version: 66.13
glider: 527
mission: 5
dive: 108
start: 6 6 119 15 20 41
data:
$ID,527
$MISSION,5
$DIVE,108
$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,38
$R_STBD_OVSHOOT,20
$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
$GPS1,060619,151307,5916.1802,-2201.0649,29,0.8,36,-12.8,0.6,99.4,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-76.7
$GPS2,060619,151959,5916.1670,-2200.9702,9,0.8,17,-12.8,0.7,197.6,11,10.0
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S3
$TGT_LATLONG,5910.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,201.9,11458,-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,-165.5,153,2874,1825,1923,0.0,0.0,0,98,0.00,0.00,-84.57,0.008,16390,0.000,0.000,153,2873,3575,3746,3405,0,0,0,0,0,0,14.64,12.90,14.66
$GC,101,-0.48,-165.5,153,2873,3746,3405,3.4,-4.0,8,117,11.82,1.85,0.00,0.000,2340,0.399,0.123,2562,3836,3576,3747,3405,0,0,0,0,0,0,14.09,14.26,14.42
$GC,326,-0.48,-165.5,2562,3837,3748,3405,41.5,-13.3,52,331,0.00,1.70,0.00,0.000,1030,0.000,0.078,2562,2864,3577,3749,3405,0,0,0,0,0,0,14.48,14.39,14.50
$GC,519,-0.48,-165.5,2562,2864,3748,3405,66.1,-12.7,72,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2864,3576,3748,3405,0,0,0,0,0,0,14.80,14.82,14.81
$GC,698,-0.48,-165.5,2562,2864,3748,3405,88.6,-12.5,90,704,0.00,1.90,0.00,0.000,260,0.000,0.152,2555,3842,3577,3750,3405,0,0,0,0,0,0,14.83,14.32,14.85
$GC,751,-0.48,-165.5,2555,3841,3748,3405,95.3,-12.6,100,757,0.00,1.73,0.00,0.000,1030,0.000,0.071,2555,2833,3576,3748,3405,0,0,0,0,0,0,14.64,14.56,14.67
$GC,945,-0.48,-165.5,2555,2832,3748,3405,120.4,-13.0,120,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2832,3576,3748,3405,0,0,0,0,0,0,14.85,14.88,14.88
$GC,1124,-0.48,-165.5,2554,2832,3749,3405,143.3,-12.7,138,1130,0.00,1.95,0.00,0.000,260,0.000,0.152,2548,3838,3576,3748,3405,0,0,0,0,0,0,14.87,14.35,14.88
$GC,1166,-0.48,-165.5,2547,3838,3748,3405,148.6,-12.5,146,1172,0.00,1.70,0.00,0.000,1030,0.000,0.070,2548,2848,3577,3748,3406,0,0,0,0,0,0,14.62,14.54,14.64
$GC,1359,-0.48,-165.5,2547,2847,3749,3405,173.7,-13.3,166,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2847,3576,3748,3405,0,0,0,0,0,0,14.87,14.88,14.88
$GC,1540,-0.48,-165.5,2547,2847,3748,3405,197.4,-13.3,184,1545,0.00,1.92,0.00,0.000,260,0.000,0.155,2540,3838,3576,3748,3405,0,0,0,0,0,0,14.87,14.35,14.89
$GC,1586,-0.48,-165.5,2540,3838,3748,3405,203.8,-13.2,193,1593,0.15,1.70,0.00,0.000,3078,0.223,0.071,2575,2844,3576,3748,3405,0,0,0,0,0,0,14.33,14.52,14.52
$GC,1773,-0.48,-165.5,2575,2844,3748,3405,225.1,-11.2,212,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2844,3576,3748,3405,0,0,0,0,0,0,14.91,14.93,14.92
$GC,1952,-0.48,-165.5,2575,2844,3748,3405,245.2,-11.2,230,1958,0.00,1.92,0.00,0.000,260,0.000,0.154,2569,3840,3577,3748,3406,0,0,0,0,0,0,14.92,14.36,14.93
$GC,1985,-0.48,-165.5,2570,3840,3748,3406,248.7,-11.1,236,1991,0.00,1.70,0.00,0.000,1030,0.000,0.072,2570,2844,3576,3748,3405,0,0,0,0,0,0,14.62,14.54,14.63
$GC,2178,-0.48,-165.5,2570,2844,3749,3406,270.1,-11.0,247,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2844,3576,3748,3405,0,0,0,0,0,0,14.94,14.95,14.95
$GC,2478,-0.48,-165.5,2570,2844,3748,3405,303.9,-11.8,262,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2844,3577,3749,3405,0,0,0,0,0,0,14.96,14.98,14.98
$GC,2778,-0.48,-165.5,2570,2844,3748,3406,338.5,-11.1,277,2783,0.00,1.92,0.00,0.000,260,0.000,0.155,2562,3838,3577,3748,3406,0,0,0,0,0,0,14.98,14.40,15.00
