version: 66.13
glider: 527
mission: 5
dive: 50
start: 5 25 119 19 7 48
data:
$ID,527
$MISSION,5
$DIVE,50
$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,20
$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
$GPS1,250519,190011,5929.0205,-2128.4690,106,1.0,117,-12.6,0.8,58.6,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-76.3
$GPS2,250519,190707,5929.0776,-2128.5276,8,1.0,21,-12.6,0.0,9.7,10,8.7
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S
$TGT_LATLONG,5920.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,185.7,16874,-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,8,begin dive
$GC,10,-0.48,-165.5,85,2871,1833,1910,0.0,0.0,0,103,0.00,0.00,-86.15,0.008,16390,0.000,0.000,75,2871,3576,3748,3405,0,0,0,0,0,0,14.62,12.93,14.63
$GC,105,-0.48,-165.5,75,2871,3748,3405,5.0,-9.0,9,124,12.52,1.90,0.00,0.000,2340,0.408,0.135,2559,3837,3577,3749,3405,0,0,0,0,0,0,14.07,14.22,14.38
$GC,136,-0.48,-165.5,2559,3837,3750,3405,17.8,-39.5,14,141,0.00,1.77,0.00,0.000,1030,0.000,0.090,2559,2852,3577,3750,3405,0,0,0,0,0,0,14.43,14.35,14.45
$GC,328,-0.48,-165.5,2559,2845,3750,3405,45.1,-13.8,34,333,0.00,1.98,0.00,0.000,260,0.000,0.162,2553,3841,3578,3751,3405,0,0,0,0,0,0,14.73,14.24,14.74
$GC,360,-0.48,-165.5,2552,3841,3750,3405,49.9,-15.4,40,366,0.00,1.77,0.00,0.000,1030,0.000,0.086,2552,2840,3577,3750,3405,0,0,0,0,0,0,14.55,14.46,14.57
$GC,553,-0.48,-165.5,2552,2840,3750,3405,77.2,-13.8,60,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2840,3577,3750,3405,0,0,0,0,0,0,14.78,14.81,14.81
$GC,733,-0.48,-165.5,2552,2840,3750,3405,102.5,-13.9,78,739,0.00,1.98,0.00,0.000,260,0.000,0.162,2545,3842,3577,3750,3405,0,0,0,0,0,0,14.81,14.29,14.83
$GC,770,-0.48,-165.5,2545,3842,3750,3405,107.5,-14.1,85,778,0.12,1.75,0.00,0.000,3078,0.244,0.086,2572,2849,3577,3750,3405,0,0,0,0,0,0,14.38,14.53,14.58
$GC,956,-0.48,-165.5,2571,2849,3751,3405,129.6,-11.8,104,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2849,3577,3750,3405,0,0,0,0,0,0,14.84,14.85,14.85
$GC,1135,-0.48,-165.5,2571,2849,3751,3405,150.8,-11.7,122,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2849,3578,3751,3405,0,0,0,0,0,0,14.85,14.88,14.87
$GC,1315,-0.48,-165.5,2571,2849,3751,3405,171.9,-12.4,140,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2849,3577,3750,3405,0,0,0,0,0,0,14.88,14.90,14.89
$GC,1495,-0.48,-165.5,2571,2849,3750,3405,193.8,-12.2,158,1501,0.00,1.95,0.00,0.000,260,0.000,0.164,2567,3836,3577,3750,3405,0,0,0,0,0,0,14.87,14.28,14.89
$GC,1533,-0.48,-165.5,2566,3836,3750,3405,198.6,-12.2,165,1540,0.00,1.75,0.00,0.000,1030,0.000,0.089,2567,2844,3577,3750,3405,0,0,0,0,0,0,14.68,14.58,14.71
$GC,1718,-0.48,-165.5,2566,2844,3750,3405,221.3,-12.7,184,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2844,3578,3751,3405,0,0,0,0,0,0,14.89,14.91,14.91
$GC,1898,-0.48,-165.5,2567,2844,3750,3405,244.5,-12.8,202,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2844,3577,3750,3405,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2088,-0.48,-165.5,2567,2844,3750,3405,268.1,-12.3,214,2093,0.00,1.95,0.00,0.000,260,0.000,0.164,2559,3835,3578,3751,3405,0,0,0,0,0,0,14.92,14.37,14.94
$GC,2125,-0.48,-165.5,2559,3835,3750,3405,272.7,-12.0,221,2132,0.00,1.75,0.00,0.000,1030,0.000,0.089,2559,2843,3577,3750,3405,0,0,0,0,0,0,14.64,14.54,14.66
$GC,2431,-0.48,-165.5,2559,2842,3750,3405,310.3,-12.3,237,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2843,3577,3750,3405,0,0,0,0,0,0,14.93,14.95,14.95
