version: 66.13
glider: 527
mission: 5
dive: 106
start: 6 6 119 5 14 2
data:
$ID,527
$MISSION,5
$DIVE,106
$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,30
$R_STBD_OVSHOOT,16
$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
$GPS1,060619,050640,5918.4883,-2200.1660,47,1.3,63,-12.8,0.7,17.6,7,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-78.9
$GPS2,060619,051321,5918.4790,-2200.1306,11,0.8,24,-12.8,0.5,142.3,10,8.2
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S3
$TGT_LATLONG,5910.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,214.6,15703,-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,-165.5,147,2867,1824,1922,0.0,0.0,0,104,0.00,0.00,-85.30,0.008,16390,0.000,0.000,141,2867,3575,3745,3406,0,0,0,0,0,0,14.65,12.86,14.66
$GC,106,-0.48,-165.5,141,2867,3745,3406,5.3,-8.5,9,123,11.82,1.90,0.00,0.000,2340,0.395,0.127,2563,3848,3576,3746,3407,0,0,0,0,0,0,14.04,14.23,14.38
$GC,351,-0.48,-165.5,2562,3848,3747,3407,46.0,-11.4,57,357,0.00,1.73,0.00,0.000,1030,0.000,0.076,2563,2857,3577,3747,3407,0,0,0,0,0,0,14.58,14.50,14.61
$GC,544,-0.48,-165.5,2562,2856,3747,3406,70.2,-12.6,77,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2856,3577,3748,3407,0,0,0,0,0,0,14.82,14.84,14.84
$GC,724,-0.48,-165.5,2562,2856,3747,3407,92.6,-12.4,95,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2856,3577,3747,3407,0,0,0,0,0,0,14.83,14.85,14.85
$GC,904,-0.48,-165.5,2562,2856,3747,3406,114.4,-12.1,113,910,0.00,1.90,0.00,0.000,260,0.000,0.151,2556,3840,3577,3747,3407,0,0,0,0,0,0,14.85,14.35,14.87
$GC,950,-0.48,-165.5,2556,3840,3747,3407,119.8,-11.6,122,957,0.00,1.70,0.00,0.000,1030,0.000,0.069,2556,2842,3577,3747,3407,0,0,0,0,0,0,14.64,14.56,14.65
$GC,1138,-0.48,-165.5,2556,2841,3747,3407,142.8,-12.4,141,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2841,3577,3748,3407,0,0,0,0,0,0,14.89,14.91,14.91
$GC,1317,-0.48,-165.5,2556,2841,3747,3407,165.2,-12.5,159,1323,0.00,1.95,0.00,0.000,260,0.000,0.150,2549,3846,3577,3747,3407,0,0,0,0,0,0,14.89,14.29,14.90
$GC,1394,-0.48,-165.5,2548,3845,3747,3407,175.0,-11.8,174,1401,0.00,1.70,0.00,0.000,1030,0.000,0.070,2548,2844,3577,3747,3407,0,0,0,0,0,0,14.70,14.62,14.72
$GC,1580,-0.48,-165.5,2548,2844,3748,3407,198.6,-13.1,193,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2844,3577,3747,3407,0,0,0,0,0,0,14.90,14.91,14.90
$GC,1760,-0.48,-165.5,2548,2844,3747,3407,222.2,-13.2,211,1765,0.00,1.92,0.00,0.000,260,0.000,0.151,2541,3842,3577,3747,3407,0,0,0,0,0,0,14.90,14.35,14.91
$GC,1813,-0.48,-165.5,2541,3841,3748,3407,229.1,-12.9,221,1819,0.15,1.67,0.00,0.000,3078,0.230,0.070,2576,2850,3577,3747,3407,0,0,0,0,0,0,14.40,14.64,14.61
$GC,2006,-0.48,-165.5,2574,2851,3747,3406,249.7,-10.3,241,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2851,3577,3747,3407,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2196,-0.48,-165.5,2576,2851,3747,3407,269.4,-10.3,251,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2851,3577,3747,3407,0,0,0,0,0,0,14.92,14.94,14.94
$GC,2496,-0.48,-165.5,2576,2850,3747,3407,299.9,-10.1,266,2502,0.00,1.92,0.00,0.000,260,0.000,0.152,2571,3843,3577,3747,3407,0,0,0,0,0,0,14.93,14.25,14.95
$GC,2543,-0.48,-165.5,2571,3842,3748,3407,305.0,-10.1,275,2548,0.00,1.70,0.00,0.000,1030,0.000,0.072,2571,2844,3577,3747,3407,0,0,0,0,0,0,14.71,14.63,14.74
