version: 66.13
glider: 527
mission: 5
dive: 68
start: 5 29 119 11 13 51
data:
$ID,527
$MISSION,5
$DIVE,68
$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,27
$R_STBD_OVSHOOT,10
$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
$GPS1,290519,110558,5937.3999,-2139.5913,40,0.9,50,-12.8,0.4,244.1,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-78.6
$GPS2,290519,111255,5937.3848,-2139.6353,11,0.8,26,-12.8,0.0,218.7,10,8.3
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,N1
$TGT_LATLONG,5940.000,-2140.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.3,4855,-19.9,-11.000,-22.40,2004
$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,-0.49,-143.5,167,2855,1828,1918,0.0,0.0,0,97,0.00,0.00,-83.93,0.008,16390,0.000,0.000,166,2855,3487,3647,3327,0,0,0,0,0,0,14.63,13.07,14.65
$GC,99,-0.51,-165.5,167,2855,3646,3327,2.5,-3.3,8,123,11.62,1.98,-2.03,0.058,18724,0.399,0.176,2549,3848,3577,3760,3394,0,0,0,0,0,0,14.12,13.11,14.34
$GC,249,-0.51,-165.5,2550,3848,3761,3395,32.7,-14.1,37,256,0.00,1.80,0.00,0.000,1030,0.000,0.082,2549,2855,3578,3761,3395,0,0,0,0,0,0,14.50,14.45,14.54
$GC,436,-0.51,-165.5,2549,2855,3761,3395,58.5,-13.6,56,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2855,3578,3761,3395,0,0,0,0,0,0,14.78,14.79,14.79
$GC,615,-0.51,-165.5,2549,2855,3761,3395,82.6,-13.6,74,621,0.00,1.95,0.00,0.000,260,0.000,0.161,2542,3847,3577,3761,3394,0,0,0,0,0,0,14.81,14.26,14.82
$GC,648,-0.51,-165.5,2542,3847,3761,3396,87.1,-13.8,80,653,0.00,1.75,0.00,0.000,1030,0.000,0.076,2542,2837,3578,3761,3395,0,0,0,0,0,0,14.64,14.57,14.66
$GC,841,-0.51,-165.5,2542,2836,3761,3395,113.5,-13.9,100,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2836,3578,3761,3395,0,0,0,0,0,0,14.83,14.85,14.84
$GC,1020,-0.51,-165.5,2542,2836,3761,3395,139.0,-13.8,118,1026,0.00,1.98,0.00,0.000,260,0.000,0.159,2534,3849,3578,3761,3395,0,0,0,0,0,0,14.84,14.35,14.85
$GC,1082,-0.51,-165.5,2534,3849,3761,3395,148.0,-13.7,130,1089,0.12,1.73,0.00,0.000,3078,0.249,0.074,2562,2843,3578,3761,3395,0,0,0,0,0,0,14.45,14.62,14.63
$GC,1276,-0.51,-165.5,2562,2843,3761,3395,170.9,-11.8,150,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2843,3577,3761,3394,0,0,0,0,0,0,14.86,14.88,14.88
$GC,1456,-0.51,-165.5,2562,2843,3761,3395,191.8,-11.4,168,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2843,3577,3760,3395,0,0,0,0,0,0,14.87,14.89,14.89
$GC,1635,-0.51,-165.5,2562,2843,3761,3395,212.1,-11.2,186,1641,0.00,1.95,0.00,0.000,260,0.000,0.158,2556,3844,3578,3761,3395,0,0,0,0,0,0,14.88,14.34,14.90
$GC,1671,-0.51,-165.5,2556,3844,3761,3395,216.6,-11.9,193,1678,0.00,1.70,0.00,0.000,1030,0.000,0.075,2557,2851,3578,3761,3395,0,0,0,0,0,0,14.71,14.64,14.73
$GC,1858,-0.51,-165.5,2556,2851,3761,3395,237.2,-11.4,212,1864,0.00,1.80,0.00,0.000,516,0.000,0.076,2556,1791,3578,3761,3395,0,0,0,0,0,0,14.88,14.62,14.89
$GC,1882,-0.51,-165.5,2557,1788,3761,3395,239.7,-10.8,216,1888,0.00,2.00,0.00,0.000,1030,0.000,0.132,2548,2858,3578,3761,3395,0,0,0,0,0,0,14.68,14.51,14.71
$GC,2075,-0.51,-165.5,2548,2858,3761,3395,262.8,-12.1,231,2081,0.00,1.90,0.00,0.000,260,0.000,0.162,2541,3841,3578,3761,3395,0,0,0,0,0,0,14.90,14.38,14.91
$GC,2138,-0.51,-165.5,2541,3841,3761,3395,270.6,-11.9,243,2144,0.00,1.70,0.00,0.000,1030,0.000,0.074,2541,2846,3578,3761,3395,0,0,0,0,0,0,14.73,14.65,14.74
$GC,2461,-0.51,-165.5,2540,2847,3761,3395,312.1,-13.0,262,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2846,3578,3761,3395,0,0,0,0,0,0,14.93,14.95,14.95
