version: 66.13
glider: 527
mission: 5
dive: 73
start: 5 30 119 11 40 10
data:
$ID,527
$MISSION,5
$DIVE,73
$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,25
$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
$GPS1,300519,113229,5937.6128,-2159.2314,64,0.9,74,-12.9,1.0,326.8,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-66.2
$GPS2,300519,113929,5937.6465,-2159.3713,12,0.9,26,-12.9,0.0,86.3,8,9.2
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,173.4,32687,-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,-165.5,90,2871,1832,1913,0.0,0.0,0,85,0.00,0.00,-72.57,0.008,16386,0.000,0.000,84,2872,3294,3448,3141,0,0,0,0,0,0,14.62,28.83,14.64
$GC,87,-0.48,-165.5,86,2873,3448,3142,4.1,-6.6,7,114,12.18,0.00,-6.05,0.020,18982,0.404,0.000,2566,2872,3577,3779,3375,0,0,0,0,0,0,14.13,13.12,14.44
$GC,294,-0.48,-165.5,2565,2873,3779,3375,35.2,-10.5,29,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2872,3577,3779,3375,0,0,0,0,0,0,14.73,14.76,14.75
$GC,474,-0.48,-165.5,2566,2872,3780,3375,55.7,-13.1,47,480,0.00,1.90,0.00,0.000,260,0.000,0.168,2560,3839,3577,3780,3375,0,0,0,0,0,0,14.78,14.32,14.80
$GC,517,-0.48,-165.5,2560,3839,3779,3376,61.1,-13.0,55,523,0.00,1.75,0.00,0.000,1030,0.000,0.087,2560,2846,3577,3779,3375,0,0,0,0,0,0,14.58,14.47,14.60
$GC,710,-0.48,-165.5,2560,2845,3779,3375,85.1,-11.9,75,715,0.00,1.95,0.00,0.000,260,0.000,0.164,2553,3838,3577,3779,3376,0,0,0,0,0,0,14.81,14.34,14.83
$GC,753,-0.48,-165.5,2553,3837,3779,3376,90.8,-12.2,83,759,0.00,1.73,0.00,0.000,1030,0.000,0.088,2553,2852,3577,3779,3376,0,0,0,0,0,0,14.64,14.54,14.67
$GC,946,-0.48,-165.5,2552,2850,3779,3375,114.9,-13.0,103,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2850,3577,3779,3375,0,0,0,0,0,0,14.85,14.88,14.87
$GC,1125,-0.48,-165.5,2552,2850,3779,3376,139.0,-13.4,121,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2850,3577,3779,3376,0,0,0,0,0,0,14.85,14.87,14.87
$GC,1306,-0.48,-165.5,2553,2851,3779,3376,163.0,-13.3,139,1311,0.00,1.95,0.00,0.000,260,0.000,0.165,2546,3841,3577,3779,3376,0,0,0,0,0,0,14.86,14.33,14.88
$GC,1349,-0.48,-165.5,2545,3841,3779,3375,168.9,-13.7,147,1355,0.00,1.75,0.00,0.000,1030,0.000,0.086,2545,2839,3577,3779,3375,0,0,0,0,0,0,14.69,14.59,14.71
$GC,1542,-0.48,-165.5,2545,2838,3779,3376,195.4,-13.7,167,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2839,3577,3779,3376,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1721,-0.48,-165.5,2545,2838,3779,3376,219.9,-13.4,185,1727,0.00,1.95,0.00,0.000,260,0.000,0.164,2538,3836,3577,3779,3376,0,0,0,0,0,0,14.90,14.40,14.91
$GC,1774,-0.48,-165.5,2539,3836,3779,3376,227.1,-12.8,195,1780,0.15,1.73,0.00,0.000,3078,0.233,0.087,2573,2848,3577,3779,3376,0,0,0,0,0,0,14.46,14.62,14.65
$GC,1968,-0.48,-165.5,2572,2848,3779,3376,247.5,-10.2,215,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2848,3577,3779,3376,0,0,0,0,0,0,14.90,14.93,14.92
$GC,2157,-0.48,-165.5,2572,2848,3779,3376,266.3,-10.0,226,2164,0.00,1.95,0.00,0.000,260,0.000,0.167,2567,3836,3577,3779,3376,0,0,0,0,0,0,14.93,14.43,14.95
$GC,2206,-0.48,-165.5,2567,3835,3779,3376,271.2,-9.7,235,2211,0.00,1.73,0.00,0.000,1030,0.000,0.089,2567,2850,3577,3779,3376,0,0,0,0,0,0,14.69,14.59,14.71
$GC,2523,-0.48,-165.5,2567,2849,3779,3376,305.4,-10.8,253,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2849,3577,3779,3376,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2823,-0.48,-165.5,2567,2849,3779,3376,339.4,-11.9,268,2829,0.00,1.92,0.00,0.000,260,0.000,0.168,2560,3836,3577,3779,3376,0,0,0,0,0,0,14.97,14.46,14.98
