version: 66.13
glider: 527
mission: 5
dive: 141
start: 6 13 119 12 17 31
data:
$ID,527
$MISSION,5
$DIVE,141
$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,23
$R_STBD_OVSHOOT,14
$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
$GPS1,130619,120905,5919.7583,-2155.5386,47,0.8,52,-12.8,0.4,14.9,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-73.5
$GPS2,130619,121635,5919.7456,-2155.5496,15,0.8,24,-12.8,0.0,172.8,10,9.4
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,266.0,4230,-23.4,-11.000,-25.72,1446
$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,-0.54,-103.4,112,2854,1824,1920,0.0,0.0,0,87,0.00,0.00,-73.03,0.008,16390,0.000,0.000,100,2854,3324,3477,3171,0,0,0,0,0,0,14.67,12.66,14.68
$GC,90,-0.58,-165.5,100,2854,3477,3171,2.8,-3.3,7,114,12.18,2.03,-6.03,0.021,18724,0.401,0.177,2527,3846,3576,3769,3383,0,0,0,0,0,0,13.95,12.76,14.36
$GC,277,-0.58,-165.5,2526,3846,3769,3384,38.9,-16.4,43,282,0.00,1.77,0.00,0.000,1030,0.000,0.080,2527,2851,3577,3769,3385,0,0,0,0,0,0,14.42,14.31,14.45
$GC,470,-0.58,-165.5,2527,2851,3769,3385,70.8,-16.5,63,476,0.00,1.85,0.00,0.000,516,0.000,0.082,2527,1786,3576,3769,3384,0,0,0,0,0,0,14.81,14.34,14.83
$GC,496,-0.58,-165.5,2527,1783,3769,3385,75.2,-17.1,68,503,0.00,2.05,0.00,0.000,1030,0.000,0.135,2519,2850,3577,3769,3385,0,0,0,0,0,0,14.46,14.28,14.51
$GC,683,-0.58,-165.5,2519,2850,3769,3385,106.2,-16.2,87,689,0.00,1.92,0.00,0.000,260,0.000,0.158,2512,3846,3577,3769,3385,0,0,0,0,0,0,14.85,14.17,14.87
$GC,736,-0.58,-165.5,2511,3846,3769,3385,114.5,-16.2,97,742,0.12,1.77,0.00,0.000,3078,0.248,0.079,2537,2836,3577,3769,3385,0,0,0,0,0,0,14.01,14.28,14.27
$GC,929,-0.58,-165.5,2537,2836,3769,3386,142.5,-14.3,117,935,0.00,2.03,0.00,0.000,260,0.000,0.155,2532,3841,3577,3769,3385,0,0,0,0,0,0,14.84,13.93,14.86
$GC,972,-0.58,-165.5,2531,3841,3769,3385,148.8,-14.7,125,977,0.00,1.73,0.00,0.000,1030,0.000,0.076,2532,2849,3577,3769,3385,0,0,0,0,0,0,14.61,14.51,14.64
$GC,1164,-0.58,-165.5,2531,2848,3769,3386,177.9,-15.0,145,1170,0.00,1.98,0.00,0.000,260,0.000,0.157,2524,3849,3577,3769,3386,0,0,0,0,0,0,14.85,14.14,14.88
$GC,1191,-0.58,-165.5,2525,3849,3769,3385,182.0,-15.9,150,1199,0.00,1.75,0.00,0.000,1030,0.000,0.080,2525,2849,3577,3769,3386,0,0,0,0,0,0,14.59,14.49,14.63
$GC,1377,-0.58,-165.5,2524,2849,3769,3386,210.2,-15.4,169,1383,0.00,2.00,0.00,0.000,260,0.000,0.158,2517,3846,3577,3769,3386,0,0,0,0,0,0,14.90,14.01,14.92
$GC,1410,-0.58,-165.5,2517,3846,3769,3386,215.4,-16.8,175,1416,0.00,1.75,0.00,0.000,1030,0.000,0.079,2518,2842,3577,3769,3386,0,0,0,0,0,0,14.60,14.50,14.64
