version: 66.13
glider: 527
mission: 5
dive: 70
start: 5 29 119 20 54 21
data:
$ID,527
$MISSION,5
$DIVE,70
$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,35
$R_STBD_OVSHOOT,15
$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
$GPS1,290519,204638,5940.2261,-2146.2009,31,0.9,38,-12.8,0.0,19.9,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-74.5
$GPS2,290519,205340,5940.2437,-2146.2825,9,0.9,21,-12.8,0.0,69.2,10,9.6
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,N2
$TGT_LATLONG,5940.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,274.5,12838,-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,10,-0.48,-165.5,141,2867,1829,1914,0.0,0.0,0,103,0.00,0.00,-85.97,0.008,16390,0.000,0.000,135,2867,3575,3756,3395,0,0,0,0,0,0,14.62,12.78,14.63
$GC,105,-0.48,-165.5,135,2867,3756,3396,5.4,-9.4,9,122,12.18,1.95,0.00,0.000,2308,0.402,0.148,2562,3838,3576,3757,3396,0,0,0,0,0,0,13.85,14.11,14.26
$GC,349,-0.48,-165.5,2562,3839,3758,3396,50.9,-12.1,57,355,0.00,1.75,0.00,0.000,1030,0.000,0.090,2562,2855,3577,3758,3397,0,0,0,0,0,0,14.52,14.41,14.54
$GC,542,-0.48,-165.5,2562,2854,3758,3396,75.5,-13.0,77,548,0.00,1.95,0.00,0.000,260,0.000,0.166,2556,3840,3576,3757,3396,0,0,0,0,0,0,14.81,14.26,14.82
$GC,575,-0.48,-165.5,2554,3840,3758,3396,79.6,-13.7,83,580,0.00,1.75,0.00,0.000,1030,0.000,0.083,2555,2840,3577,3758,3396,0,0,0,0,0,0,14.52,14.43,14.55
$GC,767,-0.48,-165.5,2555,2839,3758,3396,104.9,-13.4,103,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2839,3577,3758,3396,0,0,0,0,0,0,14.83,14.85,14.85
$GC,948,-0.48,-165.5,2554,2839,3758,3396,128.8,-13.0,121,953,0.00,1.98,0.00,0.000,260,0.000,0.166,2548,3844,3577,3758,3396,0,0,0,0,0,0,14.85,14.33,14.87
$GC,991,-0.48,-165.5,2547,3844,3757,3396,134.5,-12.5,129,997,0.00,1.75,0.00,0.000,1030,0.000,0.083,2548,2838,3577,3758,3396,0,0,0,0,0,0,14.68,14.59,14.70
$GC,1184,-0.48,-165.5,2547,2837,3757,3396,160.0,-13.2,149,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2837,3577,3758,3396,0,0,0,0,0,0,14.85,14.88,14.88
$GC,1363,-0.48,-165.5,2547,2837,3758,3396,183.7,-13.1,167,1369,0.00,1.98,0.00,0.000,260,0.000,0.166,2540,3843,3576,3757,3396,0,0,0,0,0,0,14.87,14.33,14.88
$GC,1396,-0.48,-165.5,2540,3844,3757,3396,187.9,-13.7,173,1403,0.15,1.75,0.00,0.000,3078,0.233,0.083,2574,2842,3576,3758,3395,0,0,0,0,0,0,14.41,14.55,14.62
$GC,1590,-0.48,-165.5,2574,2842,3757,3396,208.4,-10.5,193,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2842,3577,3758,3396,0,0,0,0,0,0,14.88,14.89,14.89
$GC,1769,-0.48,-165.5,2574,2842,3758,3396,226.9,-10.4,211,1775,0.00,1.98,0.00,0.000,260,0.000,0.167,2569,3844,3576,3757,3396,0,0,0,0,0,0,14.88,14.31,14.90
$GC,1802,-0.48,-165.5,2568,3844,3758,3396,230.8,-12.2,217,1808,0.00,1.75,0.00,0.000,1030,0.000,0.084,2569,2838,3577,3758,3396,0,0,0,0,0,0,14.71,14.61,14.73
$GC,1995,-0.48,-165.5,2569,2839,3758,3396,251.0,-10.8,237,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2839,3577,3758,3396,0,0,0,0,0,0,14.89,14.91,14.90
$GC,2295,-0.48,-165.5,2569,2839,3757,3396,284.6,-11.4,252,2301,0.00,1.98,0.00,0.000,260,0.000,0.166,2562,3843,3577,3758,3396,0,0,0,0,0,0,14.92,14.28,14.93
$GC,2352,-0.48,-165.5,2561,3843,3757,3396,291.2,-11.0,263,2359,0.00,1.73,0.00,0.000,1030,0.000,0.083,2562,2848,3576,3757,3396,0,0,0,0,0,0,14.72,14.62,14.74
