version: 66.13
glider: 527
mission: 5
dive: 113
start: 6 7 119 14 53 43
data:
$ID,527
$MISSION,5
$DIVE,113
$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,24
$R_STBD_OVSHOOT,11
$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
$GPS1,070619,144626,5910.1851,-2156.8340,39,0.7,46,-12.7,0.4,174.3,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-77.9
$GPS2,070619,145302,5910.1914,-2156.8613,9,0.7,18,-12.7,0.4,101.1,11,9.3
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S4
$TGT_LATLONG,5910.000,-2140.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,130.9,16009,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.48,-165.5,149,2860,1822,1925,0.0,0.0,0,104,0.00,0.00,-85.30,0.008,16390,0.000,0.000,146,2860,3576,3748,3404,0,0,0,0,0,0,14.64,12.90,14.66
$GC,106,-0.48,-165.5,146,2860,3747,3404,5.5,-9.4,9,123,11.90,1.92,0.00,0.000,2564,0.398,0.081,2564,1789,3576,3748,3404,0,0,0,0,0,0,14.02,14.40,14.38
$GC,251,-0.48,-165.5,2563,1785,3751,3404,31.7,-10.3,37,256,0.00,2.05,0.00,0.000,1030,0.000,0.140,2557,2853,3577,3751,3404,0,0,0,0,0,0,14.50,14.33,14.54
$GC,444,-0.48,-165.5,2556,2853,3752,3404,57.0,-13.7,57,449,0.00,1.92,0.00,0.000,260,0.000,0.164,2550,3845,3578,3751,3405,0,0,0,0,0,0,14.81,14.22,14.82
$GC,547,-0.48,-165.5,2554,3845,3751,3404,70.1,-12.4,77,553,0.00,1.75,0.00,0.000,1030,0.000,0.077,2549,2836,3577,3751,3404,0,0,0,0,0,0,14.62,14.52,14.63
$GC,741,-0.48,-165.5,2549,2836,3751,3404,95.3,-13.4,97,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2835,3577,3750,3404,0,0,0,0,0,0,14.82,14.83,14.83
$GC,920,-0.48,-165.5,2549,2836,3751,3404,119.8,-13.6,115,926,0.00,2.00,0.00,0.000,260,0.000,0.166,2542,3847,3577,3751,3404,0,0,0,0,0,0,14.84,14.26,14.85
$GC,983,-0.48,-165.5,2542,3846,3751,3404,128.7,-13.3,127,989,0.12,1.73,0.00,0.000,3078,0.241,0.076,2569,2839,3577,3751,3404,0,0,0,0,0,0,14.38,14.59,14.58
$GC,1177,-0.48,-165.5,2568,2839,3751,3404,151.2,-11.7,147,1182,0.00,2.00,0.00,0.000,260,0.000,0.165,2563,3845,3577,3751,3404,0,0,0,0,0,0,14.85,14.26,14.87
$GC,1203,-0.48,-165.5,2564,3845,3751,3405,154.8,-13.4,152,1211,0.00,1.73,0.00,0.000,1030,0.000,0.076,2564,2841,3577,3751,3404,0,0,0,0,0,0,14.66,14.56,14.68
$GC,1389,-0.48,-165.5,2563,2839,3751,3404,177.5,-12.4,171,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2839,3577,3751,3404,0,0,0,0,0,0,14.86,14.88,14.88
$GC,1570,-0.48,-165.5,2563,2839,3751,3405,199.3,-12.2,189,1576,0.00,1.98,0.00,0.000,260,0.000,0.165,2556,3844,3577,3751,3404,0,0,0,0,0,0,14.88,14.31,14.90
