version: 66.13
glider: 527
mission: 5
dive: 99
start: 6 4 119 18 14 48
data:
$ID,527
$MISSION,5
$DIVE,99
$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,31
$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
$GPS1,040619,180654,5920.4961,-2149.9932,38,0.8,43,-12.7,0.9,274.4,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.1
$GPS2,040619,181407,5920.5054,-2149.9568,13,0.9,26,-12.7,0.0,129.1,9,9.9
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,256.9,9533,-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,-165.5,87,2871,1825,1919,0.0,0.0,0,104,0.00,0.00,-85.95,0.008,16390,0.000,0.000,80,2872,3577,3745,3409,0,0,0,0,0,0,14.64,12.77,14.65
$GC,106,-0.48,-165.5,79,2872,3744,3408,5.3,-9.1,9,129,12.73,1.88,0.00,0.000,2308,0.400,0.125,2560,3840,3577,3746,3408,0,0,0,0,0,0,13.97,14.21,14.34
$GC,315,-0.48,-165.5,2560,3841,3746,3408,43.3,-12.8,50,322,0.00,1.75,0.00,0.000,1030,0.000,0.077,2561,2863,3577,3747,3408,0,0,0,0,0,0,14.50,14.45,14.59
$GC,502,-0.48,-165.5,2560,2863,3746,3409,67.5,-12.3,69,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2862,3577,3746,3408,0,0,0,0,0,0,14.81,14.83,14.83
$GC,681,-0.48,-165.5,2561,2863,3747,3408,90.9,-13.0,87,687,0.00,1.92,0.00,0.000,260,0.000,0.158,2554,3844,3577,3746,3408,0,0,0,0,0,0,14.84,14.25,14.85
$GC,737,-0.48,-165.5,2553,3844,3747,3408,98.6,-12.9,98,744,0.00,1.75,0.00,0.000,1030,0.000,0.073,2554,2841,3577,3747,3408,0,0,0,0,0,0,14.59,14.50,14.61
$GC,924,-0.48,-165.5,2553,2840,3747,3408,123.6,-13.5,117,930,0.00,1.95,0.00,0.000,260,0.000,0.155,2546,3839,3577,3747,3408,0,0,0,0,0,0,14.85,14.26,14.86
$GC,956,-0.48,-165.5,2546,3839,3747,3408,127.9,-13.6,123,962,0.00,1.73,0.00,0.000,1030,0.000,0.072,2546,2840,3577,3747,3408,0,0,0,0,0,0,14.59,14.50,14.62
$GC,1149,-0.48,-165.5,2545,2839,3746,3408,153.6,-13.3,143,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2840,3577,3747,3408,0,0,0,0,0,0,14.85,14.88,14.88
$GC,1329,-0.48,-165.5,2546,2839,3747,3408,177.6,-13.3,161,1335,0.00,1.95,0.00,0.000,260,0.000,0.156,2538,3837,3577,3747,3408,0,0,0,0,0,0,14.86,14.27,14.88
$GC,1373,-0.48,-165.5,2538,3838,3746,3408,183.5,-13.7,169,1379,0.15,1.70,0.00,0.000,3078,0.227,0.072,2573,2846,3577,3747,3408,0,0,0,0,0,0,14.35,14.59,14.57
$GC,1567,-0.48,-165.5,2573,2846,3747,3408,204.6,-10.6,189,1573,0.00,1.80,0.00,0.000,516,0.000,0.073,2574,1788,3577,3746,3408,0,0,0,0,0,0,14.88,14.50,14.90
$GC,1590,-0.48,-165.5,2573,1785,3747,3408,207.0,-10.3,193,1596,0.00,2.00,0.00,0.000,1030,0.000,0.131,2568,2848,3577,3747,3408,0,0,0,0,0,0,14.59,14.39,14.64
$GC,1783,-0.48,-165.5,2568,2847,3747,3408,228.8,-11.4,213,1789,0.00,1.92,0.00,0.000,260,0.000,0.162,2561,3844,3577,3747,3408,0,0,0,0,0,0,14.90,14.24,14.91
$GC,1869,-0.48,-165.5,2560,3844,3747,3408,238.2,-10.8,230,1876,0.00,1.73,0.00,0.000,1030,0.000,0.076,2560,2848,3577,3747,3408,0,0,0,0,0,0,14.66,14.57,14.69
$GC,2057,-0.48,-165.5,2560,2847,3747,3408,259.6,-11.8,245,2062,0.00,1.83,0.00,0.000,516,0.000,0.079,2560,1778,3577,3747,3408,0,0,0,0,0,0,14.91,14.57,14.93
$GC,2083,-0.48,-165.5,2560,1774,3747,3408,262.9,-11.8,250,2088,0.00,2.05,0.00,0.000,1030,0.000,0.132,2553,2860,3577,3747,3408,0,0,0,0,0,0,14.62,14.42,14.66
$GC,2400,-0.48,-165.5,2552,2860,3746,3408,303.3,-12.8,268,2407,0.00,1.90,0.00,0.000,260,0.000,0.163,2545,3845,3577,3747,3408,0,0,0,0,0,0,14.93,14.24,14.95
