version: 66.13
glider: 527
mission: 5
dive: 53
start: 5 26 119 9 50 12
data:
$ID,527
$MISSION,5
$DIVE,53
$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,14
$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
$GPS1,260519,094309,5924.6074,-2128.1003,41,0.9,50,-12.6,1.2,351.5,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-72.5
$GPS2,260519,094930,5924.6465,-2128.1746,10,0.8,21,-12.6,0.9,299.5,11,9.7
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S
$TGT_LATLONG,5920.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,187.5,8677,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-0.48,-165.5,91,2872,1832,1911,0.0,0.0,0,103,0.00,0.00,-87.03,0.008,16390,0.000,0.000,85,2872,3575,3756,3395,0,0,0,0,0,0,14.61,13.39,14.63
$GC,105,-0.48,-165.5,86,2872,3756,3395,4.5,-7.9,9,129,12.93,1.95,0.00,0.000,2596,0.405,0.083,2567,1792,3577,3759,3396,0,0,0,0,0,0,13.79,14.36,14.26
$GC,220,-0.48,-165.5,2566,1789,3759,3395,29.1,-11.5,31,226,0.00,2.10,0.00,0.000,1030,0.000,0.145,2560,2848,3577,3759,3396,0,0,0,0,0,0,14.28,14.03,14.35
$GC,413,-0.48,-165.5,2560,2848,3758,3396,56.0,-14.1,51,418,0.00,1.98,0.00,0.000,260,0.000,0.170,2553,3849,3577,3759,3396,0,0,0,0,0,0,14.76,14.05,14.77
$GC,506,-0.48,-165.5,2553,3848,3758,3396,68.5,-12.6,69,512,0.00,1.75,0.00,0.000,1030,0.000,0.090,2553,2865,3577,3758,3396,0,0,0,0,0,0,14.53,14.42,14.56
$GC,699,-0.48,-165.5,2552,2865,3758,3396,92.8,-12.9,89,704,0.00,1.88,0.00,0.000,516,0.000,0.087,2553,1787,3577,3758,3396,0,0,0,0,0,0,14.80,14.45,14.81
$GC,725,-0.48,-165.5,2553,1784,3758,3397,96.2,-12.2,94,732,0.12,2.10,0.00,0.000,3078,0.256,0.140,2569,2859,3577,3758,3396,0,0,0,0,0,0,14.12,14.21,14.38
$GC,912,-0.48,-165.5,2569,2860,3758,3396,116.6,-10.9,113,917,0.00,1.98,0.00,0.000,260,0.000,0.166,2564,3843,3577,3758,3396,0,0,0,0,0,0,14.84,13.77,14.86
$GC,964,-0.48,-165.5,2564,3843,3758,3396,122.3,-10.6,123,970,0.00,1.75,0.00,0.000,1030,0.000,0.088,2564,2847,3577,3758,3396,0,0,0,0,0,0,14.64,14.53,14.67
$GC,1156,-0.48,-165.5,2563,2847,3758,3396,144.8,-12.1,143,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2847,3577,3758,3396,0,0,0,0,0,0,14.85,14.88,14.90
$GC,1337,-0.48,-165.5,2563,2847,3759,3396,167.0,-12.6,161,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2847,3577,3759,3396,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1516,-0.48,-165.5,2563,2847,3758,3396,189.3,-12.4,179,1522,0.00,2.00,0.00,0.000,260,0.000,0.164,2556,3843,3577,3758,3396,0,0,0,0,0,0,14.90,13.94,14.92
$GC,1552,-0.48,-165.5,2556,3843,3758,3396,194.3,-13.4,186,1559,0.00,1.77,0.00,0.000,1030,0.000,0.090,2557,2844,3577,3759,3396,0,0,0,0,0,0,14.60,14.48,14.64
$GC,1739,-0.48,-165.5,2556,2844,3758,3396,218.4,-13.6,205,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2844,3577,3758,3396,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1919,-0.48,-165.5,2556,2844,3759,3395,242.6,-13.3,223,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2844,3577,3759,3396,0,0,0,0,0,0,14.90,14.91,14.91
$GC,2099,-0.48,-165.5,2556,2844,3759,3396,266.2,-13.0,235,2104,0.00,2.00,0.00,0.000,260,0.000,0.166,2549,3844,3577,3758,3396,0,0,0,0,0,0,14.91,13.95,14.93
$GC,2155,-0.48,-165.5,2549,3844,3758,3396,273.6,-12.6,246,2162,0.00,1.77,0.00,0.000,1030,0.000,0.090,2549,2841,3577,3758,3396,0,0,0,0,0,0,14.59,14.47,14.62
$GC,2461,-0.48,-165.5,2548,2841,3758,3396,313.5,-12.8,262,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2841,3577,3758,3396,0,0,0,0,0,0,14.94,14.96,14.95
