version: 66.13
glider: 527
mission: 5
dive: 120
start: 6 9 119 1 21 23
data:
$ID,527
$MISSION,5
$DIVE,120
$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,45
$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
$GPS1,090619,011401,5919.7817,-2139.5708,37,0.8,50,-12.7,0.2,298.0,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-77.5
$GPS2,090619,012041,5919.8213,-2139.5767,7,0.8,20,-12.7,0.0,31.2,10,9.6
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,250.6,19295,-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,-165.5,142,2861,1820,1926,0.0,0.0,0,98,0.00,0.00,-84.50,0.008,16390,0.000,0.000,142,2863,3576,3749,3404,0,0,0,0,0,0,14.65,12.67,14.66
$GC,101,-0.48,-165.5,142,2863,3749,3404,3.5,-4.5,8,117,12.12,1.90,0.00,0.000,2340,0.397,0.128,2560,3845,3577,3749,3405,0,0,0,0,0,0,13.94,14.16,14.33
$GC,226,-0.48,-165.5,2560,3846,3752,3405,30.3,-13.0,32,232,0.00,1.70,0.00,0.000,1030,0.000,0.079,2560,2872,3578,3752,3405,0,0,0,0,0,0,14.42,14.33,14.44
$GC,419,-0.48,-165.5,2560,2873,3752,3405,56.5,-13.3,52,425,0.00,1.90,0.00,0.000,260,0.000,0.155,2553,3845,3578,3752,3405,0,0,0,0,0,0,14.80,14.21,14.82
$GC,462,-0.48,-165.5,2553,3845,3752,3405,62.3,-13.9,60,468,0.00,1.73,0.00,0.000,1030,0.000,0.073,2553,2843,3578,3752,3405,0,0,0,0,0,0,14.59,14.50,14.62
$GC,655,-0.48,-165.5,2553,2842,3752,3405,88.2,-13.3,80,661,0.00,1.95,0.00,0.000,260,0.000,0.152,2545,3844,3578,3752,3405,0,0,0,0,0,0,14.83,14.14,14.84
$GC,678,-0.48,-165.5,2545,3844,3752,3405,91.5,-14.8,84,684,0.00,1.73,0.00,0.000,1030,0.000,0.074,2546,2841,3578,3752,3405,0,0,0,0,0,0,14.60,14.50,14.63
$GC,871,-0.48,-165.5,2545,2839,3752,3403,117.8,-13.9,104,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2839,3578,3752,3405,0,0,0,0,0,0,14.84,14.86,14.85
$GC,1051,-0.48,-165.5,2545,2839,3752,3405,143.1,-14.2,122,1056,0.00,1.95,0.00,0.000,260,0.000,0.153,2538,3840,3579,3753,3405,0,0,0,0,0,0,14.85,14.19,14.87
$GC,1133,-0.48,-165.5,2538,3841,3752,3405,155.4,-14.4,138,1140,0.15,1.75,0.00,0.000,3078,0.226,0.071,2573,2842,3579,3753,3405,0,0,0,0,0,0,14.30,14.53,14.52
$GC,1327,-0.48,-165.5,2572,2842,3752,3405,178.0,-11.8,158,1332,0.00,1.95,0.00,0.000,260,0.000,0.154,2567,3838,3579,3753,3405,0,0,0,0,0,0,14.90,14.20,14.91
$GC,1360,-0.48,-165.5,2566,3838,3753,3405,181.9,-11.9,164,1366,0.00,1.70,0.00,0.000,1030,0.000,0.073,2567,2843,3579,3753,3405,0,0,0,0,0,0,14.64,14.54,14.66
$GC,1553,-0.48,-165.5,2567,2842,3753,3405,205.2,-11.9,184,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2841,3578,3752,3405,0,0,0,0,0,0,14.89,14.91,14.91
$GC,1733,-0.48,-165.5,2567,2842,3752,3405,226.7,-11.7,202,1738,0.00,1.95,0.00,0.000,260,0.000,0.154,2560,3843,3579,3753,3405,0,0,0,0,0,0,14.90,14.21,14.92
$GC,1766,-0.48,-165.5,2560,3843,3752,3405,230.4,-12.0,208,1772,0.00,1.75,0.00,0.000,1030,0.000,0.073,2560,2854,3578,3752,3405,0,0,0,0,0,0,14.55,14.42,14.58
$GC,1969,-0.48,-165.5,2560,2854,3752,3405,254.9,-11.9,227,1975,0.00,1.95,0.00,0.000,260,0.000,0.155,2553,3844,3579,3753,3405,0,0,0,0,0,0,14.92,14.20,14.93
$GC,2007,-0.48,-165.5,2552,3845,3752,3405,259.7,-12.1,234,2014,0.00,1.77,0.00,0.000,1030,0.000,0.073,2553,2815,3578,3752,3405,0,0,0,0,0,0,14.66,14.54,14.69
$GC,2312,-0.48,-165.5,2552,2814,3752,3405,296.9,-12.3,250,2318,0.00,2.00,0.00,0.000,260,0.000,0.154,2545,3837,3578,3752,3405,0,0,0,0,0,0,14.94,14.28,14.96
