version: 66.13
glider: 527
mission: 5
dive: 86
start: 6 2 119 3 26 35
data:
$ID,527
$MISSION,5
$DIVE,86
$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,38
$R_STBD_OVSHOOT,16
$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
$GPS1,020619,031910,5913.7524,-2201.2065,32,0.9,42,-12.8,1.4,252.5,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-75.6
$GPS2,020619,032554,5913.7593,-2201.3000,6,0.9,18,-12.8,0.7,301.0,10,9.8
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S3
$TGT_LATLONG,5910.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,186.1,7070,-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,-165.5,122,2875,1828,1917,0.0,0.0,0,103,0.00,0.00,-86.07,0.008,16390,0.000,0.000,115,2876,3575,3745,3405,0,0,0,0,0,0,14.64,13.50,14.66
$GC,105,-0.48,-165.5,115,2876,3745,3405,4.7,-8.4,9,122,12.12,1.92,0.00,0.000,2596,0.396,0.079,2566,1791,3575,3746,3405,0,0,0,0,0,0,14.09,14.42,14.40
$GC,233,-0.48,-165.5,2565,1791,3748,3405,28.4,-10.6,34,240,0.00,2.03,0.00,0.000,1030,0.000,0.138,2560,2852,3576,3748,3405,0,0,0,0,0,0,14.52,14.35,14.55
$GC,420,-0.48,-165.5,2560,2853,3748,3405,53.8,-13.8,53,425,0.00,1.92,0.00,0.000,260,0.000,0.164,2553,3846,3576,3748,3405,0,0,0,0,0,0,14.77,14.23,14.78
$GC,482,-0.48,-165.5,2552,3846,3748,3405,62.5,-12.8,65,488,0.00,1.73,0.00,0.000,1030,0.000,0.083,2553,2859,3576,3748,3405,0,0,0,0,0,0,14.62,14.53,14.64
$GC,675,-0.48,-165.5,2552,2859,3749,3405,87.6,-13.5,85,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2859,3576,3747,3405,0,0,0,0,0,0,14.83,14.85,14.84
$GC,855,-0.48,-165.5,2552,2859,3748,3405,111.8,-13.5,103,860,0.00,1.92,0.00,0.000,260,0.000,0.159,2545,3843,3576,3748,3405,0,0,0,0,0,0,14.85,14.27,14.86
$GC,937,-0.48,-165.5,2545,3843,3748,3405,123.3,-13.4,119,944,0.12,1.73,0.00,0.000,3078,0.239,0.080,2572,2851,3575,3748,3403,0,0,0,0,0,0,14.42,14.59,14.62
$GC,1131,-0.48,-165.5,2572,2850,3748,3405,145.5,-11.3,139,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2850,3576,3748,3405,0,0,0,0,0,0,14.88,14.90,14.89
$GC,1311,-0.48,-165.5,2572,2850,3748,3405,165.6,-11.1,157,1317,0.00,1.92,0.00,0.000,260,0.000,0.161,2567,3843,3576,3748,3405,0,0,0,0,0,0,14.89,14.36,14.91
$GC,1357,-0.48,-165.5,2567,3843,3748,3405,170.9,-10.9,166,1364,0.00,1.73,0.00,0.000,1030,0.000,0.082,2567,2851,3576,3748,3405,0,0,0,0,0,0,14.69,14.60,14.72
$GC,1544,-0.48,-165.5,2567,2850,3748,3405,192.7,-11.9,185,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2850,3576,3748,3405,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1724,-0.48,-165.5,2567,2851,3748,3405,214.3,-11.8,203,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2850,3576,3748,3404,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1904,-0.48,-165.5,2567,2850,3748,3404,235.3,-11.6,221,1910,0.00,1.92,0.00,0.000,260,0.000,0.161,2559,3843,3576,3748,3405,0,0,0,0,0,0,14.90,14.33,14.92
$GC,1937,-0.48,-165.5,2560,3842,3748,3405,239.3,-11.5,227,1942,0.00,1.77,0.00,0.000,1030,0.000,0.082,2560,2834,3576,3748,3405,0,0,0,0,0,0,14.70,14.60,14.73
$GC,2129,-0.48,-165.5,2560,2834,3748,3405,262.1,-12.0,242,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2834,3576,3748,3405,0,0,0,0,0,0,14.92,14.94,14.94
$GC,2430,-0.48,-165.5,2560,2834,3748,3405,297.9,-11.8,257,2435,0.00,1.98,0.00,0.000,260,0.000,0.161,2552,3848,3576,3747,3405,0,0,0,0,0,0,14.95,14.38,14.97
$GC,2487,-0.48,-165.5,2552,3848,3748,3405,304.9,-11.0,268,2494,0.00,1.75,0.00,0.000,1030,0.000,0.083,2552,2841,3576,3748,3405,0,0,0,0,0,0,14.75,14.66,14.78
