version: 66.13
glider: 527
mission: 5
dive: 116
start: 6 8 119 5 58 2
data:
$ID,527
$MISSION,5
$DIVE,116
$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,27
$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
$GPS1,080619,055025,5909.9990,-2146.2859,38,0.8,45,-12.6,0.8,60.3,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-77.7
$GPS2,080619,055721,5910.0449,-2146.3503,4,0.7,14,-12.6,1.1,356.0,11,9.7
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S4
$TGT_LATLONG,5910.000,-2140.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,128.7,6028,-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,-165.5,137,2851,1824,1921,0.0,0.0,0,95,0.00,0.00,-82.32,0.008,16386,0.000,0.000,132,2851,3515,3674,3357,0,0,0,0,0,0,14.63,28.83,14.65
$GC,97,-0.48,-165.5,133,2851,3674,3358,3.9,-5.7,8,121,12.02,1.88,-1.33,0.069,18980,0.400,0.105,2570,1793,3577,3754,3400,0,0,0,0,0,0,14.04,12.87,14.42
$GC,227,-0.48,-165.5,2570,1789,3755,3400,27.4,-10.4,33,233,0.00,2.03,0.00,0.000,1030,0.000,0.134,2563,2850,3577,3754,3400,0,0,0,0,0,0,14.48,14.31,14.52
$GC,414,-0.48,-165.5,2563,2850,3755,3400,51.9,-14.0,52,419,0.00,1.90,0.00,0.000,260,0.000,0.158,2556,3840,3577,3755,3400,0,0,0,0,0,0,14.79,14.22,14.81
$GC,457,-0.48,-165.5,2556,3841,3755,3400,57.7,-13.7,60,462,0.00,1.73,0.00,0.000,1030,0.000,0.075,2556,2846,3577,3754,3400,0,0,0,0,0,0,14.59,14.50,14.61
$GC,650,-0.48,-165.5,2555,2844,3755,3400,83.2,-13.4,80,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2844,3578,3755,3401,0,0,0,0,0,0,14.81,14.83,14.82
$GC,829,-0.48,-165.5,2555,2844,3755,3400,107.4,-13.3,98,835,0.00,1.95,0.00,0.000,260,0.000,0.155,2548,3848,3577,3754,3400,0,0,0,0,0,0,14.83,14.21,14.85
$GC,872,-0.48,-165.5,2548,3848,3755,3400,113.5,-13.3,106,877,0.00,1.73,0.00,0.000,1030,0.000,0.077,2548,2844,3577,3754,3400,0,0,0,0,0,0,14.65,14.56,14.67
$GC,1064,-0.48,-165.5,2548,2844,3755,3400,139.3,-13.6,126,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2844,3577,3755,3400,0,0,0,0,0,0,14.85,14.87,14.87
$GC,1245,-0.48,-165.5,2548,2844,3754,3400,164.0,-13.5,144,1250,0.00,1.95,0.00,0.000,260,0.000,0.156,2541,3845,3577,3754,3400,0,0,0,0,0,0,14.86,14.16,14.88
$GC,1288,-0.48,-165.5,2541,3845,3755,3400,170.1,-13.5,152,1294,0.15,1.73,0.00,0.000,3078,0.227,0.076,2575,2846,3577,3754,3400,0,0,0,0,0,0,14.29,14.53,14.52
$GC,1482,-0.48,-165.5,2575,2846,3754,3400,191.7,-11.1,172,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2846,3577,3755,3400,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1661,-0.48,-165.5,2575,2846,3753,3400,211.4,-10.7,190,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2846,3577,3755,3400,0,0,0,0,0,0,14.90,14.91,14.92
$GC,1842,-0.48,-165.5,2575,2846,3755,3400,231.0,-11.1,208,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2846,3577,3755,3400,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2021,-0.48,-165.5,2574,2846,3755,3401,250.5,-10.7,226,2027,0.00,2.00,0.00,0.000,260,0.000,0.158,2570,3845,3577,3755,3400,0,0,0,0,0,0,14.91,14.12,14.93
$GC,2054,-0.48,-165.5,2570,3845,3755,3401,254.1,-10.7,232,2060,0.00,1.73,0.00,0.000,1030,0.000,0.078,2570,2846,3578,3755,3401,0,0,0,0,0,0,14.65,14.55,14.68
$GC,2367,-0.48,-165.5,2570,2846,3755,3401,288.7,-11.1,249,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2846,3577,3754,3401,0,0,0,0,0,0,14.95,14.97,14.96
$GC,2667,-0.48,-165.5,2570,2846,3754,3401,321.9,-11.1,264,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2846,3577,3754,3401,0,0,0,0,0,0,14.97,14.98,14.97
