version: 66.13
glider: 527
mission: 5
dive: 72
start: 5 30 119 6 42 17
data:
$ID,527
$MISSION,5
$DIVE,72
$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,24
$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
$GPS1,300519,063428,5940.3916,-2158.7024,47,0.8,57,-12.9,0.5,325.6,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-70.1
$GPS2,300519,064136,5940.4009,-2158.8303,14,0.8,27,-12.9,0.0,282.8,10,9.9
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,175.2,37799,-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,11,-0.48,-165.5,74,2868,1832,1912,0.0,0.0,0,104,0.00,0.00,-85.28,0.008,16390,0.000,0.000,63,2868,3576,3753,3399,0,0,0,0,0,0,14.62,13.03,14.64
$GC,106,-0.48,-165.5,63,2868,3752,3400,6.3,-11.4,9,123,12.30,1.95,0.00,0.000,2564,0.404,0.087,2574,1793,3576,3753,3399,0,0,0,0,0,0,14.09,14.40,14.39
$GC,225,-0.48,-165.5,2574,1789,3754,3399,30.7,-9.3,32,232,0.00,2.05,0.00,0.000,1030,0.000,0.146,2568,2850,3576,3754,3399,0,0,0,0,0,0,14.50,14.34,14.54
$GC,410,-0.48,-165.5,2567,2849,3754,3399,51.8,-12.5,51,416,0.00,1.95,0.00,0.000,260,0.000,0.171,2561,3846,3577,3755,3399,0,0,0,0,0,0,14.75,14.25,14.76
$GC,472,-0.48,-165.5,2560,3847,3752,3399,59.9,-11.9,63,478,0.00,1.75,0.00,0.000,1030,0.000,0.086,2561,2853,3576,3753,3399,0,0,0,0,0,0,14.61,14.52,14.63
$GC,665,-0.48,-165.5,2560,2852,3753,3399,83.6,-13.0,83,671,0.00,1.85,0.00,0.000,516,0.000,0.084,2561,1781,3576,3754,3399,0,0,0,0,0,0,14.81,14.50,14.82
$GC,691,-0.48,-165.5,2560,1777,3754,3399,87.0,-13.0,88,699,0.00,2.05,0.00,0.000,1030,0.000,0.137,2553,2859,3576,3754,3399,0,0,0,0,0,0,14.61,14.45,14.64
$GC,877,-0.48,-165.5,2553,2859,3754,3399,112.0,-13.1,107,883,0.00,1.90,0.00,0.000,260,0.000,0.166,2546,3842,3576,3754,3399,0,0,0,0,0,0,14.85,14.35,14.87
$GC,960,-0.48,-165.5,2545,3842,3754,3399,122.7,-12.5,123,966,0.12,1.75,0.00,0.000,3078,0.241,0.083,2572,2837,3577,3754,3400,0,0,0,0,0,0,14.40,14.57,14.59
$GC,1153,-0.48,-165.5,2572,2837,3754,3398,143.9,-11.1,143,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2837,3576,3754,3399,0,0,0,0,0,0,14.87,14.89,14.88
$GC,1334,-0.48,-165.5,2572,2837,3754,3399,164.9,-11.7,161,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2837,3576,3754,3399,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1513,-0.48,-165.5,2572,2837,3753,3399,186.4,-11.9,179,1519,0.00,1.98,0.00,0.000,260,0.000,0.165,2567,3844,3577,3754,3400,0,0,0,0,0,0,14.90,14.38,14.91
$GC,1560,-0.48,-165.5,2567,3844,3754,3400,191.7,-12.0,188,1568,0.00,1.75,0.00,0.000,1030,0.000,0.085,2567,2840,3576,3754,3399,0,0,0,0,0,0,14.70,14.62,14.73
$GC,1746,-0.48,-165.5,2567,2840,3754,3400,213.5,-11.8,207,1752,0.00,1.98,0.00,0.000,260,0.000,0.165,2560,3844,3576,3754,3399,0,0,0,0,0,0,14.88,14.31,14.90
$GC,1792,-0.48,-165.5,2560,3844,3754,3400,219.4,-11.3,216,1800,0.00,1.75,0.00,0.000,1030,0.000,0.085,2560,2842,3577,3754,3400,0,0,0,0,0,0,14.71,14.62,14.73
$GC,1978,-0.48,-165.5,2559,2842,3754,3399,241.1,-11.9,235,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2842,3576,3753,3399,0,0,0,0,0,0,14.90,14.92,14.91
$GC,2159,-0.48,-165.5,2560,2842,3754,3399,262.7,-12.2,248,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2842,3576,3754,3399,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2458,-0.48,-165.5,2560,2842,3754,3400,300.6,-12.7,263,2464,0.00,1.98,0.00,0.000,260,0.000,0.168,2553,3849,3576,3754,3399,0,0,0,0,0,0,14.92,14.39,14.94
