version: 66.13
glider: 527
mission: 5
dive: 71
start: 5 30 119 1 50 2
data:
$ID,527
$MISSION,5
$DIVE,71
$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,30
$R_STBD_OVSHOOT,18
$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
$GPS1,300519,013909,5940.3232,-2152.2957,75,0.8,84,-12.9,0.0,296.9,9,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-71.3
$GPS2,300519,014921,5940.3540,-2152.4470,12,0.9,23,-12.9,1.0,49.7,9,9.7
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,N2
$TGT_LATLONG,5940.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,272.3,7095,-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,-165.5,120,2869,1829,1913,0.0,0.0,0,104,0.00,0.00,-86.85,0.008,16390,0.000,0.000,112,2870,3576,3752,3400,0,0,0,0,0,0,14.64,13.44,14.66
$GC,106,-0.48,-165.5,112,2870,3752,3400,5.3,-8.6,9,123,12.15,1.90,0.00,0.000,2340,0.403,0.138,2559,3838,3576,3752,3401,0,0,0,0,0,0,14.03,14.23,14.38
$GC,345,-0.48,-165.5,2560,3838,3753,3401,52.6,-14.3,56,353,0.00,1.73,0.00,0.000,1030,0.000,0.084,2559,2856,3577,3753,3401,0,0,0,0,0,0,14.54,14.48,14.55
$GC,531,-0.48,-165.5,2559,2856,3753,3401,77.7,-12.9,75,536,0.00,1.85,0.00,0.000,516,0.000,0.083,2559,1780,3577,3753,3401,0,0,0,0,0,0,14.80,14.52,14.81
$GC,553,-0.48,-165.5,2559,1776,3752,3401,80.7,-14.0,79,559,0.00,2.03,0.00,0.000,1030,0.000,0.137,2552,2845,3577,3753,3401,0,0,0,0,0,0,14.59,14.42,14.63
$GC,746,-0.48,-165.5,2551,2845,3753,3401,105.8,-13.6,99,751,0.00,1.95,0.00,0.000,260,0.000,0.167,2544,3848,3577,3753,3401,0,0,0,0,0,0,14.83,14.25,14.84
$GC,822,-0.48,-165.5,2544,3848,3753,3401,117.0,-13.6,114,829,0.12,1.75,0.00,0.000,3078,0.243,0.081,2571,2843,3577,3753,3401,0,0,0,0,0,0,14.41,14.57,14.60
$GC,1009,-0.48,-165.5,2571,2842,3753,3401,140.2,-13.0,133,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2842,3577,3753,3401,0,0,0,0,0,0,14.83,14.85,14.85
$GC,1188,-0.48,-165.5,2571,2842,3753,3401,163.4,-12.7,151,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2842,3577,3753,3401,0,0,0,0,0,0,14.85,14.87,14.87
$GC,1369,-0.48,-165.5,2571,2842,3753,3400,185.6,-12.2,169,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2842,3577,3753,3401,0,0,0,0,0,0,14.86,14.88,14.88
$GC,1548,-0.48,-165.5,2571,2842,3753,3401,207.0,-11.4,187,1554,0.00,1.98,0.00,0.000,260,0.000,0.165,2566,3847,3576,3753,3400,0,0,0,0,0,0,14.89,14.35,14.90
$GC,1574,-0.48,-165.5,2565,3847,3753,3401,210.1,-10.9,192,1582,0.00,1.75,0.00,0.000,1030,0.000,0.082,2566,2842,3577,3753,3401,0,0,0,0,0,0,14.71,14.62,14.73
$GC,1761,-0.48,-165.5,2565,2841,3753,3401,231.1,-11.1,211,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2841,3577,3753,3401,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1941,-0.48,-165.5,2565,2841,3753,3401,250.9,-10.8,229,1947,0.00,2.00,0.00,0.000,260,0.000,0.163,2558,3842,3577,3753,3401,0,0,0,0,0,0,14.90,14.35,14.92
$GC,1998,-0.48,-165.5,2558,3842,3753,3401,257.4,-10.6,240,2006,0.00,1.73,0.00,0.000,1030,0.000,0.080,2559,2844,3577,3753,3401,0,0,0,0,0,0,14.71,14.62,14.73
$GC,2304,-0.48,-165.5,2558,2843,3753,3401,291.8,-11.4,256,2310,0.00,1.95,0.00,0.000,260,0.000,0.165,2551,3842,3577,3753,3401,0,0,0,0,0,0,14.92,14.39,14.94
$GC,2331,-0.48,-165.5,2550,3842,3753,3401,295.1,-12.3,261,2337,0.00,1.73,0.00,0.000,1030,0.000,0.080,2551,2844,3577,3753,3401,0,0,0,0,0,0,14.74,14.65,14.76
