version: 66.13
glider: 527
mission: 5
dive: 90
start: 6 2 119 23 17 8
data:
$ID,527
$MISSION,5
$DIVE,90
$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,22
$R_STBD_OVSHOOT,29
$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
$GPS1,020619,230933,5912.4087,-2154.9119,63,0.9,78,-12.7,0.8,281.3,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-75.3
$GPS2,020619,231627,5912.4082,-2154.9492,8,0.9,23,-12.7,0.7,69.8,9,9.3
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S4
$TGT_LATLONG,5910.000,-2140.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,138.4,14875,-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,11,-0.48,-165.5,82,2833,1830,1915,0.0,0.0,0,104,0.00,0.00,-85.40,0.008,16390,0.000,0.000,75,2832,3576,3748,3405,0,0,0,0,0,0,14.64,12.99,14.66
$GC,106,-0.48,-165.5,75,2832,3748,3404,5.5,-9.0,9,123,12.62,1.90,0.00,0.000,2596,0.405,0.095,2567,1792,3577,3749,3405,0,0,0,0,0,0,14.09,14.40,14.41
$GC,254,-0.48,-165.5,2568,1788,3751,3405,33.0,-11.9,38,261,0.00,2.03,0.00,0.000,1030,0.000,0.144,2562,2840,3578,3752,3405,0,0,0,0,0,0,14.52,14.35,14.56
$GC,441,-0.48,-165.5,2561,2841,3752,3405,55.6,-12.8,57,447,0.00,1.95,0.00,0.000,260,0.000,0.166,2554,3843,3578,3752,3404,0,0,0,0,0,0,14.78,14.27,14.79
$GC,538,-0.48,-165.5,2554,3843,3751,3405,68.7,-12.8,76,546,0.00,1.77,0.00,0.000,1030,0.000,0.088,2554,2841,3578,3752,3404,0,0,0,0,0,0,14.62,14.51,14.64
$GC,724,-0.48,-165.5,2554,2841,3752,3405,94.1,-13.8,95,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2841,3578,3752,3405,0,0,0,0,0,0,14.83,14.84,14.84
$GC,904,-0.48,-165.5,2554,2841,3752,3405,119.1,-13.7,113,910,0.00,1.98,0.00,0.000,260,0.000,0.163,2547,3846,3578,3752,3405,0,0,0,0,0,0,14.85,14.33,14.87
$GC,957,-0.48,-165.5,2547,3846,3752,3405,126.2,-13.3,123,962,0.00,1.77,0.00,0.000,1030,0.000,0.089,2547,2845,3578,3752,3405,0,0,0,0,0,0,14.62,14.52,14.64
$GC,1149,-0.48,-165.5,2547,2845,3752,3405,152.4,-13.8,143,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2845,3578,3752,3405,0,0,0,0,0,0,14.85,14.87,14.87
$GC,1330,-0.48,-165.5,2546,2845,3752,3405,176.9,-13.4,161,1335,0.00,1.98,0.00,0.000,260,0.000,0.165,2539,3848,3578,3752,3405,0,0,0,0,0,0,14.86,14.33,14.88
$GC,1366,-0.48,-165.5,2539,3848,3751,3405,182.2,-13.8,168,1375,0.15,1.77,0.00,0.000,3078,0.228,0.090,2573,2846,3578,3752,3405,0,0,0,0,0,0,14.40,14.50,14.59
$GC,1552,-0.48,-165.5,2573,2846,3752,3405,202.9,-10.9,187,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2847,3578,3752,3405,0,0,0,0,0,0,14.88,14.91,14.91
$GC,1732,-0.48,-165.5,2573,2846,3752,3405,222.2,-10.6,205,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2846,3578,3751,3405,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1912,-0.48,-165.5,2573,2846,3751,3405,241.4,-10.6,223,1918,0.00,1.95,0.00,0.000,260,0.000,0.164,2568,3843,3578,3752,3405,0,0,0,0,0,0,14.91,14.37,14.93
$GC,1945,-0.48,-165.5,2568,3843,3752,3405,244.9,-9.9,229,1951,0.00,1.75,0.00,0.000,1030,0.000,0.089,2568,2847,3578,3751,3405,0,0,0,0,0,0,14.67,14.61,14.69
$GC,2137,-0.48,-165.5,2568,2846,3751,3405,265.9,-11.0,242,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2846,3578,3752,3405,0,0,0,0,0,0,14.93,14.95,14.95
$GC,2438,-0.48,-165.5,2568,2847,3752,3405,298.7,-11.1,257,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2846,3578,3752,3405,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2737,-0.48,-165.5,2568,2846,3751,3405,332.4,-11.4,272,2744,0.00,1.95,0.00,0.000,260,0.000,0.164,2561,3843,3578,3752,3405,0,0,0,0,0,0,14.97,14.40,14.99