$GC,2505,-0.48,-165.5,2552,3848,3754,3399,306.5,-12.0,272,2512,0.00,1.75,0.00,0.000,1030,0.000,0.086,2553,2845,3575,3752,3399,0,0,0,0,0,0,14.73,14.64,14.75
$GC,2824,-0.48,-165.5,2552,2844,3753,3399,346.5,-12.6,290,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2843,3576,3753,3399,0,0,0,0,0,0,14.94,14.96,14.95
$GC,3124,-0.48,-165.5,2552,2843,3753,3399,383.4,-12.2,305,3130,0.00,1.95,0.00,0.000,260,0.000,0.168,2545,3842,3576,3753,3399,0,0,0,0,0,0,14.95,14.42,14.97
$GC,3181,-0.48,-165.5,2545,3842,3753,3399,390.4,-11.7,316,3189,0.12,1.73,0.00,0.000,3078,0.239,0.085,2573,2849,3576,3753,3400,0,0,0,0,0,0,14.51,14.66,14.70
$GC,3487,-0.48,-165.5,2572,2849,3753,3399,421.9,-10.6,332,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2849,3576,3754,3399,0,0,0,0,0,0,14.97,15.00,14.99
$GC,3787,-0.48,-165.5,2573,2849,3753,3399,453.4,-10.5,347,3792,0.00,1.95,0.00,0.000,260,0.000,0.169,2568,3843,3576,3753,3399,0,0,0,0,0,0,14.99,14.43,15.00
$GC,3823,-0.48,-165.5,2567,3844,3753,3399,457.4,-9.8,354,3830,0.00,1.73,0.00,0.000,1030,0.000,0.087,2568,2852,3576,3753,3399,0,0,0,0,0,0,14.78,14.69,14.81
$GC,4129,-0.48,-165.5,2567,2851,3753,3399,489.5,-10.5,370,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2851,3576,3753,3399,0,0,0,0,0,0,14.99,15.00,15.00
$GC,4430,-0.48,-165.5,2568,2851,3753,3398,521.2,-10.3,385,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2851,3576,3753,3399,0,0,0,0,0,0,15.00,15.02,15.02
$GC,4729,-0.48,-165.5,2568,2851,3753,3399,551.7,-10.2,400,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2851,3576,3753,3399,0,0,0,0,0,0,15.01,15.02,15.02
$GC,5029,-0.48,-165.5,2568,2851,3753,3399,582.4,-10.6,415,5035,0.00,1.95,0.00,0.000,260,0.000,0.172,2561,3844,3576,3753,3399,0,0,0,0,0,0,15.02,14.44,15.03
$GC,5112,-0.48,-165.5,2560,3844,3753,3399,591.2,-10.4,431,5117,0.00,1.75,0.00,0.000,1030,0.000,0.087,2561,2836,3575,3752,3399,0,0,0,0,0,0,14.80,14.69,14.83
$GC,5434,-0.48,-165.5,2560,2835,3753,3399,627.0,-11.1,450,5440,0.00,1.98,0.00,0.000,260,0.000,0.171,2553,3842,3576,3753,3399,0,0,0,0,0,0,14.99,14.45,15.00
$GC,5461,-0.48,-165.5,2553,3842,3752,3399,630.1,-11.4,455,5467,0.00,1.73,0.00,0.000,1030,0.000,0.086,2553,2849,3575,3752,3399,0,0,0,0,0,0,14.79,14.69,14.81
$GC,5779,-0.48,-165.5,2553,2848,3752,3400,665.4,-11.0,473,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2848,3575,3752,3399,0,0,0,0,0,0,14.97,14.99,14.99
$GC,6078,-0.48,-165.5,2553,2848,3752,3399,698.1,-10.8,488,6085,0.00,1.98,0.00,0.000,260,0.000,0.173,2546,3850,3575,3751,3399,0,0,0,0,0,0,14.97,14.40,15.00
$GC,6146,-0.48,-165.5,2546,3850,3753,3399,705.5,-10.5,501,6152,0.00,1.75,0.00,0.000,1030,0.000,0.089,2546,2849,3575,3751,3399,0,0,0,0,0,0,14.77,14.67,14.80
$GC,6464,-0.48,-165.5,2546,2848,3750,3399,740.5,-10.7,519,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2848,3574,3750,3399,0,0,0,0,0,0,14.98,15.00,15.00
$GC,6764,-0.48,-165.5,2546,2848,3750,3399,773.2,-11.0,534,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2847,3574,3750,3399,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7064,-0.48,-165.5,2546,2848,3749,3399,807.0,-11.4,549,7070,0.00,1.98,0.00,0.000,260,0.000,0.177,2539,3844,3574,3749,3399,0,0,0,0,0,0,14.99,14.40,15.00
$GC,7128,-0.48,-165.5,2538,3845,3748,3399,814.4,-11.6,561,7134,0.15,1.75,0.00,0.000,3078,0.224,0.090,2574,2841,3574,3749,3399,0,0,0,0,0,0,14.52,14.67,14.72