$GC,2865,-0.48,-165.5,2562,3839,3748,3405,347.9,-10.3,294,2870,0.00,1.70,0.00,0.000,1030,0.000,0.071,2563,2840,3576,3748,3405,0,0,0,0,0,0,14.76,14.67,14.78
$GC,3183,-0.48,-165.5,2562,2839,3748,3405,382.3,-10.7,312,3188,0.00,1.92,0.00,0.000,260,0.000,0.154,2555,3837,3576,3748,3405,0,0,0,0,0,0,14.98,14.41,15.00
$GC,3215,-0.48,-165.5,2555,3837,3748,3405,386.0,-11.4,318,3220,0.00,1.70,0.00,0.000,1030,0.000,0.073,2556,2839,3576,3748,3405,0,0,0,0,0,0,14.75,14.66,14.77
$GC,3527,-0.48,-165.5,2555,2838,3749,3405,422.7,-12.1,335,3533,0.00,1.92,0.00,0.000,260,0.000,0.154,2548,3836,3576,3748,3405,0,0,0,0,0,0,14.99,14.41,15.00
$GC,3570,-0.48,-165.5,2548,3836,3748,3405,428.1,-12.2,343,3577,0.00,1.67,0.00,0.000,1030,0.000,0.072,2548,2848,3576,3748,3405,0,0,0,0,0,0,14.76,14.68,14.78
$GC,3894,-0.48,-165.5,2548,2848,3748,3405,467.1,-11.8,362,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2848,3576,3748,3405,0,0,0,0,0,0,14.98,15.00,15.00
$GC,4194,-0.48,-165.5,2548,2848,3748,3405,502.9,-12.0,377,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2848,3575,3747,3404,0,0,0,0,0,0,14.98,15.00,15.00
$GC,4494,-0.48,-165.5,2548,2849,3748,3404,537.8,-11.5,392,4500,0.00,1.92,0.00,0.000,260,0.000,0.159,2541,3839,3576,3748,3405,0,0,0,0,0,0,15.00,14.40,15.02
$GC,4566,-0.48,-165.5,2540,3838,3747,3405,546.5,-11.5,406,4573,0.15,1.70,0.00,0.000,3078,0.220,0.073,2576,2843,3576,3746,3406,0,0,0,0,0,0,14.48,14.69,14.68
$GC,4880,-0.48,-165.5,2576,2843,3746,3406,574.6,-9.1,423,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2843,3576,3746,3406,0,0,0,0,0,0,14.99,15.00,15.00
$GC,5180,-0.48,-165.5,2576,2843,3746,3406,601.5,-8.8,438,5181,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2843,3576,3746,3406,0,0,0,0,0,0,15.00,15.02,15.01
$GC,5480,-0.48,-165.5,2576,2843,3745,3406,627.9,-8.7,453,5486,0.00,1.95,0.00,0.000,292,0.000,0.159,2571,3844,3575,3745,3406,0,0,0,0,0,0,14.98,14.33,15.00
$GC,5522,-0.48,-165.5,2571,3844,3744,3406,631.6,-7.9,461,5528,0.00,1.70,0.00,0.000,1062,0.000,0.075,2571,2850,3575,3744,3406,0,0,0,0,0,0,14.76,14.67,14.78
$GC,5846,-0.48,-165.5,2571,2849,3743,3405,660.9,-9.4,480,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2850,3575,3744,3406,0,0,0,0,0,0,14.98,15.00,15.00
$GC,6145,-0.48,-165.5,2571,2849,3742,3406,689.4,-9.6,495,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2849,3574,3743,3405,0,0,0,0,0,0,14.97,15.00,15.00
$GC,6445,-0.48,-165.5,2571,2850,3742,3406,716.5,-8.8,510,6447,0.00,0.00,0.00,0.000,38,0.000,0.000,2571,2850,3573,3742,3405,0,0,0,0,0,0,14.97,15.00,14.99
$GC,6745,-0.48,-165.5,2571,2850,3741,3405,743.7,-9.2,525,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2850,3573,3741,3405,0,0,0,0,0,0,14.97,15.00,14.99
$GC,7046,-0.48,-165.5,2571,2849,3741,3405,771.2,-9.1,540,7051,0.00,1.92,0.00,0.000,260,0.000,0.161,2564,3836,3573,3741,3406,0,0,0,0,0,0,14.97,14.36,14.99
$GC,7089,-0.48,-165.5,2564,3836,3741,3405,775.2,-9.0,548,7094,0.00,1.70,0.00,0.000,1030,0.000,0.078,2564,2848,3573,3741,3405,0,0,0,0,0,0,14.73,14.64,14.76
$GC,7411,-0.48,-165.5,2564,2848,3741,3405,805.3,-9.3,567,7418,0.00,1.80,0.00,0.000,516,0.000,0.078,2564,1786,3573,3740,3406,0,0,0,0,0,0,14.98,14.61,15.00
$GC,7440,-0.48,-165.5,2564,1782,3740,3406,807.9,-9.4,572,7445,0.00,2.00,0.00,0.000,1030,0.000,0.130,2557,2851,3572,3740,3405,0,0,0,0,0,0,14.62,14.46,14.66