$GC,2730,-0.48,-165.5,2559,2843,3750,3405,345.9,-11.5,252,2737,0.00,1.95,0.00,0.000,260,0.000,0.166,2552,3836,3577,3750,3405,0,0,0,0,0,0,14.95,14.42,14.97
$GC,2783,-0.48,-165.5,2552,3836,3750,3405,351.9,-11.0,262,2788,0.00,1.75,0.00,0.000,1030,0.000,0.090,2552,2841,3577,3750,3405,0,0,0,0,0,0,14.76,14.65,14.78
$GC,3095,-0.48,-165.5,2552,2839,3750,3405,388.0,-11.8,279,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2839,3577,3750,3405,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3395,-0.48,-165.5,2551,2839,3750,3405,424.4,-12.1,294,3401,0.00,1.83,0.00,0.000,516,0.000,0.087,2552,1785,3577,3750,3405,0,0,0,0,0,0,14.96,14.60,14.97
$GC,3432,-0.48,-165.5,2551,1781,3750,3405,428.9,-10.9,301,3440,0.12,2.03,0.00,0.000,3078,0.254,0.143,2570,2847,3577,3750,3405,0,0,0,0,0,0,14.47,14.53,14.69
$GC,3738,-0.48,-165.5,2570,2847,3750,3405,460.7,-10.6,317,3743,0.00,1.92,0.00,0.000,260,0.000,0.171,2565,3842,3577,3750,3405,0,0,0,0,0,0,14.97,14.37,14.99
$GC,3774,-0.48,-165.5,2565,3842,3749,3405,464.7,-10.7,324,3782,0.00,1.75,0.00,0.000,1030,0.000,0.092,2565,2850,3577,3749,3405,0,0,0,0,0,0,14.75,14.64,14.78
$GC,4080,-0.48,-165.5,2564,2850,3749,3404,497.7,-10.7,340,4087,0.00,1.95,0.00,0.000,260,0.000,0.170,2557,3843,3577,3749,3405,0,0,0,0,0,0,14.97,14.32,14.99
$GC,4123,-0.48,-165.5,2557,3843,3749,3405,502.4,-10.8,348,4130,0.00,1.75,0.00,0.000,1030,0.000,0.092,2557,2850,3577,3749,3405,0,0,0,0,0,0,14.73,14.62,14.77
$GC,4447,-0.48,-165.5,2557,2850,3748,3405,538.1,-11.2,367,4452,0.00,1.85,0.00,0.000,516,0.000,0.088,2557,1780,3576,3748,3405,0,0,0,0,0,0,14.98,14.64,15.00
$GC,4483,-0.48,-165.5,2557,1775,3748,3405,542.1,-10.4,374,4490,0.00,2.05,0.00,0.000,1030,0.000,0.141,2549,2859,3577,3749,3405,0,0,0,0,0,0,14.73,14.54,14.77
$GC,4789,-0.48,-165.5,2549,2859,3748,3405,577.1,-11.4,390,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2859,3576,3748,3405,0,0,0,0,0,0,14.99,15.00,15.00
$GC,5090,-0.48,-165.5,2549,2858,3748,3405,611.6,-11.5,405,5095,0.00,1.92,0.00,0.000,260,0.000,0.174,2542,3849,3576,3748,3405,0,0,0,0,0,0,15.00,14.34,15.01
$GC,5146,-0.48,-165.5,2541,3849,3747,3405,618.3,-10.5,416,5154,0.15,1.77,0.00,0.000,3078,0.230,0.094,2577,2847,3576,3747,3405,0,0,0,0,0,0,14.50,14.66,14.71
$GC,5452,-0.48,-165.5,2577,2846,3747,3405,645.7,-8.8,432,5454,0.00,0.00,0.00,0.000,38,0.000,0.000,2577,2847,3576,3747,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5752,-0.48,-165.5,2577,2845,3746,3405,672.5,-8.9,447,5754,0.00,0.00,0.00,0.000,38,0.000,0.000,2577,2845,3575,3746,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6052,-0.48,-165.5,2577,2845,3746,3405,699.7,-8.8,462,6054,0.00,0.00,0.00,0.000,38,0.000,0.000,2577,2845,3575,3746,3405,0,0,0,0,0,0,15.01,15.02,15.02
$GC,6352,-0.48,-165.5,2577,2845,3745,3405,727.3,-9.0,477,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2844,3575,3746,3405,0,0,0,0,0,0,15.01,15.02,15.02
$GC,6652,-0.48,-165.5,2577,2845,3744,3405,754.8,-9.1,492,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2844,3575,3745,3405,0,0,0,0,0,0,15.01,15.03,15.02
$GC,6952,-0.48,-165.5,2577,2844,3744,3405,781.8,-8.6,507,6954,0.00,0.00,0.00,0.000,38,0.000,0.000,2577,2845,3574,3744,3405,0,0,0,0,0,0,15.01,15.03,15.03
$GC,7252,-0.48,-165.5,2577,2845,3743,3405,806.9,-8.2,522,7254,0.00,0.00,0.00,0.000,38,0.000,0.000,2577,2844,3574,3743,3405,0,0,0,0,0,0,15.01,15.03,15.02
