version: 66.13
glider: 527
mission: 5
dive: 67
start: 5 29 119 6 19 10
data:
$ID,527
$MISSION,5
$DIVE,67
$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,17
$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
$GPS1,290519,061139,5934.9917,-2139.2581,26,0.8,34,-12.8,0.2,183.4,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-78.2
$GPS2,290519,061829,5935.0005,-2139.2620,15,0.8,26,-12.8,0.8,30.1,10,9.6
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,N1
$TGT_LATLONG,5940.000,-2140.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,16.3,9285,-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,-165.5,157,2868,1833,1916,0.0,0.0,0,103,0.00,0.00,-86.78,0.008,16390,0.000,0.000,157,2869,3574,3752,3396,0,0,0,0,0,0,14.63,13.55,14.65
$GC,105,-0.48,-165.5,157,2869,3752,3396,4.6,-8.3,9,122,11.73,1.88,0.00,0.000,2340,0.399,0.134,2560,3843,3575,3753,3397,0,0,0,0,0,0,14.07,14.25,14.28
$GC,239,-0.48,-165.5,2559,3843,3753,3397,32.7,-13.5,35,245,0.00,1.75,0.00,0.000,1030,0.000,0.081,2559,2845,3574,3753,3396,0,0,0,0,0,0,14.52,14.46,14.54
$GC,432,-0.48,-165.5,2558,2844,3753,3397,59.9,-13.4,55,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2844,3574,3753,3396,0,0,0,0,0,0,14.79,14.81,14.81
$GC,612,-0.48,-165.5,2559,2844,3753,3396,83.7,-13.4,73,618,0.00,1.95,0.00,0.000,260,0.000,0.161,2552,3841,3575,3753,3397,0,0,0,0,0,0,14.83,14.37,14.84
$GC,638,-0.48,-165.5,2552,3841,3753,3397,87.0,-14.3,78,645,0.00,1.70,0.00,0.000,1030,0.000,0.073,2552,2846,3574,3753,3396,0,0,0,0,0,0,14.66,14.59,14.68
$GC,825,-0.48,-165.5,2552,2847,3753,3397,112.7,-13.8,97,830,0.00,1.80,0.00,0.000,516,0.000,0.076,2552,1788,3575,3753,3397,0,0,0,0,0,0,14.83,14.50,14.85
$GC,848,-0.48,-165.5,2552,1785,3753,3397,115.9,-15.2,101,854,0.12,2.00,0.00,0.000,3078,0.253,0.133,2571,2848,3574,3753,3396,0,0,0,0,0,0,14.42,14.48,14.62
$GC,1041,-0.48,-165.5,2571,2848,3753,3397,139.1,-12.1,121,1047,0.00,1.92,0.00,0.000,260,0.000,0.165,2566,3848,3575,3753,3397,0,0,0,0,0,0,14.86,14.37,14.88
$GC,1107,-0.48,-165.5,2565,3847,3753,3396,147.2,-11.5,134,1114,0.00,1.75,0.00,0.000,1030,0.000,0.075,2565,2858,3574,3753,3396,0,0,0,0,0,0,14.64,14.59,14.66
$GC,1294,-0.48,-165.5,2565,2858,3753,3396,170.0,-12.3,153,1300,0.00,1.83,0.00,0.000,516,0.000,0.073,2565,1777,3575,3753,3397,0,0,0,0,0,0,14.86,14.54,14.88
$GC,1320,-0.48,-165.5,2565,1773,3753,3397,173.3,-12.3,158,1327,0.00,2.03,0.00,0.000,1030,0.000,0.131,2557,2855,3575,3753,3397,0,0,0,0,0,0,14.66,14.50,14.69
$GC,1507,-0.48,-165.5,2557,2855,3752,3397,196.8,-12.8,177,1513,0.00,1.90,0.00,0.000,260,0.000,0.164,2550,3842,3575,3753,3397,0,0,0,0,0,0,14.89,14.40,14.90
$GC,1564,-0.48,-165.5,2550,3842,3753,3396,204.3,-12.7,188,1571,0.00,1.73,0.00,0.000,1030,0.000,0.074,2550,2836,3575,3753,3397,0,0,0,0,0,0,14.71,14.64,14.73
$GC,1750,-0.48,-165.5,2550,2836,3753,3396,228.0,-12.8,207,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2836,3575,3753,3397,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1930,-0.48,-165.5,2550,2836,3753,3397,251.0,-12.7,225,1936,0.00,2.00,0.00,0.000,260,0.000,0.161,2542,3842,3575,3753,3397,0,0,0,0,0,0,14.88,14.38,14.90
$GC,1973,-0.48,-165.5,2542,3842,3753,3396,256.7,-13.0,233,1980,0.12,1.70,0.00,0.000,3078,0.241,0.074,2570,2845,3574,3753,3396,0,0,0,0,0,0,14.49,14.66,14.67
