version: 66.13
glider: 527
mission: 5
dive: 118
start: 6 8 119 16 1 28
data:
$ID,527
$MISSION,5
$DIVE,118
$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,28
$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
$GPS1,080619,155407,5913.5029,-2142.1116,35,0.8,48,-12.6,0.0,176.1,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-77.8
$GPS2,080619,160048,5913.5068,-2142.2053,11,1.0,21,-12.6,0.7,323.0,10,9.3
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S1
$TGT_LATLONG,5920.000,-2140.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,42.1,12204,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.48,-165.5,139,2865,1821,1926,0.0,0.0,0,98,0.00,0.00,-84.38,0.008,16390,0.000,0.000,138,2865,3576,3750,3402,0,0,0,0,0,0,14.64,12.81,14.66
$GC,101,-0.48,-165.5,138,2866,3750,3403,3.6,-5.0,8,118,12.15,1.92,0.00,0.000,2596,0.405,0.082,2570,1786,3577,3751,3404,0,0,0,0,0,0,14.04,14.40,14.40
$GC,186,-0.48,-165.5,2570,1786,3753,3403,23.0,-11.0,24,191,0.00,2.03,0.00,0.000,1030,0.000,0.134,2563,2848,3578,3753,3403,0,0,0,0,0,0,14.37,14.20,14.40
$GC,379,-0.48,-165.5,2563,2849,3753,3404,48.5,-13.0,44,384,0.00,1.92,0.00,0.000,260,0.000,0.160,2556,3845,3578,3752,3404,0,0,0,0,0,0,14.79,14.21,14.81
$GC,475,-0.48,-165.5,2556,3845,3753,3403,60.7,-12.2,63,483,0.00,1.73,0.00,0.000,1030,0.000,0.078,2556,2847,3578,3753,3404,0,0,0,0,0,0,14.59,14.49,14.62
$GC,662,-0.48,-165.5,2555,2846,3753,3404,84.8,-13.5,82,667,0.00,1.83,0.00,0.000,516,0.000,0.080,2556,1779,3578,3753,3404,0,0,0,0,0,0,14.83,14.51,14.85
$GC,688,-0.48,-165.5,2556,1776,3753,3404,88.3,-12.4,87,695,0.00,2.05,0.00,0.000,1030,0.000,0.131,2548,2859,3578,3753,3404,0,0,0,0,0,0,14.57,14.40,14.61
$GC,874,-0.48,-165.5,2548,2859,3753,3404,113.6,-13.7,106,880,0.00,1.90,0.00,0.000,260,0.000,0.161,2541,3847,3578,3753,3404,0,0,0,0,0,0,14.84,14.23,14.86
$GC,967,-0.48,-165.5,2540,3847,3753,3404,126.0,-12.8,124,973,0.15,1.75,0.00,0.000,3078,0.226,0.077,2575,2842,3578,3753,3404,0,0,0,0,0,0,14.31,14.50,14.53
$GC,1161,-0.48,-165.5,2574,2840,3753,3404,147.0,-10.8,144,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2840,3578,3753,3404,0,0,0,0,0,0,14.85,14.86,14.86
$GC,1341,-0.48,-165.5,2574,2840,3753,3404,166.4,-10.8,162,1346,0.00,1.95,0.00,0.000,260,0.000,0.156,2569,3841,3578,3753,3404,0,0,0,0,0,0,14.85,14.25,14.88
$GC,1377,-0.48,-165.5,2569,3841,3753,3404,170.7,-10.9,169,1383,0.00,1.73,0.00,0.000,1030,0.000,0.078,2570,2846,3578,3753,3403,0,0,0,0,0,0,14.59,14.49,14.62
$GC,1564,-0.48,-165.5,2569,2845,3753,3403,191.4,-11.2,188,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2844,3578,3752,3404,0,0,0,0,0,0,14.89,14.92,14.91
$GC,1743,-0.48,-165.5,2570,2844,3753,3404,211.1,-10.9,206,1749,0.00,1.95,0.00,0.000,260,0.000,0.157,2563,3845,3578,3753,3404,0,0,0,0,0,0,14.90,14.27,14.92
$GC,1790,-0.48,-165.5,2562,3845,3753,3404,216.0,-10.9,215,1798,0.00,1.73,0.00,0.000,1030,0.000,0.079,2562,2845,3578,3753,3404,0,0,0,0,0,0,14.66,14.57,14.69
$GC,1976,-0.48,-165.5,2562,2844,3753,3404,237.6,-11.9,234,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2844,3578,3753,3403,0,0,0,0,0,0,14.89,14.91,14.90
$GC,2166,-0.48,-165.5,2562,2845,3753,3404,260.3,-11.8,249,2172,0.00,1.95,0.00,0.000,260,0.000,0.157,2555,3843,3578,3752,3404,0,0,0,0,0,0,14.90,14.24,14.92
$GC,2213,-0.48,-165.5,2555,3843,3753,3404,266.3,-12.7,258,2218,0.00,1.73,0.00,0.000,1030,0.000,0.077,2555,2843,3578,3753,3404,0,0,0,0,0,0,14.67,14.57,14.70