$GC,1603,-0.58,-165.5,2517,2841,3769,3386,246.8,-15.9,195,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2841,3577,3769,3386,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1793,-0.58,-165.5,2517,2840,3769,3386,276.4,-15.7,206,1799,0.00,1.98,0.00,0.000,260,0.000,0.158,2510,3843,3577,3769,3386,0,0,0,0,0,0,14.92,14.19,14.94
$GC,1836,-0.58,-165.5,2510,3843,3769,3384,283.3,-16.5,214,1843,0.15,1.75,0.00,0.000,3078,0.241,0.076,2543,2838,3577,3769,3386,0,0,0,0,0,0,14.24,14.47,14.50
$GC,2161,-0.58,-165.5,2543,2837,3769,3385,327.2,-13.2,233,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2837,3577,3769,3386,0,0,0,0,0,0,14.93,14.95,14.95
$GC,2460,-0.58,-165.5,2543,2837,3769,3386,366.9,-13.3,248,2466,0.00,1.98,0.00,0.000,260,0.000,0.159,2538,3840,3577,3769,3386,0,0,0,0,0,0,14.95,14.25,14.96
$GC,2572,-0.58,-165.5,2538,3840,3768,3386,381.5,-12.7,270,2579,0.00,1.73,0.00,0.000,1030,0.000,0.077,2538,2844,3577,3769,3386,0,0,0,0,0,0,14.66,14.57,14.70
$GC,2886,-0.58,-165.5,2538,2844,3769,3385,424.8,-13.8,287,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2844,3577,3769,3386,0,0,0,0,0,0,14.93,14.95,14.95
$GC,3186,-0.58,-165.5,2538,2844,3769,3386,464.8,-13.3,302,3192,0.00,2.00,0.00,0.000,260,0.000,0.162,2530,3848,3577,3769,3386,0,0,0,0,0,0,14.96,14.07,14.97
$GC,3234,-0.58,-165.5,2530,3848,3768,3386,471.4,-13.2,311,3239,0.00,1.75,0.00,0.000,1030,0.000,0.080,2530,2844,3577,3768,3386,0,0,0,0,0,0,14.66,14.55,14.69
$GC,3551,-0.58,-165.5,2530,2842,3768,3386,514.4,-13.4,329,3557,0.00,1.98,0.00,0.000,260,0.000,0.162,2523,3841,3576,3768,3385,0,0,0,0,0,0,14.97,14.22,14.99
$GC,3598,-0.58,-165.5,2523,3841,3767,3385,520.8,-13.2,338,3605,0.00,1.73,0.00,0.000,1030,0.000,0.080,2523,2849,3577,3767,3387,0,0,0,0,0,0,14.68,14.58,14.71
$GC,3917,-0.58,-165.5,2523,2849,3767,3385,564.8,-13.9,356,3922,0.00,1.98,0.00,0.000,260,0.000,0.162,2516,3840,3576,3767,3386,0,0,0,0,0,0,14.97,14.17,15.00
$GC,3949,-0.58,-165.5,2516,3840,3766,3386,569.4,-14.1,362,3956,0.00,1.73,0.00,0.000,1030,0.000,0.079,2516,2849,3576,3766,3386,0,0,0,0,0,0,14.68,14.57,14.71
$GC,4263,-0.58,-165.5,2516,2848,3765,3385,613.5,-14.1,379,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2848,3575,3766,3385,0,0,0,0,0,0,14.98,15.00,15.00
$GC,4562,-0.58,-165.5,2516,2849,3765,3386,655.5,-13.9,394,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2848,3575,3766,3385,0,0,0,0,0,0,14.99,15.00,15.00
$GC,4863,-0.58,-165.5,2516,2848,3765,3385,698.1,-14.3,409,4868,0.00,1.98,0.00,0.000,260,0.000,0.165,2509,3839,3575,3765,3385,0,0,0,0,0,0,14.99,14.21,15.00
