version: 66.13
glider: 527
mission: 5
dive: 109
start: 6 6 119 20 17 48
data:
$ID,527
$MISSION,5
$DIVE,109
$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,36
$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
$GPS1,060619,201040,5914.6177,-2202.5383,28,1.0,37,-12.8,0.8,353.4,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-75.7
$GPS2,060619,201707,5914.6123,-2202.6106,9,0.8,20,-12.8,0.5,354.8,11,8.3
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S3
$TGT_LATLONG,5910.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,178.2,8894,-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,-165.5,131,2873,1825,1920,0.0,0.0,0,103,0.00,0.00,-84.20,0.008,16390,0.000,0.000,130,2874,3576,3746,3406,0,0,0,0,0,0,14.64,12.93,14.66
$GC,105,-0.48,-165.5,131,2874,3746,3406,5.3,-9.1,9,122,12.07,1.88,0.00,0.000,2308,0.403,0.127,2563,3838,3576,3747,3406,0,0,0,0,0,0,14.05,14.25,14.36
$GC,293,-0.48,-165.5,2562,3840,3748,3407,42.1,-13.0,46,300,0.00,1.70,0.00,0.000,1030,0.000,0.077,2562,2865,3577,3749,3406,0,0,0,0,0,0,14.57,14.48,14.59
$GC,480,-0.48,-165.5,2562,2864,3748,3406,66.4,-13.3,65,486,0.00,1.85,0.00,0.000,516,0.000,0.077,2562,1780,3577,3748,3407,0,0,0,0,0,0,14.78,14.48,14.80
$GC,523,-0.48,-165.5,2562,1776,3748,3406,72.1,-12.0,73,529,0.00,2.03,0.00,0.000,1030,0.000,0.129,2555,2854,3578,3749,3407,0,0,0,0,0,0,14.57,14.40,14.62
$GC,716,-0.48,-165.5,2555,2853,3749,3406,96.7,-13.2,93,722,0.00,1.90,0.00,0.000,260,0.000,0.156,2548,3840,3577,3748,3406,0,0,0,0,0,0,14.83,14.27,14.85
$GC,829,-0.48,-165.5,2548,3840,3749,3407,111.9,-12.7,115,835,0.00,1.73,0.00,0.000,1030,0.000,0.071,2548,2833,3577,3748,3407,0,0,0,0,0,0,14.65,14.56,14.67
$GC,1022,-0.48,-165.5,2548,2832,3748,3406,138.0,-13.5,135,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2832,3577,3748,3407,0,0,0,0,0,0,14.87,14.89,14.88
$GC,1202,-0.48,-165.5,2547,2832,3749,3406,162.1,-13.3,153,1208,0.00,1.98,0.00,0.000,260,0.000,0.155,2540,3848,3577,3748,3407,0,0,0,0,0,0,14.88,14.32,14.90
$GC,1239,-0.48,-165.5,2540,3849,3748,3407,167.3,-13.5,160,1247,0.15,1.73,0.00,0.000,3078,0.228,0.073,2576,2842,3577,3748,3407,0,0,0,0,0,0,14.40,14.60,14.60
$GC,1425,-0.48,-165.5,2575,2841,3749,3407,187.3,-10.7,179,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2842,3578,3749,3407,0,0,0,0,0,0,14.88,14.89,14.90
$GC,1605,-0.48,-165.5,2575,2841,3748,3407,206.5,-10.5,197,1611,0.00,1.95,0.00,0.000,260,0.000,0.154,2570,3846,3578,3749,3407,0,0,0,0,0,0,14.88,14.24,14.90
$GC,1648,-0.48,-165.5,2570,3846,3749,3407,211.2,-11.2,205,1654,0.00,1.73,0.00,0.000,1030,0.000,0.073,2570,2840,3577,3748,3406,0,0,0,0,0,0,14.69,14.60,14.72
$GC,1842,-0.48,-165.5,2570,2840,3749,3407,231.8,-10.7,225,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2840,3578,3749,3407,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2021,-0.48,-165.5,2570,2840,3749,3407,250.7,-10.7,243,2027,0.00,1.98,0.00,0.000,260,0.000,0.152,2562,3837,3577,3749,3406,0,0,0,0,0,0,14.90,14.34,14.92
$GC,2058,-0.48,-165.5,2562,3837,3749,3407,255.0,-11.2,250,2065,0.00,1.70,0.00,0.000,1030,0.000,0.073,2562,2846,3577,3748,3407,0,0,0,0,0,0,14.70,14.62,14.72
$GC,2364,-0.48,-165.5,2562,2845,3748,3407,289.9,-11.5,266,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2846,3577,3748,3406,0,0,0,0,0,0,14.92,14.95,14.95
$GC,2665,-0.48,-165.5,2562,2845,3749,3407,325.2,-11.9,281,2670,0.00,1.95,0.00,0.000,260,0.000,0.156,2555,3849,3577,3748,3406,0,0,0,0,0,0,14.93,14.34,14.95
