version: 66.13
glider: 527
mission: 5
dive: 49
start: 5 25 119 14 13 43
data:
$ID,527
$MISSION,5
$DIVE,49
$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,33
$R_STBD_OVSHOOT,13
$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
$GPS1,250519,140615,5930.4263,-2128.4370,31,0.8,46,-12.6,0.0,35.0,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-72.9
$GPS2,250519,141302,5930.4990,-2128.4629,13,0.9,29,-12.6,0.0,356.2,9,9.3
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S
$TGT_LATLONG,5920.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,185.2,19493,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.48,-165.5,86,2866,1836,1907,0.0,0.0,0,102,0.00,0.00,-84.38,0.008,16390,0.000,0.000,80,2866,3575,3753,3397,0,0,0,0,0,0,14.62,12.93,14.63
$GC,104,-0.48,-165.5,80,2866,3752,3397,5.9,-11.2,9,120,12.55,0.00,0.00,0.000,2822,0.402,0.000,2567,2866,3575,3753,3397,0,0,0,0,0,0,13.99,14.40,14.34
$GC,306,-0.48,-165.5,2567,2866,3754,3396,43.9,-12.8,31,312,0.00,1.90,0.00,0.000,516,0.000,0.091,2567,1799,3575,3754,3397,0,0,0,0,0,0,14.75,14.44,14.76
$GC,329,-0.48,-165.5,2567,1795,3754,3397,46.6,-12.4,35,334,0.00,2.03,0.00,0.000,1030,0.000,0.141,2561,2848,3575,3754,3397,0,0,0,0,0,0,14.52,14.34,14.56
$GC,521,-0.48,-165.5,2561,2848,3754,3397,72.2,-13.1,55,527,0.00,1.95,0.00,0.000,260,0.000,0.167,2553,3846,3575,3754,3397,0,0,0,0,0,0,14.80,14.20,14.81
$GC,608,-0.48,-165.5,2554,3845,3754,3397,82.9,-11.2,72,615,0.00,1.75,0.00,0.000,1030,0.000,0.089,2554,2863,3574,3753,3396,0,0,0,0,0,0,14.61,14.50,14.64
$GC,794,-0.48,-165.5,2553,2863,3753,3397,107.0,-13.4,91,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2862,3575,3753,3397,0,0,0,0,0,0,14.83,14.85,14.84
$GC,974,-0.48,-165.5,2553,2862,3754,3397,131.8,-14.0,109,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2863,3575,3753,3397,0,0,0,0,0,0,14.83,14.86,14.85
$GC,1154,-0.48,-165.5,2552,2862,3753,3397,156.6,-13.5,127,1159,0.00,1.95,0.00,0.000,260,0.000,0.164,2546,3848,3575,3754,3397,0,0,0,0,0,0,14.85,14.21,14.86
$GC,1220,-0.48,-165.5,2546,3848,3753,3397,165.7,-13.2,140,1228,0.00,1.77,0.00,0.000,1030,0.000,0.090,2546,2846,3575,3753,3397,0,0,0,0,0,0,14.64,14.54,14.67
$GC,1406,-0.48,-165.5,2546,2845,3753,3397,191.3,-13.8,159,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2846,3575,3754,3397,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1587,-0.48,-165.5,2546,2846,3754,3397,216.3,-13.8,177,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2846,3575,3753,3397,0,0,0,0,0,0,14.90,14.92,14.91
$GC,1766,-0.48,-165.5,2546,2846,3753,3397,241.6,-14.1,195,1772,0.00,1.98,0.00,0.000,260,0.000,0.164,2538,3846,3575,3753,3397,0,0,0,0,0,0,14.91,14.28,14.92
$GC,1793,-0.48,-165.5,2538,3846,3754,3397,245.5,-13.2,200,1801,0.15,1.77,0.00,0.000,3078,0.233,0.091,2573,2843,3575,3753,3397,0,0,0,0,0,0,14.44,14.61,14.64
$GC,1978,-0.48,-165.5,2573,2843,3753,3397,266.9,-11.6,212,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2843,3574,3753,3396,0,0,0,0,0,0,14.90,14.92,14.91
$GC,2278,-0.48,-165.5,2573,2843,3753,3397,301.5,-11.2,227,2284,0.00,1.98,0.00,0.000,260,0.000,0.167,2568,3845,3575,3753,3397,0,0,0,0,0,0,14.94,14.35,14.95
$GC,2315,-0.48,-165.5,2567,3846,3754,3397,305.7,-11.2,234,2322,0.00,1.77,0.00,0.000,1030,0.000,0.091,2568,2843,3575,3753,3397,0,0,0,0,0,0,14.66,14.56,14.68
