version: 66.13
glider: 527
mission: 5
dive: 76
start: 5 31 119 2 33 46
data:
$ID,527
$MISSION,5
$DIVE,76
$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,36
$R_STBD_OVSHOOT,16
$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
$GPS1,310519,022618,5930.3950,-2200.4551,97,1.0,114,-12.9,0.5,321.1,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-71.2
$GPS2,310519,023306,5930.4517,-2200.5520,18,1.0,32,-12.9,0.9,74.5,7,9.7
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,174.5,19363,-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,-165.5,62,2867,1828,1913,0.0,0.0,0,95,0.00,0.00,-82.05,0.008,16386,0.000,0.000,55,2866,3474,3630,3319,0,0,0,0,0,0,14.63,28.83,14.65
$GC,97,-0.48,-165.5,54,2866,3630,3319,4.0,-6.5,8,121,12.38,1.92,-2.28,0.043,19236,0.401,0.168,2562,3841,3578,3760,3396,0,0,0,0,0,0,14.08,13.37,14.43
$GC,347,-0.48,-165.5,2562,3841,3761,3396,46.8,-11.8,57,354,0.00,1.75,0.00,0.000,1030,0.000,0.086,2562,2856,3578,3761,3396,0,0,0,0,0,0,14.52,14.44,14.55
$GC,534,-0.48,-165.5,2562,2856,3761,3396,70.1,-12.0,76,539,0.00,1.95,0.00,0.000,260,0.000,0.162,2555,3840,3578,3761,3396,0,0,0,0,0,0,14.79,14.16,14.81
$GC,620,-0.48,-165.5,2555,3840,3761,3396,79.8,-10.8,93,627,0.00,1.75,0.00,0.000,1030,0.000,0.081,2555,2843,3578,3761,3396,0,0,0,0,0,0,14.58,14.51,14.61
$GC,807,-0.48,-165.5,2555,2844,3761,3396,102.9,-12.3,112,812,0.00,1.98,0.00,0.000,260,0.000,0.161,2548,3844,3578,3761,3395,0,0,0,0,0,0,14.85,14.26,14.87
$GC,839,-0.48,-165.5,2547,3844,3761,3396,107.1,-13.5,118,845,0.00,1.75,0.00,0.000,1030,0.000,0.083,2548,2844,3578,3761,3396,0,0,0,0,0,0,14.65,14.55,14.67
$GC,1032,-0.48,-165.5,2547,2844,3761,3396,134.3,-14.8,138,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2844,3578,3761,3396,0,0,0,0,0,0,14.87,14.88,14.88
$GC,1212,-0.48,-165.5,2547,2844,3761,3396,160.2,-14.3,156,1218,0.00,1.95,0.00,0.000,260,0.000,0.161,2540,3838,3578,3761,3396,0,0,0,0,0,0,14.88,14.31,14.90
$GC,1265,-0.48,-165.5,2540,3838,3761,3396,168.0,-13.9,166,1271,0.15,1.73,0.00,0.000,3078,0.228,0.083,2574,2849,3578,3761,3396,0,0,0,0,0,0,14.32,14.58,14.53
$GC,1458,-0.48,-165.5,2574,2849,3761,3396,190.1,-11.4,186,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2849,3578,3761,3396,0,0,0,0,0,0,14.89,14.91,14.91
$GC,1639,-0.48,-165.5,2574,2849,3761,3397,210.9,-11.5,204,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2849,3579,3761,3397,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1818,-0.48,-165.5,2574,2849,3761,3396,231.1,-11.0,222,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2849,3578,3761,3396,0,0,0,0,0,0,14.92,14.93,14.93
$GC,1998,-0.48,-165.5,2574,2849,3760,3396,250.6,-10.8,240,2005,0.00,1.98,0.00,0.000,260,0.000,0.162,2569,3838,3578,3761,3396,0,0,0,0,0,0,14.92,14.33,14.93
$GC,2031,-0.48,-165.5,2569,3837,3761,3396,254.4,-11.7,246,2037,0.00,1.73,0.00,0.000,1030,0.000,0.086,2569,2849,3579,3761,3397,0,0,0,0,0,0,14.71,14.62,14.74
$GC,2343,-0.48,-165.5,2569,2849,3761,3396,291.3,-11.8,263,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2849,3578,3761,3396,0,0,0,0,0,0,14.94,14.96,14.95
$GC,2643,-0.48,-165.5,2569,2849,3761,3396,324.3,-10.7,278,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2849,3578,3761,3396,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2943,-0.48,-165.5,2569,2849,3761,3396,357.0,-10.8,293,2949,0.00,1.95,0.00,0.000,260,0.000,0.166,2562,3843,3578,3761,3396,0,0,0,0,0,0,14.96,14.35,14.97
