version: 66.13
glider: 527
mission: 5
dive: 78
start: 5 31 119 12 27 58
data:
$ID,527
$MISSION,5
$DIVE,78
$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,21
$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
$GPS1,310519,122036,5925.9775,-2200.1179,37,0.8,43,-12.9,0.7,35.5,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-75.0
$GPS2,310519,122716,5926.0127,-2200.1367,4,0.8,18,-12.9,1.1,51.2,10,9.3
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,187.7,11136,-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,8,begin dive
$GC,10,-0.48,-165.5,85,2875,1827,1917,0.0,0.0,0,103,0.00,0.00,-87.03,0.008,16390,0.000,0.000,78,2877,3574,3752,3397,0,0,0,0,0,0,14.62,13.52,14.64
$GC,105,-0.48,-165.5,78,2877,3752,3396,4.8,-9.3,9,122,12.20,1.95,0.00,0.000,2564,0.402,0.080,2567,1792,3575,3753,3397,0,0,0,0,0,0,14.09,14.41,14.38
$GC,203,-0.48,-165.5,2567,1789,3753,3397,26.5,-12.3,28,211,0.00,2.03,0.00,0.000,1030,0.000,0.144,2560,2840,3575,3753,3397,0,0,0,0,0,0,14.50,14.34,14.53
$GC,389,-0.48,-165.5,2561,2841,3753,3397,51.1,-12.4,47,395,0.00,1.95,0.00,0.000,260,0.000,0.167,2554,3843,3575,3753,3397,0,0,0,0,0,0,14.75,14.28,14.76
$GC,445,-0.48,-165.5,2553,3843,3753,3397,58.5,-13.4,58,452,0.00,1.75,0.00,0.000,1030,0.000,0.087,2554,2856,3575,3753,3397,0,0,0,0,0,0,14.51,14.42,14.54
$GC,632,-0.48,-165.5,2553,2856,3753,3397,83.9,-12.9,77,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2856,3575,3753,3397,0,0,0,0,0,0,14.82,14.84,14.84
$GC,811,-0.48,-165.5,2553,2856,3753,3397,106.6,-12.3,95,817,0.00,1.95,0.00,0.000,260,0.000,0.165,2546,3847,3575,3753,3397,0,0,0,0,0,0,14.85,14.34,14.87
$GC,864,-0.48,-165.5,2546,3847,3755,3397,113.1,-12.8,105,870,0.00,1.77,0.00,0.000,1030,0.000,0.087,2546,2836,3574,3753,3396,0,0,0,0,0,0,14.59,14.50,14.61
$GC,1057,-0.48,-165.5,2546,2835,3753,3397,139.6,-13.7,125,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2834,3575,3754,3397,0,0,0,0,0,0,14.88,14.89,14.89
$GC,1237,-0.48,-165.5,2546,2835,3753,3397,164.4,-13.8,143,1242,0.00,1.98,0.00,0.000,260,0.000,0.163,2538,3843,3575,3753,3397,0,0,0,0,0,0,14.89,14.38,14.90
$GC,1279,-0.48,-165.5,2538,3843,3753,3397,170.3,-14.1,151,1285,0.15,1.75,0.00,0.000,3078,0.231,0.086,2573,2841,3575,3753,3397,0,0,0,0,0,0,14.42,14.60,14.61
$GC,1472,-0.48,-165.5,2573,2840,3753,3397,193.6,-11.5,171,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2840,3575,3753,3397,0,0,0,0,0,0,14.90,14.91,14.91
$GC,1653,-0.48,-165.5,2572,2840,3753,3397,214.0,-11.2,189,1658,0.00,1.98,0.00,0.000,260,0.000,0.166,2568,3846,3575,3753,3397,0,0,0,0,0,0,14.90,14.37,14.92
$GC,1696,-0.48,-165.5,2568,3846,3753,3397,218.5,-11.3,197,1701,0.00,1.75,0.00,0.000,1030,0.000,0.086,2568,2847,3575,3754,3397,0,0,0,0,0,0,14.66,14.57,14.69
$GC,1889,-0.48,-165.5,2568,2847,3753,3397,241.0,-11.9,217,1894,0.00,1.95,0.00,0.000,260,0.000,0.165,2560,3843,3575,3753,3397,0,0,0,0,0,0,14.90,14.39,14.92
$GC,1921,-0.48,-165.5,2560,3843,3753,3397,245.0,-12.5,223,1927,0.00,1.75,0.00,0.000,1030,0.000,0.086,2561,2839,3575,3753,3397,0,0,0,0,0,0,14.71,14.62,14.74
$GC,2123,-0.48,-165.5,2560,2839,3753,3397,269.9,-12.4,236,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2839,3575,3753,3397,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2423,-0.48,-165.5,2560,2839,3753,3397,305.6,-11.4,251,2429,0.00,1.80,0.00,0.000,516,0.000,0.083,2561,1785,3575,3753,3397,0,0,0,0,0,0,14.93,14.63,14.95
