version: 66.13
glider: 527
mission: 5
dive: 52
start: 5 26 119 5 4 26
data:
$ID,527
$MISSION,5
$DIVE,52
$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,17
$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
$GPS1,260519,045505,5925.9072,-2128.5217,104,0.8,114,-12.6,0.8,340.6,10,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-71.5
$GPS2,260519,050345,5925.9395,-2128.5896,14,0.8,26,-12.6,1.2,56.0,10,9.9
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S
$TGT_LATLONG,5920.000,-2127.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,181.8,11102,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.48,-165.5,64,2877,1833,1911,0.0,0.0,0,103,0.00,0.00,-86.68,0.008,16390,0.000,0.000,57,2877,3574,3753,3396,0,0,0,0,0,0,14.62,13.54,14.64
$GC,105,-0.48,-165.5,57,2877,3753,3396,5.3,-9.3,9,122,12.57,1.95,0.00,0.000,2820,0.407,0.082,2570,1791,3575,3754,3396,0,0,0,0,0,0,14.10,14.41,14.40
$GC,199,-0.48,-165.5,2570,1788,3755,3396,25.5,-11.9,27,204,0.00,2.03,0.00,0.000,1030,0.000,0.138,2564,2848,3575,3755,3396,0,0,0,0,0,0,14.51,14.35,14.53
$GC,391,-0.48,-165.5,2564,2848,3755,3396,51.6,-13.3,47,397,0.00,1.92,0.00,0.000,260,0.000,0.165,2557,3842,3575,3755,3396,0,0,0,0,0,0,14.76,14.30,14.78
$GC,474,-0.48,-165.5,2557,3842,3755,3396,62.3,-12.5,63,479,0.00,1.75,0.00,0.000,1030,0.000,0.086,2557,2845,3575,3755,3396,0,0,0,0,0,0,14.62,14.53,14.64
$GC,666,-0.48,-165.5,2556,2844,3754,3396,87.9,-13.8,83,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2844,3575,3754,3396,0,0,0,0,0,0,14.83,14.84,14.84
$GC,846,-0.48,-165.5,2556,2843,3755,3396,112.9,-13.8,101,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2844,3575,3755,3396,0,0,0,0,0,0,14.85,14.88,14.87
$GC,1026,-0.48,-165.5,2556,2844,3755,3396,137.8,-14.0,119,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2844,3575,3755,3396,0,0,0,0,0,0,14.88,14.90,14.89
$GC,1206,-0.48,-165.5,2556,2844,3755,3396,162.2,-13.7,137,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2844,3575,3755,3396,0,0,0,0,0,0,14.88,14.91,14.90
$GC,1386,-0.48,-165.5,2556,2844,3755,3396,186.2,-13.5,155,1391,0.00,1.95,0.00,0.000,260,0.000,0.163,2549,3842,3575,3755,3396,0,0,0,0,0,0,14.90,14.38,14.91
$GC,1428,-0.48,-165.5,2549,3842,3755,3396,191.8,-12.8,163,1434,0.00,1.73,0.00,0.000,1030,0.000,0.086,2549,2851,3575,3755,3396,0,0,0,0,0,0,14.71,14.63,14.73
$GC,1620,-0.48,-165.5,2549,2850,3755,3396,217.8,-13.9,183,1626,0.00,1.83,0.00,0.000,516,0.000,0.085,2549,1787,3575,3755,3396,0,0,0,0,0,0,14.89,14.62,14.90
$GC,1647,-0.48,-165.5,2549,1784,3755,3396,221.5,-13.2,188,1655,0.15,2.03,0.00,0.000,3078,0.253,0.138,2573,2857,3575,3755,3396,0,0,0,0,0,0,14.47,14.52,14.66
$GC,1833,-0.48,-165.5,2573,2857,3755,3396,243.7,-12.0,207,1838,0.00,1.90,0.00,0.000,260,0.000,0.168,2569,3845,3575,3755,3396,0,0,0,0,0,0,14.90,14.40,14.91
$GC,1869,-0.48,-165.5,2568,3845,3755,3396,248.0,-12.1,214,1875,0.00,1.75,0.00,0.000,1030,0.000,0.090,2568,2843,3575,3755,3396,0,0,0,0,0,0,14.72,14.63,14.74
$GC,2055,-0.48,-165.5,2568,2843,3755,3396,269.4,-11.3,225,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2843,3575,3755,3396,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2355,-0.48,-165.5,2568,2843,3754,3396,304.0,-11.8,240,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2843,3575,3754,3396,0,0,0,0,0,0,14.93,14.95,14.95
$GC,2655,-0.48,-165.5,2568,2843,3755,3396,337.9,-11.2,255,2661,0.00,1.95,0.00,0.000,260,0.000,0.165,2561,3844,3575,3755,3396,0,0,0,0,0,0,14.94,14.40,14.96