$GC,2762,-0.48,-165.5,2548,2840,3758,3396,352.2,-12.7,277,2767,0.00,2.00,0.00,0.000,260,0.000,0.166,2541,3842,3577,3758,3396,0,0,0,0,0,0,14.95,13.98,14.97
$GC,2825,-0.48,-165.5,2541,3842,3758,3396,360.2,-12.0,289,2831,0.15,1.75,0.00,0.000,3078,0.230,0.089,2575,2849,3577,3758,3396,0,0,0,0,0,0,14.24,14.50,14.47
$GC,3148,-0.48,-165.5,2575,2848,3758,3396,393.0,-9.9,308,3154,0.00,1.88,0.00,0.000,516,0.000,0.088,2576,1782,3577,3758,3396,0,0,0,0,0,0,14.97,14.44,14.98
$GC,3171,-0.48,-165.5,2575,1780,3758,3396,395.4,-10.2,312,3178,0.00,2.08,0.00,0.000,1030,0.000,0.138,2570,2854,3577,3758,3396,0,0,0,0,0,0,14.35,14.09,14.45
$GC,3495,-0.48,-165.5,2569,2854,3758,3396,430.4,-11.1,331,3500,0.00,1.98,0.00,0.000,260,0.000,0.168,2562,3839,3577,3758,3396,0,0,0,0,0,0,14.96,13.90,14.97
$GC,3591,-0.48,-165.5,2562,3839,3758,3396,441.3,-10.7,350,3598,0.00,1.75,0.00,0.000,1030,0.000,0.089,2562,2848,3577,3758,3396,0,0,0,0,0,0,14.64,14.51,14.69
$GC,3897,-0.48,-165.5,2562,2847,3758,3396,475.5,-11.4,366,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2847,3576,3757,3395,0,0,0,0,0,0,14.98,15.00,15.00
$GC,4198,-0.48,-165.5,2562,2847,3758,3396,509.5,-11.0,381,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2846,3576,3757,3396,0,0,0,0,0,0,14.99,15.01,15.00
$GC,4497,-0.48,-165.5,2562,2847,3757,3396,541.9,-10.6,396,4504,0.00,2.00,0.00,0.000,260,0.000,0.170,2555,3844,3576,3757,3396,0,0,0,0,0,0,15.00,14.23,15.02
$GC,4535,-0.48,-165.5,2555,3844,3756,3396,546.2,-11.0,403,4541,0.00,1.77,0.00,0.000,1030,0.000,0.091,2555,2844,3576,3756,3396,0,0,0,0,0,0,14.62,14.50,14.66
$GC,4840,-0.48,-165.5,2555,2843,3756,3396,580.8,-11.1,419,4846,0.00,1.83,0.00,0.000,516,0.000,0.089,2555,1782,3576,3756,3396,0,0,0,0,0,0,15.00,14.64,15.01
$GC,4877,-0.48,-165.5,2555,1778,3756,3396,584.9,-10.1,426,4884,0.00,2.05,0.00,0.000,1030,0.000,0.142,2547,2851,3576,3756,3396,0,0,0,0,0,0,14.69,14.49,14.75
$GC,5183,-0.48,-165.5,2547,2851,3756,3396,619.2,-11.2,442,5189,0.00,1.92,0.00,0.000,260,0.000,0.173,2540,3842,3576,3756,3396,0,0,0,0,0,0,14.98,14.29,15.00
$GC,5265,-0.48,-165.5,2540,3842,3755,3396,628.5,-10.9,458,5271,0.15,1.75,0.00,0.000,3078,0.227,0.090,2573,2851,3575,3755,3396,0,0,0,0,0,0,14.26,14.51,14.50
$GC,5588,-0.48,-165.5,2573,2851,3755,3396,657.6,-9.1,477,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2851,3575,3755,3396,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5888,-0.48,-165.5,2573,2852,3755,3396,685.5,-9.2,492,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2851,3575,3754,3396,0,0,0,0,0,0,15.01,15.03,15.02
$GC,6188,-0.48,-165.5,2573,2851,3755,3396,712.8,-9.2,507,6193,0.00,2.03,0.00,0.000,260,0.000,0.173,2569,3846,3575,3754,3396,0,0,0,0,0,0,15.01,13.83,15.03
$GC,6220,-0.48,-165.5,2568,3846,3754,3395,715.8,-9.5,513,6225,0.00,1.77,0.00,0.000,1030,0.000,0.093,2569,2843,3575,3754,3396,0,0,0,0,0,0,14.69,14.56,14.73
$GC,6532,-0.48,-165.5,2568,2842,3754,3396,744.2,-8.9,530,6538,0.00,1.85,0.00,0.000,548,0.000,0.090,2568,1781,3574,3753,3396,0,0,0,0,0,0,15.01,14.45,15.03
$GC,6560,-0.48,-165.5,2568,1776,3753,3396,746.5,-8.8,535,6565,0.00,2.10,0.00,0.000,1062,0.000,0.141,2562,2857,3574,3753,3396,0,0,0,0,0,0,14.40,14.14,14.49
$GC,6878,-0.48,-165.5,2561,2858,3752,3396,775.9,-9.4,553,6883,0.00,1.98,0.00,0.000,260,0.000,0.175,2554,3842,3574,3753,3396,0,0,0,0,0,0,15.01,13.84,15.02