$GC,2450,-0.48,-165.5,2560,1781,3753,3397,308.6,-11.0,256,2457,0.00,2.03,0.00,0.000,1030,0.000,0.138,2553,2857,3575,3753,3397,0,0,0,0,0,0,14.69,14.52,14.73
$GC,2769,-0.48,-165.5,2553,2857,3753,3397,346.5,-12.2,274,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2857,3575,3753,3397,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3069,-0.48,-165.5,2552,2857,3753,3397,382.9,-12.3,289,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2857,3575,3753,3397,0,0,0,0,0,0,14.97,14.99,14.99
$GC,3368,-0.48,-165.5,2553,2857,3753,3397,420.5,-12.9,304,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2857,3575,3753,3397,0,0,0,0,0,0,14.98,15.00,15.00
$GC,3668,-0.48,-165.5,2552,2857,3753,3397,456.5,-11.8,319,3674,0.00,1.92,0.00,0.000,260,0.000,0.171,2545,3845,3575,3753,3397,0,0,0,0,0,0,14.99,14.43,15.01
$GC,3735,-0.48,-165.5,2545,3845,3753,3397,464.4,-11.5,332,3741,0.00,1.75,0.00,0.000,1030,0.000,0.089,2545,2840,3575,3753,3397,0,0,0,0,0,0,14.74,14.65,14.76
$GC,4053,-0.48,-165.5,2545,2840,3752,3397,503.2,-12.2,350,4059,0.12,1.98,0.00,0.000,2308,0.264,0.166,2571,3847,3575,3753,3397,0,0,0,0,0,0,14.50,14.41,14.62
$GC,4100,-0.48,-165.5,2570,3847,3753,3397,508.3,-9.6,359,4106,0.00,1.75,0.00,0.000,1030,0.000,0.088,2571,2841,3575,3753,3397,0,0,0,0,0,0,14.78,14.68,14.81
$GC,4418,-0.48,-165.5,2571,2840,3753,3397,539.0,-9.6,377,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2841,3575,3753,3397,0,0,0,0,0,0,14.97,15.00,14.99
$GC,4718,-0.48,-165.5,2570,2841,3752,3397,568.5,-10.3,392,4724,0.00,1.98,0.00,0.000,260,0.000,0.171,2564,3846,3575,3753,3397,0,0,0,0,0,0,14.98,14.42,15.00
$GC,4805,-0.48,-165.5,2563,3846,3753,3397,577.8,-10.5,409,4811,0.00,1.75,0.00,0.000,1030,0.000,0.088,2564,2839,3575,3753,3397,0,0,0,0,0,0,14.78,14.68,14.81
$GC,5123,-0.48,-165.5,2563,2838,3753,3397,613.6,-11.3,427,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2839,3574,3752,3397,0,0,0,0,0,0,14.98,15.00,15.00
$GC,5423,-0.48,-165.5,2563,2839,3752,3397,645.7,-10.4,442,5428,0.00,1.98,0.00,0.000,260,0.000,0.170,2556,3846,3574,3752,3397,0,0,0,0,0,0,15.00,14.42,15.01
$GC,5485,-0.48,-165.5,2556,3846,3751,3397,652.3,-10.6,454,5491,0.00,1.75,0.00,0.000,1030,0.000,0.089,2557,2846,3574,3752,3397,0,0,0,0,0,0,14.78,14.68,14.81
$GC,5808,-0.48,-165.5,2556,2845,3751,3397,687.2,-10.7,473,5814,0.00,1.98,0.00,0.000,260,0.000,0.173,2550,3847,3574,3751,3397,0,0,0,0,0,0,15.00,14.41,15.01
$GC,5840,-0.48,-165.5,2549,3847,3750,3397,690.8,-11.0,479,5845,0.00,1.75,0.00,0.000,1030,0.000,0.090,2549,2846,3573,3750,3397,0,0,0,0,0,0,14.78,14.68,14.81
$GC,6152,-0.48,-165.5,2549,2843,3748,3398,726.2,-11.5,496,6158,0.00,1.98,0.00,0.000,260,0.000,0.174,2542,3844,3573,3748,3398,0,0,0,0,0,0,14.98,14.40,15.00
$GC,6195,-0.48,-165.5,2541,3844,3748,3398,731.3,-11.9,504,6202,0.15,1.75,0.00,0.000,3078,0.224,0.089,2577,2842,3572,3747,3398,0,0,0,0,0,0,14.47,14.62,14.66
$GC,6520,-0.48,-165.5,2577,2842,3747,3398,760.4,-8.6,523,6521,0.00,0.00,0.00,0.000,38,0.000,0.000,2577,2842,3573,3748,3398,0,0,0,0,0,0,14.99,15.01,15.00
$GC,6820,-0.48,-165.5,2577,2842,3748,3398,786.1,-8.6,538,6825,0.00,1.98,0.00,0.000,292,0.000,0.172,2572,3842,3572,3747,3397,0,0,0,0,0,0,15.00,14.40,15.01
$GC,6867,-0.48,-165.5,2571,3842,3747,3398,790.3,-8.8,547,6872,0.00,1.73,0.00,0.000,1062,0.000,0.088,2572,2852,3572,3747,3398,0,0,0,0,0,0,14.77,14.66,14.80
