version: 66.13
glider: 527
mission: 5
dive: 87
start: 6 2 119 8 18 31
data:
$ID,527
$MISSION,5
$DIVE,87
$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,18
$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
$GPS1,020619,081020,5911.9771,-2201.3691,45,1.4,64,-12.8,0.7,99.6,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-73.3
$GPS2,020619,081732,5911.9756,-2201.4712,7,1.5,28,-12.8,0.4,51.3,6,9.8
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S3
$TGT_LATLONG,5910.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,174.2,3916,-18.5,-11.000,-21.10,2312
$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,-165.5,71,2876,1828,1915,0.0,0.0,0,104,0.00,0.00,-87.45,0.008,16390,0.000,0.000,67,2876,3575,3745,3406,0,0,0,0,0,0,14.65,13.52,14.67
$GC,106,-0.48,-165.5,67,2876,3745,3406,4.4,-6.9,9,124,12.32,1.90,0.00,0.000,2596,0.396,0.080,2565,1786,3576,3746,3406,0,0,0,0,0,0,14.11,14.40,14.31
$GC,255,-0.48,-165.5,2565,1782,3748,3406,30.5,-11.7,38,263,0.00,2.03,0.00,0.000,1030,0.000,0.135,2558,2845,3577,3748,3406,0,0,0,0,0,0,14.53,14.37,14.57
$GC,441,-0.48,-165.5,2558,2844,3748,3406,54.4,-13.1,57,447,0.00,1.95,0.00,0.000,260,0.000,0.166,2550,3847,3577,3748,3406,0,0,0,0,0,0,14.80,14.27,14.81
$GC,488,-0.48,-165.5,2551,3847,3748,3406,60.9,-13.3,66,496,0.00,1.75,0.00,0.000,1030,0.000,0.085,2551,2853,3577,3748,3406,0,0,0,0,0,0,14.62,14.53,14.64
$GC,674,-0.48,-165.5,2550,2853,3748,3406,87.4,-14.4,85,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2853,3577,3748,3406,0,0,0,0,0,0,14.83,14.85,14.84
$GC,854,-0.48,-165.5,2550,2853,3748,3406,112.7,-13.9,103,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2853,3577,3748,3406,0,0,0,0,0,0,14.85,14.87,14.86
$GC,1034,-0.48,-165.5,2550,2853,3748,3406,137.4,-13.8,121,1039,0.00,1.95,0.00,0.000,260,0.000,0.163,2543,3849,3577,3748,3406,0,0,0,0,0,0,14.86,14.33,14.88
$GC,1080,-0.48,-165.5,2542,3849,3748,3406,143.8,-13.6,130,1088,0.12,1.75,0.00,0.000,3078,0.239,0.085,2570,2848,3577,3748,3406,0,0,0,0,0,0,14.42,14.59,14.62
$GC,1266,-0.48,-165.5,2570,2848,3748,3406,165.6,-11.5,149,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2848,3577,3748,3406,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1447,-0.48,-165.5,2570,2848,3748,3406,185.6,-11.0,167,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2848,3577,3748,3406,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1626,-0.48,-165.5,2570,2847,3748,3406,205.0,-10.8,185,1632,0.00,1.95,0.00,0.000,260,0.000,0.162,2565,3842,3577,3748,3406,0,0,0,0,0,0,14.89,14.32,14.90
$GC,1662,-0.48,-165.5,2564,3841,3748,3406,209.6,-11.7,192,1669,0.00,1.73,0.00,0.000,1030,0.000,0.084,2565,2851,3576,3748,3405,0,0,0,0,0,0,14.70,14.62,14.73
$GC,1849,-0.48,-165.5,2565,2851,3747,3406,230.7,-11.9,211,1855,0.00,1.83,0.00,0.000,516,0.000,0.083,2565,1786,3577,3748,3406,0,0,0,0,0,0,14.88,14.59,14.90
$GC,1875,-0.48,-165.5,2564,1782,3748,3406,233.9,-11.4,216,1882,0.00,2.05,0.00,0.000,1030,0.000,0.134,2557,2858,3577,3748,3406,0,0,0,0,0,0,14.58,14.41,14.62
$GC,2072,-0.48,-165.5,2557,2858,3748,3406,257.6,-12.3,233,2078,0.00,1.92,0.00,0.000,260,0.000,0.164,2549,3850,3577,3748,3406,0,0,0,0,0,0,14.92,14.35,14.93
$GC,2135,-0.48,-165.5,2549,3850,3748,3406,265.2,-11.8,245,2140,0.00,1.75,0.00,0.000,1030,0.000,0.085,2549,2847,3577,3748,3406,0,0,0,0,0,0,14.71,14.62,14.73
$GC,2457,-0.48,-165.5,2549,2847,3748,3406,305.6,-12.5,264,2462,0.00,1.95,0.00,0.000,260,0.000,0.165,2542,3843,3577,3748,3406,0,0,0,0,0,0,14.95,14.39,14.97