$GC,6950,-0.48,-165.5,2554,3841,3753,3396,782.6,-8.9,567,6955,0.00,1.80,0.00,0.000,1062,0.000,0.090,2554,2828,3574,3752,3396,0,0,0,0,0,0,14.71,14.58,14.76
$GC,7262,-0.48,-165.5,2554,2826,3753,3396,812.1,-9.4,584,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2826,3574,3753,3395,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7562,-0.48,-165.5,2553,2826,3752,3396,840.7,-9.7,599,7568,0.00,2.05,0.00,0.000,260,0.000,0.176,2547,3841,3573,3752,3395,0,0,0,0,0,0,15.01,14.23,15.02
$GC,7644,-0.48,-165.5,2547,3841,3752,3396,848.6,-9.5,615,7650,0.00,1.77,0.00,0.000,1030,0.000,0.091,2547,2840,3574,3752,3396,0,0,0,0,0,0,14.59,14.47,14.64
$GC,7967,-0.48,-165.5,2547,2840,3751,3396,882.0,-10.6,634,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2840,3574,3752,3396,0,0,0,0,0,0,15.01,15.03,15.03
$GC,8267,-0.48,-165.5,2547,2840,3750,3396,913.9,-10.6,649,8273,0.00,2.05,0.00,0.000,260,0.000,0.177,2540,3841,3573,3750,3396,0,0,0,0,0,0,15.02,13.85,15.03
$GC,8330,-0.48,-165.5,2539,3841,3749,3396,920.6,-10.4,661,8336,0.15,1.75,0.00,0.000,3078,0.223,0.090,2574,2845,3573,3750,3396,0,0,0,0,0,0,14.39,14.62,14.62
$GC,8654,-0.48,-165.5,2574,2845,3749,3396,947.6,-8.2,680,8655,0.00,0.00,0.00,0.000,38,0.000,0.000,2574,2845,3572,3749,3396,0,0,0,0,0,0,14.98,15.01,15.00
$GC,8954,-0.48,-165.5,2574,2845,3748,3396,972.2,-8.1,695,8955,0.00,0.00,0.00,0.000,38,0.000,0.000,2574,2845,3572,3748,3396,0,0,0,0,0,0,14.99,15.00,15.00
$STATE,9172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9172,begin apogee
$GC,9176,-0.10,0.0,2575,2601,3748,3396,990.2,-8.2,706,9340,0.43,0.00,160.68,2.356,10246,0.182,0.000,2692,2601,2900,2924,2876,0,0,0,0,0,0,14.10,13.69,12.56
$STATE,9342,end apogee,CONTROL_FINISHED_OK
$STATE,9342,begin climb
$GC,9343,0.48,165.5,2693,2601,2923,2876,994.2,0.0,714,9520,0.62,2.05,167.60,2.297,10756,0.121,0.086,2888,1532,2225,2217,2233,0,0,0,0,0,0,13.75,13.10,12.22
$GC,9613,0.48,165.5,2887,1532,2217,2231,971.2,10.6,766,9618,0.00,2.10,0.00,0.000,1030,0.000,0.123,2887,2599,2223,2217,2230,0,0,0,0,0,0,13.97,13.85,13.99
$GC,9935,0.48,165.5,2887,2599,2217,2225,932.9,11.9,785,9941,0.00,2.08,0.00,0.000,260,0.000,0.161,2887,3668,2221,2217,2225,0,0,0,0,0,0,14.59,14.28,14.62
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$STATE,17240,end climb,SURFACE_DEPTH_REACHED
$STATE,17240,begin surface coast
$FINISH,-0.1,1.027030
$STATE,17261,end surface coast,CONTROL_FINISHED_OK
$STATE,17261,begin surface
$SM_CCo,17276,91.65,0.873,1,0,1880,250.20
$SM_GC,0.76,7.97,0.50,91.65,0.074,0.122,0.873,177,2866,1880,-7.92,-0.20,250.20,0,0,0,0,1,0,14.63,14.57,13.54
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$TT8_MAMPS,0.02247,0.865844
$HUMID,37.28
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3877568
$24V_AH,12.22,0.000
$10V_AH,12.47,24.060
$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
$DEVICE_SECS,23.125,145.800,328.275,91.650,0.000,0.000,0.000,254.350,0.000,0.000,30.486,3350.456,11273.545,695.295,2343.781,100.927,0.000,2065.407,0.000,1983.513,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17272.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.236,0.000,0.000,0.000
$MEM,303908
$DATA_FILE_SIZE,49997,1384
$CAP_FILE_SIZE,166520,0
$CFSIZE,2097872896,2085519360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.165,358.38,1
$GPS,260519,144111,5923.753,-2128.187,38,1.1,48,-12.6,0.9,317.5,7,9.9