$GC,2792,-0.48,-165.5,2552,2841,3748,3405,342.8,-12.5,284,2799,0.00,1.95,0.00,0.000,260,0.000,0.161,2545,3843,3576,3748,3405,0,0,0,0,0,0,14.95,14.40,14.97
$GC,2841,-0.48,-165.5,2545,3843,3748,3405,348.8,-12.4,293,2847,0.12,1.73,0.00,0.000,3078,0.234,0.082,2573,2845,3576,3748,3405,0,0,0,0,0,0,14.50,14.66,14.69
$GC,3159,-0.48,-165.5,2573,2845,3748,3405,383.1,-10.8,311,3164,0.00,1.83,0.00,0.000,516,0.000,0.082,2573,1774,3576,3747,3405,0,0,0,0,0,0,14.95,14.64,14.96
$GC,3185,-0.48,-165.5,2573,1770,3747,3405,386.0,-10.5,316,3191,0.00,2.03,0.00,0.000,1030,0.000,0.131,2567,2853,3576,3748,3405,0,0,0,0,0,0,14.68,14.50,14.71
$GC,3503,-0.48,-165.5,2567,2854,3748,3404,420.6,-11.0,334,3509,0.00,1.90,0.00,0.000,260,0.000,0.164,2560,3846,3577,3749,3405,0,0,0,0,0,0,14.97,14.40,15.00
$GC,3581,-0.48,-165.5,2560,3846,3747,3405,429.1,-10.6,349,3587,0.00,1.73,0.00,0.000,1030,0.000,0.083,2560,2852,3576,3747,3405,0,0,0,0,0,0,14.76,14.66,14.79
$GC,3886,-0.48,-165.5,2560,2852,3747,3405,463.6,-11.4,365,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2852,3576,3747,3405,0,0,0,0,0,0,14.99,15.02,15.01
$GC,4186,-0.48,-165.5,2560,2852,3747,3405,498.0,-11.5,380,4192,0.00,1.95,0.00,0.000,260,0.000,0.166,2553,3845,3575,3746,3405,0,0,0,0,0,0,15.00,14.38,15.02
$GC,4254,-0.48,-165.5,2553,3845,3746,3405,506.0,-11.4,393,4260,0.00,1.77,0.00,0.000,1030,0.000,0.083,2553,2829,3576,3747,3405,0,0,0,0,0,0,14.77,14.66,14.80
$GC,4572,-0.48,-165.5,2553,2827,3747,3405,543.1,-11.5,411,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2827,3576,3747,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,4872,-0.48,-165.5,2553,2827,3746,3405,577.6,-11.4,426,4877,0.00,2.00,0.00,0.000,260,0.000,0.167,2546,3850,3576,3747,3405,0,0,0,0,0,0,15.01,14.40,15.02
$GC,4944,-0.48,-165.5,2546,3850,3745,3405,585.8,-11.4,440,4951,0.00,1.75,0.00,0.000,1030,0.000,0.084,2546,2843,3575,3745,3405,0,0,0,0,0,0,14.78,14.68,14.81
$GC,5258,-0.48,-165.5,2544,2842,3745,3405,622.2,-11.3,457,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2842,3575,3745,3405,0,0,0,0,0,0,14.99,15.01,15.00
$GC,5558,-0.48,-165.5,2546,2843,3744,3405,656.8,-11.6,472,5564,0.00,1.98,0.00,0.000,260,0.000,0.166,2538,3842,3574,3743,3405,0,0,0,0,0,0,15.00,14.41,15.02
$GC,5595,-0.48,-165.5,2538,3843,3743,3405,661.4,-11.8,479,5603,0.15,1.77,0.00,0.000,3078,0.224,0.083,2574,2827,3574,3743,3405,0,0,0,0,0,0,14.51,14.66,14.71
$GC,5902,-0.48,-165.5,2574,2826,3743,3405,689.4,-9.0,495,5907,0.00,2.00,0.00,0.000,292,0.000,0.168,2569,3845,3574,3743,3405,0,0,0,0,0,0,15.01,14.39,15.03
$GC,5939,-0.48,-165.5,2569,3845,3742,3405,692.9,-9.5,502,5945,0.00,1.73,0.00,0.000,1030,0.000,0.085,2569,2853,3573,3742,3405,0,0,0,0,0,0,14.78,14.67,14.81
$GC,6244,-0.48,-165.5,2568,2853,3742,3404,721.7,-9.4,518,6250,0.00,1.83,0.00,0.000,516,0.000,0.083,2569,1785,3573,3742,3405,0,0,0,0,0,0,15.01,14.64,15.03
$GC,6282,-0.48,-165.5,2568,1782,3742,3405,725.0,-8.7,525,6289,0.00,2.03,0.00,0.000,1062,0.000,0.135,2562,2859,3573,3742,3405,0,0,0,0,0,0,14.73,14.55,14.78
$GC,6587,-0.48,-165.5,2561,2860,3741,3405,755.2,-10.1,541,6593,0.00,1.90,0.00,0.000,260,0.000,0.170,2555,3843,3573,3741,3405,0,0,0,0,0,0,15.01,14.40,15.02
$GC,6660,-0.48,-165.5,2554,3843,3741,3405,762.7,-10.0,555,6666,0.00,1.73,0.00,0.000,1030,0.000,0.084,2555,2848,3572,3741,3404,0,0,0,0,0,0,14.78,14.67,14.81