$GC,7185,-0.48,-165.5,2572,2852,3747,3398,817.9,-8.8,565,7186,0.00,0.00,0.00,0.000,38,0.000,0.000,2572,2852,3572,3747,3398,0,0,0,0,0,0,14.98,15.00,15.00
$GC,7485,-0.48,-165.5,2572,2852,3746,3398,844.4,-8.7,580,7486,0.00,0.00,0.00,0.000,38,0.000,0.000,2572,2852,3572,3746,3398,0,0,0,0,0,0,14.98,15.00,15.00
$GC,7785,-0.48,-165.5,2571,2852,3744,3398,869.7,-8.4,595,7790,0.00,1.98,0.00,0.000,292,0.000,0.175,2565,3846,3571,3745,3398,0,0,0,0,0,0,14.98,14.34,15.00
$GC,7821,-0.48,-165.5,2564,3846,3744,3398,873.1,-9.4,602,7828,0.00,1.75,0.00,0.000,1030,0.000,0.091,2564,2847,3571,3744,3398,0,0,0,0,0,0,14.76,14.66,14.79
$GC,8127,-0.48,-165.5,2564,2847,3744,3398,900.7,-9.2,618,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2847,3571,3744,3398,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8428,-0.48,-165.5,2564,2846,3743,3398,928.7,-9.4,633,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2847,3570,3743,3398,0,0,0,0,0,0,15.01,15.03,15.02
$GC,8727,-0.48,-165.5,2564,2847,3743,3398,957.5,-9.7,648,8733,0.00,1.98,0.00,0.000,260,0.000,0.175,2557,3845,3570,3742,3398,0,0,0,0,0,0,15.02,14.39,15.03
$GC,8775,-0.48,-165.5,2557,3844,3742,3398,962.2,-9.8,657,8780,0.00,1.75,0.00,0.000,1030,0.000,0.091,2557,2845,3569,3741,3398,0,0,0,0,0,0,14.76,14.64,14.77
$STATE,9051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9051,begin apogee
$GC,9055,-0.10,0.0,2557,2599,3742,3398,990.6,-10.3,673,9221,0.50,0.00,161.73,2.370,10246,0.193,0.000,2698,2599,2900,2924,2877,0,0,0,0,0,0,14.52,13.65,12.44
$STATE,9222,end apogee,CONTROL_FINISHED_OK
$STATE,9222,begin climb
$GC,9223,0.48,165.5,2699,2599,2923,2876,995.6,0.0,681,9402,0.60,2.05,168.43,2.313,10756,0.119,0.086,2887,1532,2225,2214,2237,0,0,0,0,0,0,13.71,13.10,12.21
$GC,9474,0.49,165.5,2887,1532,2214,2234,976.5,10.3,729,9480,0.00,2.12,0.00,0.000,1094,0.000,0.122,2887,2606,2223,2214,2233,0,0,0,0,0,0,13.92,13.79,13.94
$GC,9797,0.49,165.5,2886,2606,2214,2228,939.2,11.9,748,9803,0.00,2.05,0.00,0.000,260,0.000,0.159,2887,3666,2220,2213,2228,0,0,0,0,0,0,14.60,14.27,14.62
$GC,9824,0.49,165.5,2887,3666,2214,2228,935.7,13.1,753,9829,0.00,1.92,0.00,0.000,1030,0.000,0.080,2894,2583,2221,2214,2228,0,0,0,0,0,0,14.46,14.36,14.49
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$STATE,17005,end climb,SURFACE_DEPTH_REACHED
$STATE,17006,begin surface coast
$FINISH,-0.3,1.026992
$STATE,17027,end surface coast,CONTROL_FINISHED_OK
$STATE,17027,begin surface
$SM_CCo,17044,91.90,0.870,1,0,1880,250.20
$SM_GC,0.81,7.90,1.45,91.90,0.073,0.069,0.870,163,2838,1880,-7.95,0.59,250.20,0,0,0,0,1,0,14.62,14.63,13.59
$IRIDIUM_FIX,5928.11,-2155.16,310519,072334
$TT8_MAMPS,0.023219,0.820155
$HUMID,38.69
$INTERNAL_PRESSURE,8.80829
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3867968
$24V_AH,12.21,0.000
$10V_AH,12.62,32.830
$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,22.100,121.300,330.150,91.900,0.000,0.000,0.000,270.175,0.000,0.000,26.961,3165.800,11407.436,660.124,2207.574,109.516,0.000,1963.421,0.000,1840.807,0.000,0.535,0.000
$DEVICE_MAMPS,402.390,187.425,2369.970,869.805,0.000,0.000,0.000,192.015,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17039.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.140,0.000,0.000,0.000
$MEM,303420
$DATA_FILE_SIZE,46623,1283
$CAP_FILE_SIZE,155631,0
$CFSIZE,2097872896,2080636928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.048,323.22,1
$GPS,310519,171507,5923.844,-2200.478,37,1.1,50,-12.9,1.1,100.3,9,9.4