version: 66.13
glider: 527
mission: 5
dive: 100
start: 6 4 119 23 17 4
data:
$ID,527
$MISSION,5
$DIVE,100
$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,38
$R_STBD_OVSHOOT,13
$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
$GPS1,040619,230935,5920.9258,-2153.2341,52,0.9,63,-12.8,0.2,286.3,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-74.5
$GPS2,040619,231623,5920.9175,-2153.1934,10,0.9,21,-12.8,0.0,305.0,8,9.8
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,246.8,6650,-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,-165.5,120,2870,1827,1917,0.0,0.0,0,104,0.00,0.00,-86.57,0.008,16390,0.000,0.000,110,2870,3576,3749,3403,0,0,0,0,0,0,14.64,13.39,14.66
$GC,106,-0.48,-165.5,110,2870,3749,3403,5.0,-8.1,9,124,12.45,1.90,0.00,0.000,2340,0.399,0.129,2565,3845,3576,3749,3404,0,0,0,0,0,0,13.93,14.16,14.31
$GC,315,-0.48,-165.5,2562,3846,3752,3404,42.4,-12.1,50,321,0.00,1.73,0.00,0.000,1030,0.000,0.078,2562,2848,3578,3752,3404,0,0,0,0,0,0,14.57,14.49,14.59
$GC,501,-0.48,-165.5,2562,2846,3752,3404,65.7,-11.9,69,507,0.00,1.95,0.00,0.000,260,0.000,0.154,2556,3845,3578,3752,3404,0,0,0,0,0,0,14.81,14.23,14.82
$GC,563,-0.48,-165.5,2555,3845,3752,3404,73.5,-11.7,81,569,0.00,1.70,0.00,0.000,1030,0.000,0.071,2556,2857,3578,3752,3404,0,0,0,0,0,0,14.62,14.54,14.64
$GC,756,-0.48,-165.5,2555,2856,3750,3404,97.3,-13.0,101,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2856,3578,3752,3404,0,0,0,0,0,0,14.83,14.85,14.85
$GC,936,-0.48,-165.5,2555,2856,3752,3404,120.2,-12.8,119,942,0.00,1.92,0.00,0.000,260,0.000,0.154,2549,3841,3578,3752,3404,0,0,0,0,0,0,14.86,14.21,14.88
$GC,969,-0.48,-165.5,2548,3841,3752,3404,124.6,-13.4,125,975,0.00,1.70,0.00,0.000,1030,0.000,0.070,2548,2841,3578,3752,3404,0,0,0,0,0,0,14.65,14.56,14.67
$GC,1162,-0.48,-165.5,2548,2840,3751,3404,149.3,-12.8,145,1167,0.00,1.77,0.00,0.000,516,0.000,0.070,2548,1780,3578,3752,3404,0,0,0,0,0,0,14.88,14.57,14.90
$GC,1188,-0.48,-165.5,2548,1777,3752,3404,152.7,-12.8,150,1195,0.15,2.03,0.00,0.000,3078,0.243,0.130,2573,2852,3578,3752,3404,0,0,0,0,0,0,14.33,14.41,14.57
$GC,1374,-0.48,-165.5,2573,2852,3752,3404,173.8,-11.2,169,1380,0.00,1.90,0.00,0.000,260,0.000,0.158,2568,3842,3578,3752,3404,0,0,0,0,0,0,14.87,14.27,14.88
$GC,1457,-0.48,-165.5,2569,3842,3752,3404,183.1,-11.3,185,1462,0.00,1.73,0.00,0.000,1030,0.000,0.070,2568,2843,3578,3752,3404,0,0,0,0,0,0,14.61,14.52,14.64
$GC,1649,-0.48,-165.5,2568,2843,3752,3404,206.1,-11.9,205,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2843,3578,3752,3404,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1829,-0.48,-165.5,2568,2843,3751,3404,226.7,-11.0,223,1836,0.00,1.95,0.00,0.000,260,0.000,0.156,2561,3843,3578,3752,3404,0,0,0,0,0,0,14.90,14.29,14.91