$GC,2658,-0.48,-165.5,2562,2848,3758,3396,325.7,-10.9,279,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2848,3576,3757,3396,0,0,0,0,0,0,14.93,14.95,14.95
$GC,2958,-0.48,-165.5,2562,2848,3757,3396,359.4,-11.5,294,2964,0.00,1.95,0.00,0.000,260,0.000,0.168,2555,3840,3576,3757,3396,0,0,0,0,0,0,14.95,14.37,14.97
$GC,3025,-0.48,-165.5,2554,3841,3757,3396,367.2,-11.0,307,3030,0.00,1.73,0.00,0.000,1030,0.000,0.084,2555,2848,3576,3757,3396,0,0,0,0,0,0,14.69,14.59,14.71
$GC,3343,-0.48,-165.5,2554,2847,3758,3396,404.2,-11.7,325,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2847,3576,3757,3396,0,0,0,0,0,0,14.97,14.99,14.98
$GC,3642,-0.48,-165.5,2554,2847,3757,3396,439.1,-11.5,340,3648,0.00,1.95,0.00,0.000,260,0.000,0.169,2548,3840,3576,3757,3396,0,0,0,0,0,0,14.97,14.36,15.00
$GC,3674,-0.48,-165.5,2548,3840,3757,3396,442.9,-12.2,346,3680,0.00,1.73,0.00,0.000,1030,0.000,0.086,2548,2848,3576,3757,3396,0,0,0,0,0,0,14.69,14.59,14.71
$GC,3987,-0.48,-165.5,2547,2848,3756,3397,480.7,-12.7,363,3992,0.00,1.95,0.00,0.000,260,0.000,0.170,2541,3840,3576,3756,3396,0,0,0,0,0,0,14.98,14.38,15.00
$GC,4029,-0.48,-165.5,2540,3839,3756,3396,486.2,-13.1,371,4035,0.15,1.75,0.00,0.000,3078,0.228,0.086,2575,2838,3576,3756,3396,0,0,0,0,0,0,14.45,14.65,14.67
$GC,4352,-0.48,-165.5,2575,2837,3756,3396,519.1,-9.8,390,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2837,3576,3756,3396,0,0,0,0,0,0,14.98,15.00,15.00
$GC,4653,-0.48,-165.5,2575,2837,3756,3397,546.0,-8.6,405,4654,0.00,0.00,0.00,0.000,38,0.000,0.000,2575,2837,3576,3756,3396,0,0,0,0,0,0,14.99,15.02,15.01
$GC,4952,-0.48,-165.5,2575,2837,3756,3396,572.3,-9.0,420,4959,0.00,1.98,0.00,0.000,260,0.000,0.171,2570,3841,3575,3755,3396,0,0,0,0,0,0,15.00,14.37,15.02
$GC,4990,-0.48,-165.5,2570,3841,3755,3396,575.8,-9.3,427,4996,0.00,1.73,0.00,0.000,1030,0.000,0.086,2570,2847,3575,3755,3396,0,0,0,0,0,0,14.76,14.64,14.79
$GC,5296,-0.48,-165.5,2570,2846,3755,3396,605.6,-9.9,443,5301,0.00,1.83,0.00,0.000,516,0.000,0.085,2570,1782,3575,3755,3396,0,0,0,0,0,0,15.00,14.61,15.02
$GC,5322,-0.48,-165.5,2570,1778,3755,3396,608.3,-9.8,448,5329,0.00,2.03,0.00,0.000,1030,0.000,0.139,2563,2854,3575,3755,3396,0,0,0,0,0,0,14.72,14.52,14.76
$GC,5641,-0.48,-165.5,2562,2854,3754,3396,641.8,-10.7,466,5647,0.00,1.92,0.00,0.000,260,0.000,0.174,2555,3844,3575,3754,3396,0,0,0,0,0,0,15.00,14.31,15.01
$GC,5733,-0.48,-165.5,2555,3844,3753,3396,651.6,-10.5,484,5739,0.00,1.75,0.00,0.000,1030,0.000,0.088,2555,2840,3574,3753,3396,0,0,0,0,0,0,14.77,14.66,14.80
$GC,6046,-0.48,-165.5,2555,2838,3753,3396,686.0,-10.9,501,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2838,3574,3753,3396,0,0,0,0,0,0,14.98,15.00,15.00
$GC,6346,-0.48,-165.5,2555,2838,3753,3396,718.5,-10.6,516,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2838,3575,3754,3396,0,0,0,0,0,0,14.98,15.01,15.00
$GC,6646,-0.48,-165.5,2555,2837,3753,3396,750.1,-10.7,531,6651,0.00,2.00,0.00,0.000,260,0.000,0.177,2548,3847,3575,3753,3397,0,0,0,0,0,0,15.00,14.40,15.02
$GC,6702,-0.48,-165.5,2547,3847,3753,3396,756.4,-10.1,542,6709,0.00,1.75,0.00,0.000,1030,0.000,0.088,2548,2842,3574,3753,3396,0,0,0,0,0,0,14.78,14.68,14.81
$GC,7008,-0.48,-165.5,2548,2841,3753,3396,790.3,-11.1,558,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2842,3574,3752,3397,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7308,-0.48,-165.5,2547,2842,3752,3397,823.2,-10.8,573,7314,0.00,1.98,0.00,0.000,260,0.000,0.175,2540,3842,3574,3752,3396,0,0,0,0,0,0,15.00,14.42,15.02