$GC,4935,-0.58,-165.5,2509,3839,3764,3386,708.6,-14.1,423,4941,0.15,1.75,0.00,0.000,3078,0.236,0.079,2542,2839,3575,3764,3386,0,0,0,0,0,0,14.13,14.44,14.38
$GC,5248,-0.58,-165.5,2542,2838,3763,3386,745.5,-11.6,440,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2838,3574,3763,3385,0,0,0,0,0,0,14.99,15.01,15.00
$GC,5549,-0.58,-165.5,2542,2838,3762,3385,779.8,-11.3,455,5555,0.00,2.03,0.00,0.000,260,0.000,0.165,2537,3845,3573,3762,3385,0,0,0,0,0,0,14.99,14.07,15.00
$GC,5606,-0.58,-165.5,2537,3845,3761,3386,786.6,-11.3,466,5614,0.00,1.75,0.00,0.000,1030,0.000,0.082,2537,2848,3573,3761,3386,0,0,0,0,0,0,14.59,14.48,14.62
$GC,5912,-0.58,-165.5,2536,2846,3759,3387,823.1,-12.1,482,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2846,3573,3759,3387,0,0,0,0,0,0,14.99,15.01,15.00
$GC,6212,-0.58,-165.5,2536,2847,3757,3387,859.7,-12.1,497,6217,0.00,2.00,0.00,0.000,260,0.000,0.170,2529,3845,3572,3757,3387,0,0,0,0,0,0,14.98,14.20,15.00
$GC,6268,-0.58,-165.5,2529,3845,3756,3387,866.7,-12.2,508,6275,0.00,1.75,0.00,0.000,1030,0.000,0.083,2529,2848,3572,3757,3387,0,0,0,0,0,0,14.67,14.56,14.71
$GC,6574,-0.58,-165.5,2529,2848,3756,3387,905.1,-12.5,524,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2848,3571,3756,3387,0,0,0,0,0,0,14.97,14.99,14.98
$GC,6875,-0.58,-165.5,2529,2848,3756,3387,942.5,-12.4,539,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2848,3571,3755,3387,0,0,0,0,0,0,14.96,14.98,14.97
$GC,7174,-0.58,-165.5,2529,2848,3755,3387,980.3,-12.6,554,7181,0.00,2.00,0.00,0.000,260,0.000,0.171,2522,3841,3571,3755,3388,0,0,0,0,0,0,14.98,14.16,15.00
$GC,7223,-0.58,-165.5,2522,3841,3754,3387,986.5,-12.7,563,7228,0.00,1.75,0.00,0.000,1030,0.000,0.083,2523,2847,3571,3754,3388,0,0,0,0,0,0,14.64,14.53,14.68
$STATE,7259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7259,begin apogee
$GC,7264,-0.10,0.0,2523,2600,3754,3387,990.9,-11.9,567,7433,0.62,0.00,165.27,2.339,10246,0.205,0.000,2692,2601,2900,2926,2875,0,0,0,0,0,0,14.28,13.51,12.14
$STATE,7434,end apogee,CONTROL_FINISHED_OK
$STATE,7434,begin climb
$GC,7436,0.58,165.5,2692,2601,2924,2874,996.1,0.0,575,7616,0.75,2.10,171.10,2.287,10756,0.111,0.086,2919,1545,2225,2207,2244,0,0,0,0,0,0,13.14,13.34,12.11
$GC,7697,0.58,165.5,2919,1545,2206,2242,970.4,13.4,626,7704,0.00,2.10,0.00,0.000,1030,0.000,0.119,2919,2605,2224,2207,2241,0,0,0,0,0,0,13.93,13.78,13.96
$GC,8004,0.58,165.5,2919,2605,2207,2235,925.3,15.0,642,8009,0.00,1.92,0.00,0.000,516,0.000,0.082,2926,1527,2221,2207,2235,0,0,0,0,0,0,14.68,14.33,14.70
