version: 66.13
glider: 527
mission: 5
dive: 105
start: 6 6 119 0 15 11
data:
$ID,527
$MISSION,5
$DIVE,105
$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,26
$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
$GPS1,060619,000734,5919.7417,-2200.2173,67,0.8,71,-12.8,0.4,28.9,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-78.1
$GPS2,060619,001429,5919.7739,-2200.1238,10,0.7,16,-12.8,0.8,46.9,11,9.8
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S3
$TGT_LATLONG,5910.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,212.9,18102,-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,9,begin dive
$GC,11,-0.48,-165.5,133,2868,1826,1919,0.0,0.0,0,103,0.00,0.00,-84.60,0.008,16390,0.000,0.000,126,2869,3575,3746,3405,0,0,0,0,0,0,14.64,12.81,14.66
$GC,105,-0.48,-165.5,126,2869,3746,3406,5.0,-8.7,9,122,12.10,1.88,0.00,0.000,2340,0.396,0.125,2559,3835,3576,3746,3406,0,0,0,0,0,0,14.00,14.24,14.33
$GC,330,-0.48,-165.5,2559,3837,3748,3406,46.3,-12.7,53,336,0.00,1.73,0.00,0.000,1030,0.000,0.076,2559,2843,3577,3748,3406,0,0,0,0,0,0,14.54,14.47,14.57
$GC,523,-0.48,-165.5,2559,2843,3748,3406,71.5,-13.2,73,529,0.00,1.80,0.00,0.000,516,0.000,0.074,2559,1781,3577,3749,3406,0,0,0,0,0,0,14.83,14.52,14.84
$GC,576,-0.48,-165.5,2558,1777,3748,3406,77.5,-11.3,83,582,0.00,2.03,0.00,0.000,1030,0.000,0.129,2551,2853,3577,3748,3406,0,0,0,0,0,0,14.48,14.31,14.52
$GC,769,-0.48,-165.5,2551,2853,3748,3406,103.6,-13.7,103,774,0.00,1.90,0.00,0.000,260,0.000,0.155,2545,3847,3577,3748,3406,0,0,0,0,0,0,14.84,14.28,14.85
$GC,862,-0.48,-165.5,2544,3847,3748,3405,115.9,-12.8,121,868,0.12,1.73,0.00,0.000,3078,0.236,0.072,2571,2842,3577,3748,3406,0,0,0,0,0,0,14.38,14.59,14.58
$GC,1055,-0.48,-165.5,2571,2842,3748,3406,137.6,-11.0,141,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2842,3577,3748,3406,0,0,0,0,0,0,14.86,14.88,14.88
$GC,1235,-0.48,-165.5,2571,2842,3748,3406,157.6,-11.2,159,1240,0.00,1.95,0.00,0.000,260,0.000,0.153,2566,3848,3577,3748,3406,0,0,0,0,0,0,14.87,14.31,14.88
$GC,1271,-0.48,-165.5,2566,3848,3748,3406,161.8,-11.5,166,1278,0.00,1.73,0.00,0.000,1030,0.000,0.073,2566,2842,3576,3747,3406,0,0,0,0,0,0,14.64,14.55,14.68
$GC,1458,-0.48,-165.5,2566,2842,3748,3406,183.3,-11.6,185,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2842,3577,3748,3406,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1637,-0.48,-165.5,2566,2842,3748,3406,204.3,-11.2,203,1643,0.00,1.95,0.00,0.000,260,0.000,0.151,2559,3844,3577,3748,3406,0,0,0,0,0,0,14.91,14.33,14.92
$GC,1693,-0.48,-165.5,2559,3844,3748,3406,211.3,-11.3,214,1700,0.00,1.70,0.00,0.000,1030,0.000,0.073,2559,2850,3576,3747,3406,0,0,0,0,0,0,14.70,14.61,14.72
$GC,1881,-0.48,-165.5,2558,2849,3748,3406,233.9,-12.5,233,1886,0.00,1.92,0.00,0.000,260,0.000,0.154,2551,3842,3577,3748,3406,0,0,0,0,0,0,14.90,14.35,14.92
$GC,1927,-0.48,-165.5,2551,3843,3748,3406,240.0,-12.3,242,1933,0.00,1.73,0.00,0.000,1030,0.000,0.072,2552,2838,3577,3748,3406,0,0,0,0,0,0,14.64,14.56,14.66
$GC,2113,-0.48,-165.5,2551,2837,3748,3406,263.8,-12.8,256,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2837,3577,3748,3406,0,0,0,0,0,0,14.92,14.95,14.95
$GC,2413,-0.48,-165.5,2551,2836,3748,3406,301.9,-12.4,271,2419,0.00,1.95,0.00,0.000,260,0.000,0.154,2544,3845,3577,3748,3406,0,0,0,0,0,0,14.95,14.36,14.97
$GC,2480,-0.48,-165.5,2544,3845,3748,3406,310.0,-12.0,284,2487,0.12,1.70,0.00,0.000,3078,0.233,0.073,2572,2849,3577,3748,3406,0,0,0,0,0,0,14.44,14.64,14.64