$GC,7354,-0.48,-165.5,2540,3842,3752,3396,828.3,-10.7,582,7361,0.15,1.73,0.00,0.000,3078,0.222,0.089,2576,2852,3574,3752,3396,0,0,0,0,0,0,14.49,14.66,14.68
$GC,7674,-0.48,-165.5,2576,2851,3752,3396,855.0,-8.4,600,7675,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2850,3574,3752,3396,0,0,0,0,0,0,14.98,15.00,15.00
$GC,7973,-0.48,-165.5,2576,2851,3751,3396,879.7,-8.2,615,7974,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2851,3573,3751,3396,0,0,0,0,0,0,14.99,15.00,15.00
$GC,8273,-0.48,-165.5,2576,2849,3750,3396,904.2,-7.9,630,8279,0.00,1.98,0.00,0.000,292,0.000,0.177,2571,3846,3572,3749,3396,0,0,0,0,0,0,14.98,14.37,15.00
$GC,8320,-0.48,-165.5,2570,3846,3749,3396,908.1,-7.9,639,8326,0.00,1.75,0.00,0.000,1062,0.000,0.090,2571,2845,3572,3749,3396,0,0,0,0,0,0,14.76,14.65,14.79
$GC,8639,-0.48,-165.5,2570,2844,3749,3396,934.7,-8.5,657,8644,0.00,1.83,0.00,0.000,548,0.000,0.086,2571,1777,3572,3749,3396,0,0,0,0,0,0,15.00,14.66,15.02
$GC,8665,-0.48,-165.5,2571,1773,3748,3396,937.1,-8.8,662,8671,0.00,2.05,0.00,0.000,1062,0.000,0.140,2563,2860,3572,3748,3397,0,0,0,0,0,0,14.73,14.54,14.77
$GC,8983,-0.48,-165.5,2563,2859,3747,3396,966.6,-9.4,680,8989,0.00,1.92,0.00,0.000,260,0.000,0.180,2556,3844,3572,3748,3396,0,0,0,0,0,0,14.97,14.38,14.99
$GC,9046,-0.48,-165.5,2556,3844,3748,3396,972.8,-9.6,692,9052,0.00,1.75,0.00,0.000,1030,0.000,0.089,2556,2840,3571,3747,3396,0,0,0,0,0,0,14.76,14.64,14.78
$STATE,9228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9228,begin apogee
$GC,9232,-0.10,0.0,2556,2603,3747,3396,991.4,-10.4,704,9398,0.50,0.00,162.38,2.378,10246,0.191,0.000,2697,2602,2900,2924,2877,0,0,0,0,0,0,14.50,13.65,12.50
$STATE,9399,end apogee,CONTROL_FINISHED_OK
$STATE,9400,begin climb
$GC,9401,0.48,165.5,2697,2602,2923,2876,996.7,0.0,712,9581,0.60,2.05,170.45,2.316,10756,0.116,0.086,2888,1537,2225,2215,2236,0,0,0,0,0,0,13.71,13.07,12.15
$GC,9652,0.52,165.5,2887,1537,2214,2234,978.4,9.0,761,9659,0.00,2.10,0.00,0.000,1094,0.000,0.123,2888,2596,2223,2214,2233,0,0,0,0,0,0,13.90,13.78,13.92
$GC,9971,0.52,165.5,2887,2596,2214,2228,941.8,11.5,779,9976,0.00,2.08,0.00,0.000,260,0.000,0.162,2888,3663,2221,2214,2228,0,0,0,0,0,0,14.58,14.26,14.60
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$STATE,16837,end climb,SURFACE_DEPTH_REACHED
$STATE,16837,begin surface coast
$FINISH,1.1,1.026975
$STATE,16848,end surface coast,CONTROL_FINISHED_OK
$STATE,16849,begin surface
$SM_CCo,16867,93.95,0.884,1,0,1880,250.20
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$IRIDIUM_FIX,5937.87,-2134.65,290519,154955
$TT8_MAMPS,0.023219,0.692825
$HUMID,38.89
$INTERNAL_PRESSURE,8.80829
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3871040
$24V_AH,12.15,0.000
$10V_AH,12.74,30.006
$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
$DEVICE_SECS,22.575,151.775,332.825,93.950,0.000,0.000,0.000,287.300,0.000,0.000,30.364,3264.326,10973.957,716.391,2328.462,110.990,0.000,2100.778,0.000,1936.059,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.115,0.000,0.000,0.000
$MEM,303468
$DATA_FILE_SIZE,46633,1350
$CAP_FILE_SIZE,165206,0
$CFSIZE,2097872896,2082177024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.086,282.25,1
$GPS,300519,013909,5940.323,-2152.296,75,0.8,84,-12.9,0.0,296.9,9,9.5