$GC,2862,-0.48,-165.5,2560,3836,3778,3376,343.7,-12.1,275,2868,0.00,1.73,0.00,0.000,1030,0.000,0.090,2560,2847,3577,3779,3376,0,0,0,0,0,0,14.76,14.65,14.78
$GC,3166,-0.48,-165.5,2559,2847,3778,3376,381.9,-12.5,291,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2847,3577,3778,3376,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3466,-0.48,-165.5,2560,2846,3779,3376,418.1,-11.8,306,3472,0.00,1.95,0.00,0.000,260,0.000,0.169,2553,3841,3577,3778,3376,0,0,0,0,0,0,14.97,14.40,14.99
$GC,3523,-0.48,-165.5,2553,3841,3778,3376,424.9,-10.8,317,3530,0.00,1.73,0.00,0.000,1030,0.000,0.089,2553,2852,3577,3778,3376,0,0,0,0,0,0,14.76,14.66,14.78
$GC,3829,-0.48,-165.5,2553,2851,3778,3376,461.5,-11.9,333,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2850,3577,3778,3376,0,0,0,0,0,0,14.96,14.98,14.97
$GC,4129,-0.48,-165.5,2553,2850,3777,3376,497.1,-11.9,348,4134,0.00,1.92,0.00,0.000,260,0.000,0.170,2546,3836,3576,3777,3376,0,0,0,0,0,0,14.97,14.46,14.99
$GC,4160,-0.48,-165.5,2545,3836,3777,3376,501.1,-12.4,354,4168,0.12,1.73,0.00,0.000,3078,0.234,0.091,2574,2848,3576,3776,3376,0,0,0,0,0,0,14.50,14.64,14.69
$GC,4475,-0.48,-165.5,2573,2847,3777,3376,533.3,-10.1,371,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2848,3576,3777,3376,0,0,0,0,0,0,14.99,15.01,15.00
$GC,4774,-0.48,-165.5,2573,2848,3776,3376,562.6,-9.8,386,4781,0.00,1.95,0.00,0.000,260,0.000,0.171,2569,3841,3576,3776,3376,0,0,0,0,0,0,15.00,14.44,15.02
$GC,4822,-0.48,-165.5,2568,3841,3776,3376,567.6,-10.4,395,4828,0.00,1.75,0.00,0.000,1030,0.000,0.090,2569,2838,3575,3775,3376,0,0,0,0,0,0,14.78,14.68,14.81
$GC,5140,-0.48,-165.5,2568,2836,3776,3376,601.1,-10.6,413,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2837,3576,3776,3376,0,0,0,0,0,0,14.99,15.02,15.01
$GC,5440,-0.48,-165.5,2568,2836,3773,3378,632.4,-10.4,428,5445,0.00,1.98,0.00,0.000,260,0.000,0.172,2562,3841,3575,3773,3378,0,0,0,0,0,0,15.00,14.41,15.02
$GC,5477,-0.48,-165.5,2561,3841,3773,3378,636.3,-10.5,435,5484,0.00,1.75,0.00,0.000,1030,0.000,0.091,2561,2841,3574,3772,3377,0,0,0,0,0,0,14.74,14.64,14.77
$GC,5782,-0.48,-165.5,2561,2840,3772,3378,669.2,-10.9,451,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2841,3575,3772,3378,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6083,-0.48,-165.5,2561,2840,3772,3377,700.5,-10.3,466,6089,0.00,1.95,0.00,0.000,260,0.000,0.173,2555,3836,3574,3771,3378,0,0,0,0,0,0,15.00,14.46,15.02
$GC,6126,-0.48,-165.5,2554,3836,3770,3378,704.9,-10.3,474,6132,0.00,1.73,0.00,0.000,1030,0.000,0.093,2554,2847,3574,3770,3378,0,0,0,0,0,0,14.79,14.68,14.82
$GC,6449,-0.48,-165.5,2554,2847,3770,3378,739.8,-10.7,493,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2848,3573,3770,3377,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6749,-0.48,-165.5,2554,2847,3770,3377,771.5,-10.4,508,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2847,3573,3769,3378,0,0,0,0,0,0,14.99,15.00,15.00
$GC,7049,-0.48,-165.5,2554,2846,3768,3380,802.4,-10.3,523,7055,0.00,1.98,0.00,0.000,260,0.000,0.176,2547,3836,3574,3768,3380,0,0,0,0,0,0,14.99,14.43,15.00
$GC,7121,-0.48,-165.5,2547,3836,3767,3379,810.1,-9.8,537,7127,0.00,1.73,0.00,0.000,1030,0.000,0.093,2547,2852,3574,3768,3380,0,0,0,0,0,0,14.78,14.66,14.81