$GC,2986,-0.48,-165.5,2562,3842,3761,3396,361.6,-10.9,301,2991,0.00,1.75,0.00,0.000,1030,0.000,0.086,2562,2842,3578,3761,3396,0,0,0,0,0,0,14.68,14.57,14.71
$GC,3308,-0.48,-165.5,2562,2841,3761,3396,399.7,-12.2,320,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2841,3578,3761,3396,0,0,0,0,0,0,14.97,14.99,14.98
$GC,3608,-0.48,-165.5,2562,2841,3761,3396,436.4,-12.1,335,3614,0.00,1.98,0.00,0.000,260,0.000,0.168,2555,3844,3578,3760,3396,0,0,0,0,0,0,14.98,14.35,15.00
$GC,3715,-0.48,-165.5,2554,3844,3760,3396,449.0,-11.4,356,3721,0.00,1.75,0.00,0.000,1030,0.000,0.086,2555,2842,3578,3761,3396,0,0,0,0,0,0,14.71,14.62,14.74
$GC,4033,-0.48,-165.5,2554,2842,3760,3397,486.7,-11.8,374,4039,0.00,1.98,0.00,0.000,260,0.000,0.168,2548,3840,3578,3760,3397,0,0,0,0,0,0,14.98,14.40,15.00
$GC,4075,-0.48,-165.5,2548,3840,3760,3396,491.5,-11.5,382,4081,0.00,1.77,0.00,0.000,1030,0.000,0.086,2548,2829,3578,3760,3396,0,0,0,0,0,0,14.71,14.60,14.73
$GC,4398,-0.48,-165.5,2548,2828,3760,3397,530.2,-12.5,401,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2828,3578,3760,3396,0,0,0,0,0,0,14.99,15.01,15.01
$GC,4699,-0.48,-165.5,2547,2828,3760,3396,567.3,-12.2,416,4704,0.00,2.00,0.00,0.000,260,0.000,0.168,2540,3839,3578,3760,3396,0,0,0,0,0,0,15.00,14.41,15.01
$GC,4765,-0.48,-165.5,2540,3838,3760,3396,575.8,-12.2,429,4771,0.15,1.73,0.00,0.000,3078,0.225,0.089,2576,2847,3577,3759,3396,0,0,0,0,0,0,14.47,14.66,14.68
$GC,5083,-0.48,-165.5,2575,2846,3759,3396,607.1,-9.4,447,5089,0.00,1.83,0.00,0.000,516,0.000,0.088,2576,1785,3577,3759,3396,0,0,0,0,0,0,15.00,14.66,15.02
$GC,5121,-0.48,-165.5,2576,1783,3759,3397,610.6,-8.7,454,5128,0.00,2.03,0.00,0.000,1062,0.000,0.139,2570,2857,3578,3760,3397,0,0,0,0,0,0,14.71,14.53,14.76
$GC,5426,-0.48,-165.5,2570,2857,3758,3396,639.5,-9.5,470,5432,0.00,1.92,0.00,0.000,260,0.000,0.175,2563,3846,3577,3758,3397,0,0,0,0,0,0,15.00,14.37,15.01
$GC,5518,-0.48,-165.5,2562,3846,3757,3397,648.1,-9.1,488,5524,0.00,1.75,0.00,0.000,1030,0.000,0.092,2563,2849,3576,3757,3396,0,0,0,0,0,0,14.76,14.65,14.80
$GC,5831,-0.48,-165.5,2562,2848,3757,3397,677.7,-9.5,505,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2848,3577,3757,3397,0,0,0,0,0,0,15.00,15.02,15.01
$GC,6131,-0.48,-165.5,2563,2847,3757,3397,706.3,-9.7,520,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2847,3576,3756,3396,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6431,-0.48,-165.5,2562,2848,3756,3397,736.4,-10.2,535,6437,0.00,2.00,0.00,0.000,260,0.000,0.176,2556,3846,3575,3755,3396,0,0,0,0,0,0,15.00,14.37,15.02
$GC,6474,-0.48,-165.5,2555,3846,3754,3397,741.0,-10.3,543,6481,0.00,1.75,0.00,0.000,1030,0.000,0.094,2556,2852,3575,3754,3397,0,0,0,0,0,0,14.76,14.65,14.79
$GC,6798,-0.48,-165.5,2555,2851,3754,3397,776.2,-11.0,562,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2850,3574,3753,3396,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7098,-0.48,-165.5,2555,2850,3754,3397,809.3,-11.0,577,7103,0.00,1.98,0.00,0.000,260,0.000,0.177,2548,3843,3575,3753,3397,0,0,0,0,0,0,15.01,14.37,15.03
$GC,7140,-0.48,-165.5,2548,3843,3753,3397,814.1,-11.1,585,7145,0.00,1.75,0.00,0.000,1030,0.000,0.093,2548,2846,3575,3753,3397,0,0,0,0,0,0,14.77,14.66,14.81
