version: 66.13
glider: 527
mission: 5
dive: 123
start: 6 9 119 16 31 32
data:
$ID,527
$MISSION,5
$DIVE,123
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,090619,162132,5920.4751,-2153.1826,40,0.8,48,-12.8,0.5,81.6,11,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-77.5
$GPS2,090619,163049,5920.4907,-2153.0989,9,0.8,18,-12.8,0.0,76.4,11,9.5
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,246.2,6582,-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,10,-0.48,-165.5,163,2868,1819,1927,0.0,0.0,0,97,0.00,0.00,-83.50,0.008,16390,0.000,0.000,164,2869,3576,3745,3407,0,0,0,0,0,0,14.65,12.81,14.66
$GC,100,-0.48,-165.5,164,2869,3746,3407,3.7,-4.7,8,116,11.85,1.90,0.00,0.000,2596,0.396,0.070,2577,1801,3576,3746,3407,0,0,0,0,0,0,14.04,14.41,14.38
$GC,137,-0.48,-165.5,2577,1798,3749,3407,17.4,-27.9,15,145,0.00,2.00,0.00,0.000,1030,0.000,0.131,2571,2847,3578,3749,3407,0,0,0,0,0,0,14.47,14.30,14.50
$GC,324,-0.48,-165.5,2570,2847,3749,3407,40.9,-11.9,34,329,0.00,1.92,0.00,0.000,260,0.000,0.154,2563,3850,3578,3749,3407,0,0,0,0,0,0,14.76,14.19,14.78
$GC,446,-0.48,-165.5,2563,3849,3748,3407,55.0,-11.0,58,452,0.00,1.73,0.00,0.000,1030,0.000,0.073,2563,2858,3577,3748,3407,0,0,0,0,0,0,14.54,14.46,14.57
$GC,639,-0.48,-165.5,2563,2858,3748,3407,78.1,-12.4,78,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2858,3577,3748,3407,0,0,0,0,0,0,14.81,14.83,14.83
$GC,820,-0.48,-165.5,2563,2858,3749,3407,100.3,-12.5,96,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2858,3578,3749,3407,0,0,0,0,0,0,14.83,14.85,14.85
$GC,999,-0.48,-165.5,2563,2859,3749,3407,122.6,-12.3,114,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2858,3578,3749,3407,0,0,0,0,0,0,14.85,14.88,14.88
$GC,1180,-0.48,-165.5,2562,2858,3749,3407,144.5,-12.2,132,1185,0.00,1.92,0.00,0.000,260,0.000,0.152,2556,3849,3578,3749,3407,0,0,0,0,0,0,14.86,14.25,14.88
$GC,1243,-0.48,-165.5,2556,3849,3749,3407,152.6,-12.0,144,1249,0.00,1.73,0.00,0.000,1030,0.000,0.074,2556,2845,3578,3749,3407,0,0,0,0,0,0,14.65,14.57,14.69
$GC,1436,-0.48,-165.5,2555,2844,3749,3407,176.1,-12.5,164,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2844,3578,3749,3407,0,0,0,0,0,0,14.89,14.91,14.90
$GC,1616,-0.48,-165.5,2556,2844,3749,3407,198.3,-12.2,182,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2844,3577,3748,3407,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1796,-0.48,-165.5,2556,2844,3748,3407,220.4,-12.3,200,1802,0.00,1.95,0.00,0.000,260,0.000,0.152,2549,3842,3577,3748,3407,0,0,0,0,0,0,14.89,14.25,14.90
$GC,1839,-0.48,-165.5,2549,3842,3749,3408,225.8,-12.1,208,1845,0.00,1.73,0.00,0.000,1030,0.000,0.074,2549,2839,3578,3749,3407,0,0,0,0,0,0,14.66,14.57,14.69
$GC,2032,-0.48,-165.5,2548,2838,3748,3407,251.1,-13.2,228,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2838,3577,3748,3407,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2332,-0.48,-165.5,2548,2839,3748,3407,290.1,-12.8,243,2338,0.00,1.95,0.00,0.000,260,0.000,0.153,2541,3844,3577,3748,3407,0,0,0,0,0,0,14.94,14.31,14.95
$GC,2395,-0.48,-165.5,2541,3843,3748,3407,298.0,-12.3,255,2402,0.15,1.73,0.00,0.000,3078,0.223,0.074,2575,2844,3578,3749,3407,0,0,0,0,0,0,14.28,14.50,14.49
$GC,2719,-0.48,-165.5,2575,2843,3749,3407,330.8,-10.3,274,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2843,3577,3748,3407,0,0,0,0,0,0,14.92,14.95,14.94