$GC,1626,-0.48,-165.5,2556,3844,3751,3404,206.3,-11.9,200,1634,0.00,1.73,0.00,0.000,1030,0.000,0.076,2556,2841,3577,3751,3404,0,0,0,0,0,0,14.57,14.48,14.59
$GC,1813,-0.48,-165.5,2556,2839,3751,3404,229.5,-12.6,219,1818,0.00,1.98,0.00,0.000,260,0.000,0.161,2549,3845,3577,3751,3404,0,0,0,0,0,0,14.90,14.31,14.92
$GC,1855,-0.48,-165.5,2549,3845,3751,3404,234.7,-12.7,227,1861,0.00,1.73,0.00,0.000,1030,0.000,0.076,2549,2842,3577,3751,3403,0,0,0,0,0,0,14.68,14.59,14.71
$GC,2058,-0.48,-165.5,2549,2841,3751,3404,260.9,-12.9,244,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2841,3577,3751,3404,0,0,0,0,0,0,14.92,14.94,14.94
$GC,2358,-0.48,-165.5,2549,2841,3751,3404,298.7,-12.4,259,2363,0.00,1.98,0.00,0.000,260,0.000,0.164,2542,3845,3577,3751,3404,0,0,0,0,0,0,14.95,14.33,14.97
$GC,2444,-0.48,-165.5,2541,3845,3751,3405,309.8,-12.2,276,2451,0.15,1.73,0.00,0.000,3078,0.226,0.076,2577,2842,3577,3751,3404,0,0,0,0,0,0,14.44,14.64,14.64
$GC,2764,-0.48,-165.5,2576,2841,3751,3404,343.0,-10.4,294,2769,0.00,1.98,0.00,0.000,260,0.000,0.164,2571,3846,3578,3753,3404,0,0,0,0,0,0,14.95,14.32,14.97
$GC,2835,-0.48,-165.5,2571,3847,3751,3404,350.0,-9.9,308,2842,0.00,1.75,0.00,0.000,1030,0.000,0.076,2571,2829,3577,3751,3404,0,0,0,0,0,0,14.69,14.60,14.72
$GC,3150,-0.48,-165.5,2571,2827,3750,3404,382.4,-10.4,325,3155,0.00,2.00,0.00,0.000,260,0.000,0.165,2564,3844,3577,3750,3405,0,0,0,0,0,0,14.95,14.33,14.97
$GC,3207,-0.48,-165.5,2564,3844,3749,3404,388.8,-10.2,336,3214,0.00,1.73,0.00,0.000,1030,0.000,0.078,2564,2842,3576,3749,3404,0,0,0,0,0,0,14.71,14.61,14.74
$GC,3513,-0.48,-165.5,2564,2840,3750,3404,421.7,-10.6,352,3519,0.00,1.98,0.00,0.000,260,0.000,0.164,2557,3845,3576,3749,3404,0,0,0,0,0,0,14.97,14.34,14.98
$GC,3561,-0.48,-165.5,2557,3845,3749,3404,426.9,-10.5,361,3566,0.00,1.73,0.00,0.000,1030,0.000,0.078,2557,2843,3576,3749,3404,0,0,0,0,0,0,14.69,14.59,14.71
$GC,3878,-0.48,-165.5,2557,2842,3749,3404,462.1,-11.4,379,3884,0.00,1.98,0.00,0.000,260,0.000,0.165,2550,3847,3576,3749,3404,0,0,0,0,0,0,14.97,14.33,15.00
$GC,3931,-0.48,-165.5,2549,3847,3749,3404,468.1,-11.0,389,3936,0.00,1.73,0.00,0.000,1030,0.000,0.077,2550,2845,3576,3749,3404,0,0,0,0,0,0,14.74,14.66,14.77
$GC,4243,-0.48,-165.5,2549,2845,3749,3404,505.1,-11.7,406,4249,0.00,1.98,0.00,0.000,260,0.000,0.168,2542,3846,3576,3749,3404,0,0,0,0,0,0,14.97,14.33,15.00
$GC,4330,-0.48,-165.5,2542,3846,3749,3404,515.7,-11.7,423,4337,0.12,1.73,0.00,0.000,3078,0.232,0.077,2570,2846,3576,3749,3404,0,0,0,0,0,0,14.46,14.65,14.66
$GC,4649,-0.48,-165.5,2570,2845,3749,3404,547.6,-10.2,441,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2845,3576,3749,3404,0,0,0,0,0,0,14.96,14.99,14.98
