version: 66.13
glider: 527
mission: 5
dive: 85
start: 6 1 119 22 31 14
data:
$ID,527
$MISSION,5
$DIVE,85
$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,12
$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
$GPS1,010619,222408,5915.3457,-2200.3596,33,0.8,40,-12.8,0.5,57.6,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-74.4
$GPS2,010619,223033,5915.3628,-2200.3284,8,0.8,16,-12.8,1.1,186.9,10,9.6
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S3
$TGT_LATLONG,5910.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,197.6,9937,-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,-165.5,121,2862,1828,1916,0.0,0.0,0,103,0.00,0.00,-85.10,0.008,16390,0.000,0.000,116,2862,3577,3750,3404,0,0,0,0,0,0,14.63,13.01,14.65
$GC,105,-0.48,-165.5,116,2862,3750,3404,5.1,-9.0,9,122,12.07,1.92,0.00,0.000,2596,0.402,0.080,2569,1784,3577,3750,3404,0,0,0,0,0,0,14.06,14.42,14.37
$GC,263,-0.48,-165.5,2568,1783,3752,3404,33.4,-10.9,40,270,0.00,2.05,0.00,0.000,1030,0.000,0.138,2562,2860,3578,3752,3404,0,0,0,0,0,0,14.53,14.37,14.56
$GC,449,-0.48,-165.5,2562,2860,3753,3404,57.2,-12.4,59,455,0.00,1.90,0.00,0.000,260,0.000,0.164,2555,3843,3578,3753,3404,0,0,0,0,0,0,14.78,14.28,14.79
$GC,612,-0.48,-165.5,2556,3843,3752,3404,77.9,-12.6,91,618,0.00,1.70,0.00,0.000,1030,0.000,0.077,2555,2859,3578,3752,3404,0,0,0,0,0,0,14.64,14.55,14.66
$GC,805,-0.48,-165.5,2554,2859,3752,3404,103.1,-13.1,111,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2859,3578,3752,3404,0,0,0,0,0,0,14.84,14.86,14.85
$GC,985,-0.48,-165.5,2554,2859,3752,3404,126.7,-12.9,129,991,0.00,1.92,0.00,0.000,260,0.000,0.159,2548,3844,3578,3752,3404,0,0,0,0,0,0,14.85,14.28,14.88
$GC,1028,-0.48,-165.5,2547,3844,3754,3404,132.5,-13.2,137,1034,0.00,1.73,0.00,0.000,1030,0.000,0.078,2548,2846,3578,3752,3404,0,0,0,0,0,0,14.69,14.59,14.71
$GC,1221,-0.48,-165.5,2547,2845,3752,3403,158.0,-13.4,157,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2845,3578,3753,3404,0,0,0,0,0,0,14.86,14.88,14.88
$GC,1401,-0.48,-165.5,2547,2845,3753,3404,181.9,-13.3,175,1406,0.00,1.95,0.00,0.000,260,0.000,0.159,2540,3847,3578,3752,3404,0,0,0,0,0,0,14.87,14.35,14.88
$GC,1447,-0.48,-165.5,2539,3847,3752,3404,188.3,-13.1,184,1456,0.15,1.75,0.00,0.000,3078,0.233,0.079,2575,2842,3578,3752,3404,0,0,0,0,0,0,14.43,14.59,14.63
$GC,1633,-0.48,-165.5,2574,2842,3753,3404,208.7,-10.6,203,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2842,3578,3752,3404,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1813,-0.48,-165.5,2574,2842,3752,3404,228.1,-10.9,221,1819,0.00,1.95,0.00,0.000,260,0.000,0.159,2570,3844,3578,3752,3404,0,0,0,0,0,0,14.91,14.38,14.93
$GC,1876,-0.48,-165.5,2569,3844,3754,3404,234.6,-10.7,233,1882,0.00,1.73,0.00,0.000,1030,0.000,0.079,2569,2845,3578,3752,3405,0,0,0,0,0,0,14.66,14.56,14.68
$GC,2079,-0.48,-165.5,2569,2844,3752,3404,257.0,-11.2,251,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2843,3578,3752,3404,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2379,-0.48,-165.5,2569,2843,3752,3404,291.5,-11.3,266,2385,0.00,1.95,0.00,0.000,260,0.000,0.161,2562,3846,3578,3752,3404,0,0,0,0,0,0,14.92,14.39,14.95
$GC,2476,-0.48,-165.5,2562,3846,3752,3404,302.5,-10.7,285,2483,0.00,1.73,0.00,0.000,1030,0.000,0.078,2563,2845,3578,3752,3404,0,0,0,0,0,0,14.72,14.62,14.75
$GC,2782,-0.48,-165.5,2561,2844,3752,3404,337.5,-11.2,301,2788,0.00,1.95,0.00,0.000,260,0.000,0.161,2555,3846,3578,3752,3404,0,0,0,0,0,0,14.96,14.41,14.98