$GC,6973,-0.48,-165.5,2554,2848,3741,3404,795.2,-10.2,572,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2848,3573,3741,3405,0,0,0,0,0,0,14.99,15.01,15.01
$GC,7273,-0.48,-165.5,2554,2848,3739,3405,826.4,-10.4,587,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2848,3572,3740,3405,0,0,0,0,0,0,15.00,15.02,15.01
$GC,7573,-0.48,-165.5,2554,2848,3739,3405,858.0,-10.6,602,7579,0.00,1.98,0.00,0.000,260,0.000,0.172,2548,3847,3571,3738,3405,0,0,0,0,0,0,14.98,14.37,15.00
$GC,7625,-0.48,-165.5,2547,3847,3738,3405,863.7,-10.5,612,7631,0.00,1.75,0.00,0.000,1030,0.000,0.086,2547,2844,3571,3738,3405,0,0,0,0,0,0,14.72,14.62,14.74
$GC,7939,-0.48,-165.5,2547,2843,3738,3405,898.9,-11.4,629,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2844,3571,3738,3405,0,0,0,0,0,0,15.00,15.02,15.01
$GC,8238,-0.48,-165.5,2547,2843,3736,3405,933.5,-11.6,644,8244,0.00,1.98,0.00,0.000,260,0.000,0.172,2539,3843,3571,3737,3405,0,0,0,0,0,0,15.00,14.37,15.01
$GC,8281,-0.48,-165.5,2540,3843,3736,3405,938.6,-11.9,652,8289,0.15,1.75,0.00,0.000,3078,0.216,0.086,2576,2840,3570,3736,3405,0,0,0,0,0,0,14.49,14.64,14.69
$GC,8606,-0.48,-165.5,2575,2839,3736,3405,967.6,-8.7,671,8612,0.00,1.80,0.00,0.000,548,0.000,0.083,2576,1787,3570,3736,3405,0,0,0,0,0,0,15.00,14.65,15.02
$GC,8639,-0.48,-165.5,2576,1783,3736,3405,970.4,-8.3,677,8645,0.00,2.03,0.00,0.000,1062,0.000,0.135,2571,2858,3570,3736,3405,0,0,0,0,0,0,14.71,14.53,14.76
$STATE,8870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8870,begin apogee
$GC,8875,-0.10,0.0,2570,2600,3735,3405,991.6,-9.2,690,9039,0.45,0.00,161.23,2.366,10246,0.181,0.000,2698,2600,2900,2923,2877,0,0,0,0,0,0,14.52,13.67,12.56
$STATE,9041,end apogee,CONTROL_FINISHED_OK
$STATE,9041,begin climb
$GC,9042,0.48,165.5,2698,2600,2922,2877,996.5,0.0,698,9219,0.60,2.05,167.88,2.311,10756,0.114,0.084,2888,1540,2225,2214,2237,0,0,0,0,0,0,13.74,13.13,12.26
$GC,9312,0.49,165.5,2887,1540,2213,2233,975.7,10.1,750,9318,0.00,2.10,0.00,0.000,1094,0.000,0.121,2888,2607,2223,2213,2233,0,0,0,0,0,0,14.00,13.87,14.02
$GC,9635,0.49,165.5,2887,2607,2213,2228,938.2,11.7,769,9640,0.00,2.03,0.00,0.000,260,0.000,0.157,2888,3660,2220,2213,2228,0,0,0,0,0,0,14.64,14.30,14.66
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$STATE,16799,end climb,SURFACE_DEPTH_REACHED
$STATE,16799,begin surface coast
$FINISH,0.3,1.026945
$STATE,16809,end surface coast,CONTROL_FINISHED_OK
$STATE,16810,begin surface
$SM_CCo,16825,92.03,0.877,1,0,1880,250.20
$SM_GC,0.60,8.02,0.50,92.03,0.067,0.127,0.877,164,2864,1880,-7.94,-0.20,250.20,0,0,0,0,1,0,14.63,14.54,13.59
$IRIDIUM_FIX,5914.82,-2155.12,010619,222624
$TT8_MAMPS,0.023219,0.51681
$HUMID,38.18
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.30
$XPDR_PINGS,1
$SC_FREEKB,3864896
$24V_AH,12.26,0.000
$10V_AH,12.70,35.615
$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,22.200,136.875,329.100,92.025,0.000,0.000,0.000,270.950,0.250,0.000,27.374,3233.205,11015.896,689.228,2278.238,116.969,0.000,2035.087,0.000,1906.859,0.000,0.536,0.000
$DEVICE_MAMPS,395.505,172.125,2366.145,877.455,0.000,0.000,0.000,192.780,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16822.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.136,0.000,0.000,0.000
$MEM,303016
$DATA_FILE_SIZE,46639,1330
$CAP_FILE_SIZE,160849,0
$CFSIZE,2097872896,2079064064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.069,348.47,1
$GPS,020619,081020,5911.977,-2201.369,45,1.4,64,-12.8,0.7,99.6,6,9.8