$GC,3019,-0.48,-165.5,2575,2843,3748,3407,361.4,-10.1,289,3025,0.00,1.95,0.00,0.000,260,0.000,0.155,2570,3848,3577,3748,3407,0,0,0,0,0,0,14.93,14.29,14.95
$GC,3046,-0.48,-165.5,2570,3848,3748,3407,364.2,-10.7,294,3052,0.00,1.73,0.00,0.000,1030,0.000,0.076,2570,2850,3577,3748,3407,0,0,0,0,0,0,14.71,14.62,14.73
$GC,3364,-0.48,-165.5,2570,2849,3748,3407,397.4,-10.3,312,3370,0.00,1.80,0.00,0.000,516,0.000,0.076,2570,1783,3577,3748,3407,0,0,0,0,0,0,14.95,14.57,14.97
$GC,3391,-0.48,-165.5,2570,1779,3748,3408,400.1,-9.9,317,3397,0.00,2.03,0.00,0.000,1030,0.000,0.127,2562,2861,3577,3748,3407,0,0,0,0,0,0,14.65,14.47,14.69
$GC,3708,-0.48,-165.5,2562,2861,3748,3407,433.3,-10.7,335,3715,0.00,1.88,0.00,0.000,260,0.000,0.157,2555,3844,3577,3748,3407,0,0,0,0,0,0,14.97,14.33,14.99
$GC,3787,-0.48,-165.5,2555,3844,3747,3407,441.6,-10.5,350,3794,0.00,1.73,0.00,0.000,1030,0.000,0.076,2555,2835,3577,3748,3407,0,0,0,0,0,0,14.71,14.61,14.74
$GC,4092,-0.48,-165.5,2555,2835,3747,3407,474.6,-10.7,366,4098,0.00,1.98,0.00,0.000,260,0.000,0.157,2548,3848,3577,3747,3407,0,0,0,0,0,0,14.97,14.31,14.99
$GC,4139,-0.48,-165.5,2548,3848,3747,3407,479.8,-10.8,375,4146,0.00,1.73,0.00,0.000,1030,0.000,0.076,2548,2846,3577,3747,3407,0,0,0,0,0,0,14.71,14.62,14.74
$GC,4458,-0.48,-165.5,2548,2845,3747,3407,516.3,-11.5,393,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2844,3577,3747,3407,0,0,0,0,0,0,14.97,15.00,14.99
$GC,4758,-0.48,-165.5,2548,2844,3747,3407,550.2,-11.5,408,4764,0.00,1.95,0.00,0.000,260,0.000,0.159,2541,3844,3576,3746,3407,0,0,0,0,0,0,14.99,14.31,15.00
$GC,4815,-0.48,-165.5,2540,3844,3744,3408,557.0,-11.6,419,4823,0.15,1.73,0.00,0.000,3078,0.223,0.076,2576,2841,3575,3744,3407,0,0,0,0,0,0,14.42,14.63,14.63
$GC,5121,-0.48,-165.5,2575,2842,3745,3407,585.5,-9.2,435,5127,0.00,1.80,0.00,0.000,516,0.000,0.076,2576,1771,3575,3744,3407,0,0,0,0,0,0,15.00,14.62,15.01
$GC,5165,-0.48,-165.5,2575,1767,3745,3407,589.3,-8.6,443,5172,0.00,2.03,0.00,0.000,1062,0.000,0.126,2570,2857,3576,3745,3407,0,0,0,0,0,0,14.66,14.47,14.71
$GC,5489,-0.48,-165.5,2570,2856,3744,3407,620.4,-9.5,462,5494,0.00,1.90,0.00,0.000,260,0.000,0.161,2563,3845,3575,3744,3407,0,0,0,0,0,0,14.99,14.30,15.00
$GC,5571,-0.48,-165.5,2563,3845,3743,3407,627.9,-9.0,478,5577,0.00,1.73,0.00,0.000,1030,0.000,0.076,2563,2840,3574,3742,3407,0,0,0,0,0,0,14.71,14.61,14.75
$GC,5894,-0.48,-165.5,2562,2839,3742,3406,659.4,-9.9,497,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2838,3574,3742,3407,0,0,0,0,0,0,14.98,15.00,15.00
$GC,6194,-0.48,-165.5,2562,2839,3742,3407,688.1,-9.5,512,6200,0.00,1.98,0.00,0.000,260,0.000,0.161,2555,3847,3574,3742,3407,0,0,0,0,0,0,14.99,14.30,15.01
$GC,6241,-0.48,-165.5,2555,3847,3741,3407,692.7,-9.7,521,6246,0.00,1.73,0.00,0.000,1030,0.000,0.076,2555,2845,3574,3741,3407,0,0,0,0,0,0,14.73,14.63,14.76
$GC,6558,-0.48,-165.5,2555,2843,3741,3407,723.9,-9.9,539,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2843,3574,3742,3407,0,0,0,0,0,0,14.97,14.99,14.99
$GC,6859,-0.48,-165.5,2555,2843,3741,3407,753.5,-9.8,554,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2843,3574,3741,3407,0,0,0,0,0,0,14.98,15.00,15.00
$GC,7159,-0.48,-165.5,2555,2843,3741,3407,782.5,-9.6,569,7164,0.00,1.98,0.00,0.000,260,0.000,0.162,2548,3848,3573,3740,3407,0,0,0,0,0,0,14.98,14.27,15.00
$GC,7197,-0.48,-165.5,2548,3848,3739,3407,786.3,-10.0,576,7204,0.00,1.75,0.00,0.000,1030,0.000,0.078,2548,2841,3573,3739,3407,0,0,0,0,0,0,14.71,14.61,14.74