$GC,2828,-0.48,-165.5,2554,3846,3752,3404,342.8,-10.8,310,2834,0.00,1.73,0.00,0.000,1030,0.000,0.080,2555,2845,3577,3752,3403,0,0,0,0,0,0,14.75,14.65,14.77
$GC,3146,-0.48,-165.5,2554,2844,3752,3405,380.3,-12.0,328,3152,0.00,1.95,0.00,0.000,260,0.000,0.163,2547,3844,3578,3752,3404,0,0,0,0,0,0,14.95,14.37,14.97
$GC,3229,-0.48,-165.5,2547,3845,3752,3404,390.4,-12.3,344,3235,0.00,1.73,0.00,0.000,1030,0.000,0.079,2548,2842,3578,3752,3404,0,0,0,0,0,0,14.76,14.68,14.78
$GC,3552,-0.48,-165.5,2547,2841,3752,3404,431.4,-12.6,363,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2841,3578,3752,3404,0,0,0,0,0,0,14.98,15.00,15.00
$GC,3852,-0.48,-165.5,2547,2841,3752,3404,469.3,-12.9,378,3858,0.00,1.95,0.00,0.000,260,0.000,0.164,2539,3842,3578,3752,3404,0,0,0,0,0,0,14.99,14.42,15.01
$GC,3879,-0.48,-165.5,2540,3843,3752,3404,472.7,-12.8,383,3885,0.15,1.75,0.00,0.000,3078,0.226,0.080,2575,2853,3577,3751,3404,0,0,0,0,0,0,14.51,14.66,14.71
$GC,4197,-0.48,-165.5,2575,2853,3752,3404,505.4,-10.0,401,4203,0.00,1.83,0.00,0.000,516,0.000,0.079,2576,1776,3578,3752,3404,0,0,0,0,0,0,15.00,14.68,15.02
$GC,4229,-0.48,-165.5,2575,1772,3751,3404,508.5,-9.3,407,4235,0.00,2.03,0.00,0.000,1030,0.000,0.132,2569,2860,3578,3752,3404,0,0,0,0,0,0,14.73,14.56,14.77
$GC,4542,-0.48,-165.5,2569,2860,3752,3403,540.4,-10.1,424,4548,0.00,1.88,0.00,0.000,260,0.000,0.167,2562,3840,3577,3751,3403,0,0,0,0,0,0,14.99,14.44,15.01
$GC,4625,-0.48,-165.5,2562,3840,3750,3404,548.5,-9.6,440,4631,0.00,1.70,0.00,0.000,1030,0.000,0.079,2562,2850,3577,3750,3404,0,0,0,0,0,0,14.78,14.69,14.81
$GC,4948,-0.48,-165.5,2562,2850,3749,3404,580.8,-10.1,459,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2850,3576,3749,3404,0,0,0,0,0,0,15.01,15.03,15.02
$GC,5248,-0.48,-165.5,2562,2850,3749,3404,611.2,-10.0,474,5253,0.00,1.92,0.00,0.000,260,0.000,0.168,2555,3841,3576,3749,3404,0,0,0,0,0,0,15.01,14.44,15.03
$GC,5305,-0.48,-165.5,2555,3841,3749,3404,617.0,-9.7,485,5312,0.00,1.73,0.00,0.000,1030,0.000,0.080,2555,2841,3576,3749,3404,0,0,0,0,0,0,14.79,14.69,14.81
$GC,5611,-0.48,-165.5,2555,2841,3749,3404,647.7,-10.1,501,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2840,3576,3749,3404,0,0,0,0,0,0,15.02,15.04,15.03
$GC,5910,-0.48,-165.5,2555,2840,3748,3404,677.5,-10.2,516,5917,0.00,1.98,0.00,0.000,260,0.000,0.168,2548,3847,3575,3746,3404,0,0,0,0,0,0,15.02,14.40,15.04
$GC,6003,-0.48,-165.5,2548,3847,3746,3404,687.0,-9.5,534,6008,0.00,1.73,0.00,0.000,1030,0.000,0.081,2548,2850,3575,3746,3404,0,0,0,0,0,0,14.80,14.70,14.82
$GC,6315,-0.48,-165.5,2548,2850,3746,3404,721.5,-11.4,551,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2850,3575,3746,3404,0,0,0,0,0,0,15.01,15.03,15.03
$GC,6615,-0.48,-165.5,2548,2850,3746,3404,755.6,-11.3,566,6621,0.00,1.95,0.00,0.000,260,0.000,0.171,2541,3846,3574,3745,3404,0,0,0,0,0,0,15.02,14.36,15.03
$GC,6647,-0.48,-165.5,2540,3846,3744,3404,759.4,-12.3,572,6654,0.15,1.77,0.00,0.000,3078,0.226,0.083,2576,2829,3574,3744,3404,0,0,0,0,0,0,14.52,14.66,14.72
$GC,6963,-0.48,-165.5,2576,2829,3744,3404,787.7,-8.8,589,6964,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2828,3574,3744,3405,0,0,0,0,0,0,15.02,15.04,15.03
$GC,7262,-0.48,-165.5,2576,2829,3743,3404,813.9,-8.8,604,7268,0.00,2.00,0.00,0.000,292,0.000,0.170,2571,3846,3573,3743,3403,0,0,0,0,0,0,15.02,14.38,15.04