$GC,7434,-0.48,-165.5,2547,2852,3767,3380,843.8,-11.0,554,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2852,3573,3767,3380,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7734,-0.48,-165.5,2547,2852,3767,3380,875.8,-10.4,569,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2852,3573,3767,3380,0,0,0,0,0,0,15.01,15.03,15.02
$GC,8034,-0.48,-165.5,2547,2852,3766,3380,906.4,-9.9,584,8039,0.00,1.95,0.00,0.000,260,0.000,0.177,2540,3837,3573,3766,3380,0,0,0,0,0,0,15.02,14.44,15.04
$GC,8081,-0.48,-165.5,2540,3837,3766,3380,911.1,-9.8,593,8087,0.15,1.75,0.00,0.000,3078,0.222,0.093,2576,2841,3572,3765,3380,0,0,0,0,0,0,14.53,14.64,14.73
$GC,8400,-0.48,-165.5,2576,2839,3766,3380,935.2,-7.6,611,8405,0.00,1.83,0.00,0.000,548,0.000,0.090,2576,1777,3573,3766,3380,0,0,0,0,0,0,15.02,14.67,15.03
$GC,8426,-0.48,-165.5,2576,1773,3765,3380,937.3,-8.1,616,8432,0.00,2.03,0.00,0.000,1062,0.000,0.141,2571,2846,3572,3765,3379,0,0,0,0,0,0,14.74,14.56,14.79
$GC,8744,-0.48,-165.5,2570,2846,3765,3380,962.8,-8.2,634,8751,0.00,1.95,0.00,0.000,292,0.000,0.177,2563,3846,3572,3765,3380,0,0,0,0,0,0,14.98,14.38,15.00
$GC,8823,-0.48,-165.5,2563,3846,3763,3380,969.4,-7.6,649,8830,0.00,1.75,0.00,0.000,1062,0.000,0.088,2563,2842,3572,3764,3380,0,0,0,0,0,0,14.76,14.65,14.79
$STATE,9066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9066,begin apogee
$GC,9070,-0.10,0.0,2563,2590,3764,3380,991.2,-9.1,662,9235,0.47,0.00,161.35,2.374,10246,0.187,0.000,2698,2590,2900,2926,2874,0,0,0,0,0,0,14.52,13.66,12.52
$STATE,9237,end apogee,CONTROL_FINISHED_OK
$STATE,9237,begin climb
$GC,9238,0.48,165.5,2698,2590,2925,2873,995.0,0.0,670,9416,0.60,2.10,168.95,2.314,10756,0.116,0.090,2888,1538,2225,2213,2238,0,0,0,0,0,0,13.72,13.32,12.16
$GC,9483,0.48,165.5,2888,1538,2213,2236,974.7,11.0,717,9490,0.00,2.12,0.00,0.000,1030,0.000,0.123,2888,2606,2224,2213,2235,0,0,0,0,0,0,13.87,13.76,13.89
$GC,9788,0.48,165.5,2888,2606,2213,2230,937.2,12.4,733,9794,0.00,2.05,0.00,0.000,260,0.000,0.162,2888,3661,2221,2213,2229,0,0,0,0,0,0,14.57,14.25,14.59
$GC,9825,0.48,165.5,2888,3662,2213,2229,931.9,14.5,740,9832,0.00,1.90,0.00,0.000,1030,0.000,0.081,2895,2597,2221,2213,2229,0,0,0,0,0,0,14.45,14.35,14.46
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$STATE,16882,end climb,SURFACE_DEPTH_REACHED
$STATE,16882,begin surface coast
$FINISH,-0.0,1.027025
$STATE,16904,end surface coast,CONTROL_FINISHED_OK
$STATE,16904,begin surface
$SM_CCo,16921,91.53,0.886,1,0,1880,250.20
$SM_GC,0.60,7.78,2.47,91.53,0.062,0.109,0.886,166,2852,1880,-7.92,-0.42,250.20,0,0,0,0,1,0,14.67,14.52,13.59
$IRIDIUM_FIX,5938.97,-2157.57,300519,063659
$TT8_MAMPS,0.02247,0.559503
$HUMID,37.99
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3869888
$24V_AH,12.16,0.000
$10V_AH,12.50,31.069
$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,21.900,114.125,330.300,91.525,0.000,0.000,0.000,282.000,0.000,0.000,35.512,3135.455,11357.212,644.015,2205.682,103.875,0.000,1944.951,0.000,1819.394,0.000,0.537,0.000
$DEVICE_MAMPS,403.920,177.480,2373.795,885.870,0.000,0.000,0.000,193.545,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16916.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.128,0.000,0.000,0.000
$MEM,303460
$DATA_FILE_SIZE,43280,1268
$CAP_FILE_SIZE,153304,0
$CFSIZE,2097872896,2081619968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.108,268.97,1
$GPS,300519,162550,5935.266,-2159.842,65,1.0,84,-12.9,0.0,17.2,8,9.2