$GC,2297,-0.48,-165.5,2570,2845,3753,3397,292.6,-11.1,252,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2845,3575,3753,3397,0,0,0,0,0,0,14.94,14.96,14.95
$GC,2597,-0.48,-165.5,2570,2846,3753,3396,325.1,-10.6,267,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2846,3575,3753,3397,0,0,0,0,0,0,14.96,14.98,14.98
$GC,2897,-0.48,-165.5,2570,2845,3753,3397,356.5,-10.8,282,2902,0.00,1.95,0.00,0.000,260,0.000,0.164,2565,3845,3574,3753,3396,0,0,0,0,0,0,14.97,14.45,15.00
$GC,2928,-0.48,-165.5,2564,3845,3753,3396,360.1,-11.0,288,2935,0.00,1.70,0.00,0.000,1030,0.000,0.078,2565,2853,3575,3753,3397,0,0,0,0,0,0,14.79,14.71,14.81
$GC,3242,-0.48,-165.5,2565,2853,3753,3396,394.9,-11.4,305,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2853,3574,3753,3396,0,0,0,0,0,0,14.97,15.00,15.00
$GC,3542,-0.48,-165.5,2564,2853,3753,3396,426.9,-10.7,320,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2853,3574,3753,3396,0,0,0,0,0,0,14.98,15.00,15.00
$GC,3841,-0.48,-165.5,2563,2853,3753,3396,458.0,-10.1,335,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2853,3574,3753,3396,0,0,0,0,0,0,14.99,15.01,15.01
$GC,4141,-0.48,-165.5,2564,2853,3753,3396,487.5,-9.8,350,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2853,3574,3753,3396,0,0,0,0,0,0,14.99,15.02,15.01
$GC,4442,-0.48,-165.5,2564,2853,3753,3396,518.7,-10.8,365,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2853,3575,3753,3397,0,0,0,0,0,0,15.00,15.02,15.02
$GC,4741,-0.48,-165.5,2564,2853,3753,3396,551.3,-10.9,380,4748,0.00,1.80,0.00,0.000,516,0.000,0.079,2565,1786,3574,3753,3396,0,0,0,0,0,0,15.00,14.71,15.02
$GC,4769,-0.48,-165.5,2564,1785,3752,3396,554.3,-10.4,385,4775,0.00,2.00,0.00,0.000,1030,0.000,0.133,2556,2857,3574,3752,3396,0,0,0,0,0,0,14.76,14.59,14.80
$GC,5087,-0.48,-165.5,2557,2858,3752,3396,590.6,-11.8,403,5092,0.00,1.90,0.00,0.000,260,0.000,0.171,2550,3846,3574,3752,3396,0,0,0,0,0,0,15.01,14.45,15.02
$GC,5149,-0.48,-165.5,2549,3846,3751,3397,598.1,-11.8,415,5154,0.00,1.73,0.00,0.000,1030,0.000,0.079,2549,2841,3574,3752,3397,0,0,0,0,0,0,14.81,14.72,14.83
$GC,5471,-0.48,-165.5,2549,2839,3750,3397,638.3,-12.6,434,5477,0.00,1.98,0.00,0.000,260,0.000,0.168,2542,3842,3573,3750,3397,0,0,0,0,0,0,15.00,14.46,15.02
$GC,5508,-0.48,-165.5,2542,3842,3750,3397,643.0,-12.6,441,5516,0.08,1.75,0.00,0.000,3078,0.179,0.079,2577,2849,3572,3749,3396,0,0,0,0,0,0,14.54,14.69,14.73
$GC,5814,-0.48,-165.5,2576,2849,3751,3396,672.1,-9.2,457,5820,0.00,1.83,0.00,0.000,516,0.000,0.079,2578,1783,3573,3750,3397,0,0,0,0,0,0,15.00,14.69,15.02
$GC,5841,-0.48,-165.5,2577,1779,3750,3397,674.5,-8.8,462,5846,0.00,2.00,0.00,0.000,1062,0.000,0.132,2571,2853,3572,3749,3396,0,0,0,0,0,0,14.76,14.59,14.80
$GC,6158,-0.48,-165.5,2570,2853,3749,3397,704.8,-9.8,480,6164,0.00,1.90,0.00,0.000,260,0.000,0.170,2564,3841,3573,3749,3397,0,0,0,0,0,0,15.00,14.45,15.02
$GC,6210,-0.48,-165.5,2564,3841,3748,3397,710.0,-9.5,490,6216,0.00,1.70,0.00,0.000,1030,0.000,0.078,2564,2851,3573,3749,3397,0,0,0,0,0,0,14.81,14.71,14.83
$GC,6522,-0.48,-165.5,2564,2851,3748,3397,740.7,-9.7,507,6528,0.00,1.80,0.00,0.000,516,0.000,0.080,2564,1787,3572,3748,3397,0,0,0,0,0,0,15.00,14.69,15.02
$GC,6549,-0.48,-165.5,2564,1783,3749,3396,743.3,-9.6,512,6555,0.00,2.00,0.00,0.000,1030,0.000,0.133,2556,2852,3573,3749,3397,0,0,0,0,0,0,14.75,14.58,14.79