$GC,2800,-0.48,-165.5,2560,3843,3752,3405,339.5,-10.9,284,2807,0.00,1.75,0.00,0.000,1030,0.000,0.088,2561,2842,3578,3752,3405,0,0,0,0,0,0,14.74,14.64,14.78
$GC,3124,-0.48,-165.5,2560,2842,3752,3405,376.9,-11.8,303,3130,0.00,1.98,0.00,0.000,260,0.000,0.164,2553,3843,3578,3751,3405,0,0,0,0,0,0,14.96,14.40,14.97
$GC,3176,-0.48,-165.5,2553,3843,3752,3404,383.0,-11.1,313,3182,0.00,1.75,0.00,0.000,1030,0.000,0.088,2554,2845,3578,3752,3405,0,0,0,0,0,0,14.74,14.64,14.77
$GC,3489,-0.48,-165.5,2553,2845,3752,3405,418.6,-11.0,330,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2845,3578,3752,3404,0,0,0,0,0,0,14.98,15.00,15.00
$GC,3789,-0.48,-165.5,2553,2845,3751,3405,451.8,-11.1,345,3795,0.00,1.95,0.00,0.000,260,0.000,0.166,2546,3843,3578,3752,3405,0,0,0,0,0,0,14.98,14.40,15.00
$GC,3841,-0.48,-165.5,2546,3843,3750,3405,457.9,-10.9,355,3847,0.00,1.75,0.00,0.000,1030,0.000,0.089,2546,2844,3577,3750,3405,0,0,0,0,0,0,14.76,14.66,14.79
$GC,4154,-0.48,-165.5,2546,2842,3750,3405,494.8,-11.9,372,4160,0.00,1.98,0.00,0.000,260,0.000,0.168,2538,3847,3577,3750,3405,0,0,0,0,0,0,14.96,14.38,14.98
$GC,4181,-0.48,-165.5,2538,3847,3750,3405,498.2,-12.9,377,4188,0.15,1.75,0.00,0.000,3078,0.223,0.090,2574,2850,3577,3749,3405,0,0,0,0,0,0,14.50,14.66,14.71
$GC,4499,-0.48,-165.5,2573,2850,3750,3405,529.1,-9.4,395,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2851,3577,3749,3405,0,0,0,0,0,0,14.96,14.98,14.97
$GC,4800,-0.48,-165.5,2573,2850,3749,3405,556.2,-9.0,410,4805,0.00,1.95,0.00,0.000,292,0.000,0.168,2569,3848,3577,3749,3405,0,0,0,0,0,0,14.97,14.37,15.00
$GC,4842,-0.48,-165.5,2568,3848,3749,3405,560.1,-9.3,418,4847,0.00,1.75,0.00,0.000,1030,0.000,0.090,2569,2850,3577,3749,3405,0,0,0,0,0,0,14.76,14.65,14.79
$GC,5164,-0.48,-165.5,2568,2850,3749,3405,590.1,-9.4,437,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2850,3577,3749,3405,0,0,0,0,0,0,14.97,15.00,14.99
$GC,5464,-0.48,-165.5,2567,2849,3748,3405,619.6,-9.9,452,5470,0.00,1.98,0.00,0.000,260,0.000,0.171,2562,3850,3575,3747,3404,0,0,0,0,0,0,14.98,14.36,15.00
$GC,5496,-0.48,-165.5,2561,3850,3747,3405,623.1,-10.3,458,5502,0.00,1.77,0.00,0.000,1030,0.000,0.092,2561,2842,3576,3747,3405,0,0,0,0,0,0,14.75,14.64,14.78
$GC,5809,-0.48,-165.5,2561,2842,3747,3405,653.4,-9.6,475,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2842,3576,3747,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6109,-0.48,-165.5,2561,2842,3746,3405,683.1,-10.0,490,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2842,3575,3747,3404,0,0,0,0,0,0,15.00,15.03,15.02
$GC,6409,-0.48,-165.5,2561,2841,3746,3404,713.9,-10.2,505,6415,0.00,1.98,0.00,0.000,260,0.000,0.170,2554,3843,3575,3745,3405,0,0,0,0,0,0,15.02,14.39,15.03
$GC,6486,-0.48,-165.5,2554,3843,3745,3405,722.0,-10.1,520,6494,0.00,1.75,0.00,0.000,1030,0.000,0.090,2555,2843,3574,3744,3405,0,0,0,0,0,0,14.77,14.66,14.80
$GC,6792,-0.48,-165.5,2554,2843,3745,3404,754.5,-10.8,536,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2844,3575,3746,3405,0,0,0,0,0,0,15.01,15.03,15.03
$GC,7092,-0.48,-165.5,2554,2843,3744,3405,785.3,-10.1,551,7097,0.00,1.98,0.00,0.000,260,0.000,0.171,2548,3843,3574,3743,3405,0,0,0,0,0,0,15.02,14.40,15.03
$GC,7128,-0.48,-165.5,2547,3843,3742,3405,789.1,-10.5,558,7135,0.00,1.75,0.00,0.000,1030,0.000,0.090,2547,2845,3573,3742,3405,0,0,0,0,0,0,14.77,14.66,14.81