$GC,2697,-0.48,-165.5,2561,3844,3755,3396,342.8,-10.8,263,2703,0.00,1.73,0.00,0.000,1030,0.000,0.088,2561,2853,3575,3755,3396,0,0,0,0,0,0,14.76,14.67,14.78
$GC,3020,-0.48,-165.5,2561,2852,3755,3396,380.7,-11.6,282,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2852,3575,3755,3396,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3320,-0.48,-165.5,2560,2852,3754,3396,414.8,-11.3,297,3326,0.00,1.92,0.00,0.000,260,0.000,0.166,2554,3843,3575,3754,3396,0,0,0,0,0,0,14.97,14.46,14.99
$GC,3357,-0.48,-165.5,2554,3843,3754,3396,419.2,-11.2,304,3364,0.00,1.75,0.00,0.000,1030,0.000,0.087,2554,2838,3575,3754,3397,0,0,0,0,0,0,14.78,14.69,14.80
$GC,3663,-0.48,-165.5,2553,2838,3754,3396,455.4,-11.7,320,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2838,3575,3754,3396,0,0,0,0,0,0,14.96,14.97,14.97
$GC,3963,-0.48,-165.5,2553,2838,3754,3396,491.2,-12.0,335,3968,0.00,1.95,0.00,0.000,260,0.000,0.165,2547,3840,3575,3754,3396,0,0,0,0,0,0,14.96,14.46,14.97
$GC,4009,-0.48,-165.5,2546,3840,3754,3396,497.1,-12.3,344,4016,0.00,1.73,0.00,0.000,1030,0.000,0.086,2547,2847,3575,3754,3396,0,0,0,0,0,0,14.78,14.69,14.80
$GC,4328,-0.48,-165.5,2546,2847,3753,3396,537.3,-12.5,362,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2847,3575,3754,3396,0,0,0,0,0,0,14.98,15.00,15.00
$GC,4628,-0.48,-165.5,2546,2847,3753,3396,575.1,-12.0,377,4634,0.00,1.95,0.00,0.000,260,0.000,0.168,2539,3847,3574,3753,3396,0,0,0,0,0,0,14.98,14.45,15.00
$GC,4740,-0.48,-165.5,2539,3847,3753,3396,588.4,-11.7,399,4746,0.15,1.75,0.00,0.000,3078,0.230,0.088,2574,2842,3574,3753,3396,0,0,0,0,0,0,14.56,14.71,14.75
$GC,5053,-0.48,-165.5,2573,2841,3753,3396,618.5,-9.7,416,5059,0.00,1.80,0.00,0.000,516,0.000,0.086,2574,1784,3574,3753,3396,0,0,0,0,0,0,14.98,14.68,15.00
$GC,5076,-0.48,-165.5,2574,1783,3754,3396,620.7,-9.4,420,5082,0.00,2.00,0.00,0.000,1030,0.000,0.137,2568,2850,3574,3753,3396,0,0,0,0,0,0,14.72,14.55,14.76
$GC,5399,-0.48,-165.5,2568,2849,3753,3396,652.5,-9.8,439,5405,0.00,1.90,0.00,0.000,260,0.000,0.171,2561,3840,3574,3753,3396,0,0,0,0,0,0,14.99,14.47,15.01
$GC,5455,-0.48,-165.5,2560,3840,3753,3396,658.1,-9.4,450,5462,0.00,1.73,0.00,0.000,1030,0.000,0.088,2561,2847,3574,3753,3396,0,0,0,0,0,0,14.78,14.67,14.81
$GC,5761,-0.48,-165.5,2560,2847,3753,3396,690.8,-10.9,466,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2847,3574,3752,3396,0,0,0,0,0,0,15.00,15.02,15.01
$GC,6062,-0.48,-165.5,2560,2847,3752,3396,723.1,-10.4,481,6067,0.00,1.95,0.00,0.000,260,0.000,0.171,2554,3844,3574,3752,3396,0,0,0,0,0,0,15.00,14.45,15.02
$GC,6133,-0.48,-165.5,2554,3844,3752,3396,730.7,-10.3,495,6139,0.00,1.77,0.00,0.000,1030,0.000,0.089,2554,2833,3574,3752,3396,0,0,0,0,0,0,14.78,14.68,14.81
$GC,6446,-0.48,-165.5,2553,2833,3751,3396,764.8,-10.9,512,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2833,3574,3752,3396,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6746,-0.48,-165.5,2553,2832,3751,3396,796.8,-10.7,527,6752,0.00,1.98,0.00,0.000,260,0.000,0.171,2547,3841,3573,3750,3396,0,0,0,0,0,0,15.01,14.47,15.02
$GC,6789,-0.48,-165.5,2546,3841,3749,3396,801.4,-10.9,535,6794,0.00,1.73,0.00,0.000,1030,0.000,0.088,2546,2847,3573,3750,3396,0,0,0,0,0,0,14.81,14.71,14.83
$GC,7111,-0.48,-165.5,2546,2847,3749,3397,838.0,-11.4,554,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2847,3572,3749,3396,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7411,-0.48,-165.5,2545,2847,3749,3396,872.9,-11.6,569,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2847,3572,3748,3396,0,0,0,0,0,0,15.01,15.03,15.02