$GC,7502,-0.48,-165.5,2548,2840,3739,3407,817.3,-10.2,592,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2840,3573,3739,3407,0,0,0,0,0,0,14.98,15.00,15.00
$GC,7801,-0.48,-165.5,2547,2839,3738,3406,848.3,-10.4,607,7808,0.00,1.98,0.00,0.000,260,0.000,0.163,2540,3842,3572,3738,3406,0,0,0,0,0,0,14.99,14.30,15.00
$GC,7879,-0.48,-165.5,2540,3842,3737,3407,856.4,-10.0,622,7887,0.15,1.73,0.00,0.000,3078,0.219,0.075,2577,2839,3571,3737,3406,0,0,0,0,0,0,14.40,14.61,14.62
$GC,8186,-0.48,-165.5,2576,2838,3737,3407,880.7,-7.9,638,8187,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2838,3571,3737,3406,0,0,0,0,0,0,14.99,15.01,15.00
$GC,8485,-0.48,-165.5,2575,2838,3737,3406,905.4,-8.4,653,8487,0.00,0.00,0.00,0.000,38,0.000,0.000,2575,2838,3571,3737,3406,0,0,0,0,0,0,15.00,15.01,15.01
$GC,8786,-0.48,-165.5,2575,2838,3735,3407,931.5,-8.7,668,8791,0.00,1.98,0.00,0.000,292,0.000,0.161,2571,3841,3571,3736,3406,0,0,0,0,0,0,14.97,14.28,14.99
$GC,8818,-0.48,-165.5,2571,3841,3736,3407,934.5,-9.3,674,8823,0.00,1.73,0.00,0.000,1030,0.000,0.076,2571,2843,3571,3736,3406,0,0,0,0,0,0,14.70,14.59,14.73
$GC,9130,-0.48,-165.5,2570,2842,3735,3406,963.1,-9.2,691,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2842,3571,3735,3407,0,0,0,0,0,0,14.99,15.01,15.01
$STATE,9429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9429,begin apogee
$GC,9434,-0.10,0.0,2571,2601,3735,3406,990.3,-9.0,706,9674,0.45,0.00,236.65,2.000,10246,0.181,0.000,2699,2602,2900,2924,2877,0,0,0,0,0,0,14.43,13.21,12.11
$STATE,9676,end apogee,CONTROL_FINISHED_OK
$STATE,9676,begin climb
$GC,9677,0.48,165.5,2698,2602,2923,2876,999.7,0.0,718,9938,0.60,2.08,247.80,1.936,10756,0.095,0.084,2889,1542,2226,2217,2235,0,0,0,0,0,0,13.54,13.36,12.17
$GC,9975,0.48,165.5,2889,1542,2217,2235,978.6,10.7,775,9982,0.00,2.10,0.00,0.000,1030,0.000,0.115,2889,2601,2225,2216,2234,0,0,0,0,0,0,13.79,13.66,13.81
$GC,10294,0.48,165.5,2888,2600,2217,2229,941.6,11.7,793,10299,0.00,2.03,0.00,0.000,260,0.000,0.146,2889,3665,2223,2217,2229,0,0,0,0,0,0,14.64,14.26,14.65
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$STATE,17586,end climb,SURFACE_DEPTH_REACHED
$STATE,17587,begin surface coast
$FINISH,-0.1,1.026886
$STATE,17618,end surface coast,CONTROL_FINISHED_OK
$STATE,17618,begin surface
$SM_CCo,17634,101.75,0.871,1,0,1880,250.20
$SM_GC,0.98,7.88,0.52,101.75,0.064,0.122,0.871,165,2855,1880,-7.93,-0.54,250.20,0,0,0,0,1,0,14.58,14.45,13.39
$IRIDIUM_FIX,5924.26,-2148.08,090619,162352
$TT8_MAMPS,0.02247,0.384986
$HUMID,38.14
$INTERNAL_PRESSURE,8.83759
$TCM_TEMP,18.40
$XPDR_PINGS,2
$SC_FREEKB,3850688
$24V_AH,12.11,0.000
$10V_AH,12.71,49.803
$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,21.825,129.025,484.450,101.750,0.000,0.000,0.000,356.150,0.500,0.000,27.496,3280.415,11666.339,816.911,2398.960,143.676,0.000,2278.756,0.000,1940.426,0.000,0.536,0.000
$DEVICE_MAMPS,396.270,184.365,2000.475,871.335,0.000,0.000,0.000,191.250,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17633.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.168,0.000,0.000,0.000
$MEM,303004
$DATA_FILE_SIZE,46574,1353
$CAP_FILE_SIZE,164311,0
$CFSIZE,2097872896,2071756800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.096,353.17,1
$GPS,090619,212835,5920.086,-2157.428,38,0.8,43,-12.8,0.3,265.1,11,9.7