$GC,8041,0.58,165.5,2925,1527,2207,2235,919.8,14.4,649,8048,0.00,2.05,0.00,0.000,1030,0.000,0.118,2925,2606,2220,2207,2234,0,0,0,0,0,0,14.38,14.22,14.42
$GC,8347,0.58,165.5,2925,2607,2207,2232,872.1,15.7,665,8352,0.00,1.90,0.00,0.000,516,0.000,0.081,2932,1526,2219,2207,2232,0,0,0,0,0,0,14.82,14.50,14.83
$GC,8390,0.58,165.5,2932,1527,2207,2232,865.5,15.2,673,8395,0.00,2.03,0.00,0.000,1030,0.000,0.118,2932,2606,2220,2208,2232,0,0,0,0,0,0,14.57,14.41,14.62
$GC,8712,0.58,165.5,2932,2607,2207,2231,812.4,16.5,692,8719,0.00,1.88,0.00,0.000,516,0.000,0.080,2939,1537,2219,2207,2231,0,0,0,0,0,0,14.89,14.53,14.91
$GC,8765,0.58,165.5,2938,1538,2207,2231,803.7,16.1,702,8771,0.00,2.00,0.00,0.000,1030,0.000,0.119,2939,2604,2219,2207,2231,0,0,0,0,0,0,14.62,14.45,14.66
$GC,9078,0.58,165.5,2938,2604,2207,2230,751.2,16.7,719,9083,0.00,1.88,0.00,0.000,516,0.000,0.081,2946,1535,2218,2207,2230,0,0,0,0,0,0,14.93,14.54,14.95
$GC,9134,0.58,165.5,2945,1535,2208,2230,741.8,15.8,730,9141,0.00,2.00,0.00,0.000,1030,0.000,0.118,2945,2605,2219,2208,2230,0,0,0,0,0,0,14.63,14.45,14.67
$GC,9440,0.58,165.5,2945,2605,2208,2229,689.0,17.4,746,9446,0.00,1.88,0.00,0.000,516,0.000,0.081,2952,1536,2218,2208,2229,0,0,0,0,0,0,14.95,14.52,14.96
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$STATE,14005,end climb,SURFACE_DEPTH_REACHED
$STATE,14005,begin surface coast
$FINISH,0.2,1.026823
$STATE,14026,end surface coast,CONTROL_FINISHED_OK
$STATE,14027,begin surface
$SM_CCo,14043,94.18,0.858,1,0,1880,250.20
$SM_GC,0.92,8.10,0.57,94.18,0.067,0.122,0.858,169,2856,1880,-7.94,-0.45,250.20,0,0,0,0,1,0,14.49,14.38,13.16
$IRIDIUM_FIX,5919.71,-2144.95,130619,070632
$TT8_MAMPS,0.023219,0.33705
$HUMID,38.81
$INTERNAL_PRESSURE,8.83759
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3843776
$24V_AH,12.11,0.000
$10V_AH,12.63,57.021
$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,22.550,123.600,336.375,94.175,0.000,0.000,0.000,297.400,0.000,0.000,33.731,2747.506,9039.613,665.457,2026.433,133.231,0.000,1894.827,0.000,1631.302,0.000,0.536,0.000
$DEVICE_MAMPS,400.860,176.715,2338.605,857.565,0.000,0.000,0.000,188.955,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14042.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.207,0.000,0.000,0.000
$MEM,303032
$DATA_FILE_SIZE,40028,1136
$CAP_FILE_SIZE,139062,0
$CFSIZE,2097872896,2068250624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$INTR,0,18322.60,0x214790,7,24
$CURRENT,0.113,344.46,1
$GPS,130619,161445,5920.332,-2200.107,38,1.0,53,-12.8,0.7,197.3,10,8.8