version: 66.13
glider: 527
mission: 5
dive: 4
start: 5 16 119 19 9 3
data:
$ID,527
$MISSION,5
$DIVE,4
$N_DIVES,5
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,150
$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,350
$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,36
$R_STBD_OVSHOOT,42
$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
$GPS1,160519,190420,5917.6528,-2121.7595,5,0.9,15,-12.5,0.6,31.8,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.0
$GPS2,160519,190819,5917.6436,-2121.6968,10,0.9,20,-12.5,0.7,71.4,10,9.2
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,WP01
$TGT_LATLONG,5914.000,-2422.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,288.2,170948,-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,-146.0,175,2678,1259,1269,0.0,0.0,0,136,0.00,0.00,-115.20,0.008,16390,0.000,0.000,174,2677,3495,3634,3357,0,0,0,0,0,0,14.79,13.27,14.80
$GC,138,-0.58,-146.0,174,2678,3634,3357,2.2,-2.5,11,155,10.93,2.42,0.00,0.000,2596,0.403,0.082,2512,1302,3496,3635,3358,0,0,0,0,0,0,14.31,14.55,14.50
$GC,313,-0.44,-146.0,2512,1290,3637,3358,29.7,-13.1,45,319,0.22,2.60,0.00,0.000,3206,0.253,0.135,2557,2671,3498,3638,3358,0,0,0,0,0,0,14.42,14.51,14.59
$GC,507,-0.32,-146.0,2556,2670,3638,3358,53.9,-12.8,65,513,0.12,2.22,0.00,0.000,2436,0.276,0.149,2584,3841,3497,3637,3358,0,0,0,0,0,0,14.45,14.40,14.58
$GC,644,-0.32,-146.0,2583,3841,3638,3358,68.3,-10.0,92,651,0.00,1.98,0.00,0.000,1030,0.000,0.076,2584,2690,3498,3638,3358,0,0,0,0,0,0,14.66,14.57,14.70
$GC,830,-0.32,-146.0,2583,2690,3638,3359,87.2,-10.2,111,836,0.00,2.20,0.00,0.000,260,0.000,0.148,2575,3844,3497,3637,3358,0,0,0,0,0,0,14.83,14.40,14.84
$GC,963,-0.32,-146.0,2575,3844,3638,3358,101.8,-10.4,137,968,0.00,1.95,0.00,0.000,1030,0.000,0.075,2575,2699,3497,3637,3358,0,0,0,0,0,0,14.69,14.60,14.70
$GC,1155,-0.32,-146.0,2575,2699,3637,3358,122.4,-11.2,157,1160,0.00,2.17,0.00,0.000,260,0.000,0.149,2568,3842,3497,3636,3358,0,0,0,0,0,0,14.84,14.36,14.86
$GC,1257,-0.32,-146.0,2567,3842,3638,3358,134.7,-12.2,177,1263,0.00,1.98,0.00,0.000,1030,0.000,0.076,2567,2692,3497,3637,3358,0,0,0,0,0,0,14.68,14.60,14.70
$GC,1450,-0.28,-146.0,2567,2692,3637,3358,158.3,-12.8,197,1456,0.12,2.20,0.00,0.000,2436,0.262,0.147,2594,3843,3497,3637,3358,0,0,0,0,0,0,14.44,14.38,14.56
$GC,1538,-0.36,-146.0,2593,3843,3637,3358,167.9,-9.8,214,1546,0.00,1.98,0.00,0.000,1190,0.000,0.077,2593,2693,3497,3637,3358,0,0,0,0,0,0,14.67,14.59,14.69
$GC,1724,-0.40,-146.0,2593,2693,3637,3358,187.4,-10.4,233,1729,0.00,2.20,0.00,0.000,388,0.000,0.151,2585,3843,3497,3637,3358,0,0,0,0,0,0,14.84,14.42,14.86
$GC,1817,-0.46,-146.0,2585,3843,3637,3358,196.9,-10.0,251,1824,0.12,1.98,0.00,0.000,5254,0.158,0.077,2536,2695,3498,3638,3358,0,0,0,0,0,0,14.57,14.58,14.66
$GC,2012,-0.31,-146.0,2535,2695,3636,3358,223.5,-14.0,271,2018,0.22,2.20,0.00,0.000,2436,0.254,0.147,2588,3843,3497,3636,3358,0,0,0,0,0,0,14.42,14.39,14.56
$GC,2066,-0.40,-146.0,2588,3842,3636,3358,229.7,-9.9,281,2071,0.00,1.98,0.00,0.000,1190,0.000,0.079,2587,2695,3497,3636,3358,0,0,0,0,0,0,14.59,14.51,14.63
