version: 66.13
glider: 527
mission: 5
dive: 98
start: 6 4 119 13 22 49
data:
$ID,527
$MISSION,5
$DIVE,98
$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,37
$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
$GPS1,040619,131510,5920.3838,-2146.7412,36,1.3,51,-12.7,0.6,261.4,6,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-74.5
$GPS2,040619,132208,5920.3643,-2146.7566,12,1.3,25,-12.7,0.6,123.1,6,9.6
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,257.5,12528,-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,-165.5,111,2877,1826,1919,0.0,0.0,0,104,0.00,0.00,-85.95,0.008,16390,0.000,0.000,98,2876,3576,3747,3405,0,0,0,0,0,0,14.64,12.79,14.66
$GC,106,-0.48,-165.5,98,2876,3746,3405,5.3,-9.3,9,123,12.27,1.88,0.00,0.000,2308,0.398,0.126,2559,3843,3576,3748,3405,0,0,0,0,0,0,14.02,14.21,14.36
$GC,271,-0.48,-165.5,2559,3844,3750,3405,38.2,-13.3,41,277,0.00,1.73,0.00,0.000,1030,0.000,0.080,2559,2859,3576,3749,3404,0,0,0,0,0,0,14.56,14.47,14.58
$GC,464,-0.48,-165.5,2559,2859,3749,3405,64.6,-13.3,61,470,0.00,1.85,0.00,0.000,516,0.000,0.080,2559,1781,3577,3749,3405,0,0,0,0,0,0,14.78,14.48,14.81
$GC,537,-0.48,-165.5,2559,1777,3750,3405,73.0,-11.1,75,543,0.00,2.05,0.00,0.000,1030,0.000,0.132,2552,2856,3577,3749,3405,0,0,0,0,0,0,14.51,14.33,14.57
$GC,729,-0.48,-165.5,2551,2855,3750,3405,98.9,-13.7,95,735,0.00,1.90,0.00,0.000,260,0.000,0.161,2544,3840,3576,3749,3404,0,0,0,0,0,0,14.82,14.27,14.83
$GC,843,-0.48,-165.5,2544,3840,3749,3405,114.4,-13.7,117,849,0.12,1.73,0.00,0.000,3078,0.235,0.077,2571,2842,3577,3749,3405,0,0,0,0,0,0,14.36,14.57,14.57
$GC,1036,-0.48,-165.5,2571,2842,3750,3405,138.5,-12.3,137,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2842,3577,3749,3405,0,0,0,0,0,0,14.85,14.88,14.87
$GC,1216,-0.48,-165.5,2571,2842,3750,3405,160.0,-11.8,155,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2842,3577,3749,3405,0,0,0,0,0,0,14.86,14.88,14.88
$GC,1396,-0.48,-165.5,2571,2842,3750,3405,181.1,-11.8,173,1402,0.00,1.98,0.00,0.000,260,0.000,0.158,2566,3846,3577,3749,3405,0,0,0,0,0,0,14.88,14.23,14.90
$GC,1433,-0.48,-165.5,2566,3846,3750,3405,185.9,-11.9,180,1441,0.00,1.75,0.00,0.000,1030,0.000,0.079,2566,2841,3577,3750,3405,0,0,0,0,0,0,14.67,14.57,14.69
$GC,1619,-0.48,-165.5,2566,2839,3750,3405,207.9,-12.1,199,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2840,3577,3749,3405,0,0,0,0,0,0,14.87,14.89,14.89
$GC,1799,-0.48,-165.5,2566,2840,3749,3405,229.4,-11.9,217,1805,0.00,1.98,0.00,0.000,260,0.000,0.158,2559,3850,3577,3749,3405,0,0,0,0,0,0,14.90,14.28,14.91
$GC,1843,-0.48,-165.5,2558,3850,3749,3405,234.6,-12.0,225,1848,0.00,1.75,0.00,0.000,1030,0.000,0.079,2558,2841,3577,3750,3405,0,0,0,0,0,0,14.69,14.59,14.71
$GC,2035,-0.48,-165.5,2558,2840,3750,3405,258.9,-12.9,242,2041,0.00,1.98,0.00,0.000,260,0.000,0.159,2551,3845,3577,3750,3404,0,0,0,0,0,0,14.90,14.21,14.92
$GC,2067,-0.48,-165.5,2551,3846,3750,3405,263.1,-13.3,248,2073,0.00,1.75,0.00,0.000,1030,0.000,0.079,2551,2840,3577,3749,3405,0,0,0,0,0,0,14.69,14.59,14.71
$GC,2381,-0.48,-165.5,2551,2839,3749,3405,305.7,-13.7,265,2386,0.00,1.98,0.00,0.000,260,0.000,0.160,2543,3847,3577,3749,3405,0,0,0,0,0,0,14.93,14.30,14.95
$GC,2417,-0.48,-165.5,2543,3847,3749,3405,311.1,-13.6,272,2426,0.12,1.75,0.00,0.000,3078,0.234,0.079,2571,2840,3577,3750,3405,0,0,0,0,0,0,14.42,14.62,14.62