$GC,7553,-0.48,-165.5,2577,2844,3743,3405,832.0,-8.5,537,7559,0.00,2.00,0.00,0.000,292,0.000,0.175,2572,3842,3573,3742,3405,0,0,0,0,0,0,15.01,14.31,15.03
$GC,7590,-0.48,-165.5,2571,3842,3741,3405,835.3,-8.8,544,7598,0.00,1.80,0.00,0.000,1062,0.000,0.093,2572,2834,3573,3742,3405,0,0,0,0,0,0,14.76,14.63,14.79
$GC,7896,-0.48,-165.5,2571,2833,3742,3405,862.4,-8.7,560,7897,0.00,0.00,0.00,0.000,38,0.000,0.000,2572,2833,3573,3742,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8196,-0.48,-165.5,2572,2833,3741,3405,888.7,-8.7,575,8197,0.00,0.00,0.00,0.000,38,0.000,0.000,2572,2833,3573,3741,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8496,-0.48,-165.5,2572,2833,3741,3405,915.3,-8.9,590,8501,0.00,2.03,0.00,0.000,292,0.000,0.174,2565,3849,3573,3741,3405,0,0,0,0,0,0,14.99,14.28,15.01
$GC,8538,-0.48,-165.5,2564,3849,3741,3405,919.2,-9.1,598,8543,0.00,1.75,0.00,0.000,1030,0.000,0.089,2565,2849,3573,3741,3405,0,0,0,0,0,0,14.77,14.65,14.80
$GC,8860,-0.48,-165.5,2564,2848,3740,3405,949.9,-9.6,617,8866,0.00,1.85,0.00,0.000,516,0.000,0.088,2565,1779,3573,3741,3405,0,0,0,0,0,0,15.00,14.64,15.02
$GC,8897,-0.48,-165.5,2564,1776,3740,3405,953.4,-9.0,624,8905,0.00,2.05,0.00,0.000,1062,0.000,0.138,2557,2858,3572,3740,3405,0,0,0,0,0,0,14.71,14.50,14.76
$GC,9203,-0.48,-165.5,2556,2858,3740,3405,984.3,-10.4,640,9209,0.00,1.92,0.00,0.000,260,0.000,0.177,2550,3842,3571,3739,3404,0,0,0,0,0,0,15.00,14.31,15.02
$STATE,9259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9259,begin apogee
$GC,9265,-0.10,0.0,2550,2575,3738,3405,990.3,-10.2,651,9431,0.52,0.10,161.98,2.362,10246,0.187,0.193,2698,2602,2900,2924,2877,0,0,0,0,0,0,14.45,13.65,12.55
$STATE,9433,end apogee,CONTROL_FINISHED_OK
$STATE,9433,begin climb
$GC,9434,0.48,165.5,2697,2602,2923,2876,995.2,0.0,659,9612,0.60,2.08,167.00,2.304,10756,0.119,0.090,2888,1546,2225,2218,2233,0,0,0,0,0,0,13.76,13.10,12.23
$GC,9680,0.49,165.5,2887,1546,2218,2231,976.0,10.4,706,9687,0.00,2.10,0.00,0.000,1094,0.000,0.125,2888,2596,2224,2218,2230,0,0,0,0,0,0,13.86,13.75,13.89
$GC,9984,0.49,165.5,2887,2597,2218,2225,941.0,11.4,722,9989,0.00,2.08,0.00,0.000,260,0.000,0.161,2887,3660,2221,2218,2225,0,0,0,0,0,0,14.54,14.23,14.56
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$STATE,17021,end climb,SURFACE_DEPTH_REACHED
$STATE,17021,begin surface coast
$FINISH,0.6,1.027013
$STATE,17043,end surface coast,CONTROL_FINISHED_OK
$STATE,17043,begin surface
$SM_CCo,17059,48.10,0.633,1,0,1880,250.20
$SM_GC,0.73,8.50,0.55,48.10,0.120,0.108,0.633,177,2864,1880,-7.93,-0.28,250.20,0,0,0,0,1,0,14.43,14.40,13.34
$IRIDIUM_FIX,5928.77,-2128.41,250519,140818
$TT8_MAMPS,0.023219,0.884569
$HUMID,38.10
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3878720
$24V_AH,12.23,0.000
$10V_AH,12.24,23.009
$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,23.125,130.825,375.575,48.100,0.000,0.000,0.000,288.225,0.000,0.000,30.055,3127.948,11421.326,682.442,2208.440,96.021,0.000,2008.215,0.000,1820.723,0.000,0.536,0.000
$DEVICE_MAMPS,407.745,192.780,2361.555,633.420,0.000,0.000,0.000,195.840,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17053.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.040,0.000,0.000,0.000
$MEM,304328
$DATA_FILE_SIZE,43324,1269
$CAP_FILE_SIZE,158441,0
$CFSIZE,2097872896,2086141952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.105,325.67,1
$GPS,250519,235503,5927.391,-2129.237,76,0.8,85,-12.6,0.4,275.3,8,9.8