$GC,7757,-0.48,-165.5,2556,2852,3738,3405,839.6,-10.0,590,7763,0.00,1.92,0.00,0.000,260,0.000,0.166,2549,3844,3571,3738,3405,0,0,0,0,0,0,14.99,14.33,15.01
$GC,7831,-0.48,-165.5,2548,3845,3737,3406,847.0,-9.9,604,7836,0.00,1.73,0.00,0.000,1030,0.000,0.074,2549,2840,3571,3737,3406,0,0,0,0,0,0,14.74,14.65,14.77
$GC,8143,-0.48,-165.5,2548,2839,3736,3406,880.2,-10.7,621,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2839,3571,3737,3405,0,0,0,0,0,0,14.97,15.00,14.99
$GC,8444,-0.48,-165.5,2548,2839,3736,3406,912.0,-10.4,636,8450,0.00,1.98,0.00,0.000,260,0.000,0.163,2542,3841,3571,3736,3406,0,0,0,0,0,0,14.98,14.33,15.00
$GC,8507,-0.48,-165.5,2541,3841,3736,3406,918.8,-10.7,648,8513,0.12,1.70,0.00,0.000,3078,0.226,0.074,2570,2850,3570,3736,3405,0,0,0,0,0,0,14.45,14.66,14.65
$GC,8832,-0.48,-165.5,2570,2849,3735,3406,946.4,-8.4,667,8838,0.00,1.80,0.00,0.000,548,0.000,0.076,2571,1783,3570,3736,3405,0,0,0,0,0,0,14.98,14.61,15.00
$GC,8855,-0.48,-165.5,2570,1781,3735,3405,948.5,-8.5,671,8862,0.00,2.03,0.00,0.000,1062,0.000,0.131,2565,2858,3570,3735,3406,0,0,0,0,0,0,14.61,14.42,14.65
$GC,9180,-0.48,-165.5,2565,2857,3734,3406,977.2,-8.9,690,9185,0.00,1.92,0.00,0.000,292,0.000,0.168,2557,3848,3570,3735,3405,0,0,0,0,0,0,14.99,14.26,15.01
$GC,9246,-0.48,-165.5,2557,3848,3734,3406,983.3,-8.7,703,9253,0.00,1.75,0.00,0.000,1062,0.000,0.078,2558,2839,3570,3734,3406,0,0,0,0,0,0,14.72,14.60,14.75
$STATE,9323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9324,begin apogee
$GC,9328,-0.10,0.0,2558,2595,3734,3406,990.3,-9.1,709,9566,0.50,0.00,231.25,2.008,10246,0.187,0.000,2698,2595,2899,2923,2876,0,0,0,0,0,0,14.43,13.55,12.51
$STATE,9567,end apogee,CONTROL_FINISHED_OK
$STATE,9567,begin climb
$GC,9569,0.48,165.5,2698,2595,2923,2876,997.7,0.0,721,9822,0.60,2.25,242.07,1.948,10500,0.096,0.151,2884,3658,2225,2217,2234,0,0,0,0,0,0,13.63,13.35,12.43
$GC,9844,0.48,165.5,2883,3658,2217,2234,975.3,12.5,752,9851,0.00,2.00,0.00,0.000,1030,0.000,0.074,2891,2588,2225,2217,2234,0,0,0,0,0,0,13.74,13.65,13.75
$GC,10150,0.48,165.5,2892,2578,2217,2227,936.0,13.0,768,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2578,2222,2217,2227,0,0,0,0,0,0,14.59,14.61,14.61
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$STATE,17180,end climb,SURFACE_DEPTH_REACHED
$STATE,17180,begin surface coast
$FINISH,0.5,1.027055
$STATE,17201,end surface coast,CONTROL_FINISHED_OK
$STATE,17201,begin surface
$SM_CCo,17217,101.15,0.883,1,0,1879,250.20
$SM_GC,0.83,7.90,0.47,101.15,0.066,0.125,0.883,163,2862,1879,-7.94,-0.28,250.20,0,0,0,0,1,0,14.63,14.52,13.57
$IRIDIUM_FIX,5916.17,-2209.98,060619,100917
$TT8_MAMPS,0.02247,0.647885
$HUMID,38.18
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3856448
$24V_AH,12.43,0.000
$10V_AH,12.71,43.813
$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,21.625,108.925,473.325,101.150,0.000,0.000,0.000,275.550,0.000,0.000,26.762,3214.208,11347.829,805.271,2245.103,130.347,0.000,2118.561,0.000,1872.291,0.000,0.536,0.000
$DEVICE_MAMPS,398.565,168.300,2008.125,882.810,0.000,0.000,0.000,189.720,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17205.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.195,0.000,0.000,0.000
$MEM,303072
$DATA_FILE_SIZE,46706,1305
$CAP_FILE_SIZE,155717,0
$CFSIZE,2097872896,2074738688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.102,348.18,1
$GPS,060619,201040,5914.618,-2202.538,28,1.0,37,-12.8,0.8,353.4,8,9.6