version: 66.13
glider: 527
mission: 5
dive: 3
start: 5 16 119 17 48 33
data:
$ID,527
$MISSION,5
$DIVE,3
$N_DIVES,4
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,500
$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,60
$T_MISSION,75
$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,150
$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,400
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,270
$ROLL_MAX,3850
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$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,0.0012300001
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$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
$GPS1,160519,174404,5917.5898,-2121.9868,7,0.8,19,-12.5,0.0,72.4,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-71.8
$GPS2,160519,174750,5917.5850,-2121.9172,10,0.8,20,-12.5,0.4,120.6,10,8.7
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,WP01
$TGT_LATLONG,5914.000,-2422.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,293.2,170735,-18.2,-10.000,-20.95,2242
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.58,-146.0,169,2715,1053,1068,0.0,0.0,0,146,0.00,0.00,-124.53,0.008,16390,0.000,0.000,167,2715,3497,3632,3362,0,0,0,0,0,0,14.85,13.33,14.85
$GC,148,-0.58,-146.0,168,2715,3630,3363,2.2,-2.3,12,165,11.02,2.47,0.00,0.000,2852,0.409,0.076,2511,1294,3498,3633,3363,0,0,0,0,0,0,14.35,14.61,14.54
$GC,316,-0.42,-146.0,2510,1281,3634,3363,28.1,-13.1,45,324,0.25,2.65,0.00,0.000,3206,0.251,0.128,2563,2700,3498,3634,3363,0,0,0,0,0,0,14.47,14.54,14.66
$GC,504,-0.33,-146.0,2562,2702,3633,3363,50.2,-11.4,64,510,0.12,2.15,0.00,0.000,2436,0.284,0.145,2590,3846,3499,3634,3364,0,0,0,0,0,0,14.48,14.45,14.59
$GC,631,-0.33,-146.0,2590,3846,3634,3363,62.8,-9.9,89,638,0.00,1.98,0.00,0.000,1062,0.000,0.073,2590,2689,3498,3634,3363,0,0,0,0,0,0,14.71,14.64,14.73
$GC,818,-0.33,-146.0,2590,2689,3634,3363,80.4,-9.5,108,823,0.00,2.17,0.00,0.000,292,0.000,0.141,2581,3843,3498,3634,3363,0,0,0,0,0,0,14.89,14.47,14.90
$GC,925,-0.33,-146.0,2581,3843,3634,3363,91.5,-9.3,129,931,0.00,1.95,0.00,0.000,1062,0.000,0.073,2582,2693,3498,3634,3363,0,0,0,0,0,0,14.74,14.66,14.76
$GC,1111,-0.33,-146.0,2581,2693,3634,3362,110.2,-10.2,148,1117,0.00,2.17,0.00,0.000,260,0.000,0.142,2573,3846,3498,3634,3362,0,0,0,0,0,0,14.87,14.45,14.89
$GC,1188,-0.33,-146.0,2572,3846,3634,3363,118.4,-10.3,163,1196,0.00,1.95,0.00,0.000,1030,0.000,0.073,2573,2697,3498,3634,3363,0,0,0,0,0,0,14.71,14.63,14.73
$GC,1375,-0.29,-146.0,2573,2697,3633,3363,138.1,-10.6,182,1381,0.12,2.15,0.00,0.000,2436,0.262,0.140,2599,3843,3498,3634,3363,0,0,0,0,0,0,14.48,14.43,14.59
$GC,1449,-0.38,-146.0,2600,3843,3634,3363,144.6,-8.4,196,1455,0.00,1.95,0.00,0.000,1190,0.000,0.074,2599,2693,3498,3633,3363,0,0,0,0,0,0,14.74,14.66,14.76
$GC,1643,-0.43,-146.0,2598,2693,3634,3363,161.0,-8.7,216,1649,0.12,2.17,0.00,0.000,4516,0.143,0.142,2532,3842,3498,3634,3363,0,0,0,0,0,0,14.64,14.44,14.68
$GC,1751,-0.29,-146.0,2531,3842,3633,3363,174.8,-12.7,237,1759,0.28,1.95,0.00,0.000,3206,0.227,0.073,2602,2694,3498,3633,3363,0,0,0,0,0,0,14.48,14.63,14.66
$STATE,1816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1816,begin apogee
$GC,1820,-0.11,0.0,2603,2608,3634,3363,180.7,-8.0,244,1948,0.22,0.00,119.80,1.271,10246,0.206,0.000,2665,2608,2898,2928,2869,0,0,0,0,0,0,14.50,13.93,13.40
$STATE,1950,end apogee,CONTROL_FINISHED_OK