$GC,2349,-0.48,-165.5,2545,3837,3753,3405,301.6,-12.5,257,2356,0.00,1.67,0.00,0.000,1030,0.000,0.073,2545,2860,3578,3752,3405,0,0,0,0,0,0,14.68,14.59,14.71
$GC,2655,-0.48,-165.5,2545,2859,3753,3405,340.1,-12.8,273,2662,0.12,1.83,0.00,0.000,2564,0.264,0.068,2576,1774,3578,3752,3405,0,0,0,0,0,0,14.31,14.51,14.44
$GC,2698,-0.48,-165.5,2575,1769,3752,3405,344.7,-9.1,281,2704,0.00,2.03,0.00,0.000,1030,0.000,0.128,2569,2851,3578,3752,3405,0,0,0,0,0,0,14.59,14.38,14.64
$GC,3021,-0.48,-165.5,2569,2851,3754,3405,378.5,-10.6,300,3027,0.00,1.92,0.00,0.000,260,0.000,0.159,2562,3846,3578,3752,3405,0,0,0,0,0,0,14.94,14.21,14.95
$GC,3134,-0.48,-165.5,2562,3846,3752,3405,390.8,-10.9,322,3139,0.00,1.73,0.00,0.000,1030,0.000,0.075,2562,2842,3578,3752,3405,0,0,0,0,0,0,14.68,14.58,14.71
$GC,3446,-0.48,-165.5,2562,2840,3752,3405,425.2,-10.9,339,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2840,3578,3752,3405,0,0,0,0,0,0,14.95,14.97,14.96
$GC,3746,-0.48,-165.5,2562,2840,3752,3404,456.1,-9.9,354,3752,0.00,1.98,0.00,0.000,260,0.000,0.158,2555,3848,3578,3752,3405,0,0,0,0,0,0,14.95,14.21,14.97
$GC,3839,-0.48,-165.5,2555,3848,3751,3405,465.2,-9.5,372,3844,0.00,1.73,0.00,0.000,1030,0.000,0.075,2555,2843,3578,3751,3405,0,0,0,0,0,0,14.69,14.59,14.71
$GC,4151,-0.48,-165.5,2554,2841,3751,3405,497.9,-11.0,389,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2841,3578,3751,3405,0,0,0,0,0,0,14.96,14.98,14.97
$GC,4452,-0.48,-165.5,2554,2842,3751,3405,531.5,-11.2,404,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2841,3578,3751,3405,0,0,0,0,0,0,14.97,15.00,14.99
$GC,4751,-0.48,-165.5,2554,2842,3750,3405,565.3,-11.3,419,4758,0.00,1.98,0.00,0.000,260,0.000,0.161,2548,3847,3576,3749,3404,0,0,0,0,0,0,14.98,14.22,15.00
$GC,4814,-0.48,-165.5,2548,3847,3749,3405,572.4,-10.7,431,4821,0.00,1.73,0.00,0.000,1030,0.000,0.077,2548,2852,3576,3748,3405,0,0,0,0,0,0,14.70,14.60,14.73
$GC,5138,-0.48,-165.5,2547,2852,3749,3405,610.5,-12.0,450,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2853,3577,3749,3405,0,0,0,0,0,0,15.00,15.01,15.01
$GC,5438,-0.48,-165.5,2548,2853,3748,3405,646.1,-11.7,465,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2852,3576,3748,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5738,-0.48,-165.5,2547,2852,3748,3404,680.2,-11.3,480,5744,0.00,1.95,0.00,0.000,260,0.000,0.164,2540,3841,3576,3748,3405,0,0,0,0,0,0,15.00,14.18,15.02
$GC,5770,-0.48,-165.5,2540,3841,3747,3405,684.0,-12.1,486,5777,0.15,1.73,0.00,0.000,3078,0.213,0.077,2575,2841,3576,3747,3405,0,0,0,0,0,0,14.30,14.55,14.52
$GC,6084,-0.48,-165.5,2576,2841,3747,3405,712.8,-9.3,503,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2841,3575,3746,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6384,-0.48,-165.5,2575,2841,3746,3405,740.0,-8.8,518,6390,0.00,1.98,0.00,0.000,292,0.000,0.161,2571,3844,3575,3745,3405,0,0,0,0,0,0,15.01,14.18,15.02
$GC,6427,-0.48,-165.5,2570,3844,3744,3405,743.9,-8.9,526,6432,0.00,1.73,0.00,0.000,1062,0.000,0.077,2570,2848,3574,3744,3405,0,0,0,0,0,0,14.61,14.50,14.64
$GC,6749,-0.48,-165.5,2570,2847,3744,3404,773.8,-9.4,545,6755,0.00,1.80,0.00,0.000,516,0.000,0.077,2571,1788,3574,3744,3405,0,0,0,0,0,0,14.97,14.56,14.99