$GC,2258,-0.43,-146.0,2588,2695,3636,3358,249.1,-10.0,301,2264,0.00,2.20,0.00,0.000,388,0.000,0.153,2580,3842,3497,3636,3358,0,0,0,0,0,0,14.85,14.38,14.87
$GC,2351,-0.47,-146.0,2579,3842,3636,3359,258.5,-9.9,319,2357,0.00,1.98,0.00,0.000,1190,0.000,0.079,2580,2693,3497,3636,3358,0,0,0,0,0,0,14.66,14.58,14.67
$GC,2664,-0.47,-146.0,2580,2693,3636,3358,289.3,-9.7,336,2670,0.00,2.20,0.00,0.000,292,0.000,0.152,2572,3842,3497,3635,3359,0,0,0,0,0,0,14.86,14.41,14.87
$GC,2802,-0.47,-146.0,2571,3842,3635,3358,302.8,-9.9,363,2809,0.00,1.98,0.00,0.000,1062,0.000,0.079,2572,2701,3497,3635,3360,0,0,0,0,0,0,14.60,14.31,14.65
$GC,3107,-0.47,-146.0,2571,2701,3635,3358,333.1,-9.9,379,3113,0.00,2.20,0.00,0.000,292,0.000,0.151,2563,3842,3496,3635,3358,0,0,0,0,0,0,14.86,14.39,14.88
$GC,3225,-0.47,-146.0,2562,3842,3634,3358,345.1,-9.8,402,3232,0.00,1.98,0.00,0.000,1062,0.000,0.079,2564,2692,3496,3634,3358,0,0,0,0,0,0,14.62,14.55,14.64
$STATE,3389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3389,begin apogee
$GC,3393,-0.11,0.0,2564,2609,3634,3358,361.4,-9.8,411,3524,0.35,0.00,127.53,1.499,10246,0.210,0.000,2658,2608,2900,2929,2871,0,0,0,0,0,0,14.42,13.95,13.01
$STATE,3526,end apogee,CONTROL_FINISHED_OK
$STATE,3526,begin climb
$GC,3527,0.58,146.0,2658,2609,2927,2871,366.6,0.0,417,3664,0.77,2.62,127.07,1.462,10756,0.174,0.092,2891,1193,2302,2329,2276,0,0,0,0,0,0,13.95,13.69,13.00
$GC,3706,0.69,146.2,2890,1193,2321,2276,353.1,10.0,449,3712,0.00,2.72,0.00,0.000,1190,0.000,0.125,2891,2598,2298,2321,2276,0,0,0,0,0,0,14.24,14.12,14.26
$GC,4029,0.69,146.2,2891,2598,2321,2269,317.1,11.1,468,4035,0.00,2.40,0.00,0.000,260,0.000,0.149,2890,3847,2294,2321,2268,0,0,0,0,0,0,14.73,14.30,14.75
$GC,4067,0.62,146.2,2891,3846,2321,2269,312.2,13.1,475,4074,0.00,2.22,0.00,0.000,1158,0.000,0.080,2898,2591,2294,2321,2268,0,0,0,0,0,0,14.59,14.50,14.62
$GC,4372,0.62,146.2,2898,2581,2321,2266,276.4,11.5,491,4378,0.00,2.47,0.00,0.000,516,0.000,0.090,2908,1186,2293,2321,2266,0,0,0,0,0,0,14.81,14.36,14.83
$GC,4404,0.62,146.2,2908,1186,2321,2266,272.6,11.2,497,4410,0.00,2.67,0.00,0.000,1030,0.000,0.125,2908,2607,2293,2321,2266,0,0,0,0,0,0,14.61,14.49,14.66
$GC,4717,0.57,146.2,2908,2608,2321,2265,235.1,11.7,520,4723,0.00,2.38,0.00,0.000,388,0.000,0.150,2909,3842,2293,2321,2265,0,0,0,0,0,0,14.83,14.12,14.85
$GC,4774,0.44,146.2,2908,3843,2321,2266,227.4,13.4,531,4781,0.30,2.20,0.00,0.000,5254,0.250,0.080,2842,2594,2293,2321,2265,0,0,0,0,0,0,14.29,14.54,14.57
$GC,4960,0.68,218.0,2842,2583,2321,2264,214.1,6.7,550,5028,0.20,2.60,60.08,1.306,10916,0.103,0.091,2944,1193,2010,2045,1976,0,0,0,0,0,0,14.55,14.14,13.26
$GC,5040,0.62,218.0,2945,1193,2043,1976,204.3,12.9,564,5047,0.20,2.70,0.00,0.000,5254,0.252,0.125,2903,2599,2010,2044,1976,0,0,0,0,0,0,14.07,14.16,14.26
$GC,5234,0.68,218.0,2899,2599,2043,1970,182.3,10.7,584,5240,0.00,2.38,0.00,0.000,388,0.000,0.148,2899,3843,2006,2043,1970,0,0,0,0,0,0,14.68,14.26,14.70