$GC,7434,-0.48,-165.5,2546,2845,3743,3405,821.1,-10.7,574,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2845,3574,3743,3405,0,0,0,0,0,0,15.01,15.02,15.02
$GC,7735,-0.48,-165.5,2547,2845,3742,3405,853.1,-10.7,589,7740,0.00,1.98,0.00,0.000,260,0.000,0.173,2539,3843,3573,3742,3405,0,0,0,0,0,0,15.01,14.36,15.03
$GC,7761,-0.48,-165.5,2540,3843,3742,3405,856.2,-12.0,594,7768,0.15,1.75,0.00,0.000,3078,0.215,0.092,2575,2848,3573,3742,3405,0,0,0,0,0,0,14.52,14.66,14.71
$GC,8080,-0.48,-165.5,2575,2846,3742,3405,883.8,-8.8,612,8082,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2846,3573,3741,3405,0,0,0,0,0,0,14.99,15.00,15.00
$GC,8379,-0.48,-165.5,2576,2846,3741,3404,910.8,-9.1,627,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2847,3573,3741,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8679,-0.48,-165.5,2575,2847,3741,3404,938.4,-9.3,642,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2846,3573,3741,3405,0,0,0,0,0,0,14.98,15.00,15.00
$GC,8980,-0.48,-165.5,2575,2846,3740,3405,965.0,-9.0,657,8986,0.00,1.98,0.00,0.000,292,0.000,0.172,2571,3843,3571,3739,3404,0,0,0,0,0,0,15.00,14.35,15.02
$GC,9033,-0.48,-165.5,2571,3843,3739,3404,969.8,-8.7,667,9038,0.00,1.75,0.00,0.000,1062,0.000,0.091,2571,2848,3571,3738,3405,0,0,0,0,0,0,14.75,14.63,14.78
$STATE,9264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9264,begin apogee
$GC,9268,-0.10,0.0,2571,2601,3739,3405,990.7,-8.9,680,9432,0.45,0.00,160.88,2.379,10246,0.181,0.000,2699,2600,2900,2923,2877,0,0,0,0,0,0,14.49,13.65,12.57
$STATE,9434,end apogee,CONTROL_FINISHED_OK
$STATE,9434,begin climb
$GC,9435,0.48,165.5,2698,2600,2922,2876,995.2,0.0,688,9614,0.60,2.05,167.68,2.320,10756,0.106,0.086,2889,1540,2225,2212,2238,0,0,0,0,0,0,13.71,13.13,12.27
$GC,9660,0.48,165.5,2889,1540,2212,2236,977.8,11.0,731,9667,0.00,2.12,0.00,0.000,1030,0.000,0.120,2889,2603,2224,2213,2235,0,0,0,0,0,0,13.82,13.70,13.85
$GC,9966,0.48,165.5,2889,2603,2213,2229,941.4,11.9,747,9971,0.00,2.08,0.00,0.000,260,0.000,0.156,2889,3667,2221,2213,2229,0,0,0,0,0,0,14.59,14.25,14.60
$GC,10008,0.48,165.5,2889,3668,2214,2229,935.8,14.0,755,10014,0.00,1.92,0.00,0.000,1030,0.000,0.076,2896,2584,2220,2213,2228,0,0,0,0,0,0,14.45,14.36,14.47
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$STATE,17396,end climb,SURFACE_DEPTH_REACHED
$STATE,17397,begin surface coast
$FINISH,-0.1,1.026694
$STATE,17418,end surface coast,CONTROL_FINISHED_OK
$STATE,17418,begin surface
$SM_CCo,17436,91.55,0.872,1,0,1879,250.20
$SM_GC,0.78,7.95,2.53,91.55,0.067,0.121,0.872,168,2852,1879,-7.94,-0.37,250.20,0,0,0,0,1,0,14.62,14.45,13.60
$IRIDIUM_FIX,5911.31,-2157.45,020619,181146
$TT8_MAMPS,0.023219,0.280875
$HUMID,38.10
$INTERNAL_PRESSURE,8.83759
$TCM_TEMP,18.50
$XPDR_PINGS,2
$SC_FREEKB,3863360
$24V_AH,12.27,0.000
$10V_AH,12.63,37.028
$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,22.675,142.100,328.550,91.550,0.000,0.000,0.000,275.975,0.500,0.000,31.881,3279.435,11550.364,694.394,2309.860,120.591,0.000,2059.204,0.000,1927.580,0.000,0.536,0.000
$DEVICE_MAMPS,405.450,172.890,2379.150,872.100,0.000,0.000,0.000,193.545,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17431.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.196,0.000,0.000,0.000
$MEM,303016
$DATA_FILE_SIZE,46606,1344
$CAP_FILE_SIZE,164898,0
$CFSIZE,2097872896,2078244864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.102,35.04,1
$GPS,030619,041055,5911.720,-2149.932,50,0.8,56,-12.7,0.5,235.4,9,9.4