$GC,2761,-0.51,-165.5,2540,2847,3761,3395,350.0,-12.5,277,2766,0.00,1.95,0.00,0.000,260,0.000,0.164,2534,3846,3578,3761,3395,0,0,0,0,0,0,14.95,14.42,14.97
$GC,2803,-0.51,-165.5,2533,3846,3761,3394,355.3,-12.5,285,2809,0.12,1.70,0.00,0.000,3078,0.242,0.077,2561,2852,3577,3760,3395,0,0,0,0,0,0,14.52,14.69,14.71
$GC,3127,-0.51,-165.5,2561,2853,3760,3395,387.6,-9.9,304,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2853,3578,3761,3395,0,0,0,0,0,0,14.97,15.00,14.99
$GC,3426,-0.51,-165.5,2561,2853,3761,3395,417.4,-10.1,319,3432,0.00,1.95,0.00,0.000,260,0.000,0.164,2556,3845,3578,3761,3395,0,0,0,0,0,0,14.99,14.45,15.00
$GC,3458,-0.51,-165.5,2556,3845,3761,3395,420.9,-10.9,325,3464,0.00,1.70,0.00,0.000,1030,0.000,0.078,2556,2851,3577,3760,3395,0,0,0,0,0,0,14.79,14.71,14.82
$GC,3771,-0.51,-165.5,2555,2850,3760,3395,455.3,-11.4,342,3776,0.00,1.92,0.00,0.000,260,0.000,0.164,2549,3840,3578,3761,3395,0,0,0,0,0,0,14.99,14.47,15.00
$GC,3803,-0.51,-165.5,2548,3840,3759,3395,459.1,-10.4,348,3808,0.00,1.70,0.00,0.000,1030,0.000,0.077,2549,2846,3577,3760,3395,0,0,0,0,0,0,14.79,14.71,14.81
$GC,4115,-0.51,-165.5,2548,2846,3760,3394,496.0,-11.9,365,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2846,3577,3760,3395,0,0,0,0,0,0,14.97,14.98,14.98
$GC,4415,-0.51,-165.5,2548,2846,3760,3395,531.4,-11.6,380,4421,0.00,1.95,0.00,0.000,260,0.000,0.166,2541,3847,3577,3760,3395,0,0,0,0,0,0,14.99,14.43,15.01
$GC,4452,-0.51,-165.5,2541,3847,3760,3395,535.9,-12.0,387,4459,0.00,1.73,0.00,0.000,1030,0.000,0.079,2541,2844,3577,3760,3395,0,0,0,0,0,0,14.80,14.71,14.82
$GC,4757,-0.51,-165.5,2541,2844,3760,3395,572.1,-12.2,403,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2844,3577,3759,3395,0,0,0,0,0,0,14.99,15.01,15.00
$GC,5057,-0.51,-165.5,2541,2844,3759,3395,609.3,-12.5,418,5063,0.00,1.98,0.00,0.000,260,0.000,0.168,2534,3844,3577,3759,3395,0,0,0,0,0,0,15.00,14.44,15.02
$GC,5130,-0.51,-165.5,2534,3845,3758,3395,618.4,-12.3,432,5136,0.12,1.73,0.00,0.000,3078,0.241,0.079,2562,2840,3576,3758,3395,0,0,0,0,0,0,14.52,14.67,14.71
$GC,5443,-0.51,-165.5,2562,2840,3759,3395,651.1,-10.1,449,5448,0.00,1.95,0.00,0.000,260,0.000,0.167,2556,3840,3576,3758,3395,0,0,0,0,0,0,14.98,14.46,15.00
$GC,5489,-0.51,-165.5,2556,3840,3758,3395,656.0,-10.2,458,5495,0.00,1.70,0.00,0.000,1030,0.000,0.077,2557,2845,3576,3758,3394,0,0,0,0,0,0,14.80,14.71,14.82
$GC,5807,-0.51,-165.5,2556,2846,3758,3395,688.5,-10.1,476,5812,0.00,1.80,0.00,0.000,516,0.000,0.078,2556,1779,3576,3758,3395,0,0,0,0,0,0,15.00,14.70,15.02
$GC,5833,-0.51,-165.5,2556,1776,3758,3394,691.2,-10.0,481,5838,0.00,2.00,0.00,0.000,1030,0.000,0.135,2549,2850,3576,3758,3395,0,0,0,0,0,0,14.76,14.58,14.80
$GC,6150,-0.51,-165.5,2548,2849,3755,3395,725.6,-11.1,499,6156,0.00,1.90,0.00,0.000,260,0.000,0.170,2541,3840,3575,3756,3395,0,0,0,0,0,0,15.01,14.44,15.02
$GC,6233,-0.51,-165.5,2541,3840,3755,3394,734.8,-11.0,515,6239,0.00,1.70,0.00,0.000,1030,0.000,0.079,2542,2846,3574,3754,3395,0,0,0,0,0,0,14.80,14.71,14.83
$GC,6556,-0.51,-165.5,2540,2846,3755,3394,772.3,-11.7,534,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2847,3575,3755,3395,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6856,-0.51,-165.5,2540,2847,3754,3395,808.1,-12.0,549,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2847,3574,3754,3395,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7156,-0.51,-165.5,2541,2846,3754,3395,844.7,-12.2,564,7162,0.00,1.98,0.00,0.000,260,0.000,0.172,2534,3841,3574,3754,3395,0,0,0,0,0,0,15.02,14.44,15.03