$GC,7310,-0.48,-165.5,2571,3846,3742,3404,818.3,-8.9,613,7316,0.00,1.73,0.00,0.000,1062,0.000,0.083,2571,2852,3573,3742,3404,0,0,0,0,0,0,14.74,14.64,14.77
$GC,7628,-0.48,-165.5,2571,2852,3742,3404,848.5,-9.7,631,7633,0.00,1.83,0.00,0.000,516,0.000,0.083,2571,1784,3573,3742,3404,0,0,0,0,0,0,15.02,14.67,15.03
$GC,7660,-0.48,-165.5,2571,1781,3742,3404,851.6,-9.2,637,7666,0.00,2.03,0.00,0.000,1030,0.000,0.135,2563,2859,3573,3742,3404,0,0,0,0,0,0,14.73,14.55,14.78
$GC,7972,-0.48,-165.5,2563,2859,3742,3404,883.2,-10.2,654,7978,0.00,1.90,0.00,0.000,260,0.000,0.172,2557,3841,3572,3741,3404,0,0,0,0,0,0,15.01,14.41,15.03
$GC,8050,-0.48,-165.5,2556,3841,3741,3404,891.0,-9.7,669,8057,0.00,1.73,0.00,0.000,1030,0.000,0.082,2556,2844,3572,3741,3404,0,0,0,0,0,0,14.73,14.66,14.76
$GC,8356,-0.48,-165.5,2556,2843,3741,3404,922.4,-10.4,685,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2843,3572,3741,3404,0,0,0,0,0,0,15.01,15.03,15.02
$GC,8655,-0.48,-165.5,2555,2842,3739,3404,953.3,-10.3,700,8661,0.00,1.98,0.00,0.000,260,0.000,0.173,2549,3840,3571,3739,3403,0,0,0,0,0,0,15.01,14.37,15.03
$GC,8723,-0.48,-165.5,2549,3840,3739,3403,960.5,-10.8,713,8729,0.00,1.77,0.00,0.000,1030,0.000,0.083,2549,2822,3571,3739,3403,0,0,0,0,0,0,14.77,14.65,14.80
$STATE,9019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9019,begin apogee
$GC,9023,-0.10,0.0,2549,2600,3739,3403,991.7,-10.4,730,9188,0.52,0.00,160.90,2.368,10246,0.197,0.000,2694,2600,2900,2923,2877,0,0,0,0,0,0,14.47,13.67,12.54
$STATE,9189,end apogee,CONTROL_FINISHED_OK
$STATE,9189,begin climb
$GC,9191,0.48,165.5,2694,2600,2922,2877,996.0,0.0,738,9368,0.62,2.05,167.90,2.307,10756,0.119,0.084,2889,1530,2226,2214,2238,0,0,0,0,0,0,13.73,13.12,12.22
$GC,9470,0.48,165.5,2889,1531,2214,2234,971.7,11.2,792,9476,0.00,2.10,0.00,0.000,1030,0.000,0.122,2889,2602,2224,2214,2234,0,0,0,0,0,0,14.02,13.90,14.04
$GC,9782,0.48,165.5,2889,2602,2213,2229,934.5,12.0,809,9789,0.00,2.05,0.00,0.000,260,0.000,0.156,2889,3667,2221,2213,2229,0,0,0,0,0,0,14.64,14.31,14.66
$GC,9811,0.48,165.5,2888,3667,2214,2229,930.7,13.4,814,9816,0.00,1.90,0.00,0.000,1030,0.000,0.076,2896,2594,2221,2214,2229,0,0,0,0,0,0,14.49,14.40,14.51
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$STATE,17061,end climb,SURFACE_DEPTH_REACHED
$STATE,17061,begin surface coast
$FINISH,0.7,1.026908
$STATE,17082,end surface coast,CONTROL_FINISHED_OK
$STATE,17083,begin surface
$SM_CCo,17098,91.90,0.859,1,0,1880,250.20
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$IRIDIUM_FIX,5921.12,-2038.30,010619,172552
$TT8_MAMPS,0.02247,0.751247
$HUMID,38.18
$INTERNAL_PRESSURE,8.83759
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3865280
$24V_AH,12.22,0.000
$10V_AH,12.33,35.266
$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,22.125,140.300,328.800,91.900,0.000,0.000,0.000,254.675,0.000,0.000,25.684,3332.301,11108.236,691.508,2338.201,118.291,0.000,2056.882,0.000,1982.225,0.000,0.536,0.000
$DEVICE_MAMPS,401.625,172.890,2368.440,859.095,0.000,0.000,0.000,195.075,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17094.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.180,0.000,0.000,0.000
$MEM,303012
$DATA_FILE_SIZE,49942,1383
$CAP_FILE_SIZE,164147,0
$CFSIZE,2097872896,2079227904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.075,2.99,1
$GPS,020619,031910,5913.752,-2201.207,32,0.9,42,-12.8,1.4,252.5,10,9.7