$GC,2711,-0.48,-165.5,2555,3849,3748,3407,330.8,-12.0,290,2716,0.00,1.73,0.00,0.000,1030,0.000,0.075,2555,2844,3577,3748,3407,0,0,0,0,0,0,14.73,14.64,14.75
$GC,3028,-0.48,-165.5,2555,2844,3748,3406,368.3,-11.7,308,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2844,3577,3748,3406,0,0,0,0,0,0,14.97,14.99,14.98
$GC,3328,-0.48,-165.5,2555,2844,3749,3406,402.0,-11.4,323,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2844,3577,3748,3406,0,0,0,0,0,0,14.97,15.00,15.00
$GC,3628,-0.48,-165.5,2555,2844,3748,3406,437.6,-11.9,338,3634,0.00,1.95,0.00,0.000,260,0.000,0.158,2548,3847,3577,3748,3406,0,0,0,0,0,0,14.99,14.37,15.00
$GC,3715,-0.48,-165.5,2548,3847,3748,3406,448.1,-11.8,355,3721,0.00,1.75,0.00,0.000,1030,0.000,0.075,2548,2832,3577,3748,3406,0,0,0,0,0,0,14.71,14.62,14.74
$GC,4034,-0.48,-165.5,2548,2831,3748,3406,488.8,-12.6,373,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2831,3577,3748,3406,0,0,0,0,0,0,14.99,15.01,15.01
$GC,4333,-0.48,-165.5,2547,2831,3747,3406,524.7,-11.8,388,4339,0.00,1.98,0.00,0.000,260,0.000,0.160,2540,3845,3576,3746,3406,0,0,0,0,0,0,15.00,14.37,15.02
$GC,4407,-0.48,-165.5,2540,3845,3746,3407,533.1,-11.2,402,4413,0.15,1.73,0.00,0.000,3078,0.223,0.076,2576,2841,3576,3746,3406,0,0,0,0,0,0,14.47,14.67,14.68
$GC,4720,-0.48,-165.5,2575,2840,3746,3406,560.8,-8.9,419,4721,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2840,3576,3746,3407,0,0,0,0,0,0,14.98,15.00,15.00
$GC,5020,-0.48,-165.5,2576,2840,3746,3406,587.8,-9.0,434,5026,0.00,1.98,0.00,0.000,260,0.000,0.159,2570,3850,3576,3746,3406,0,0,0,0,0,0,15.00,14.31,15.01
$GC,5072,-0.48,-165.5,2570,3850,3746,3407,592.6,-9.0,444,5079,0.00,1.73,0.00,0.000,1062,0.000,0.076,2571,2845,3575,3745,3406,0,0,0,0,0,0,14.77,14.68,14.79
$GC,5386,-0.48,-165.5,2570,2844,3746,3406,620.6,-9.3,461,5392,0.00,1.95,0.00,0.000,260,0.000,0.160,2563,3843,3575,3745,3406,0,0,0,0,0,0,14.98,14.37,15.00
$GC,5432,-0.48,-165.5,2563,3844,3744,3406,625.1,-9.3,470,5438,0.00,1.73,0.00,0.000,1030,0.000,0.076,2564,2840,3575,3744,3406,0,0,0,0,0,0,14.75,14.65,14.77
$GC,5750,-0.48,-165.5,2563,2838,3744,3406,656.1,-9.8,488,5756,0.00,1.98,0.00,0.000,260,0.000,0.161,2556,3849,3575,3745,3406,0,0,0,0,0,0,15.00,14.35,15.01
$GC,5782,-0.48,-165.5,2556,3849,3744,3406,659.5,-9.6,494,5788,0.00,1.73,0.00,0.000,1030,0.000,0.077,2556,2847,3574,3743,3406,0,0,0,0,0,0,14.76,14.66,14.78
$GC,6095,-0.48,-165.5,2557,2847,3743,3406,691.7,-10.6,511,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2847,3574,3743,3406,0,0,0,0,0,0,14.99,15.01,15.01
$GC,6395,-0.48,-165.5,2556,2846,3743,3406,722.2,-9.8,526,6400,0.00,1.95,0.00,0.000,260,0.000,0.163,2549,3841,3574,3742,3406,0,0,0,0,0,0,15.00,14.33,15.02
$GC,6432,-0.48,-165.5,2549,3841,3740,3406,726.1,-10.4,533,6439,0.00,1.73,0.00,0.000,1030,0.000,0.077,2549,2841,3573,3741,3406,0,0,0,0,0,0,14.76,14.66,14.78
$GC,6738,-0.48,-165.5,2549,2841,3742,3406,759.1,-10.8,549,6744,0.00,1.98,0.00,0.000,260,0.000,0.163,2542,3848,3574,3742,3406,0,0,0,0,0,0,15.00,14.35,15.02
$GC,6781,-0.48,-165.5,2542,3847,3741,3406,763.8,-11.0,557,6788,0.12,1.73,0.00,0.000,3078,0.226,0.078,2570,2847,3573,3741,3406,0,0,0,0,0,0,14.48,14.67,14.68
$GC,7106,-0.48,-165.5,2570,2847,3742,3406,792.8,-9.0,576,7107,0.00,0.00,0.00,0.000,38,0.000,0.000,2570,2847,3573,3741,3406,0,0,0,0,0,0,14.97,14.99,14.99