$GC,7208,-0.51,-165.5,2534,3841,3753,3395,851.1,-12.2,574,7214,0.12,1.70,0.00,0.000,3078,0.237,0.080,2563,2854,3574,3753,3395,0,0,0,0,0,0,14.54,14.71,14.73
$GC,7521,-0.51,-165.5,2562,2853,3753,3395,882.6,-10.0,591,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2854,3574,3753,3395,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7821,-0.51,-165.5,2562,2854,3753,3394,912.1,-9.8,606,7827,0.00,1.95,0.00,0.000,260,0.000,0.173,2557,3845,3574,3753,3395,0,0,0,0,0,0,15.01,14.42,15.03
$GC,7873,-0.51,-165.5,2557,3844,3753,3395,917.3,-9.7,616,7879,0.00,1.73,0.00,0.000,1030,0.000,0.080,2557,2842,3573,3753,3394,0,0,0,0,0,0,14.80,14.70,14.82
$GC,8186,-0.51,-165.5,2557,2838,3751,3396,949.2,-10.4,633,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2838,3574,3752,3396,0,0,0,0,0,0,14.99,15.01,15.00
$GC,8486,-0.51,-165.5,2557,2838,3753,3396,979.4,-9.8,648,8491,0.00,1.98,0.00,0.000,260,0.000,0.175,2550,3841,3573,3751,3396,0,0,0,0,0,0,15.00,14.42,15.01
$GC,8529,-0.51,-165.5,2549,3841,3750,3396,983.7,-10.3,656,8534,0.00,1.70,0.00,0.000,1030,0.000,0.080,2550,2852,3572,3750,3395,0,0,0,0,0,0,14.78,14.69,14.81
$STATE,8610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8610,begin apogee
$GC,8614,-0.10,0.0,2550,2599,3750,3396,992.0,-10.0,663,8780,0.52,0.00,161.80,2.366,10246,0.195,0.000,2698,2600,2900,2925,2876,0,0,0,0,0,0,14.52,13.64,12.50
$STATE,8781,end apogee,CONTROL_FINISHED_OK
$STATE,8781,begin climb
$GC,8782,0.51,165.5,2698,2600,2923,2875,995.9,0.0,671,8959,0.62,2.10,167.82,2.310,10756,0.115,0.087,2895,1546,2225,2215,2236,0,0,0,0,0,0,13.66,13.33,12.28
$GC,9026,0.51,165.5,2895,1545,2214,2234,974.3,11.8,718,9033,0.00,2.10,0.00,0.000,1030,0.000,0.122,2896,2603,2223,2214,2233,0,0,0,0,0,0,13.89,13.78,13.91
$GC,9331,0.51,165.5,2895,2603,2214,2228,934.6,13.1,734,9337,0.00,2.08,0.00,0.000,260,0.000,0.158,2896,3670,2220,2214,2227,0,0,0,0,0,0,14.57,14.26,14.58
$GC,9359,0.51,165.5,2895,3670,2214,2227,930.5,15.0,739,9364,0.00,1.90,0.00,0.000,1030,0.000,0.077,2903,2600,2220,2214,2227,0,0,0,0,0,0,14.44,14.35,14.46
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$STATE,16213,end climb,SURFACE_DEPTH_REACHED
$STATE,16213,begin surface coast
$FINISH,1.5,1.026866
$STATE,16224,end surface coast,CONTROL_FINISHED_OK
$STATE,16224,begin surface
$SM_CCo,16241,93.45,0.879,1,0,1879,250.20
$SM_GC,0.70,8.25,1.45,93.45,0.104,0.072,0.879,168,2845,1879,-7.93,0.76,250.20,0,0,0,0,1,0,14.64,14.63,13.37
$IRIDIUM_FIX,5934.37,-2137.04,290519,061350
$TT8_MAMPS,0.02247,0.334054
$HUMID,38.14
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3871808
$24V_AH,12.28,0.000
$10V_AH,12.78,29.294
$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,22.100,142.625,329.625,93.450,0.000,0.000,0.000,280.475,0.000,0.000,35.068,3098.676,10659.381,688.041,2229.047,105.210,0.000,2020.586,0.000,1842.843,0.000,0.535,0.000
$DEVICE_MAMPS,399.330,175.950,2366.145,878.985,0.000,0.000,0.000,189.720,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16235.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.317,0.000,0.000,0.000
$MEM,303484
$DATA_FILE_SIZE,46606,1285
$CAP_FILE_SIZE,158442,0
$CFSIZE,2097872896,2082603008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.103,280.66,1
$GPS,290519,154737,5939.829,-2140.573,41,0.7,48,-12.8,0.3,291.0,12,10.0