$GC,7451,-0.48,-165.5,2574,2840,3749,3399,844.0,-9.0,580,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2840,3574,3749,3399,0,0,0,0,0,0,14.99,15.00,15.00
$GC,7751,-0.48,-165.5,2574,2840,3748,3399,870.3,-8.6,595,7752,0.00,0.00,0.00,0.000,38,0.000,0.000,2574,2840,3573,3748,3399,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8051,-0.48,-165.5,2575,2840,3746,3398,896.2,-8.7,610,8057,0.00,1.98,0.00,0.000,292,0.000,0.174,2569,3842,3572,3746,3399,0,0,0,0,0,0,15.00,14.42,15.02
$GC,8089,-0.48,-165.5,2569,3842,3745,3399,899.6,-8.8,617,8096,0.00,1.73,0.00,0.000,1062,0.000,0.088,2569,2849,3572,3745,3399,0,0,0,0,0,0,14.78,14.67,14.81
$GC,8394,-0.48,-165.5,2569,2846,3744,3400,928.1,-9.5,633,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2846,3572,3744,3400,0,0,0,0,0,0,14.98,15.00,15.00
$GC,8694,-0.48,-165.5,2569,2845,3744,3400,955.6,-9.1,648,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2845,3571,3744,3399,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8994,-0.48,-165.5,2569,2845,3744,3400,982.2,-8.6,663,9000,0.00,1.98,0.00,0.000,292,0.000,0.177,2562,3842,3572,3744,3400,0,0,0,0,0,0,15.00,14.40,15.02
$GC,9038,-0.48,-165.5,2562,3842,3743,3400,986.0,-8.7,671,9043,0.00,1.75,0.00,0.000,1062,0.000,0.090,2562,2839,3571,3743,3400,0,0,0,0,0,0,14.78,14.66,14.81
$STATE,9099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9099,begin apogee
$GC,9104,-0.10,0.0,2562,2601,3743,3400,991.5,-8.8,677,9269,0.47,0.00,162.07,2.383,10246,0.190,0.000,2697,2601,2900,2924,2877,0,0,0,0,0,0,14.52,13.65,12.50
$STATE,9271,end apogee,CONTROL_FINISHED_OK
$STATE,9271,begin climb
$GC,9272,0.48,165.5,2697,2601,2923,2876,995.1,0.0,685,9450,0.60,2.05,167.80,2.324,10756,0.118,0.088,2887,1537,2225,2215,2236,0,0,0,0,0,0,13.71,13.11,12.24
$GC,9506,0.48,165.5,2886,1537,2216,2234,975.4,11.2,730,9512,0.00,2.12,0.00,0.000,1030,0.000,0.125,2886,2601,2224,2214,2234,0,0,0,0,0,0,13.85,13.74,13.87
$GC,9824,0.48,165.5,2886,2601,2214,2228,937.1,12.0,748,9830,0.00,2.05,0.00,0.000,260,0.000,0.159,2887,3660,2221,2214,2228,0,0,0,0,0,0,14.57,14.24,14.58
$GC,9881,0.48,165.5,2886,3660,2214,2227,929.3,13.6,759,9888,0.00,1.90,0.00,0.000,1030,0.000,0.080,2894,2591,2220,2214,2227,0,0,0,0,0,0,14.46,14.36,14.47
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$STATE,17167,end climb,SURFACE_DEPTH_REACHED
$STATE,17167,begin surface coast
$FINISH,-0.4,1.027060
$STATE,17187,end surface coast,CONTROL_FINISHED_OK
$STATE,17187,begin surface
$SM_CCo,17203,91.80,0.890,1,0,1880,250.20
$SM_GC,0.84,7.90,0.47,91.80,0.067,0.121,0.890,175,2861,1880,-7.94,-0.37,250.20,0,0,0,0,1,0,14.60,14.57,13.56
$IRIDIUM_FIX,5937.18,-2201.52,300519,014643
$TT8_MAMPS,0.023219,0.685335
$HUMID,38.30
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3870272
$24V_AH,12.24,0.000
$10V_AH,12.65,30.720
$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,22.125,122.725,329.875,91.800,0.000,0.000,0.000,287.125,0.000,0.000,36.257,3238.152,11416.637,672.941,2289.220,117.380,0.000,2020.640,0.000,1894.422,0.000,0.536,0.000
$DEVICE_MAMPS,403.920,177.480,2382.975,889.695,0.000,0.000,0.000,195.075,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17199.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.106,0.000,0.000,0.000
$MEM,303484
$DATA_FILE_SIZE,46672,1321
$CAP_FILE_SIZE,159169,0
$CFSIZE,2097872896,2081816576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.110,246.42,1
$GPS,300519,113229,5937.613,-2159.231,64,0.9,74,-12.9,1.0,326.8,8,10.0