$GC,2861,-0.48,-165.5,2570,2843,3747,3406,338.2,-10.8,293,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2843,3577,3747,3407,0,0,0,0,0,0,14.95,14.97,14.96
$GC,3160,-0.48,-165.5,2570,2843,3747,3406,371.7,-11.3,308,3167,0.00,1.92,0.00,0.000,260,0.000,0.153,2563,3840,3577,3747,3407,0,0,0,0,0,0,14.96,14.36,14.98
$GC,3204,-0.48,-165.5,2563,3839,3747,3406,376.7,-11.4,316,3210,0.00,1.70,0.00,0.000,1030,0.000,0.073,2563,2845,3576,3747,3406,0,0,0,0,0,0,14.73,14.64,14.76
$GC,3527,-0.48,-165.5,2562,2845,3747,3406,415.1,-12.0,335,3533,0.00,1.92,0.00,0.000,260,0.000,0.154,2556,3839,3577,3747,3407,0,0,0,0,0,0,14.98,14.38,15.00
$GC,3604,-0.48,-165.5,2556,3839,3747,3407,424.2,-11.3,350,3611,0.00,1.70,0.00,0.000,1030,0.000,0.072,2556,2840,3577,3747,3407,0,0,0,0,0,0,14.75,14.66,14.77
$GC,3910,-0.48,-165.5,2556,2840,3747,3407,460.6,-11.8,366,3915,0.00,1.77,0.00,0.000,516,0.000,0.072,2556,1777,3577,3747,3407,0,0,0,0,0,0,14.97,14.64,15.00
$GC,3937,-0.48,-165.5,2556,1773,3747,3407,463.8,-11.1,371,3942,0.00,2.03,0.00,0.000,1030,0.000,0.129,2548,2854,3576,3747,3406,0,0,0,0,0,0,14.62,14.44,14.67
$GC,4255,-0.48,-165.5,2548,2854,3747,3406,503.0,-12.3,389,4260,0.00,1.90,0.00,0.000,260,0.000,0.159,2541,3848,3577,3748,3407,0,0,0,0,0,0,14.97,14.32,14.98
$GC,4399,-0.48,-165.5,2540,3848,3747,3407,520.6,-12.0,417,4405,0.15,1.70,0.00,0.000,3078,0.223,0.074,2576,2853,3576,3747,3406,0,0,0,0,0,0,14.43,14.66,14.64
$GC,4722,-0.48,-165.5,2576,2852,3746,3407,551.3,-9.1,436,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2851,3576,3746,3406,0,0,0,0,0,0,14.98,15.00,15.00
$GC,5022,-0.48,-165.5,2576,2852,3746,3406,576.9,-8.5,451,5024,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2852,3576,3746,3407,0,0,0,0,0,0,14.99,15.01,15.01
$GC,5322,-0.48,-165.5,2576,2852,3745,3406,602.4,-8.6,466,5324,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2852,3576,3746,3406,0,0,0,0,0,0,14.99,15.02,15.01
$GC,5623,-0.48,-165.5,2576,2853,3745,3406,628.0,-8.5,481,5628,0.00,1.92,0.00,0.000,292,0.000,0.159,2571,3841,3575,3745,3406,0,0,0,0,0,0,15.00,14.35,15.02
$GC,5690,-0.48,-165.5,2571,3841,3744,3406,633.9,-8.5,494,5695,0.00,1.75,0.00,0.000,1062,0.000,0.074,2571,2843,3575,3744,3406,0,0,0,0,0,0,14.66,14.60,14.77
$GC,6008,-0.48,-165.5,2570,2843,3744,3406,662.1,-8.9,512,6009,0.00,0.00,0.00,0.000,38,0.000,0.000,2571,2843,3575,3744,3406,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6308,-0.48,-165.5,2571,2843,3743,3406,688.7,-8.8,527,6313,0.00,1.95,0.00,0.000,292,0.000,0.159,2564,3844,3574,3743,3406,0,0,0,0,0,0,15.01,14.35,15.02
$GC,6364,-0.48,-165.5,2563,3844,3742,3407,693.9,-8.8,538,6371,0.00,1.70,0.00,0.000,1062,0.000,0.076,2564,2854,3574,3742,3407,0,0,0,0,0,0,14.75,14.66,14.78
$GC,6670,-0.48,-165.5,2563,2852,3741,3406,723.1,-9.9,554,6676,0.00,1.80,0.00,0.000,516,0.000,0.073,2564,1782,3573,3741,3406,0,0,0,0,0,0,15.01,14.65,15.02
$GC,6702,-0.48,-165.5,2563,1777,3742,3406,726.5,-10.5,560,6709,0.00,2.00,0.00,0.000,1030,0.000,0.129,2556,2852,3573,3741,3406,0,0,0,0,0,0,14.70,14.51,14.75
$GC,7016,-0.48,-165.5,2555,2853,3741,3406,758.9,-10.6,577,7022,0.00,1.90,0.00,0.000,260,0.000,0.162,2549,3843,3574,3741,3407,0,0,0,0,0,0,15.00,14.38,15.02
$GC,7093,-0.48,-165.5,2548,3843,3740,3407,767.2,-10.5,592,7101,0.00,1.73,0.00,0.000,1030,0.000,0.075,2549,2835,3573,3740,3406,0,0,0,0,0,0,14.76,14.66,14.78