$GC,2474,-0.48,-165.5,2545,3844,3747,3409,312.7,-12.7,282,2480,0.12,1.73,0.00,0.000,3078,0.236,0.077,2573,2848,3577,3747,3408,0,0,0,0,0,0,14.39,14.62,14.61
$GC,2787,-0.48,-165.5,2572,2848,3747,3408,345.4,-10.3,299,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2848,3577,3747,3408,0,0,0,0,0,0,14.96,14.98,14.98
$GC,3087,-0.48,-165.5,2572,2848,3746,3408,376.2,-10.2,314,3093,0.00,1.98,0.00,0.000,260,0.000,0.162,2568,3843,3577,3746,3408,0,0,0,0,0,0,14.97,14.29,15.00
$GC,3145,-0.48,-165.5,2567,3843,3746,3408,382.2,-10.1,325,3151,0.00,1.73,0.00,0.000,1030,0.000,0.079,2568,2842,3577,3746,3408,0,0,0,0,0,0,14.72,14.62,14.76
$GC,3450,-0.48,-165.5,2568,2841,3746,3408,415.0,-10.9,341,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2841,3577,3746,3408,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3750,-0.48,-165.5,2567,2841,3746,3408,447.2,-10.5,356,3756,0.00,1.98,0.00,0.000,260,0.000,0.162,2561,3846,3577,3746,3408,0,0,0,0,0,0,14.95,14.28,14.97
$GC,3793,-0.48,-165.5,2560,3846,3745,3408,452.1,-10.6,364,3800,0.00,1.73,0.00,0.000,1030,0.000,0.080,2560,2848,3576,3745,3408,0,0,0,0,0,0,14.72,14.62,14.75
$GC,4117,-0.48,-165.5,2560,2848,3745,3408,486.7,-10.6,383,4122,0.00,1.95,0.00,0.000,260,0.000,0.162,2553,3841,3577,3746,3408,0,0,0,0,0,0,14.99,14.31,15.00
$GC,4169,-0.48,-165.5,2553,3842,3746,3408,492.3,-10.5,393,4175,0.00,1.73,0.00,0.000,1030,0.000,0.079,2553,2843,3577,3746,3408,0,0,0,0,0,0,14.73,14.64,14.76
$GC,4481,-0.48,-165.5,2553,2842,3745,3408,527.1,-11.3,410,4487,0.00,1.80,0.00,0.000,516,0.000,0.079,2553,1780,3577,3746,3408,0,0,0,0,0,0,14.99,14.62,15.00
$GC,4504,-0.48,-165.5,2553,1777,3745,3408,529.8,-12.3,414,4510,0.12,2.05,0.00,0.000,3078,0.250,0.134,2571,2858,3577,3746,3408,0,0,0,0,0,0,14.38,14.45,14.62
$GC,4828,-0.48,-165.5,2570,2858,3745,3408,561.5,-9.6,433,4833,0.00,1.90,0.00,0.000,260,0.000,0.165,2566,3843,3576,3745,3408,0,0,0,0,0,0,14.97,14.33,14.99
$GC,4914,-0.48,-165.5,2566,3843,3744,3408,569.5,-8.9,450,4920,0.00,1.73,0.00,0.000,1062,0.000,0.079,2566,2842,3576,3744,3408,0,0,0,0,0,0,14.73,14.63,14.76
$GC,5232,-0.48,-165.5,2566,2841,3744,3408,600.1,-9.8,468,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2841,3576,3744,3408,0,0,0,0,0,0,15.00,15.02,15.01
$GC,5532,-0.48,-165.5,2565,2841,3744,3408,628.6,-9.4,483,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2841,3576,3744,3408,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5832,-0.48,-165.5,2566,2839,3743,3408,657.0,-9.6,498,5837,0.00,1.98,0.00,0.000,260,0.000,0.164,2559,3842,3575,3742,3408,0,0,0,0,0,0,15.01,14.38,15.03
$GC,5909,-0.48,-165.5,2558,3842,3742,3408,664.7,-9.5,513,5916,0.00,1.73,0.00,0.000,1030,0.000,0.079,2559,2840,3574,3742,3407,0,0,0,0,0,0,14.76,14.66,14.78
$GC,6215,-0.48,-165.5,2558,2839,3742,3408,695.5,-10.2,529,6220,0.00,1.98,0.00,0.000,260,0.000,0.165,2551,3845,3574,3742,3407,0,0,0,0,0,0,15.00,14.37,15.02
$GC,6261,-0.48,-165.5,2551,3846,3742,3408,700.4,-10.1,538,6266,0.00,1.73,0.00,0.000,1030,0.000,0.080,2551,2849,3575,3742,3408,0,0,0,0,0,0,14.76,14.66,14.79
$GC,6578,-0.48,-165.5,2551,2848,3742,3408,735.2,-11.1,556,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2848,3575,3742,3408,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6878,-0.48,-165.5,2551,2848,3742,3408,768.6,-11.0,571,6884,0.00,1.95,0.00,0.000,260,0.000,0.168,2544,3841,3575,3742,3408,0,0,0,0,0,0,15.01,14.38,15.03
