,0,0,15.08,15.10,15.10
$GC,4003,-0.48,-165.5,2550,2847,3753,3404,482.3,-11.9,362,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2847,3577,3752,3403,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4304,-0.48,-165.5,2550,2847,3752,3403,516.6,-11.5,377,4309,0.00,1.90,0.00,0.000,260,0.000,0.163,2543,3837,3578,3752,3404,0,0,0,0,0,0,15.10,14.62,15.11
$GC,4360,-0.48,-165.5,2543,3837,3752,3404,523.3,-11.2,388,4368,0.12,1.70,0.00,0.000,3078,0.243,0.085,2572,2847,3578,3752,3404,0,0,0,0,0,0,14.67,14.82,14.85
$GC,4666,-0.48,-165.5,2571,2847,3752,3403,553.4,-9.9,404,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2847,3577,3751,3404,0,0,0,0,0,0,15.10,15.12,15.11
$GC,4966,-0.48,-165.5,2572,2847,3752,3403,582.0,-9.4,419,4971,0.00,1.80,0.00,0.000,516,0.000,0.083,2572,1782,3577,3751,3403,0,0,0,0,0,0,15.10,14.81,15.12
$GC,4999,-0.48,-165.5,2572,1779,3752,3403,584.9,-8.8,425,5005,0.00,1.98,0.00,0.000,1062,0.000,0.135,2568,2848,3577,3752,3403,0,0,0,0,0,0,14.88,14.71,14.91
$GC,5312,-0.48,-165.5,2566,2849,3750,3403,615.9,-10.1,442,5317,0.00,1.90,0.00,0.000,260,0.000,0.169,2559,3850,3576,3750,3403,0,0,0,0,0,0,15.11,14.58,15.13
$GC,5363,-0.48,-165.5,2559,3850,3749,3404,621.3,-10.3,452,5370,0.00,1.73,0.00,0.000,1030,0.000,0.087,2559,2849,3576,3749,3404,0,0,0,0,0,0,14.90,14.81,14.93
$GC,5677,-0.48,-165.5,2559,2848,3749,3403,655.2,-10.9,469,5682,0.00,1.92,0.00,0.000,260,0.000,0.168,2552,3846,3576,3749,3403,0,0,0,0,0,0,15.11,14.59,15.12
$GC,5713,-0.48,-165.5,2551,3846,3748,3404,659.4,-11.2,476,5721,0.00,1.73,0.00,0.000,1030,0.000,0.088,2552,2845,3576,3748,3404,0,0,0,0,0,0,14.90,14.81,14.93
$GC,6019,-0.48,-165.5,2551,2844,3747,3404,694.3,-11.6,492,6025,0.00,1.92,0.00,0.000,260,0.000,0.169,2544,3842,3575,3747,3404,0,0,0,0,0,0,15.11,14.59,15.12
$GC,6082,-0.48,-165.5,2544,3842,3746,3404,701.8,-11.4,504,6089,0.12,1.73,0.00,0.000,3078,0.237,0.086,2573,2841,3575,3746,3404,0,0,0,0,0,0,14.67,14.81,14.85
$GC,6406,-0.48,-165.5,2572,2840,3746,3404,732.5,-9.3,523,6411,0.00,1.80,0.00,0.000,516,0.000,0.086,2573,1778,3575,3746,3404,0,0,0,0,0,0,15.10,14.80,15.12
$GC,6432,-0.48,-165.5,2573,1775,3746,3404,735.0,-9.4,528,6438,0.00,2.00,0.00,0.000,1030,0.000,0.137,2568,2851,3575,3746,3404,0,0,0,0,0,0,14.88,14.71,14.90
$GC,6750,-0.48,-165.5,2567,2851,3746,3403,765.5,-9.7,546,6755,0.00,1.90,0.00,0.000,260,0.000,0.171,2560,3848,3575,3746,3404,0,0,0,0,0,0,15.11,14.57,15.12
$GC,6822,-0.48,-165.5,2560,3848,3745,3404,772.5,-9.5,560,6829,0.00,1.73,0.00,0.000,1030,0.000,0.087,2561,2849,3574,3745,3404,0,0,0,0,0,0,14.90,14.81,14.92
$GC,7136,-0.48,-165.5,2560,2849,3745,3403,803.7,-9.9,577,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2849,3574,3745,3403,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7435,-0.48,-165.5,2560,2849,3744,3404,833.4,-9.9,592,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2848,3573,3744,3403,0,0,0,0,0,0,15.11,15.13,15.13