$GC,2531,-0.48,-165.5,2554,2842,3753,3403,304.4,-12.1,276,2537,0.00,1.95,0.00,0.000,260,0.000,0.157,2548,3844,3578,3753,3403,0,0,0,0,0,0,14.92,14.28,14.93
$GC,2574,-0.48,-165.5,2548,3844,3752,3404,310.0,-13.0,284,2580,0.00,1.73,0.00,0.000,1030,0.000,0.079,2548,2843,3578,3752,3404,0,0,0,0,0,0,14.69,14.60,14.71
$GC,2897,-0.48,-165.5,2547,2842,3752,3404,349.6,-12.6,303,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2843,3578,3753,3404,0,0,0,0,0,0,14.96,14.98,14.97
$GC,3197,-0.48,-165.5,2548,2842,3753,3403,387.3,-12.6,318,3203,0.00,1.95,0.00,0.000,260,0.000,0.158,2541,3841,3578,3753,3403,0,0,0,0,0,0,14.95,14.31,14.97
$GC,3243,-0.48,-165.5,2540,3841,3752,3404,393.3,-12.6,327,3250,0.15,1.73,0.00,0.000,3078,0.223,0.078,2576,2840,3577,3752,3403,0,0,0,0,0,0,14.42,14.62,14.62
$GC,3562,-0.48,-165.5,2576,2839,3752,3404,425.1,-9.8,345,3568,0.00,1.95,0.00,0.000,260,0.000,0.158,2570,3841,3577,3752,3403,0,0,0,0,0,0,14.97,14.29,14.99
$GC,3614,-0.48,-165.5,2570,3841,3752,3403,430.1,-9.4,355,3621,0.00,1.73,0.00,0.000,1030,0.000,0.077,2571,2838,3578,3752,3404,0,0,0,0,0,0,14.71,14.60,14.73
$GC,3928,-0.48,-165.5,2570,2837,3752,3403,460.7,-9.8,372,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2837,3577,3751,3403,0,0,0,0,0,0,14.97,15.00,14.99
$GC,4228,-0.48,-165.5,2571,2837,3752,3403,489.6,-9.8,387,4234,0.00,1.98,0.00,0.000,260,0.000,0.159,2563,3847,3577,3752,3403,0,0,0,0,0,0,14.98,14.26,15.00
$GC,4320,-0.48,-165.5,2563,3847,3751,3403,498.7,-9.2,405,4326,0.00,1.73,0.00,0.000,1030,0.000,0.077,2563,2842,3577,3751,3403,0,0,0,0,0,0,14.66,14.55,14.69
$GC,4633,-0.48,-165.5,2563,2840,3751,3403,530.7,-10.4,422,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2840,3577,3751,3403,0,0,0,0,0,0,14.99,15.01,15.00
$GC,4933,-0.48,-165.5,2563,2840,3751,3403,562.2,-10.4,437,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2840,3576,3750,3403,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5233,-0.48,-165.5,2563,2840,3750,3403,593.4,-10.2,452,5239,0.00,1.98,0.00,0.000,260,0.000,0.161,2556,3846,3576,3749,3403,0,0,0,0,0,0,15.00,14.25,15.02
$GC,5305,-0.48,-165.5,2556,3846,3749,3403,600.8,-9.6,466,5311,0.00,1.73,0.00,0.000,1030,0.000,0.077,2557,2842,3576,3749,3404,0,0,0,0,0,0,14.72,14.62,14.76
$GC,5618,-0.48,-165.5,2556,2840,3749,3403,633.7,-10.5,483,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2840,3576,3749,3403,0,0,0,0,0,0,15.00,15.02,15.01
$GC,5918,-0.48,-165.5,2556,2839,3748,3403,665.4,-10.7,498,5924,0.00,1.98,0.00,0.000,260,0.000,0.163,2549,3848,3575,3746,3404,0,0,0,0,0,0,15.00,14.31,15.02
$GC,5974,-0.48,-165.5,2548,3848,3747,3404,671.5,-10.2,509,5981,0.00,1.73,0.00,0.000,1030,0.000,0.078,2549,2842,3575,3746,3404,0,0,0,0,0,0,14.73,14.64,14.77
$GC,6281,-0.48,-165.5,2549,2842,3746,3403,705.7,-11.4,525,6286,0.00,1.80,0.00,0.000,516,0.000,0.076,2549,1776,3575,3746,3404,0,0,0,0,0,0,15.00,14.58,15.01
$GC,6307,-0.48,-165.5,2548,1772,3746,3403,708.8,-11.2,530,6314,0.15,2.03,0.00,0.000,3078,0.233,0.133,2574,2853,3574,3746,3403,0,0,0,0,0,0,14.41,14.47,14.64
$GC,6627,-0.48,-165.5,2574,2853,3746,3403,736.8,-8.6,548,6632,0.00,1.90,0.00,0.000,292,0.000,0.164,2569,3841,3574,3746,3403,0,0,0,0,0,0,14.97,14.31,14.99
$GC,6679,-0.48,-165.5,2568,3841,3745,3404,741.5,-8.4,558,6685,0.00,1.73,0.00,0.000,1062,0.000,0.079,2569,2838,3574,3745,3404,0,0,0,0,0,0,14.71,14.60,14.75