$GC,6935,-0.48,-165.5,2544,3841,3741,3407,775.1,-11.0,582,6943,0.12,1.73,0.00,0.000,3078,0.230,0.080,2572,2842,3574,3741,3408,0,0,0,0,0,0,14.48,14.66,14.69
$GC,7241,-0.48,-165.5,2571,2841,3741,3407,803.2,-9.1,598,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2841,3575,3741,3409,0,0,0,0,0,0,15.01,15.03,15.02
$GC,7542,-0.48,-165.5,2571,2841,3741,3407,830.4,-8.9,613,7548,0.00,1.98,0.00,0.000,292,0.000,0.167,2567,3844,3573,3739,3408,0,0,0,0,0,0,15.02,14.35,15.03
$GC,7579,-0.48,-165.5,2566,3844,3739,3408,833.9,-9.1,620,7586,0.00,1.73,0.00,0.000,1030,0.000,0.082,2567,2846,3574,3740,3408,0,0,0,0,0,0,14.76,14.65,14.79
$GC,7885,-0.48,-165.5,2567,2845,3740,3407,862.3,-9.3,636,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2845,3573,3739,3407,0,0,0,0,0,0,14.98,15.00,15.00
$GC,8185,-0.48,-165.5,2566,2845,3739,3407,890.6,-9.6,651,8190,0.00,1.98,0.00,0.000,260,0.000,0.168,2559,3847,3572,3738,3407,0,0,0,0,0,0,15.00,14.33,15.01
$GC,8237,-0.48,-165.5,2559,3847,3738,3407,895.8,-9.6,661,8242,0.00,1.75,0.00,0.000,1030,0.000,0.083,2559,2840,3573,3738,3408,0,0,0,0,0,0,14.75,14.64,14.78
$GC,8549,-0.48,-165.5,2559,2838,3738,3408,927.4,-10.1,678,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2838,3572,3738,3407,0,0,0,0,0,0,14.97,15.00,15.00
$GC,8850,-0.48,-165.5,2559,2838,3737,3407,957.4,-9.9,693,8855,0.00,2.00,0.00,0.000,260,0.000,0.170,2553,3847,3572,3737,3408,0,0,0,0,0,0,14.97,14.31,15.00
$GC,8902,-0.48,-165.5,2551,3847,3737,3407,962.8,-9.4,703,8907,0.00,1.75,0.00,0.000,1030,0.000,0.083,2553,2842,3572,3737,3408,0,0,0,0,0,0,14.73,14.62,14.76
$STATE,9172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9173,begin apogee
$GC,9177,-0.10,0.0,2553,2601,3737,3407,990.1,-10.1,718,9415,0.52,0.00,231.20,2.014,10246,0.194,0.000,2698,2602,2899,2923,2876,0,0,0,0,0,0,14.39,13.56,12.57
$STATE,9416,end apogee,CONTROL_FINISHED_OK
$STATE,9416,begin climb
$GC,9418,0.48,165.5,2699,2602,2923,2875,997.9,0.0,730,9665,0.60,0.00,241.10,1.951,10758,0.102,0.000,2883,2601,2225,2218,2233,0,0,0,0,0,0,13.64,13.36,12.40
$GC,9954,0.48,165.5,2883,2602,2218,2226,944.7,11.9,775,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2602,2222,2218,2226,0,0,0,0,0,0,14.53,14.55,14.54
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$STATE,17441,end climb,SURFACE_DEPTH_REACHED
$STATE,17441,begin surface coast
$FINISH,0.2,1.027001
$STATE,17463,end surface coast,CONTROL_FINISHED_OK
$STATE,17463,begin surface
$SM_CCo,17479,101.45,0.888,1,0,1879,250.20
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$IRIDIUM_FIX,5919.71,-2144.95,040619,131723
$TT8_MAMPS,0.023968,0.512316
$HUMID,38.58
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3859904
$24V_AH,12.40,0.000
$10V_AH,12.72,40.214
$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,22.850,135.950,472.300,101.450,0.000,0.000,0.000,289.625,0.000,0.000,34.840,3300.718,11415.087,839.714,2345.347,124.239,0.000,2223.585,0.000,1946.033,0.000,0.535,0.000
$DEVICE_MAMPS,400.095,169.830,2014.245,888.165,0.000,0.000,0.000,192.780,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17476.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.059,0.000,0.000,0.000
$MEM,302988
$DATA_FILE_SIZE,46694,1357
$CAP_FILE_SIZE,162278,0
$CFSIZE,2097872896,2076508160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.144,29.28,1
$GPS,040619,230935,5920.926,-2153.234,52,0.9,63,-12.8,0.2,286.3,8,9.9