$GC,2621,-0.48,-165.5,2568,2842,3753,3397,339.6,-11.1,250,2626,0.00,1.98,0.00,0.000,260,0.000,0.166,2560,3847,3575,3753,3397,0,0,0,0,0,0,14.95,14.35,14.97
$GC,2652,-0.48,-165.5,2560,3847,3753,3397,343.3,-11.8,256,2659,0.00,1.77,0.00,0.000,1030,0.000,0.091,2560,2842,3575,3753,3397,0,0,0,0,0,0,14.75,14.64,14.78
$GC,2966,-0.48,-165.5,2560,2841,3753,3396,379.2,-11.6,273,2972,0.00,1.98,0.00,0.000,260,0.000,0.166,2553,3845,3575,3753,3397,0,0,0,0,0,0,14.97,14.38,14.99
$GC,3018,-0.48,-165.5,2553,3845,3753,3397,385.4,-11.5,283,3023,0.00,1.75,0.00,0.000,1030,0.000,0.090,2553,2850,3575,3753,3397,0,0,0,0,0,0,14.77,14.66,14.79
$GC,3330,-0.48,-165.5,2553,2850,3753,3397,421.7,-11.8,300,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2849,3575,3753,3397,0,0,0,0,0,0,14.97,14.99,14.99
$GC,3630,-0.48,-165.5,2552,2850,3753,3397,456.6,-11.5,315,3636,0.00,1.95,0.00,0.000,260,0.000,0.169,2545,3848,3575,3753,3397,0,0,0,0,0,0,14.97,14.42,15.00
$GC,3656,-0.48,-165.5,2545,3848,3753,3397,459.8,-11.6,320,3662,0.00,1.77,0.00,0.000,1030,0.000,0.093,2546,2848,3575,3753,3397,0,0,0,0,0,0,14.79,14.69,14.81
$GC,3974,-0.48,-165.5,2545,2847,3753,3397,498.9,-12.5,338,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2847,3575,3753,3397,0,0,0,0,0,0,14.97,14.98,14.98
$GC,4275,-0.48,-165.5,2545,2847,3753,3397,535.4,-12.0,353,4280,0.00,1.98,0.00,0.000,260,0.000,0.171,2538,3850,3575,3753,3397,0,0,0,0,0,0,14.99,14.38,15.01
$GC,4326,-0.48,-165.5,2538,3850,3753,3397,541.9,-12.2,363,4333,0.15,1.77,0.00,0.000,3078,0.230,0.093,2573,2843,3575,3753,3397,0,0,0,0,0,0,14.53,14.69,14.73
$GC,4639,-0.48,-165.5,2573,2843,3753,3397,573.1,-10.0,380,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2843,3575,3753,3397,0,0,0,0,0,0,14.99,15.01,15.00
$GC,4939,-0.48,-165.5,2573,2843,3753,3397,601.5,-9.4,395,4945,0.00,1.83,0.00,0.000,516,0.000,0.090,2574,1790,3575,3753,3397,0,0,0,0,0,0,15.00,14.66,15.01
$GC,4966,-0.48,-165.5,2573,1786,3753,3397,603.9,-9.7,400,4973,0.00,2.03,0.00,0.000,1030,0.000,0.140,2568,2858,3575,3753,3397,0,0,0,0,0,0,14.75,14.57,14.79
$GC,5284,-0.48,-165.5,2568,2858,3753,3397,634.1,-9.6,418,5290,0.00,1.92,0.00,0.000,260,0.000,0.174,2561,3848,3575,3753,3397,0,0,0,0,0,0,14.97,14.37,15.00
$GC,5342,-0.48,-165.5,2561,3848,3753,3397,639.7,-8.3,429,5349,0.00,1.77,0.00,0.000,1062,0.000,0.093,2560,2843,3575,3753,3397,0,0,0,0,0,0,14.77,14.66,14.80
$GC,5647,-0.48,-165.5,2560,2841,3752,3397,670.2,-10.2,445,5653,0.00,1.98,0.00,0.000,260,0.000,0.173,2553,3843,3574,3752,3397,0,0,0,0,0,0,15.00,14.43,15.01
$GC,5690,-0.48,-165.5,2553,3843,3752,3397,674.8,-10.4,453,5696,0.00,1.75,0.00,0.000,1030,0.000,0.092,2553,2848,3574,3752,3397,0,0,0,0,0,0,14.78,14.67,14.81
$GC,6013,-0.48,-165.5,2553,2848,3752,3397,709.8,-11.1,472,6019,0.00,1.85,0.00,0.000,516,0.000,0.091,2553,1779,3574,3752,3397,0,0,0,0,0,0,15.00,14.67,15.01
$GC,6041,-0.48,-165.5,2553,1778,3752,3397,712.9,-11.0,477,6047,0.12,2.05,0.00,0.000,3078,0.249,0.144,2571,2858,3574,3752,3397,0,0,0,0,0,0,14.52,14.57,14.73
$GC,6359,-0.48,-165.5,2571,2858,3751,3397,743.4,-9.3,495,6364,0.00,1.92,0.00,0.000,260,0.000,0.176,2566,3847,3574,3751,3397,0,0,0,0,0,0,15.00,14.39,15.01
$GC,6405,-0.48,-165.5,2566,3847,3749,3397,747.8,-9.3,504,6411,0.00,1.77,0.00,0.000,1030,0.000,0.095,2567,2842,3573,3749,3397,0,0,0,0,0,0,14.78,14.68,14.81