$GC,2524,-0.48,-165.5,2542,3843,3747,3406,314.3,-12.3,277,2530,0.15,1.77,0.00,0.000,3078,0.230,0.083,2576,2816,3577,3748,3406,0,0,0,0,0,0,14.48,14.64,14.68
$GC,2843,-0.48,-165.5,2576,2814,3748,3406,347.7,-10.3,295,2848,0.00,2.00,0.00,0.000,260,0.000,0.163,2571,3842,3576,3747,3406,0,0,0,0,0,0,14.96,14.40,14.98
$GC,2886,-0.48,-165.5,2571,3843,3747,3406,352.2,-10.2,303,2891,0.00,1.73,0.00,0.000,1030,0.000,0.083,2571,2846,3577,3748,3406,0,0,0,0,0,0,14.71,14.62,14.73
$GC,3208,-0.48,-165.5,2571,2846,3748,3406,385.3,-10.4,322,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2846,3577,3748,3406,0,0,0,0,0,0,14.97,14.99,15.00
$GC,3508,-0.48,-165.5,2571,2847,3747,3406,416.2,-10.5,337,3514,0.00,1.95,0.00,0.000,260,0.000,0.165,2564,3845,3576,3747,3406,0,0,0,0,0,0,14.99,14.41,15.00
$GC,3551,-0.48,-165.5,2563,3845,3747,3406,420.7,-10.7,345,3556,0.00,1.73,0.00,0.000,1030,0.000,0.085,2564,2852,3576,3747,3405,0,0,0,0,0,0,14.76,14.67,14.79
$GC,3873,-0.48,-165.5,2564,2852,3747,3406,456.1,-11.2,364,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2852,3576,3747,3406,0,0,0,0,0,0,14.99,15.01,15.01
$GC,4174,-0.48,-165.5,2564,2852,3747,3406,489.3,-10.7,379,4179,0.00,1.95,0.00,0.000,260,0.000,0.168,2557,3847,3576,3747,3406,0,0,0,0,0,0,15.00,14.40,15.02
$GC,4220,-0.48,-165.5,2557,3847,3747,3406,494.2,-10.4,388,4225,0.00,1.75,0.00,0.000,1030,0.000,0.086,2557,2842,3576,3746,3406,0,0,0,0,0,0,14.77,14.66,14.80
$GC,4537,-0.48,-165.5,2557,2841,3746,3406,528.6,-11.2,406,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2841,3576,3747,3406,0,0,0,0,0,0,15.00,15.02,15.02
$GC,4837,-0.48,-165.5,2556,2841,3746,3406,562.1,-11.1,421,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2841,3576,3746,3406,0,0,0,0,0,0,15.01,15.03,15.02
$GC,5137,-0.48,-165.5,2556,2841,3746,3406,594.6,-10.8,436,5143,0.00,1.98,0.00,0.000,260,0.000,0.168,2549,3844,3576,3746,3406,0,0,0,0,0,0,15.02,14.41,15.04
$GC,5184,-0.48,-165.5,2549,3844,3745,3406,599.9,-10.9,445,5189,0.00,1.75,0.00,0.000,1030,0.000,0.086,2549,2838,3575,3745,3406,0,0,0,0,0,0,14.79,14.69,14.82
$GC,5501,-0.48,-165.5,2549,2837,3745,3405,636.2,-11.7,463,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2837,3575,3744,3406,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5801,-0.48,-165.5,2549,2837,3744,3406,671.9,-11.8,478,5807,0.00,1.98,0.00,0.000,260,0.000,0.170,2542,3843,3575,3744,3406,0,0,0,0,0,0,15.00,14.42,15.02
$GC,5853,-0.48,-165.5,2542,3842,3743,3406,678.4,-12.1,488,5860,0.12,1.73,0.00,0.000,3078,0.232,0.085,2570,2849,3574,3743,3406,0,0,0,0,0,0,14.53,14.69,14.73
$GC,6167,-0.48,-165.5,2570,2849,3743,3406,709.8,-9.9,505,6172,0.00,1.83,0.00,0.000,516,0.000,0.084,2570,1781,3574,3742,3406,0,0,0,0,0,0,15.00,14.66,15.02
$GC,6193,-0.48,-165.5,2570,1778,3743,3406,712.5,-9.9,510,6200,0.00,2.03,0.00,0.000,1030,0.000,0.135,2565,2857,3574,3742,3406,0,0,0,0,0,0,14.73,14.54,14.77
$GC,6512,-0.48,-165.5,2564,2857,3742,3405,744.3,-10.0,528,6517,0.00,1.90,0.00,0.000,260,0.000,0.171,2558,3842,3574,3742,3406,0,0,0,0,0,0,15.01,14.40,15.02
$GC,6584,-0.48,-165.5,2557,3841,3742,3406,751.6,-10.1,542,6591,0.00,1.73,0.00,0.000,1030,0.000,0.085,2558,2848,3573,3741,3406,0,0,0,0,0,0,14.77,14.66,14.80
$GC,6898,-0.48,-165.5,2557,2847,3741,3406,782.8,-10.0,559,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2847,3573,3741,3406,0,0,0,0,0,0,15.01,15.03,15.03