$GC,2723,-0.48,-165.5,2571,2840,3750,3405,346.9,-11.0,288,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2839,3576,3748,3405,0,0,0,0,0,0,14.94,14.96,14.95
$GC,3023,-0.48,-165.5,2570,2839,3749,3404,380.0,-10.7,303,3029,0.00,1.98,0.00,0.000,260,0.000,0.161,2566,3848,3576,3749,3404,0,0,0,0,0,0,14.95,14.30,14.97
$GC,3086,-0.48,-165.5,2565,3848,3749,3405,386.5,-10.3,315,3091,0.00,1.75,0.00,0.000,1030,0.000,0.080,2566,2839,3577,3749,3405,0,0,0,0,0,0,14.67,14.57,14.70
$GC,3408,-0.48,-165.5,2565,2838,3749,3405,422.4,-11.0,334,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2838,3577,3749,3405,0,0,0,0,0,0,14.97,14.99,14.99
$GC,3709,-0.48,-165.5,2566,2838,3749,3405,454.9,-10.9,349,3714,0.00,1.98,0.00,0.000,260,0.000,0.160,2558,3848,3577,3749,3405,0,0,0,0,0,0,14.98,14.31,15.00
$GC,3775,-0.48,-165.5,2558,3848,3749,3404,462.3,-10.2,362,3781,0.00,1.75,0.00,0.000,1030,0.000,0.080,2558,2842,3577,3749,3405,0,0,0,0,0,0,14.64,14.54,14.66
$GC,4093,-0.48,-165.5,2558,2841,3749,3404,497.9,-11.1,380,4099,0.00,1.98,0.00,0.000,260,0.000,0.161,2551,3848,3576,3748,3405,0,0,0,0,0,0,14.98,14.31,15.00
$GC,4136,-0.48,-165.5,2551,3849,3749,3405,502.8,-11.4,388,4143,0.00,1.75,0.00,0.000,1030,0.000,0.080,2551,2844,3577,3749,3405,0,0,0,0,0,0,14.69,14.59,14.71
$GC,4460,-0.48,-165.5,2551,2843,3749,3405,541.4,-12.0,407,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2843,3577,3749,3405,0,0,0,0,0,0,14.98,15.00,15.00
$GC,4760,-0.48,-165.5,2551,2842,3749,3405,576.8,-11.7,422,4766,0.00,1.98,0.00,0.000,260,0.000,0.164,2544,3848,3576,3748,3404,0,0,0,0,0,0,14.99,14.31,15.01
$GC,4817,-0.48,-165.5,2543,3848,3748,3404,583.7,-11.7,433,4825,0.12,1.75,0.00,0.000,3078,0.230,0.081,2571,2842,3576,3748,3405,0,0,0,0,0,0,14.45,14.65,14.66
$GC,5123,-0.48,-165.5,2571,2841,3747,3405,613.8,-9.5,449,5129,0.00,1.98,0.00,0.000,260,0.000,0.164,2566,3848,3576,3747,3405,0,0,0,0,0,0,14.98,14.34,15.02
$GC,5155,-0.48,-165.5,2566,3848,3746,3405,617.0,-10.2,455,5160,0.00,1.75,0.00,0.000,1030,0.000,0.081,2566,2840,3575,3746,3404,0,0,0,0,0,0,14.76,14.66,14.78
$GC,5467,-0.48,-165.5,2566,2839,3746,3405,648.0,-9.9,472,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2839,3575,3746,3405,0,0,0,0,0,0,15.00,15.01,15.02
$GC,5767,-0.48,-165.5,2566,2840,3746,3404,678.0,-10.0,487,5773,0.00,1.98,0.00,0.000,260,0.000,0.164,2559,3846,3575,3746,3405,0,0,0,0,0,0,15.01,14.35,15.02
$GC,5814,-0.48,-165.5,2559,3846,3745,3404,682.9,-10.1,496,5821,0.00,1.75,0.00,0.000,1030,0.000,0.082,2559,2837,3574,3745,3404,0,0,0,0,0,0,14.76,14.65,14.78
$GC,6133,-0.48,-165.5,2559,2837,3745,3404,715.2,-10.2,514,6138,0.00,1.98,0.00,0.000,260,0.000,0.165,2552,3840,3575,3745,3405,0,0,0,0,0,0,15.00,14.33,15.02
$GC,6164,-0.48,-165.5,2552,3840,3744,3405,718.5,-10.5,520,6171,0.00,1.73,0.00,0.000,1030,0.000,0.082,2552,2847,3574,3744,3404,0,0,0,0,0,0,14.75,14.64,14.78
$GC,6479,-0.48,-165.5,2552,2847,3744,3405,751.9,-10.7,537,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2846,3574,3744,3404,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6778,-0.48,-165.5,2551,2846,3744,3405,783.9,-10.9,552,6784,0.00,1.98,0.00,0.000,260,0.000,0.167,2545,3844,3573,3743,3404,0,0,0,0,0,0,15.00,14.30,15.02
$GC,6831,-0.48,-165.5,2544,3844,3743,3405,789.9,-11.1,562,6837,0.12,1.75,0.00,0.000,3078,0.230,0.083,2573,2840,3573,3742,3404,0,0,0,0,0,0,14.45,14.64,14.65
$GC,7144,-0.48,-165.5,2572,2839,3742,3404,818.2,-8.9,579,7150,0.00,1.98,0.00,0.000,292,0.000,0.166,2567,3841,3573,3742,3404,0,0,0,0,0,0,14.97,14.30,15.00