$GC,7711,-0.48,-165.5,2546,2847,3748,3396,908.9,-12.0,584,7717,0.00,1.95,0.00,0.000,260,0.000,0.174,2539,3840,3571,3747,3396,0,0,0,0,0,0,15.02,14.47,15.03
$GC,7768,-0.48,-165.5,2539,3840,3747,3396,915.9,-11.7,595,7776,0.15,1.73,0.00,0.000,3078,0.226,0.090,2574,2851,3571,3746,3396,0,0,0,0,0,0,14.56,14.70,14.75
$GC,8074,-0.48,-165.5,2574,2850,3746,3396,944.3,-9.2,611,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2850,3571,3747,3396,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8374,-0.48,-165.5,2574,2850,3746,3396,972.1,-9.1,626,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2850,3571,3746,3396,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,8573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8573,begin apogee
$GC,8577,-0.10,0.0,2574,2602,3746,3396,990.3,-9.1,636,8741,0.43,0.00,161.12,2.362,10246,0.186,0.000,2696,2602,2900,2924,2876,0,0,0,0,0,0,14.57,13.68,12.52
$STATE,8743,end apogee,CONTROL_FINISHED_OK
$STATE,8743,begin climb
$GC,8744,0.48,165.5,2697,2602,2923,2876,995.3,0.0,644,8922,0.62,2.05,168.00,2.303,10756,0.119,0.086,2891,1537,2226,2218,2234,0,0,0,0,0,0,13.75,13.10,12.21
$GC,9008,0.48,165.5,2891,1537,2217,2231,973.6,10.7,695,9015,0.00,2.10,0.00,0.000,1030,0.000,0.123,2892,2603,2224,2217,2231,0,0,0,0,0,0,13.95,13.83,13.97
$GC,9314,0.48,165.5,2891,2603,2217,2225,936.5,12.2,711,9320,0.00,2.05,0.00,0.000,260,0.000,0.158,2891,3663,2221,2217,2225,0,0,0,0,0,0,14.57,14.27,14.59
$GC,9351,0.48,165.5,2891,3663,2218,2225,931.4,14.2,718,9358,0.00,1.90,0.00,0.000,1030,0.000,0.080,2899,2597,2221,2217,2225,0,0,0,0,0,0,14.45,14.35,14.47
$GC,9657,0.48,165.5,2899,2585,2217,2223,890.5,13.4,734,9663,0.00,1.83,0.00,0.000,516,0.000,0.083,2906,1530,2220,2217,2223,0,0,0,0,0,0,14.75,14.50,14.76
$GC,9683,0.48,165.5,2905,1530,2217,2222,886.7,13.4,739,9689,0.00,2.00,0.00,0.000,1030,0.000,0.122,2906,2602,2219,2217,2222,0,0,0,0,0,0,14.59,14.45,14.62
$GC,10001,0.48,165.5,2906,2601,2217,2222,842.3,14.1,757,10007,0.00,2.00,0.00,0.000,260,0.000,0.153,2906,3667,2219,2217,2222,0,0,0,0,0,0,14.85,14.51,14.87
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$STATE,16501,end climb,SURFACE_DEPTH_REACHED
$STATE,16501,begin surface coast
$FINISH,-0.2,1.027076
$STATE,16523,end surface coast,CONTROL_FINISHED_OK
$STATE,16523,begin surface
$SM_CCo,16538,91.85,0.873,1,0,1880,250.20
$SM_GC,0.83,7.90,0.50,91.85,0.065,0.138,0.873,170,2860,1880,-7.93,-0.25,250.20,0,0,0,0,1,0,14.64,14.54,13.54
$IRIDIUM_FIX,5929.45,-2124.47,250519,235851
$TT8_MAMPS,0.023219,0.83139
$HUMID,37.67
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3877952
$24V_AH,12.21,0.000
$10V_AH,12.36,23.710
$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,22.575,136.750,329.125,91.850,0.000,0.000,0.000,326.800,0.000,0.000,35.359,3153.292,10934.464,685.691,2293.199,97.895,0.000,2064.265,0.000,1860.305,0.000,0.536,0.000
$DEVICE_MAMPS,406.980,173.655,2361.555,872.865,0.000,0.000,0.000,192.015,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16535.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.207,0.000,0.000,0.000
$MEM,303908
$DATA_FILE_SIZE,46626,1294
$CAP_FILE_SIZE,159123,0
$CFSIZE,2097872896,2085748736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.122,358.11,1
$GPS,260519,094309,5924.607,-2128.100,41,0.9,50,-12.6,1.2,351.5,11,9.7