$GC,7463,-0.48,-165.5,2547,2846,3753,3397,851.0,-11.3,604,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2846,3575,3753,3397,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7762,-0.48,-165.5,2547,2846,3753,3397,884.0,-11.1,619,7769,0.00,1.98,0.00,0.000,260,0.000,0.176,2541,3841,3574,3752,3397,0,0,0,0,0,0,15.01,14.36,15.02
$GC,7795,-0.48,-165.5,2540,3841,3752,3397,887.6,-11.6,625,7801,0.15,1.75,0.00,0.000,3078,0.222,0.093,2576,2845,3574,3752,3397,0,0,0,0,0,0,14.50,14.66,14.71
$GC,8108,-0.48,-165.5,2576,2845,3752,3397,915.0,-8.6,642,8114,0.00,1.83,0.00,0.000,548,0.000,0.091,2577,1790,3574,3752,3397,0,0,0,0,0,0,15.01,14.64,15.02
$GC,8135,-0.48,-165.5,2576,1787,3752,3397,917.4,-8.9,647,8142,0.00,2.03,0.00,0.000,1062,0.000,0.142,2571,2856,3574,3752,3397,0,0,0,0,0,0,14.71,14.51,14.76
$GC,8454,-0.48,-165.5,2570,2856,3752,3397,946.3,-9.2,665,8459,0.00,1.92,0.00,0.000,260,0.000,0.177,2564,3841,3574,3752,3397,0,0,0,0,0,0,14.98,14.33,15.00
$GC,8511,-0.48,-165.5,2563,3841,3751,3397,951.5,-9.0,676,8518,0.00,1.75,0.00,0.000,1062,0.000,0.092,2563,2845,3574,3751,3397,0,0,0,0,0,0,14.75,14.62,14.78
$GC,8816,-0.48,-165.5,2563,2844,3751,3397,980.3,-9.4,692,8822,0.00,1.83,0.00,0.000,516,0.000,0.090,2564,1789,3573,3750,3397,0,0,0,0,0,0,14.97,14.62,14.99
$GC,8842,-0.48,-165.5,2563,1787,3750,3397,983.0,-9.8,697,8848,0.00,2.03,0.00,0.000,1030,0.000,0.142,2556,2849,3573,3750,3397,0,0,0,0,0,0,14.69,14.49,14.74
$STATE,8918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8919,begin apogee
$GC,8923,-0.10,0.0,2556,2593,3750,3397,990.2,-9.9,703,9090,0.50,0.00,163.32,2.361,10246,0.193,0.000,2696,2593,2900,2924,2876,0,0,0,0,0,0,14.46,13.63,12.43
$STATE,9091,end apogee,CONTROL_FINISHED_OK
$STATE,9091,begin climb
$GC,9092,0.48,165.5,2696,2593,2923,2876,994.6,0.0,711,9270,0.62,2.03,167.23,2.307,10756,0.118,0.086,2892,1541,2226,2214,2238,0,0,0,0,0,0,13.70,13.12,12.26
$GC,9373,0.48,165.5,2892,1541,2213,2232,970.5,10.8,765,9378,0.00,2.08,0.00,0.000,1030,0.000,0.123,2892,2598,2223,2213,2233,0,0,0,0,0,0,14.00,13.89,14.02
$GC,9685,0.48,165.5,2892,2598,2213,2229,932.3,12.3,782,9691,0.00,2.05,0.00,0.000,260,0.000,0.158,2892,3662,2221,2213,2229,0,0,0,0,0,0,14.61,14.28,14.62
$GC,9727,0.48,165.5,2891,3662,2213,2228,926.4,14.3,790,9733,0.00,1.90,0.00,0.000,1030,0.000,0.078,2899,2588,2220,2213,2228,0,0,0,0,0,0,14.49,14.40,14.51
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$STATE,17065,end climb,SURFACE_DEPTH_REACHED
$STATE,17065,begin surface coast
$FINISH,0.2,1.027060
$STATE,17081,end surface coast,CONTROL_FINISHED_OK
$STATE,17082,begin surface
$SM_CCo,17097,48.95,0.653,1,0,1879,250.20
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$TT8_MAMPS,0.023219,0.577479
$HUMID,38.42
$INTERNAL_PRESSURE,8.80829
$TCM_TEMP,18.20
$XPDR_PINGS,1
$SC_FREEKB,3868736
$24V_AH,12.26,0.000
$10V_AH,12.54,32.129
$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,0.000,0.000,0.000,0.000,0.000,0.000,9.203,0.000,0.000,0.000
$MEM,303416
$DATA_FILE_SIZE,46599,1349
$CAP_FILE_SIZE,159163,0
$CFSIZE,2097872896,2081030144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.068,295.49,1
$GPS,310519,072132,5928.341,-2200.520,69,0.8,77,-12.9,1.0,281.2,10,9.7