$GC,2967,-0.48,-165.5,2569,2846,3754,3401,354.8,-10.9,279,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2846,3577,3754,3401,0,0,0,0,0,0,14.97,15.00,14.99
$GC,3267,-0.48,-165.5,2570,2846,3754,3401,387.2,-10.8,294,3272,0.00,2.00,0.00,0.000,260,0.000,0.160,2563,3844,3577,3754,3401,0,0,0,0,0,0,14.98,13.81,15.00
$GC,3319,-0.48,-165.5,2562,3844,3754,3401,392.7,-10.2,304,3325,0.00,1.73,0.00,0.000,1030,0.000,0.078,2563,2850,3577,3754,3401,0,0,0,0,0,0,14.62,14.50,14.66
$GC,3632,-0.48,-165.5,2563,2849,3754,3401,426.7,-11.0,321,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2849,3577,3754,3401,0,0,0,0,0,0,14.99,15.00,15.00
$GC,3932,-0.48,-165.5,2563,2849,3754,3401,459.7,-10.8,336,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2849,3577,3754,3401,0,0,0,0,0,0,14.99,15.01,15.01
$GC,4232,-0.48,-165.5,2563,2849,3754,3401,491.8,-10.5,351,4238,0.00,2.00,0.00,0.000,260,0.000,0.161,2556,3845,3577,3754,3400,0,0,0,0,0,0,15.00,13.81,15.01
$GC,4284,-0.48,-165.5,2556,3845,3754,3401,497.4,-10.5,361,4290,0.00,1.75,0.00,0.000,1030,0.000,0.079,2556,2838,3577,3753,3401,0,0,0,0,0,0,14.64,14.50,14.65
$GC,4597,-0.48,-165.5,2555,2836,3754,3401,532.6,-11.7,378,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2836,3577,3754,3401,0,0,0,0,0,0,14.99,15.01,15.01
$GC,4897,-0.48,-165.5,2555,2836,3754,3401,566.7,-11.3,393,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2836,3577,3753,3401,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5197,-0.48,-165.5,2555,2836,3753,3401,600.4,-11.0,408,5203,0.00,1.98,0.00,0.000,260,0.000,0.161,2549,3843,3577,3753,3401,0,0,0,0,0,0,15.01,14.23,15.02
$GC,5249,-0.48,-165.5,2548,3843,3753,3401,606.2,-10.7,418,5255,0.00,1.73,0.00,0.000,1030,0.000,0.078,2549,2843,3577,3753,3401,0,0,0,0,0,0,14.66,14.55,14.71
$GC,5562,-0.48,-165.5,2549,2842,3752,3401,641.5,-11.5,435,5568,0.00,1.80,0.00,0.000,516,0.000,0.078,2548,1788,3576,3752,3401,0,0,0,0,0,0,15.00,14.47,15.02
$GC,5594,-0.48,-165.5,2548,1787,3753,3401,645.2,-10.5,441,5600,0.15,2.03,0.00,0.000,3078,0.236,0.131,2572,2852,3577,3753,3401,0,0,0,0,0,0,14.12,14.21,14.38
$GC,5907,-0.48,-165.5,2573,2851,3752,3401,674.1,-9.3,458,5913,0.00,1.92,0.00,0.000,260,0.000,0.164,2569,3847,3576,3752,3401,0,0,0,0,0,0,15.00,14.18,15.01
$GC,5954,-0.48,-165.5,2568,3848,3752,3401,678.5,-9.2,467,5961,0.00,1.73,0.00,0.000,1030,0.000,0.079,2569,2843,3576,3752,3401,0,0,0,0,0,0,14.71,14.60,14.73
$GC,6273,-0.48,-165.5,2568,2842,3752,3401,708.5,-9.5,485,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2842,3576,3752,3401,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6573,-0.48,-165.5,2569,2842,3750,3401,736.8,-9.3,500,6579,0.00,1.98,0.00,0.000,260,0.000,0.163,2561,3842,3575,3750,3401,0,0,0,0,0,0,15.00,14.17,15.02
$GC,6616,-0.48,-165.5,2561,3843,3749,3400,740.9,-9.4,508,6622,0.00,1.70,0.00,0.000,1030,0.000,0.080,2562,2858,3575,3749,3401,0,0,0,0,0,0,14.71,14.61,14.75
$GC,6939,-0.48,-165.5,2561,2857,3749,3401,772.6,-9.8,527,6945,0.00,1.83,0.00,0.000,516,0.000,0.076,2561,1773,3575,3749,3401,0,0,0,0,0,0,15.00,14.61,15.02
$GC,6977,-0.48,-165.5,2561,1771,3749,3401,776.3,-8.8,534,6983,0.00,2.03,0.00,0.000,1062,0.000,0.129,2556,2855,3575,3750,3401,0,0,0,0,0,0,14.66,14.45,14.71
$GC,7282,-0.48,-165.5,2554,2855,3748,3401,807.9,-10.5,550,7288,0.00,1.95,0.00,0.000,260,0.000,0.165,2547,3840,3574,3748,3400,0,0,0,0,0,0,14.99,13.71,15.00