$GC,2799,-0.48,-165.5,2572,2849,3748,3405,342.8,-10.4,302,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2849,3577,3748,3406,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3100,-0.48,-165.5,2571,2849,3748,3406,373.9,-10.5,317,3105,0.00,1.92,0.00,0.000,260,0.000,0.156,2566,3844,3577,3748,3406,0,0,0,0,0,0,14.97,14.39,14.98
$GC,3172,-0.48,-165.5,2566,3844,3748,3406,382.0,-10.7,331,3177,0.00,1.75,0.00,0.000,1030,0.000,0.073,2566,2845,3577,3748,3406,0,0,0,0,0,0,14.76,14.63,14.78
$GC,3484,-0.48,-165.5,2566,2843,3748,3406,415.6,-10.7,348,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2843,3577,3748,3406,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3784,-0.48,-165.5,2566,2843,3748,3406,448.3,-10.9,363,3790,0.00,1.95,0.00,0.000,260,0.000,0.158,2559,3848,3577,3748,3406,0,0,0,0,0,0,14.97,14.37,14.99
$GC,3896,-0.48,-165.5,2559,3848,3747,3406,460.6,-10.6,385,3902,0.00,1.73,0.00,0.000,1030,0.000,0.075,2559,2844,3577,3748,3406,0,0,0,0,0,0,14.74,14.64,14.77
$GC,4209,-0.48,-165.5,2559,2842,3747,3406,496.5,-11.7,402,4214,0.00,1.77,0.00,0.000,516,0.000,0.075,2559,1786,3576,3747,3405,0,0,0,0,0,0,14.98,14.64,15.00
$GC,4241,-0.48,-165.5,2559,1783,3747,3406,500.2,-11.0,408,4247,0.00,2.00,0.00,0.000,1030,0.000,0.129,2552,2857,3576,3747,3406,0,0,0,0,0,0,14.69,14.50,14.73
$GC,4555,-0.48,-165.5,2551,2857,3747,3406,538.1,-12.1,425,4560,0.00,1.90,0.00,0.000,260,0.000,0.161,2545,3849,3576,3747,3406,0,0,0,0,0,0,14.98,14.34,15.00
$GC,4666,-0.48,-165.5,2545,3849,3747,3405,551.5,-11.6,447,4673,0.12,1.73,0.00,0.000,3078,0.229,0.076,2572,2844,3576,3746,3406,0,0,0,0,0,0,14.46,14.66,14.66
$GC,4980,-0.48,-165.5,2572,2843,3746,3405,581.9,-9.3,464,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2843,3576,3746,3406,0,0,0,0,0,0,14.98,15.01,15.00
$GC,5280,-0.48,-165.5,2572,2843,3746,3406,608.6,-8.6,479,5286,0.00,1.95,0.00,0.000,292,0.000,0.159,2567,3847,3575,3745,3406,0,0,0,0,0,0,15.00,14.36,15.01
$GC,5333,-0.48,-165.5,2566,3847,3744,3406,613.3,-8.6,489,5338,0.00,1.73,0.00,0.000,1062,0.000,0.076,2567,2840,3575,3745,3406,0,0,0,0,0,0,14.76,14.66,14.79
$GC,5646,-0.48,-165.5,2567,2838,3744,3406,641.0,-8.9,506,5647,0.00,0.00,0.00,0.000,38,0.000,0.000,2567,2838,3575,3745,3406,0,0,0,0,0,0,14.99,15.01,15.00
$GC,5946,-0.48,-165.5,2567,2838,3744,3405,669.1,-9.4,521,5951,0.00,1.95,0.00,0.000,260,0.000,0.158,2560,3842,3575,3744,3406,0,0,0,0,0,0,15.00,14.37,15.02
$GC,6012,-0.48,-165.5,2560,3841,3743,3406,675.8,-9.5,534,6018,0.00,1.75,0.00,0.000,1030,0.000,0.076,2560,2847,3574,3743,3406,0,0,0,0,0,0,14.76,14.62,14.78
$GC,6330,-0.48,-165.5,2559,2846,3743,3406,708.7,-10.7,552,6336,0.00,1.95,0.00,0.000,260,0.000,0.160,2553,3846,3573,3741,3406,0,0,0,0,0,0,15.00,14.35,15.02
$GC,6358,-0.48,-165.5,2553,3847,3742,3406,711.7,-11.2,557,6363,0.00,1.73,0.00,0.000,1030,0.000,0.078,2553,2846,3574,3742,3406,0,0,0,0,0,0,14.75,14.64,14.78
$GC,6675,-0.48,-165.5,2553,2845,3742,3405,746.2,-10.6,575,6681,0.00,1.95,0.00,0.000,260,0.000,0.161,2545,3843,3574,3742,3406,0,0,0,0,0,0,14.98,14.35,15.00
$GC,6707,-0.48,-165.5,2546,3843,3742,3406,749.8,-11.0,581,6713,0.00,1.73,0.00,0.000,1030,0.000,0.077,2545,2841,3574,3742,3406,0,0,0,0,0,0,14.73,14.64,14.77
$GC,7020,-0.48,-165.5,2545,2841,3742,3406,783.8,-10.8,598,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2840,3574,3742,3406,0,0,0,0,0,0,14.99,15.01,15.01