$GC,7735,-0.48,-165.5,2560,2848,3743,3403,863.6,-10.1,607,7741,0.00,1.95,0.00,0.000,260,0.000,0.175,2553,3850,3573,3743,3404,0,0,0,0,0,0,15.11,14.57,15.14
$GC,7788,-0.48,-165.5,2553,3850,3742,3403,869.2,-10.5,617,7793,0.00,1.73,0.00,0.000,1030,0.000,0.089,2553,2853,3572,3742,3403,0,0,0,0,0,0,14.91,14.81,14.93
$GC,8100,-0.48,-165.5,2553,2853,3742,3404,902.8,-10.8,634,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2853,3572,3742,3403,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8400,-0.48,-165.5,2553,2853,3742,3404,934.7,-10.7,649,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2853,3573,3742,3404,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8700,-0.48,-165.5,2553,2853,3741,3403,966.5,-10.7,664,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2853,3572,3741,3403,0,0,0,0,0,0,15.12,15.14,15.14
$STATE,8919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8919,begin apogee
$GC,8923,-0.10,0.0,2554,2588,3741,3403,990.3,-10.6,675,9087,0.50,0.00,160.90,2.363,10246,0.197,0.000,2696,2588,2900,2923,2877,0,0,0,0,0,0,14.68,13.62,12.49
$STATE,9088,end apogee,CONTROL_FINISHED_OK
$STATE,9088,begin climb
$GC,9089,0.48,165.5,2696,2587,2923,2876,994.4,0.0,683,9266,0.62,2.10,167.30,2.303,10756,0.119,0.091,2892,1536,2225,2219,2232,0,0,0,0,0,0,13.71,13.35,12.24
$GC,9333,0.48,165.5,2892,1537,2218,2230,975.7,10.9,726,9340,0.00,2.12,0.00,0.000,1030,0.000,0.125,2892,2603,2223,2218,2229,0,0,0,0,0,0,13.88,13.77,13.91
$GC,9638,0.48,165.5,2892,2603,2218,2223,939.1,12.2,742,9643,0.00,2.05,0.00,0.000,260,0.000,0.160,2892,3661,2220,2218,2223,0,0,0,0,0,0,14.53,14.24,14.55
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$STATE,17010,end climb,SURFACE_DEPTH_REACHED
$STATE,17010,begin surface coast
$FINISH,0.1,1.027033
$STATE,17032,end surface coast,CONTROL_FINISHED_OK
$STATE,17032,begin surface
$SM_CCo,17047,91.80,0.863,1,0,1880,250.20
$SM_GC,0.92,7.90,0.55,91.80,0.070,0.144,0.863,165,2852,1880,-7.93,-0.45,250.20,0,0,0,0,1,0,14.60,14.42,13.41
$IRIDIUM_FIX,5927.72,-2122.92,230519,133025
$TT8_MAMPS,0.023219,0.811916
$HUMID,37.83
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.30
$XPDR_PINGS,1
$SC_FREEKB,3882560
$24V_AH,12.24,0.000
$10V_AH,12.69,19.535
$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,22.325,144.325,328.200,91.800,0.000,0.000,0.000,499.150,0.250,0.000,30.265,3205.065,11282.856,684.863,2496.006,106.361,0.000,2274.569,0.000,1880.129,0.000,0.536,0.000
$DEVICE_MAMPS,405.450,175.185,2363.085,862.920,0.000,0.000,0.000,204.255,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7967.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.716,0.000,0.000,0.000
$MEM,304296
$DATA_FILE_SIZE,46636,1316
$CAP_FILE_SIZE,164888,0
$CFSIZE,2097872896,2088075264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.029,354.01,1
$GPS,230519,232040,5934.979,-2127.090,48,0.8,58,-12.7,0.6,340.2,10,9.9