$GC,7339,-0.48,-165.5,2547,3839,3747,3401,814.2,-10.5,561,7346,0.00,1.73,0.00,0.000,1030,0.000,0.078,2547,2837,3574,3747,3401,0,0,0,0,0,0,14.70,14.59,14.73
$GC,7645,-0.48,-165.5,2547,2836,3747,3401,848.7,-11.6,577,7650,0.00,1.77,0.00,0.000,516,0.000,0.076,2547,1787,3573,3747,3400,0,0,0,0,0,0,14.96,14.57,14.98
$GC,7682,-0.48,-165.5,2547,1785,3747,3401,853.0,-11.3,584,7689,0.15,2.03,0.00,0.000,3078,0.230,0.132,2572,2857,3574,3747,3401,0,0,0,0,0,0,14.31,14.38,14.55
$GC,7988,-0.48,-165.5,2572,2857,3746,3401,881.3,-9.3,600,7993,0.00,1.98,0.00,0.000,260,0.000,0.168,2567,3848,3573,3746,3400,0,0,0,0,0,0,14.99,13.73,15.00
$GC,8045,-0.48,-165.5,2567,3848,3745,3401,886.7,-9.1,611,8052,0.00,1.75,0.00,0.000,1030,0.000,0.080,2567,2840,3573,3745,3401,0,0,0,0,0,0,14.59,14.46,14.64
$GC,8350,-0.48,-165.5,2567,2839,3745,3401,915.5,-9.4,627,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2839,3572,3745,3400,0,0,0,0,0,0,14.99,15.00,15.00
$GC,8650,-0.48,-165.5,2567,2839,3745,3401,943.7,-9.4,642,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2839,3572,3745,3400,0,0,0,0,0,0,14.97,14.99,14.99
$GC,8950,-0.48,-165.5,2567,2839,3744,3401,971.6,-9.1,657,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2839,3572,3744,3401,0,0,0,0,0,0,14.98,15.00,15.00
$STATE,9169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9170,begin apogee
$GC,9174,-0.10,0.0,2568,2598,3744,3401,991.6,-9.1,668,9412,0.45,0.00,233.52,2.016,10246,0.188,0.000,2693,2596,2900,2926,2874,0,0,0,0,0,0,14.40,13.50,12.57
$STATE,9413,end apogee,CONTROL_FINISHED_OK
$STATE,9413,begin climb
$GC,9415,0.48,165.5,2694,2596,2926,2874,999.8,0.0,680,9668,0.65,2.08,240.50,1.945,10756,0.112,0.085,2893,1545,2225,2216,2235,0,0,0,0,0,0,13.54,13.36,12.40
$GC,9700,0.48,165.5,2893,1545,2215,2234,977.4,11.4,735,9706,0.00,2.10,0.00,0.000,1030,0.000,0.117,2893,2600,2225,2216,2234,0,0,0,0,0,0,13.76,13.63,13.78
$GC,10005,0.48,165.5,2893,2599,2216,2227,939.9,12.4,751,10010,0.00,2.05,0.00,0.000,260,0.000,0.154,2894,3666,2221,2216,2226,0,0,0,0,0,0,14.59,14.22,14.62
$GC,10042,0.48,165.5,2893,3666,2216,2228,934.7,14.5,758,10049,0.00,1.88,0.00,0.000,1030,0.000,0.071,2900,2598,2221,2216,2227,0,0,0,0,0,0,14.45,14.35,14.47
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$STATE,17206,end climb,SURFACE_DEPTH_REACHED
$STATE,17206,begin surface coast
$FINISH,0.1,1.026822
$STATE,17227,end surface coast,CONTROL_FINISHED_OK
$STATE,17227,begin surface
$SM_CCo,17243,100.55,0.876,1,0,1880,250.20
$SM_GC,0.89,7.90,0.55,100.55,0.067,0.118,0.876,169,2868,1880,-7.93,-0.17,250.20,0,0,0,0,1,0,14.59,14.49,13.57
$IRIDIUM_FIX,5910.29,-2151.98,080619,005240
$TT8_MAMPS,0.023219,0.316078
$HUMID,38.26
$INTERNAL_PRESSURE,8.83759
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3853376
$24V_AH,12.40,0.000
$10V_AH,12.64,47.000
$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,22.050,122.000,474.025,100.550,0.000,0.000,0.000,281.400,0.000,0.000,24.033,3160.037,11431.863,794.168,2254.698,132.172,0.000,2145.799,0.000,1876.620,0.000,0.536,0.000
$DEVICE_MAMPS,400.095,167.535,2015.775,875.925,0.000,0.000,0.000,190.485,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17242.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.223,0.000,0.000,0.000
$MEM,303072
$DATA_FILE_SIZE,46607,1308
$CAP_FILE_SIZE,158280,0
$CFSIZE,2097872896,2073165824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.155,337.60,1
$GPS,080619,104831,5910.258,-2143.043,36,0.8,42,-12.6,0.4,202.7,9,10.0