$GC,7320,-0.48,-165.5,2544,2838,3740,3405,815.8,-10.8,613,7327,0.12,1.95,0.00,0.000,2308,0.261,0.157,2570,3842,3573,3740,3406,0,0,0,0,0,0,14.42,14.37,14.55
$GC,7365,-0.48,-165.5,2571,3842,3740,3405,820.0,-8.9,621,7371,0.00,1.70,0.00,0.000,1062,0.000,0.076,2571,2846,3572,3740,3405,0,0,0,0,0,0,14.76,14.66,14.78
$GC,7688,-0.48,-165.5,2570,2846,3740,3406,847.2,-8.6,640,7689,0.00,0.00,0.00,0.000,38,0.000,0.000,2571,2846,3572,3739,3405,0,0,0,0,0,0,15.01,15.03,15.02
$GC,7987,-0.48,-165.5,2571,2845,3739,3405,874.3,-9.2,655,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2845,3572,3739,3405,0,0,0,0,0,0,15.01,15.03,15.03
$GC,8287,-0.48,-165.5,2571,2847,3738,3405,902.5,-9.3,670,8293,0.00,1.95,0.00,0.000,260,0.000,0.161,2564,3842,3570,3736,3405,0,0,0,0,0,0,15.02,14.37,15.04
$GC,8330,-0.48,-165.5,2563,3843,3737,3405,906.6,-9.5,678,8336,0.00,1.70,0.00,0.000,1030,0.000,0.078,2564,2855,3571,3737,3406,0,0,0,0,0,0,14.76,14.66,14.78
$GC,8653,-0.48,-165.5,2563,2854,3737,3405,938.1,-9.7,697,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2854,3571,3737,3405,0,0,0,0,0,0,15.01,15.03,15.02
$GC,8953,-0.48,-165.5,2563,2854,3737,3405,966.4,-9.4,712,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2854,3571,3737,3405,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,9212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9212,begin apogee
$GC,9216,-0.10,0.0,2564,2600,3736,3405,990.6,-9.3,725,9454,0.47,0.00,230.77,2.001,10246,0.189,0.000,2697,2599,2900,2924,2876,0,0,0,0,0,0,14.46,13.57,12.52
$STATE,9455,end apogee,CONTROL_FINISHED_OK
$STATE,9455,begin climb
$GC,9457,0.48,165.5,2697,2599,2923,2876,998.6,0.0,737,9706,0.60,2.10,240.18,1.942,10756,0.102,0.082,2890,1532,2226,2218,2234,0,0,0,0,0,0,13.64,13.38,12.40
$GC,9738,0.48,165.5,2889,1532,2217,2234,976.5,11.5,791,9744,0.00,2.12,0.00,0.000,1030,0.000,0.116,2889,2600,2225,2217,2234,0,0,0,0,0,0,13.76,13.64,13.78
$GC,10051,0.48,165.5,2889,2600,2217,2228,937.1,12.7,808,10056,0.00,2.05,0.00,0.000,260,0.000,0.150,2890,3669,2222,2217,2227,0,0,0,0,0,0,14.60,14.26,14.62
$GC,10093,0.48,165.5,2889,3668,2217,2228,931.2,14.2,816,10099,0.00,1.90,0.00,0.000,1030,0.000,0.072,2896,2588,2222,2217,2228,0,0,0,0,0,0,14.47,14.38,14.49
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$STATE,17243,end climb,SURFACE_DEPTH_REACHED
$STATE,17243,begin surface coast
$FINISH,-0.3,1.018603
$STATE,17265,end surface coast,CONTROL_FINISHED_OK
$STATE,17265,begin surface
$SM_CCo,17281,101.35,0.874,1,0,1879,250.20
$SM_GC,0.78,8.02,0.55,101.35,0.069,0.128,0.874,167,2855,1879,-7.93,-0.42,250.20,0,0,0,0,1,0,14.61,14.47,13.54
$IRIDIUM_FIX,5922.87,-2155.93,050619,191050
$TT8_MAMPS,0.023219,0.844123
$HUMID,38.62
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.60
$XPDR_PINGS,6
$SC_FREEKB,3857600
$24V_AH,12.40,0.000
$10V_AH,12.29,42.615
$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,22.150,132.350,470.950,101.350,0.000,0.000,0.000,279.125,1.500,0.000,25.277,3329.955,11178.245,798.425,2375.178,126.955,0.000,2202.946,0.000,1994.177,0.000,0.536,0.000
$DEVICE_MAMPS,395.505,161.415,2001.240,874.395,0.000,0.000,0.000,189.720,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17279.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.170,0.000,0.000,0.000
$MEM,303004
$DATA_FILE_SIZE,49906,1391
$CAP_FILE_SIZE,163567,0
$CFSIZE,2097872896,2075328512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.143,48.77,1
$GPS,060619,050640,5918.488,-2200.166,47,1.3,63,-12.8,0.7,17.6,7,9.5