$GC,6992,-0.48,-165.5,2569,2836,3745,3404,769.7,-9.2,575,6998,0.00,1.77,0.00,0.000,516,0.000,0.076,2569,1783,3574,3746,3403,0,0,0,0,0,0,14.98,14.60,15.00
$GC,7035,-0.48,-165.5,2569,1783,3745,3403,773.4,-8.4,583,7042,0.00,2.00,0.00,0.000,1062,0.000,0.130,2562,2851,3574,3745,3403,0,0,0,0,0,0,14.64,14.45,14.69
$GC,7359,-0.48,-165.5,2561,2851,3744,3403,803.4,-9.2,602,7365,0.00,1.92,0.00,0.000,260,0.000,0.165,2555,3845,3573,3744,3403,0,0,0,0,0,0,14.98,14.28,15.00
$GC,7436,-0.48,-165.5,2554,3845,3743,3403,810.4,-8.8,617,7442,0.00,1.73,0.00,0.000,1062,0.000,0.079,2554,2843,3572,3742,3403,0,0,0,0,0,0,14.71,14.60,14.74
$GC,7742,-0.48,-165.5,2554,2842,3743,3403,839.2,-9.6,633,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2842,3573,3744,3403,0,0,0,0,0,0,14.99,15.01,15.00
$GC,8042,-0.48,-165.5,2554,2842,3742,3403,868.1,-9.7,648,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2842,3572,3742,3403,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8342,-0.48,-165.5,2554,2842,3742,3403,896.8,-9.4,663,8348,0.00,1.98,0.00,0.000,260,0.000,0.164,2548,3844,3572,3741,3403,0,0,0,0,0,0,15.00,14.29,15.02
$GC,8390,-0.48,-165.5,2547,3844,3741,3404,901.5,-9.4,672,8395,0.00,1.73,0.00,0.000,1030,0.000,0.080,2548,2845,3572,3741,3403,0,0,0,0,0,0,14.71,14.60,14.74
$GC,8707,-0.48,-165.5,2547,2844,3741,3403,933.5,-10.3,690,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2844,3572,3741,3403,0,0,0,0,0,0,14.98,15.00,15.00
$GC,9007,-0.48,-165.5,2547,2844,3741,3403,964.6,-10.5,705,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2844,3572,3741,3403,0,0,0,0,0,0,14.97,14.99,14.99
$STATE,9245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9245,begin apogee
$GC,9250,-0.10,0.0,2547,2591,3740,3403,990.4,-10.8,717,9488,0.55,0.00,232.95,1.997,10246,0.195,0.000,2697,2591,2900,2924,2876,0,0,0,0,0,0,14.40,13.50,12.44
$STATE,9490,end apogee,CONTROL_FINISHED_OK
$STATE,9490,begin climb
$GC,9491,0.48,165.5,2697,2591,2923,2876,999.7,0.0,729,9747,0.62,2.05,243.68,1.935,10756,0.096,0.083,2896,1540,2225,2216,2235,0,0,0,0,0,0,13.57,13.36,12.27
$GC,9784,0.48,165.5,2896,1540,2216,2235,977.3,11.5,786,9789,0.00,2.10,0.00,0.000,1030,0.000,0.117,2896,2600,2224,2215,2234,0,0,0,0,0,0,13.80,13.67,13.81
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$STATE,17495,end climb,SURFACE_DEPTH_REACHED
$STATE,17495,begin surface coast
$FINISH,1.1,1.026782
$STATE,17508,end surface coast,CONTROL_FINISHED_OK
$STATE,17508,begin surface
$SM_CCo,17525,101.18,0.874,1,0,1880,250.20
$SM_GC,0.79,8.07,1.45,101.18,0.071,0.069,0.874,165,2832,1880,-7.95,0.71,250.20,0,0,0,0,1,0,14.57,14.59,13.54
$IRIDIUM_FIX,5907.80,-2137.18,080619,105048
$TT8_MAMPS,0.02247,0.749
$HUMID,38.77
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3852608
$24V_AH,12.27,0.000
$10V_AH,12.17,47.803
$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
$DEVICE_SECS,22.450,150.850,476.625,101.175,0.000,0.000,0.000,255.125,0.000,0.000,30.621,3288.651,11412.222,830.733,2357.674,147.368,0.000,2228.494,0.000,1993.609,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17522.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.247,0.000,0.000,0.000
$MEM,303020
$DATA_FILE_SIZE,49955,1388
$CAP_FILE_SIZE,168137,0
$CFSIZE,2097872896,2072739840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.152,329.64,1
$GPS,080619,205637,5916.727,-2140.939,32,0.8,39,-12.6,0.4,298.5,10,9.3