$GC,4949,-0.48,-165.5,2570,2845,3748,3404,578.0,-10.0,456,4955,0.00,1.98,0.00,0.000,260,0.000,0.168,2565,3846,3576,3749,3404,0,0,0,0,0,0,14.99,14.33,15.00
$GC,5017,-0.48,-165.5,2565,3845,3748,3404,585.0,-10.0,469,5022,0.00,1.73,0.00,0.000,1030,0.000,0.079,2565,2844,3576,3748,3404,0,0,0,0,0,0,14.74,14.64,14.76
$GC,5334,-0.48,-165.5,2565,2843,3749,3404,617.9,-10.6,487,5340,0.00,1.98,0.00,0.000,260,0.000,0.168,2559,3845,3576,3748,3404,0,0,0,0,0,0,15.00,14.33,15.01
$GC,5381,-0.48,-165.5,2558,3845,3746,3404,623.0,-10.5,496,5388,0.00,1.73,0.00,0.000,1030,0.000,0.079,2559,2846,3575,3746,3404,0,0,0,0,0,0,14.75,14.65,14.78
$GC,5700,-0.48,-165.5,2558,2846,3746,3404,657.8,-11.0,514,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2846,3575,3746,3404,0,0,0,0,0,0,14.98,15.00,15.00
$GC,6001,-0.48,-165.5,2558,2846,3746,3404,688.9,-10.2,529,6006,0.00,1.98,0.00,0.000,260,0.000,0.171,2552,3843,3574,3745,3404,0,0,0,0,0,0,14.99,14.31,15.00
$GC,6078,-0.48,-165.5,2551,3843,3744,3404,697.0,-10.3,544,6085,0.00,1.73,0.00,0.000,1030,0.000,0.079,2552,2845,3574,3744,3404,0,0,0,0,0,0,14.75,14.65,14.78
$GC,6384,-0.48,-165.5,2551,2843,3743,3405,730.7,-11.0,560,6390,0.00,1.98,0.00,0.000,260,0.000,0.169,2544,3843,3574,3743,3405,0,0,0,0,0,0,15.00,14.33,15.02
$GC,6421,-0.48,-165.5,2544,3843,3743,3404,735.1,-11.3,567,6429,0.12,1.73,0.00,0.000,3078,0.226,0.077,2572,2844,3574,3743,3405,0,0,0,0,0,0,14.47,14.65,14.66
$GC,6727,-0.48,-165.5,2572,2843,3743,3404,763.2,-9.3,583,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2843,3573,3743,3404,0,0,0,0,0,0,14.99,15.01,15.01
$GC,7027,-0.48,-165.5,2572,2843,3742,3404,791.4,-9.4,598,7032,0.00,1.98,0.00,0.000,260,0.000,0.168,2567,3844,3573,3742,3404,0,0,0,0,0,0,14.97,14.31,14.99
$GC,7074,-0.48,-165.5,2567,3844,3742,3404,796.0,-9.5,607,7079,0.00,1.73,0.00,0.000,1030,0.000,0.078,2567,2843,3573,3742,3404,0,0,0,0,0,0,14.73,14.63,14.76
$GC,7392,-0.48,-165.5,2567,2842,3741,3404,826.8,-9.7,625,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2842,3572,3741,3404,0,0,0,0,0,0,14.97,15.00,14.99
$GC,7691,-0.48,-165.5,2567,2842,3741,3404,855.5,-9.5,640,7698,0.00,2.00,0.00,0.000,260,0.000,0.170,2560,3849,3572,3741,3404,0,0,0,0,0,0,14.97,14.28,14.99
$GC,7755,-0.48,-165.5,2560,3850,3741,3404,861.5,-9.2,652,7761,0.00,1.73,0.00,0.000,1030,0.000,0.080,2560,2853,3573,3741,3405,0,0,0,0,0,0,14.71,14.62,14.74
$GC,8078,-0.48,-165.5,2560,2852,3741,3404,892.7,-9.7,671,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2852,3572,3741,3404,0,0,0,0,0,0,14.98,15.00,15.00