$GC,7405,-0.48,-165.5,2570,2846,3741,3406,819.3,-8.7,591,7411,0.00,1.95,0.00,0.000,292,0.000,0.163,2565,3840,3573,3741,3406,0,0,0,0,0,0,14.97,14.35,14.99
$GC,7448,-0.48,-165.5,2565,3840,3740,3406,823.1,-8.6,599,7454,0.00,1.70,0.00,0.000,1062,0.000,0.078,2565,2854,3573,3740,3406,0,0,0,0,0,0,14.74,14.65,14.77
$GC,7771,-0.48,-165.5,2565,2854,3742,3406,851.5,-8.9,618,7772,0.00,0.00,0.00,0.000,38,0.000,0.000,2565,2854,3572,3739,3406,0,0,0,0,0,0,14.98,15.01,15.00
$GC,8072,-0.48,-165.5,2565,2854,3739,3406,878.3,-8.9,633,8073,0.00,0.00,0.00,0.000,38,0.000,0.000,2565,2854,3572,3739,3406,0,0,0,0,0,0,14.99,15.01,15.01
$GC,8371,-0.48,-165.5,2565,2854,3738,3406,905.3,-9.0,648,8372,0.00,0.00,0.00,0.000,38,0.000,0.000,2565,2854,3572,3738,3406,0,0,0,0,0,0,14.98,15.00,15.00
$GC,8671,-0.48,-165.5,2565,2854,3737,3406,932.6,-9.1,663,8677,0.00,1.95,0.00,0.000,260,0.000,0.166,2559,3843,3571,3737,3406,0,0,0,0,0,0,14.99,14.33,15.00
$GC,8727,-0.48,-165.5,2558,3842,3737,3406,937.9,-9.2,674,8734,0.00,1.73,0.00,0.000,1030,0.000,0.079,2558,2845,3571,3737,3406,0,0,0,0,0,0,14.73,14.62,14.76
$GC,9034,-0.48,-165.5,2558,2845,3737,3406,967.2,-9.8,690,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2845,3571,3737,3406,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,9272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9272,begin apogee
$GC,9277,-0.10,0.0,2559,2590,3736,3406,990.9,-9.9,702,9515,0.47,0.00,231.07,2.020,10246,0.188,0.000,2691,2590,2899,2923,2876,0,0,0,0,0,0,14.40,13.54,12.55
$STATE,9516,end apogee,CONTROL_FINISHED_OK
$STATE,9516,begin climb
$GC,9518,0.48,165.5,2692,2590,2923,2875,999.4,0.0,714,9769,0.65,2.08,241.57,1.958,10756,0.115,0.085,2893,1544,2226,2218,2234,0,0,0,0,0,0,13.62,13.39,12.42
$GC,9821,0.48,165.5,2893,1544,2217,2233,974.9,11.4,772,9826,0.00,2.10,0.00,0.000,1030,0.000,0.118,2893,2602,2225,2217,2233,0,0,0,0,0,0,13.85,13.74,13.88
$GC,10133,0.48,165.5,2892,2602,2217,2228,936.2,12.7,789,10140,0.00,2.03,0.00,0.000,260,0.000,0.148,2893,3662,2222,2217,2228,0,0,0,0,0,0,14.62,14.27,14.63
$GC,10166,0.48,165.5,2893,3662,2217,2228,931.4,14.4,795,10172,0.00,1.90,0.00,0.000,1030,0.000,0.075,2900,2584,2222,2217,2228,0,0,0,0,0,0,14.47,14.38,14.50
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$STATE,17317,end climb,SURFACE_DEPTH_REACHED
$STATE,17317,begin surface coast
$FINISH,0.2,1.026932
$STATE,17349,end surface coast,CONTROL_FINISHED_OK
$STATE,17349,begin surface
$SM_CCo,17365,101.25,0.887,1,0,1880,250.20
$SM_GC,0.73,7.93,0.52,101.25,0.069,0.125,0.887,177,2859,1880,-7.93,-0.34,250.20,0,0,0,0,1,0,14.58,14.49,13.56
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$TT8_MAMPS,0.023219,0.730275
$HUMID,38.38
$INTERNAL_PRESSURE,8.83759
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3856064
$24V_AH,12.42,0.000
$10V_AH,12.81,44.213
$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
$DEVICE_SECS,22.150,128.675,472.650,101.250,0.000,0.000,0.000,249.300,0.000,0.000,28.943,3269.778,11363.132,801.570,2295.898,137.043,0.000,2154.205,0.000,1943.601,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.134,0.000,0.000,0.000
$MEM,302980
$DATA_FILE_SIZE,46654,1355
$CAP_FILE_SIZE,162110,0
$CFSIZE,2097872896,2074542080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$INTR,0,9542.94,0x23565a,1,24
$CURRENT,0.088,355.97,1
$GPS,070619,011032,5912.955,-2201.987,46,0.8,54,-12.8,0.0,102.7,10,9.7