$GC,6867,-0.48,-165.5,2556,2852,3748,3397,775.4,-10.2,530,6873,0.00,1.92,0.00,0.000,260,0.000,0.173,2549,3847,3572,3748,3397,0,0,0,0,0,0,15.00,14.42,15.02
$GC,6924,-0.48,-165.5,2549,3847,3747,3397,781.4,-10.0,541,6931,0.00,1.73,0.00,0.000,1030,0.000,0.080,2549,2847,3572,3747,3397,0,0,0,0,0,0,14.80,14.71,14.82
$GC,7230,-0.48,-165.5,2549,2846,3747,3396,814.6,-11.1,557,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2847,3572,3747,3397,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7529,-0.48,-165.5,2549,2846,3746,3397,847.9,-11.2,572,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2847,3571,3746,3396,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7829,-0.48,-165.5,2549,2846,3746,3397,882.1,-11.4,587,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2846,3571,3745,3397,0,0,0,0,0,0,15.01,15.03,15.02
$GC,8129,-0.48,-165.5,2549,2846,3745,3396,915.4,-11.1,602,8135,0.00,2.00,0.00,0.000,260,0.000,0.176,2542,3848,3570,3744,3397,0,0,0,0,0,0,15.01,14.41,15.03
$GC,8161,-0.48,-165.5,2542,3848,3743,3397,919.2,-11.6,608,8168,0.12,1.75,0.00,0.000,3078,0.229,0.083,2571,2839,3570,3743,3397,0,0,0,0,0,0,14.56,14.72,14.75
$GC,8476,-0.48,-165.5,2570,2838,3743,3397,947.2,-8.7,625,8481,0.00,1.80,0.00,0.000,548,0.000,0.078,2571,1774,3570,3744,3397,0,0,0,0,0,0,15.00,14.69,15.01
$GC,8502,-0.48,-165.5,2571,1771,3743,3397,949.6,-8.7,630,8508,0.00,2.03,0.00,0.000,1062,0.000,0.134,2565,2853,3570,3743,3397,0,0,0,0,0,0,14.75,14.57,14.78
$GC,8819,-0.48,-165.5,2566,2853,3743,3397,978.5,-9.3,648,8826,0.00,1.92,0.00,0.000,260,0.000,0.174,2558,3847,3569,3743,3396,0,0,0,0,0,0,15.00,14.40,15.02
$GC,8887,-0.48,-165.5,2558,3847,3742,3396,984.9,-9.3,661,8892,0.00,1.77,0.00,0.000,1030,0.000,0.080,2559,2827,3569,3742,3397,0,0,0,0,0,0,14.78,14.66,14.81
$STATE,8943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8943,begin apogee
$GC,8947,-0.10,0.0,2558,2605,3742,3397,990.3,-9.3,666,9111,0.47,0.00,160.90,2.368,10246,0.192,0.000,2692,2604,2900,2924,2876,0,0,0,0,0,0,14.48,13.67,12.55
$STATE,9113,end apogee,CONTROL_FINISHED_OK
$STATE,9113,begin climb
$GC,9114,0.48,165.5,2692,2604,2923,2876,995.0,0.0,674,9294,0.62,2.10,167.98,2.312,10756,0.120,0.086,2889,1544,2225,2216,2235,0,0,0,0,0,0,13.73,13.33,12.21
$GC,9355,0.48,165.5,2889,1544,2215,2232,975.7,10.8,721,9363,0.00,2.12,0.00,0.000,1030,0.000,0.122,2889,2603,2224,2216,2233,0,0,0,0,0,0,13.88,13.76,13.90
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$STATE,16983,end climb,SURFACE_DEPTH_REACHED
$STATE,16984,begin surface coast
$FINISH,0.1,1.026891
$STATE,17005,end surface coast,CONTROL_FINISHED_OK
$STATE,17005,begin surface
$SM_CCo,17023,91.62,0.887,1,0,1879,250.20
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$TT8_MAMPS,0.023219,0.83888
$HUMID,37.87
$INTERNAL_PRESSURE,8.80829
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3872192
$24V_AH,12.21,0.000
$10V_AH,12.77,28.946
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.317,0.000,0.000,0.000
$MEM,303460
$DATA_FILE_SIZE,46593,1317
$CAP_FILE_SIZE,163675,0
$CFSIZE,2097872896,2082799616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.050,274.29,1
$GPS,290519,110558,5937.400,-2139.591,40,0.9,50,-12.8,0.4,244.1,10,9.6