$GC,8378,-0.48,-165.5,2560,2852,3740,3404,921.7,-9.7,686,8384,0.00,1.98,0.00,0.000,260,0.000,0.171,2553,3845,3572,3740,3404,0,0,0,0,0,0,15.00,14.29,15.01
$GC,8436,-0.48,-165.5,2553,3845,3739,3404,927.4,-9.7,697,8442,0.00,1.73,0.00,0.000,1030,0.000,0.080,2553,2847,3571,3739,3404,0,0,0,0,0,0,14.73,14.63,14.76
$GC,8741,-0.48,-165.5,2553,2846,3739,3404,958.1,-10.0,713,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2846,3571,3738,3404,0,0,0,0,0,0,14.99,15.02,15.01
$GC,9041,-0.48,-165.5,2553,2846,3738,3404,987.7,-9.8,728,9047,0.00,2.00,0.00,0.000,260,0.000,0.174,2546,3847,3571,3738,3404,0,0,0,0,0,0,15.00,14.28,15.02
$STATE,9063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9063,begin apogee
$GC,9069,-0.10,0.0,2546,2572,3737,3404,990.2,-10.5,732,9307,0.52,0.12,232.85,2.020,10246,0.184,0.177,2693,2616,2900,2924,2877,0,0,0,0,0,0,14.45,13.47,12.40
$STATE,9308,end apogee,CONTROL_FINISHED_OK
$STATE,9308,begin climb
$GC,9310,0.48,165.5,2694,2616,2923,2876,997.8,0.0,744,9563,0.62,2.05,243.62,1.956,10756,0.112,0.082,2888,1553,2225,2217,2234,0,0,0,0,0,0,13.56,13.14,12.32
$GC,9614,0.48,165.5,2888,1553,2217,2234,972.9,11.3,803,9621,0.00,2.08,0.00,0.000,1030,0.000,0.122,2889,2593,2225,2217,2233,0,0,0,0,0,0,13.80,13.67,13.82
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$STATE,17224,end climb,SURFACE_DEPTH_REACHED
$STATE,17224,begin surface coast
$FINISH,-0.3,1.026757
$STATE,17245,end surface coast,CONTROL_FINISHED_OK
$STATE,17245,begin surface
$SM_CCo,17262,101.80,0.895,1,0,1879,250.20
$SM_GC,0.98,8.02,1.40,101.80,0.069,0.062,0.895,174,2846,1879,-7.93,1.02,250.20,0,0,0,0,1,0,14.57,14.62,13.50
$IRIDIUM_FIX,5911.64,-2206.81,070619,094934
$TT8_MAMPS,0.023219,0.484603
$HUMID,38.89
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3854528
$24V_AH,12.32,0.000
$10V_AH,12.65,45.791
$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,22.175,154.900,476.475,101.800,0.000,0.000,0.000,256.500,0.000,0.000,27.149,3343.182,11042.509,849.671,2392.781,143.119,0.000,2265.040,0.000,2029.954,0.000,0.536,0.000
$DEVICE_MAMPS,397.800,177.480,2019.600,895.050,0.000,0.000,0.000,195.840,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17258.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.174,0.000,0.000,0.000
$MEM,303084
$DATA_FILE_SIZE,49954,1417
$CAP_FILE_SIZE,169314,0
$CFSIZE,2097872896,2073722880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.125,356.78,1
$GPS,070619,194438,5909.989,-2153.066,39,0.8,47,-12.7,0.6,88.9,11,9.6