$GC,7399,-0.48,-165.5,2548,2835,3741,3406,801.3,-11.3,608,7405,0.00,1.98,0.00,0.000,260,0.000,0.162,2541,3843,3573,3740,3406,0,0,0,0,0,0,14.98,14.36,15.00
$GC,7451,-0.48,-165.5,2541,3843,3740,3407,807.5,-11.0,618,7458,0.15,1.70,0.00,0.000,3078,0.217,0.075,2577,2854,3573,3740,3406,0,0,0,0,0,0,14.46,14.66,14.66
$GC,7766,-0.48,-165.5,2577,2853,3740,3406,835.4,-8.9,635,7771,0.00,1.83,0.00,0.000,548,0.000,0.074,2577,1770,3572,3739,3406,0,0,0,0,0,0,14.99,14.64,15.00
$GC,7793,-0.48,-165.5,2577,1767,3740,3406,837.9,-8.8,640,7799,0.00,2.03,0.00,0.000,1062,0.000,0.129,2572,2855,3573,3740,3406,0,0,0,0,0,0,14.69,14.50,14.73
$GC,8111,-0.48,-165.5,2571,2854,3739,3406,867.3,-9.4,658,8117,0.00,1.90,0.00,0.000,260,0.000,0.164,2565,3842,3572,3739,3406,0,0,0,0,0,0,15.00,14.36,15.02
$GC,8178,-0.48,-165.5,2564,3842,3738,3406,873.6,-9.2,671,8184,0.00,1.70,0.00,0.000,1030,0.000,0.075,2564,2847,3572,3738,3406,0,0,0,0,0,0,14.74,14.64,14.77
$GC,8496,-0.48,-165.5,2564,2846,3737,3406,902.5,-8.9,689,8502,0.00,1.80,0.00,0.000,548,0.000,0.075,2564,1788,3572,3738,3406,0,0,0,0,0,0,15.00,14.56,15.02
$GC,8519,-0.48,-165.5,2564,1785,3737,3406,904.6,-9.2,693,8525,0.00,2.00,0.00,0.000,1030,0.000,0.129,2557,2849,3572,3738,3406,0,0,0,0,0,0,14.69,14.50,14.73
$GC,8842,-0.48,-165.5,2556,2849,3737,3406,935.6,-9.6,712,8848,0.00,1.92,0.00,0.000,260,0.000,0.165,2549,3847,3571,3737,3406,0,0,0,0,0,0,15.00,14.33,15.01
$GC,8920,-0.48,-165.5,2549,3847,3737,3407,943.1,-9.2,727,8926,0.00,1.73,0.00,0.000,1030,0.000,0.077,2549,2844,3571,3736,3406,0,0,0,0,0,0,14.72,14.62,14.76
$GC,9226,-0.48,-165.5,2549,2843,3736,3406,973.9,-10.3,743,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2843,3571,3737,3406,0,0,0,0,0,0,14.96,14.99,14.98
$STATE,9384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9384,begin apogee
$GC,9389,-0.10,0.0,2549,2589,3736,3406,990.2,-10.1,751,9626,0.52,0.00,231.25,2.004,10246,0.193,0.000,2694,2589,2899,2923,2876,0,0,0,0,0,0,14.42,13.56,12.57
$STATE,9628,end apogee,CONTROL_FINISHED_OK
$STATE,9628,begin climb
$GC,9630,0.48,165.5,2694,2589,2923,2876,997.3,0.0,763,9878,0.62,2.05,240.00,1.939,10756,0.111,0.081,2891,1544,2225,2217,2234,0,0,0,0,0,0,13.62,13.40,12.43
$GC,9915,0.48,165.5,2891,1544,2217,2234,973.3,11.7,818,9922,0.00,2.10,0.00,0.000,1030,0.000,0.118,2891,2597,2225,2217,2233,0,0,0,0,0,0,13.78,13.66,13.81
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$STATE,17339,end climb,SURFACE_DEPTH_REACHED
$STATE,17339,begin surface coast
$FINISH,0.6,1.026954
$STATE,17359,end surface coast,CONTROL_FINISHED_OK
$STATE,17359,begin surface
$SM_CCo,17375,101.43,0.875,1,0,1880,250.20
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$IRIDIUM_FIX,5922.87,-2155.93,060619,000951
$TT8_MAMPS,0.023219,0.845621
$HUMID,38.30
$INTERNAL_PRESSURE,8.83759
$TCM_TEMP,18.60
$XPDR_PINGS,4
$SC_FREEKB,3857216
$24V_AH,12.43,0.000
$10V_AH,12.66,43.015
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17372.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.129,0.000,0.000,0.000
$MEM,302968
$DATA_FILE_SIZE,49926,1415
$CAP_FILE_SIZE,170945,0
$CFSIZE,2097872896,2075099136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.157,18.28,1
$GPS,060619,100701,5917.753,-2201.440,47,0.9,59,-12.8,0.5,50.9,10,9.7