$GC,6723,-0.48,-165.5,2566,2840,3749,3397,777.2,-8.9,522,6725,0.00,0.00,0.00,0.000,38,0.000,0.000,2567,2840,3573,3749,3397,0,0,0,0,0,0,14.99,15.01,15.01
$GC,7023,-0.48,-165.5,2566,2840,3749,3397,804.5,-9.0,537,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2840,3572,3748,3397,0,0,0,0,0,0,14.98,15.00,15.00
$GC,7323,-0.48,-165.5,2566,2840,3748,3397,832.1,-9.2,552,7329,0.00,2.00,0.00,0.000,260,0.000,0.175,2560,3846,3572,3747,3397,0,0,0,0,0,0,14.97,14.36,15.00
$GC,7386,-0.48,-165.5,2559,3846,3747,3397,837.9,-9.3,564,7393,0.00,1.77,0.00,0.000,1030,0.000,0.094,2560,2842,3572,3747,3397,0,0,0,0,0,0,14.77,14.66,14.80
$GC,7709,-0.48,-165.5,2559,2841,3747,3397,868.4,-9.6,583,7715,0.00,1.85,0.00,0.000,516,0.000,0.091,2559,1786,3572,3747,3397,0,0,0,0,0,0,15.00,14.63,15.01
$GC,7736,-0.48,-165.5,2559,1784,3746,3397,871.0,-9.2,588,7743,0.00,2.05,0.00,0.000,1030,0.000,0.143,2552,2857,3572,3747,3397,0,0,0,0,0,0,14.71,14.50,14.76
$GC,8054,-0.48,-165.5,2552,2857,3746,3397,902.8,-10.3,606,8060,0.00,1.92,0.00,0.000,260,0.000,0.177,2545,3841,3571,3746,3397,0,0,0,0,0,0,15.00,14.31,15.01
$GC,8106,-0.48,-165.5,2544,3841,3745,3397,908.4,-10.6,616,8113,0.12,1.75,0.00,0.000,3078,0.233,0.092,2573,2851,3571,3745,3397,0,0,0,0,0,0,14.48,14.64,14.69
$GC,8421,-0.48,-165.5,2572,2850,3744,3397,935.6,-8.6,633,8422,0.00,0.00,0.00,0.000,38,0.000,0.000,2573,2850,3571,3745,3397,0,0,0,0,0,0,15.00,15.01,15.01
$GC,8720,-0.48,-165.5,2572,2850,3745,3397,960.4,-8.2,648,8721,0.00,0.00,0.00,0.000,38,0.000,0.000,2572,2850,3570,3744,3397,0,0,0,0,0,0,15.00,15.02,15.02
$GC,9020,-0.48,-165.5,2572,2850,3744,3397,984.3,-7.9,663,9021,0.00,0.00,0.00,0.000,38,0.000,0.000,2573,2850,3570,3744,3397,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,9098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9098,begin apogee
$GC,9102,-0.10,0.0,2573,2591,3744,3396,990.7,-8.0,667,9266,0.43,0.00,160.65,2.355,10246,0.185,0.000,2696,2591,2900,2924,2877,0,0,0,0,0,0,14.53,13.68,12.57
$STATE,9268,end apogee,CONTROL_FINISHED_OK
$STATE,9268,begin climb
$GC,9269,0.48,165.5,2696,2591,2923,2876,993.7,0.0,675,9446,0.62,2.12,167.48,2.300,10756,0.119,0.092,2893,1538,2225,2218,2233,0,0,0,0,0,0,13.74,13.33,12.23
$GC,9519,0.48,165.5,2893,1539,2218,2232,970.2,12.4,723,9524,0.00,2.12,0.00,0.000,1030,0.000,0.125,2893,2604,2224,2218,2231,0,0,0,0,0,0,13.90,13.78,13.93
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$STATE,16927,end climb,SURFACE_DEPTH_REACHED
$STATE,16927,begin surface coast
$FINISH,1.7,1.027021
$STATE,16933,end surface coast,CONTROL_FINISHED_OK
$STATE,16933,begin surface
$SM_CCo,16949,79.95,0.828,1,0,1879,250.20
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$IRIDIUM_FIX,5931.62,-2152.81,250519,090948
$TT8_MAMPS,0.023219,0.889812
$HUMID,38.38
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.20
$XPDR_PINGS,1
$SC_FREEKB,3879104
$24V_AH,12.23,0.000
$10V_AH,12.27,22.659
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16943.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.162,0.000,0.000,0.000
$MEM,304340
$DATA_FILE_SIZE,46594,1307
$CAP_FILE_SIZE,163648,0
$CFSIZE,2097872896,2086338560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.107,349.68,1
$GPS,250519,190011,5929.021,-2128.469,106,1.0,117,-12.6,0.8,58.6,9,9.6