$GC,7198,-0.48,-165.5,2557,2847,3741,3406,812.4,-9.9,574,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2847,3573,3741,3406,0,0,0,0,0,0,15.02,15.04,15.03
$GC,7498,-0.48,-165.5,2557,2847,3741,3406,842.5,-10.2,589,7503,0.00,1.98,0.00,0.000,260,0.000,0.173,2551,3847,3573,3740,3406,0,0,0,0,0,0,15.02,14.38,15.04
$GC,7534,-0.48,-165.5,2550,3847,3739,3406,846.4,-10.6,596,7541,0.00,1.75,0.00,0.000,1030,0.000,0.088,2550,2845,3572,3739,3406,0,0,0,0,0,0,14.78,14.68,14.81
$GC,7840,-0.48,-165.5,2550,2845,3739,3406,878.0,-10.2,612,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2845,3572,3739,3406,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8141,-0.48,-165.5,2550,2845,3739,3406,908.8,-10.3,627,8146,0.00,1.98,0.00,0.000,260,0.000,0.172,2544,3843,3572,3738,3406,0,0,0,0,0,0,15.00,14.36,15.02
$GC,8177,-0.48,-165.5,2543,3842,3737,3406,912.8,-9.8,634,8186,0.12,1.75,0.00,0.000,3078,0.226,0.087,2572,2843,3571,3737,3406,0,0,0,0,0,0,14.52,14.67,14.71
$GC,8484,-0.48,-165.5,2571,2842,3737,3406,938.0,-8.3,650,8490,0.00,1.83,0.00,0.000,548,0.000,0.084,2572,1775,3571,3737,3406,0,0,0,0,0,0,15.01,14.66,15.02
$GC,8522,-0.48,-165.5,2571,1774,3737,3406,941.1,-7.9,657,8528,0.00,2.05,0.00,0.000,1062,0.000,0.138,2567,2859,3571,3737,3406,0,0,0,0,0,0,14.73,14.54,14.77
$GC,8827,-0.48,-165.5,2566,2859,3737,3406,967.9,-8.8,673,8833,0.00,1.92,0.00,0.000,292,0.000,0.175,2560,3846,3571,3737,3406,0,0,0,0,0,0,14.99,14.35,15.00
$GC,8884,-0.48,-165.5,2560,3846,3736,3405,973.0,-8.7,684,8891,0.00,1.75,0.00,0.000,1062,0.000,0.088,2561,2845,3571,3736,3406,0,0,0,0,0,0,14.75,14.63,14.78
$STATE,9089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9089,begin apogee
$GC,9094,-0.10,0.0,2561,2597,3736,3405,991.1,-9.0,695,9258,0.47,0.00,161.05,2.370,10246,0.188,0.000,2693,2597,2900,2923,2877,0,0,0,0,0,0,14.49,13.66,12.55
$STATE,9260,end apogee,CONTROL_FINISHED_OK
$STATE,9260,begin climb
$GC,9261,0.48,165.5,2693,2596,2922,2877,994.8,0.0,703,9438,0.62,2.10,168.02,2.311,10756,0.120,0.085,2888,1538,2225,2214,2237,0,0,0,0,0,0,13.71,13.35,12.26
$GC,9511,0.48,165.5,2888,1538,2213,2234,973.3,11.1,751,9517,0.00,2.10,0.00,0.000,1030,0.000,0.122,2888,2599,2223,2213,2234,0,0,0,0,0,0,13.93,13.81,13.95
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$STATE,17144,end climb,SURFACE_DEPTH_REACHED
$STATE,17144,begin surface coast
$FINISH,0.6,1.027003
$STATE,17165,end surface coast,CONTROL_FINISHED_OK
$STATE,17166,begin surface
$SM_CCo,17182,91.72,0.875,1,0,1880,250.20
$SM_GC,0.80,7.90,0.50,91.72,0.062,0.121,0.875,163,2864,1880,-7.94,-0.20,250.20,0,0,0,0,1,0,14.62,14.53,13.60
$IRIDIUM_FIX,5914.82,-2155.12,020619,032124
$TT8_MAMPS,0.02247,0.792442
$HUMID,38.34
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3864512
$24V_AH,12.26,0.000
$10V_AH,12.39,35.968
$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,22.425,144.550,329.075,91.725,0.000,0.000,0.000,289.250,0.000,0.000,37.108,3279.390,11303.777,712.682,2321.601,118.736,0.000,2091.972,0.000,1921.199,0.000,0.536,0.000
$DEVICE_MAMPS,395.505,175.185,2369.970,875.160,0.000,0.000,0.000,191.250,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17177.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.209,0.000,0.000,0.000
$MEM,303036
$DATA_FILE_SIZE,46616,1340
$CAP_FILE_SIZE,164725,0
$CFSIZE,2097872896,2078834688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.041,30.88,1
$GPS,020619,130831,5909.895,-2159.698,76,0.8,83,-12.8,0.8,354.9,10,9.5