$GC,2649,-0.48,-165.5,2550,2843,3752,3401,334.7,-12.8,279,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2842,3577,3753,3401,0,0,0,0,0,0,14.95,14.97,14.96
$GC,2949,-0.48,-165.5,2551,2843,3753,3401,372.7,-12.7,294,2954,0.00,1.95,0.00,0.000,260,0.000,0.166,2544,3842,3576,3753,3400,0,0,0,0,0,0,14.96,14.42,14.97
$GC,3040,-0.48,-165.5,2543,3842,3753,3401,384.4,-12.4,312,3048,0.12,1.73,0.00,0.000,3078,0.240,0.080,2571,2839,3576,3753,3400,0,0,0,0,0,0,14.50,14.67,14.70
$GC,3355,-0.48,-165.5,2571,2839,3753,3401,420.1,-11.3,329,3361,0.00,1.98,0.00,0.000,260,0.000,0.168,2566,3847,3577,3753,3401,0,0,0,0,0,0,14.97,14.36,14.98
$GC,3407,-0.48,-165.5,2566,3847,3753,3400,426.2,-10.8,339,3412,0.00,1.73,0.00,0.000,1030,0.000,0.082,2566,2851,3576,3752,3401,0,0,0,0,0,0,14.76,14.66,14.78
$GC,3719,-0.48,-165.5,2566,2850,3752,3401,463.4,-12.1,356,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2850,3576,3752,3401,0,0,0,0,0,0,14.97,14.99,14.98
$GC,4019,-0.48,-165.5,2565,2850,3752,3400,498.5,-11.5,371,4025,0.00,1.92,0.00,0.000,260,0.000,0.168,2559,3842,3576,3752,3400,0,0,0,0,0,0,14.97,14.42,15.00
$GC,4071,-0.48,-165.5,2558,3842,3752,3401,504.5,-11.1,381,4077,0.00,1.73,0.00,0.000,1030,0.000,0.082,2558,2841,3576,3752,3401,0,0,0,0,0,0,14.77,14.67,14.80
$GC,4383,-0.48,-165.5,2558,2840,3752,3401,539.1,-10.8,398,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2840,3576,3752,3401,0,0,0,0,0,0,14.97,14.99,14.99
$GC,4684,-0.48,-165.5,2558,2840,3752,3400,569.8,-10.1,413,4690,0.00,1.98,0.00,0.000,260,0.000,0.169,2552,3846,3576,3751,3401,0,0,0,0,0,0,14.97,14.40,15.00
$GC,4776,-0.48,-165.5,2551,3846,3751,3401,579.6,-10.5,431,4781,0.00,1.73,0.00,0.000,1030,0.000,0.082,2551,2845,3575,3750,3401,0,0,0,0,0,0,14.77,14.67,14.80
$GC,5088,-0.48,-165.5,2551,2845,3750,3401,616.2,-12.1,448,5094,0.00,1.80,0.00,0.000,516,0.000,0.083,2551,1783,3575,3750,3400,0,0,0,0,0,0,14.99,14.67,15.00
$GC,5131,-0.48,-165.5,2551,1782,3750,3401,621.2,-10.9,456,5138,0.12,2.03,0.00,0.000,3078,0.247,0.139,2570,2858,3574,3749,3400,0,0,0,0,0,0,14.50,14.55,14.71
$GC,5455,-0.48,-165.5,2569,2859,3749,3401,657.2,-11.4,475,5461,0.00,1.90,0.00,0.000,260,0.000,0.173,2564,3842,3575,3749,3401,0,0,0,0,0,0,14.97,14.40,14.99
$GC,5522,-0.48,-165.5,2564,3842,3748,3401,664.8,-10.9,488,5529,0.00,1.75,0.00,0.000,1030,0.000,0.082,2565,2854,3574,3747,3401,0,0,0,0,0,0,14.69,14.63,14.73
$GC,5840,-0.48,-165.5,2564,2854,3747,3400,700.2,-10.9,506,5846,0.00,1.83,0.00,0.000,516,0.000,0.081,2565,1775,3574,3747,3401,0,0,0,0,0,0,14.97,14.67,15.00
$GC,5867,-0.48,-165.5,2564,1772,3747,3401,703.1,-10.0,511,5872,0.00,2.03,0.00,0.000,1030,0.000,0.136,2556,2852,3574,3747,3401,0,0,0,0,0,0,14.73,14.55,14.78
$GC,6185,-0.48,-165.5,2556,2852,3747,3401,737.6,-10.7,529,6190,0.00,1.92,0.00,0.000,260,0.000,0.174,2549,3844,3574,3747,3401,0,0,0,0,0,0,14.97,14.37,15.00
$GC,6277,-0.48,-165.5,2549,3845,3746,3401,747.6,-10.9,547,6282,0.00,1.73,0.00,0.000,1030,0.000,0.083,2549,2845,3573,3746,3401,0,0,0,0,0,0,14.77,14.67,14.80
$GC,6589,-0.48,-165.5,2549,2845,3746,3401,782.2,-11.1,564,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2845,3573,3746,3401,0,0,0,0,0,0,14.99,15.01,15.00
$GC,6889,-0.48,-165.5,2549,2845,3746,3401,814.8,-10.9,579,6895,0.00,1.98,0.00,0.000,260,0.000,0.174,2542,3844,3573,3746,3401,0,0,0,0,0,0,15.00,14.40,15.01