$GC,6792,-0.48,-165.5,2570,1785,3744,3405,777.7,-8.7,553,6798,0.00,2.00,0.00,0.000,1062,0.000,0.129,2563,2851,3574,3744,3404,0,0,0,0,0,0,14.61,14.40,14.67
$GC,7115,-0.48,-165.5,2563,2852,3743,3405,809.2,-9.7,572,7121,0.00,1.95,0.00,0.000,260,0.000,0.165,2557,3846,3573,3743,3404,0,0,0,0,0,0,14.97,14.14,14.98
$GC,7207,-0.48,-165.5,2556,3847,3742,3405,818.3,-9.6,590,7213,0.00,1.73,0.00,0.000,1030,0.000,0.077,2557,2852,3573,3742,3405,0,0,0,0,0,0,14.66,14.54,14.70
$GC,7520,-0.48,-165.5,2555,2851,3742,3405,850.0,-10.3,607,7526,0.00,1.95,0.00,0.000,260,0.000,0.164,2549,3842,3573,3742,3405,0,0,0,0,0,0,14.97,14.30,14.98
$GC,7547,-0.48,-165.5,2549,3842,3742,3405,852.9,-10.8,612,7553,0.00,1.73,0.00,0.000,1030,0.000,0.078,2550,2841,3573,3742,3405,0,0,0,0,0,0,14.70,14.59,14.73
$GC,7865,-0.48,-165.5,2549,2841,3742,3405,887.8,-11.2,630,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2841,3573,3742,3405,0,0,0,0,0,0,14.97,14.99,14.99
$GC,8165,-0.48,-165.5,2549,2841,3742,3404,921.0,-10.8,645,8171,0.00,1.98,0.00,0.000,260,0.000,0.164,2542,3844,3573,3741,3405,0,0,0,0,0,0,15.00,14.23,15.01
$GC,8212,-0.48,-165.5,2542,3844,3741,3404,926.2,-10.5,654,8218,0.12,1.73,0.00,0.000,3078,0.223,0.079,2570,2846,3573,3741,3405,0,0,0,0,0,0,14.43,14.61,14.63
$GC,8531,-0.48,-165.5,2570,2844,3741,3405,953.9,-8.6,672,8532,0.00,0.00,0.00,0.000,38,0.000,0.000,2571,2844,3572,3741,3404,0,0,0,0,0,0,14.97,15.00,15.00
$GC,8830,-0.48,-165.5,2570,2845,3740,3404,979.5,-8.5,687,8832,0.00,0.00,0.00,0.000,38,0.000,0.000,2570,2845,3572,3740,3405,0,0,0,0,0,0,14.98,15.00,15.00
$STATE,8968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8969,begin apogee
$GC,8973,-0.10,0.0,2571,2591,3739,3405,991.3,-8.4,694,9211,0.45,0.00,233.93,1.996,10246,0.177,0.000,2699,2590,2900,2925,2876,0,0,0,0,0,0,14.45,13.49,12.39
$STATE,9213,end apogee,CONTROL_FINISHED_OK
$STATE,9213,begin climb
$GC,9214,0.48,165.5,2699,2591,2924,2876,999.2,0.0,706,9471,0.60,0.00,245.88,1.931,10758,0.093,0.000,2886,2591,2226,2217,2235,0,0,0,0,0,0,13.58,13.34,12.28
$GC,9771,0.48,165.5,2885,2590,2217,2228,943.4,12.2,752,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2591,2222,2217,2228,0,0,0,0,0,0,14.56,14.58,14.57
$GC,10070,0.48,165.5,2885,2591,2217,2226,906.8,12.2,767,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2591,2221,2217,2226,0,0,0,0,0,0,14.76,14.78,14.78
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$STATE,17483,end climb,SURFACE_DEPTH_REACHED
$STATE,17483,begin surface coast
$FINISH,0.2,1.026815
$STATE,17504,end surface coast,CONTROL_FINISHED_OK
$STATE,17504,begin surface
$SM_CCo,17520,101.22,0.873,1,0,1879,250.20
$SM_GC,0.72,7.90,0.55,101.22,0.058,0.124,0.873,167,2865,1879,-7.94,-0.17,250.20,0,0,0,0,1,0,14.57,14.45,13.52
$IRIDIUM_FIX,5919.15,-2050.14,080619,205849
$TT8_MAMPS,0.023219,0.760984
$HUMID,38.62
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3851840
$24V_AH,12.28,0.000
$10V_AH,12.68,48.589
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17516.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.135,0.000,0.000,0.000
$MEM,303096
$DATA_FILE_SIZE,46572,1350
$CAP_FILE_SIZE,165814,0
$CFSIZE,2097872896,2072346624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.166,356.70,1
$GPS,090619,061631,5920.289,-2144.118,37,0.8,43,-12.7,0.3,321.7,10,9.9