$GC,7187,-0.48,-165.5,2567,3840,3741,3404,822.1,-9.2,587,7192,0.00,1.73,0.00,0.000,1030,0.000,0.082,2567,2845,3572,3741,3404,0,0,0,0,0,0,14.73,14.62,14.76
$GC,7509,-0.48,-165.5,2567,2845,3742,3404,853.1,-9.8,606,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2845,3572,3741,3404,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7810,-0.48,-165.5,2567,2844,3741,3404,882.9,-9.8,621,7816,0.00,1.98,0.00,0.000,260,0.000,0.168,2560,3842,3572,3741,3404,0,0,0,0,0,0,15.00,14.34,15.02
$GC,7853,-0.48,-165.5,2560,3842,3740,3405,887.2,-9.8,629,7859,0.00,1.73,0.00,0.000,1030,0.000,0.083,2560,2849,3572,3740,3404,0,0,0,0,0,0,14.75,14.64,14.78
$GC,8176,-0.48,-165.5,2560,2849,3740,3404,920.9,-10.7,648,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2849,3572,3740,3404,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8476,-0.48,-165.5,2560,2849,3739,3404,953.0,-10.5,663,8481,0.00,1.98,0.00,0.000,260,0.000,0.170,2553,3843,3571,3739,3404,0,0,0,0,0,0,15.00,14.34,15.02
$GC,8518,-0.48,-165.5,2553,3843,3739,3404,957.5,-10.0,671,8524,0.00,1.75,0.00,0.000,1030,0.000,0.083,2553,2840,3571,3739,3403,0,0,0,0,0,0,14.75,14.64,14.78
$STATE,8839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8839,begin apogee
$GC,8844,-0.10,0.0,2553,2601,3738,3404,991.8,-10.5,690,9007,0.50,0.00,159.65,2.365,10246,0.198,0.000,2691,2600,2900,2923,2877,0,0,0,0,0,0,14.45,13.66,12.54
$STATE,9009,end apogee,CONTROL_FINISHED_OK
$STATE,9009,begin climb
$GC,9010,0.48,165.5,2691,2601,2922,2876,996.5,0.0,698,9188,0.65,2.08,167.02,2.308,10756,0.122,0.084,2893,1543,2225,2212,2239,0,0,0,0,0,0,13.71,13.35,12.26
$GC,9276,0.48,165.5,2892,1543,2212,2235,974.1,11.0,750,9282,0.00,2.08,0.00,0.000,1030,0.000,0.119,2892,2599,2223,2212,2235,0,0,0,0,0,0,13.98,13.85,14.00
$GC,9599,0.48,165.5,2892,2600,2212,2230,933.9,12.6,769,9605,0.00,2.03,0.00,0.000,260,0.000,0.153,2893,3661,2221,2212,2230,0,0,0,0,0,0,14.64,14.29,14.66
$GC,9642,0.48,165.5,2892,3661,2212,2229,927.7,15.6,777,9648,0.00,1.88,0.00,0.000,1030,0.000,0.073,2900,2596,2220,2212,2229,0,0,0,0,0,0,14.50,14.41,14.52
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$STATE,16830,end climb,SURFACE_DEPTH_REACHED
$STATE,16830,begin surface coast
$FINISH,-0.4,1.026975
$STATE,16851,end surface coast,CONTROL_FINISHED_OK
$STATE,16851,begin surface
$SM_CCo,16867,91.93,0.865,1,0,1880,250.20
$SM_GC,0.76,7.88,0.57,91.93,0.062,0.123,0.865,170,2860,1880,-7.93,-0.31,250.20,0,0,0,0,1,0,14.59,14.49,13.54
$IRIDIUM_FIX,5918.68,-2139.47,040619,082057
$TT8_MAMPS,0.023219,0.822402
$HUMID,38.14
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.50
$XPDR_PINGS,1
$SC_FREEKB,3860288
$24V_AH,12.26,0.000
$10V_AH,12.73,39.811
$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,22.525,155.475,326.675,91.925,0.000,0.000,0.000,274.675,0.250,0.000,34.783,3287.085,10926.439,708.611,2335.409,131.320,0.000,2091.345,0.000,1949.868,0.000,0.538,0.000
$DEVICE_MAMPS,397.800,169.830,2364.615,865.215,0.000,0.000,0.000,191.250,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16863.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.277,0.000,0.000,0.000
$MEM,303052
$DATA_FILE_SIZE,49963,1360
$CAP_FILE_SIZE,166896,0
$CFSIZE,2097872896,2076672000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.120,29.13,1
$GPS,040619,180654,5920.496,-2149.993,38,0.8,43,-12.7,0.9,274.4,10,9.9