$GC,5261,0.68,218.0,2899,3843,2042,1969,178.8,12.8,589,5268,0.00,2.20,0.00,0.000,1030,0.000,0.080,2904,2602,2006,2043,1969,0,0,0,0,0,0,14.49,14.41,14.52
$GC,5447,0.72,218.0,2903,2588,2042,1968,157.9,11.0,608,5453,0.00,2.47,0.00,0.000,644,0.000,0.091,2914,1190,2005,2042,1968,0,0,0,0,0,0,14.74,14.38,14.76
$GC,5480,0.80,218.0,2913,1190,2042,1968,154.4,11.5,614,5487,0.12,2.67,0.00,0.000,3206,0.127,0.126,2968,2605,2005,2042,1968,0,0,0,0,0,0,14.55,14.45,14.62
$GC,5675,0.63,218.0,2969,2606,2043,1969,121.8,17.2,634,5682,0.25,2.35,0.00,0.000,4484,0.266,0.147,2906,3841,2005,2042,1968,0,0,0,0,0,0,14.32,14.34,14.48
$GC,5694,0.50,218.0,2905,3841,2042,1967,118.4,16.1,637,5701,0.20,2.20,0.00,0.000,5254,0.231,0.080,2862,2597,2005,2043,1967,0,0,0,0,0,0,14.24,14.47,14.47
$GC,5880,0.73,263.3,2862,2586,2043,1968,103.1,7.9,656,5922,0.20,0.00,37.08,1.168,10918,0.105,0.000,2948,2586,1826,1863,1789,0,0,0,0,0,0,14.53,14.25,13.45
$GC,6100,0.67,263.3,2948,2585,1862,1782,71.6,15.3,681,6106,0.12,2.47,0.00,0.000,4740,0.263,0.089,2925,1191,1822,1863,1782,0,0,0,0,0,0,14.29,14.45,14.43
$GC,6116,0.67,263.3,2924,1190,1862,1782,68.5,17.1,684,6123,0.00,2.65,0.00,0.000,1030,0.000,0.125,2925,2599,1821,1862,1781,0,0,1,0,0,0,14.53,14.40,14.57
$GC,6303,0.67,263.3,2924,2599,1862,1780,44.2,12.9,703,6309,0.00,2.38,0.00,0.000,260,0.000,0.150,2925,3843,1821,1862,1780,0,0,0,0,0,0,14.76,14.31,14.78
$GC,6329,0.67,263.3,2924,3843,1862,1780,40.5,15.4,708,6336,0.00,2.17,0.00,0.000,1030,0.000,0.081,2932,2602,1822,1863,1781,0,0,1,0,0,0,14.57,14.49,14.60
$GC,6516,0.67,263.3,2931,2589,1861,1779,14.6,14.0,727,6522,0.00,2.47,0.00,0.000,516,0.000,0.091,2942,1187,1820,1861,1780,0,0,0,0,0,0,14.76,14.49,14.78
$GC,6583,0.75,263.3,2942,1178,1861,1780,5.3,13.3,740,6589,0.00,2.67,0.00,0.000,1158,0.000,0.129,2943,2599,1820,1861,1780,0,0,0,0,0,0,14.60,14.45,14.62
$STATE,6608,end climb,SURFACE_DEPTH_REACHED
$STATE,6608,begin surface coast
$FINISH,0.3,1.008922
$STATE,6629,end surface coast,CONTROL_FINISHED_OK
$STATE,6629,begin surface
$SM_CCo,6644,90.03,0.828,1,0,1472,350.04
$SM_GC,0.69,7.90,0.22,90.03,0.061,0.143,0.828,161,2711,1472,-7.84,-0.23,350.04,0,0,0,0,1,0,14.59,14.53,13.42
$IRIDIUM_FIX,5914.77,-2217.77,160519,190109
$TT8_MAMPS,0.02247,0.75649
$HUMID,39.64
$INTERNAL_PRESSURE,8.80829
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3907360
$24V_AH,13.00,0.000
$10V_AH,13.12,5.976
$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,22.375,97.050,351.750,90.025,0.000,0.000,0.000,0.000,0.000,0.000,29.173,1748.475,3273.130,620.212,1158.113,38.615,0.000,1257.966,0.000,1075.778,0.000,0.538,0.000
$DEVICE_MAMPS,403.155,153.000,1498.635,828.495,0.000,0.000,0.000,0.000,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6621.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,56.383,0.000,0.000,0.000
$MEM,304604
$DATA_FILE_SIZE,26770,745
$CAP_FILE_SIZE,104613,0
$CFSIZE,2097872896,2095546368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,2,0
$CURRENT,0.181,94.36,1
$GPS,160519,210226,5917.871,-2121.886,8,1.5,27,-12.5,0.5,139.6,5,9.9