$STATE,1950,begin climb
$GC,1951,0.58,146.0,2665,2608,2929,2869,185.8,0.0,257,2079,0.75,2.58,119.05,1.235,10756,0.172,0.086,2891,1193,2302,2331,2273,0,0,0,0,0,0,14.09,13.90,13.38
$GC,2107,0.70,147.5,2891,1192,2325,2273,174.7,9.9,283,2113,0.00,2.67,0.00,0.000,1190,0.000,0.118,2892,2600,2298,2325,2272,0,0,0,0,0,0,14.29,14.19,14.31
$GC,2300,0.73,147.5,2891,2600,2325,2265,154.5,10.3,303,2308,0.12,2.35,0.00,0.000,2436,0.135,0.142,2950,3843,2295,2325,2265,0,0,0,0,0,0,14.51,14.35,14.54
$GC,2350,0.47,147.5,2949,3843,2326,2265,147.1,16.6,312,2357,0.40,2.20,0.00,0.000,5254,0.260,0.079,2858,2590,2294,2325,2264,0,0,0,0,0,0,14.35,14.49,14.53
$GC,2535,0.65,187.6,2858,2581,2325,2261,130.6,8.2,331,2576,0.15,2.45,33.55,1.161,10916,0.122,0.083,2940,1196,2133,2168,2098,0,0,0,0,0,0,14.57,14.20,13.68
$GC,2588,0.58,187.6,2940,1195,2167,2098,124.4,14.2,340,2595,0.22,2.65,0.00,0.000,5254,0.247,0.119,2887,2600,2132,2166,2098,0,0,0,0,0,0,14.26,14.35,14.42
$GC,2773,0.66,188.2,2887,2600,2166,2091,105.3,10.0,359,2780,0.00,2.35,0.00,0.000,420,0.000,0.143,2887,3842,2128,2166,2091,0,0,0,0,0,0,14.76,14.39,14.77
$GC,2822,0.73,188.2,2886,3843,2165,2090,99.5,11.0,368,2830,0.15,2.17,0.00,0.000,3206,0.119,0.076,2948,2586,2128,2166,2090,0,0,0,0,0,0,14.57,14.54,14.63
$GC,3007,0.61,188.2,2949,2586,2165,2090,72.2,15.4,387,3014,0.17,2.40,0.00,0.000,4740,0.278,0.082,2913,1207,2128,2166,2090,0,0,0,0,0,0,14.35,14.56,14.50
$GC,3056,0.69,188.2,2912,1206,2165,2090,66.4,11.3,396,3063,0.00,2.60,0.00,0.000,1158,0.000,0.118,2913,2606,2127,2165,2090,0,0,0,0,0,0,14.62,14.50,14.66
$GC,3241,0.69,188.2,2912,2606,2165,2089,44.8,11.1,415,3247,0.00,2.33,0.00,0.000,260,0.000,0.143,2913,3845,2126,2165,2088,0,0,0,0,0,0,14.84,14.42,14.85
$GC,3284,0.65,188.2,2912,3845,2165,2089,39.5,12.6,423,3291,0.00,2.15,0.00,0.000,1158,0.000,0.078,2919,2615,2127,2165,2089,0,0,0,0,0,0,14.71,14.63,14.73
$GC,3478,0.65,188.2,2920,2601,2165,2089,17.1,11.5,443,3484,0.00,2.47,0.00,0.000,516,0.000,0.086,2929,1181,2126,2163,2089,0,0,0,0,0,0,14.86,14.58,14.87
$GC,3541,0.70,188.2,2929,1181,2164,2089,10.0,11.1,455,3548,0.00,2.65,0.00,0.000,1158,0.000,0.121,2930,2605,2127,2165,2089,0,0,0,0,0,0,14.68,14.55,14.71
$STATE,3603,end climb,SURFACE_DEPTH_REACHED
$STATE,3603,begin surface coast
$FINISH,-0.0,1.027114
$STATE,3625,end surface coast,CONTROL_FINISHED_OK
$STATE,3625,begin surface
$SM_CCo,3640,180.75,0.930,1,0,1268,400.08
$SM_GC,0.82,7.82,0.20,180.75,0.063,0.126,0.930,171,2737,1268,-7.83,-0.25,400.08,0,0,0,0,1,0,14.66,14.64,13.55
$IRIDIUM_FIX,5918.99,-2126.16,160519,174032
$TT8_MAMPS,0.023219,0.924266
$HUMID,39.84
$INTERNAL_PRESSURE,8.80829
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3908320
$24V_AH,13.33,0.000
$10V_AH,13.10,5.653
$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,21.950,60.100,272.400,180.750,0.000,0.000,0.000,0.000,0.000,0.000,29.271,1089.755,1456.293,610.430,743.712,26.124,0.000,1033.827,0.000,676.139,0.000,0.539,0.000
$DEVICE_MAMPS,408.510,144.585,1270.665,930.240,0.000,0.000,0.000,0.000,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3618.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,60.428,0.000,0.000,0.000
$MEM,304580
$DATA_FILE_SIZE,16766,464
$CAP_FILE_SIZE,73976,0
$CFSIZE,2097872896,2095742976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.165,100.38,1
$GPS,160519,185329,5917.680,-2121.927,7,1.5,32,-12.5,0.3,147.0,5,9.9