$GC,6921,-0.48,-165.5,2542,3844,3745,3401,818.5,-11.7,585,6928,0.15,1.73,0.00,0.000,3078,0.221,0.085,2578,2848,3573,3745,3401,0,0,0,0,0,0,14.52,14.68,14.72
$GC,7235,-0.48,-165.5,2578,2847,3745,3401,843.9,-7.8,602,7237,0.00,0.00,0.00,0.000,38,0.000,0.000,2578,2848,3573,3745,3401,0,0,0,0,0,0,14.98,15.00,15.00
$GC,7535,-0.48,-165.5,2577,2848,3745,3400,866.8,-7.8,617,7537,0.00,0.00,0.00,0.000,38,0.000,0.000,2578,2848,3573,3745,3401,0,0,0,0,0,0,15.00,15.01,15.01
$GC,7835,-0.48,-165.5,2577,2847,3744,3401,890.4,-7.8,632,7836,0.00,0.00,0.00,0.000,38,0.000,0.000,2578,2848,3572,3744,3401,0,0,0,0,0,0,14.98,15.00,15.00
$GC,8135,-0.48,-165.5,2577,2848,3743,3401,913.3,-7.7,647,8141,0.00,1.98,0.00,0.000,292,0.000,0.175,2573,3844,3572,3743,3401,0,0,0,0,0,0,14.99,14.36,15.00
$GC,8171,-0.48,-165.5,2572,3844,3742,3401,916.4,-7.9,654,8178,0.00,1.73,0.00,0.000,1062,0.000,0.087,2573,2848,3571,3742,3401,0,0,0,0,0,0,14.76,14.65,14.79
$GC,8478,-0.48,-165.5,2572,2847,3742,3401,941.6,-8.3,670,8483,0.00,1.83,0.00,0.000,548,0.000,0.084,2572,1779,3571,3742,3401,0,0,0,0,0,0,15.00,14.66,15.02
$GC,8505,-0.48,-165.5,2572,1775,3742,3401,943.8,-8.0,675,8510,0.00,2.03,0.00,0.000,1062,0.000,0.138,2565,2852,3571,3742,3401,0,0,0,0,0,0,14.69,14.49,14.73
$GC,8823,-0.48,-165.5,2565,2852,3742,3401,971.6,-8.8,693,8828,0.00,1.92,0.00,0.000,292,0.000,0.177,2558,3842,3571,3741,3401,0,0,0,0,0,0,15.00,14.38,15.02
$GC,8895,-0.48,-165.5,2558,3842,3741,3401,978.2,-8.8,707,8901,0.00,1.77,0.00,0.000,1062,0.000,0.084,2558,2826,3571,3741,3401,0,0,0,0,0,0,14.71,14.60,14.75
$STATE,9026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9026,begin apogee
$GC,9031,-0.10,0.0,2558,2605,3741,3401,990.3,-9.3,715,9196,0.47,0.00,161.38,2.380,10246,0.192,0.000,2691,2605,2900,2924,2877,0,0,0,0,0,0,14.50,13.64,12.44
$STATE,9197,end apogee,CONTROL_FINISHED_OK
$STATE,9197,begin climb
$GC,9199,0.48,165.5,2692,2605,2923,2876,994.6,0.0,723,9375,0.62,2.12,167.60,2.326,10756,0.122,0.088,2888,1539,2225,2215,2236,0,0,0,0,0,0,13.71,13.33,12.27
$GC,9437,0.48,165.5,2887,1539,2214,2234,975.4,10.8,769,9443,0.00,2.12,0.00,0.000,1030,0.000,0.125,2888,2598,2223,2214,2233,0,0,0,0,0,0,13.87,13.76,13.89
$GC,9750,0.48,165.5,2887,2598,2214,2228,938.5,11.8,786,9755,0.00,2.08,0.00,0.000,260,0.000,0.161,2888,3666,2220,2214,2227,0,0,0,0,0,0,14.57,14.26,14.59
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$STATE,16827,end climb,SURFACE_DEPTH_REACHED
$STATE,16827,begin surface coast
$FINISH,-0.3,1.020583
$STATE,16859,end surface coast,CONTROL_FINISHED_OK
$STATE,16859,begin surface
$SM_CCo,16874,91.53,0.889,1,0,1880,250.20
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$IRIDIUM_FIX,5941.39,-2155.21,300519,014115
$TT8_MAMPS,0.02247,0.875581
$HUMID,38.34
$INTERNAL_PRESSURE,8.80829
$TCM_TEMP,18.30
$XPDR_PINGS,1
$SC_FREEKB,3870656
$24V_AH,12.27,0.000
$10V_AH,12.75,30.367
$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,0.000,0.000,0.000,0.000,0.000,0.000,16871.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.162,0.000,0.000,0.000
$MEM,303444
$DATA_FILE_SIZE,49966,1379
$CAP_FILE_SIZE,170314,0
$CFSIZE,2097872896,2081980416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.095,279.04,1
$GPS,300519,063428,5940.392,-2158.702,47,0.8,57,-12.9,0.5,325.6,11,9.7