$GC,1882,-0.48,-165.5,2560,3843,3751,3404,233.0,-10.6,233,1888,0.00,1.70,0.00,0.000,1030,0.000,0.071,2561,2845,3578,3752,3404,0,0,0,0,0,0,14.69,14.60,14.71
$GC,2086,-0.48,-165.5,2560,2845,3752,3404,255.1,-11.6,252,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2845,3577,3751,3404,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2385,-0.48,-165.5,2560,2845,3751,3404,290.2,-11.8,267,2391,0.00,1.95,0.00,0.000,260,0.000,0.158,2554,3844,3578,3752,3404,0,0,0,0,0,0,14.93,14.28,14.95
$GC,2448,-0.48,-165.5,2553,3844,3752,3404,297.7,-11.2,279,2455,0.00,1.70,0.00,0.000,1030,0.000,0.071,2553,2849,3578,3752,3404,0,0,0,0,0,0,14.72,14.64,14.74
$GC,2772,-0.48,-165.5,2553,2848,3751,3404,336.3,-12.0,298,2777,0.00,1.98,0.00,0.000,260,0.000,0.160,2547,3848,3578,3752,3404,0,0,0,0,0,0,14.95,14.29,14.96
$GC,2818,-0.48,-165.5,2546,3848,3752,3404,342.3,-12.3,307,2825,0.00,1.73,0.00,0.000,1030,0.000,0.073,2546,2842,3578,3752,3404,0,0,0,0,0,0,14.73,14.64,14.75
$GC,3137,-0.48,-165.5,2546,2841,3752,3404,381.8,-12.4,325,3142,0.00,1.98,0.00,0.000,260,0.000,0.161,2539,3848,3578,3752,3405,0,0,0,0,0,0,14.97,14.30,14.98
$GC,3174,-0.48,-165.5,2538,3848,3751,3403,386.6,-12.7,332,3181,0.15,1.73,0.00,0.000,3078,0.226,0.073,2574,2841,3577,3751,3404,0,0,0,0,0,0,14.43,14.66,14.64
$GC,3480,-0.48,-165.5,2574,2841,3750,3404,417.1,-10.0,348,3485,0.00,1.95,0.00,0.000,260,0.000,0.158,2569,3841,3577,3750,3404,0,0,0,0,0,0,14.97,14.33,14.98
$GC,3511,-0.48,-165.5,2568,3841,3750,3404,420.5,-10.3,354,3517,0.00,1.70,0.00,0.000,1030,0.000,0.073,2569,2844,3577,3750,3404,0,0,0,0,0,0,14.74,14.65,14.77
$GC,3824,-0.48,-165.5,2568,2843,3750,3404,452.4,-10.2,371,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2844,3577,3750,3405,0,0,0,0,0,0,14.97,14.98,14.98
$GC,4124,-0.48,-165.5,2568,2844,3750,3404,483.9,-10.6,386,4130,0.00,1.95,0.00,0.000,260,0.000,0.158,2561,3842,3577,3750,3404,0,0,0,0,0,0,14.96,14.31,14.97
$GC,4191,-0.48,-165.5,2561,3843,3749,3404,491.1,-10.4,399,4197,0.00,1.70,0.00,0.000,1030,0.000,0.073,2561,2849,3576,3749,3404,0,0,0,0,0,0,14.73,14.64,14.76
$GC,4509,-0.48,-165.5,2561,2848,3749,3404,524.9,-10.3,417,4515,0.00,1.95,0.00,0.000,260,0.000,0.161,2554,3846,3576,3749,3403,0,0,0,0,0,0,14.97,14.31,14.99
$GC,4567,-0.48,-165.5,2554,3845,3749,3404,530.8,-10.1,428,4573,0.00,1.73,0.00,0.000,1030,0.000,0.074,2554,2842,3576,3749,3404,0,0,0,0,0,0,14.68,14.59,14.71
$GC,4872,-0.48,-165.5,2554,2841,3749,3404,563.8,-11.0,444,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2841,3576,3749,3403,0,0,0,0,0,0,14.98,15.00,15.00
$GC,5172,-0.48,-165.5,2554,2841,3749,3404,597.7,-11.4,459,5178,0.00,1.95,0.00,0.000,260,0.000,0.161,2548,3842,3575,3748,3403,0,0,0,0,0,0,14.99,14.37,15.01
$GC,5230,-0.48,-165.5,2547,3842,3748,3404,604.5,-11.4,470,5236,0.00,1.70,0.00,0.000,1030,0.000,0.073,2547,2846,3575,3747,3404,0,0,0,0,0,0,14.75,14.66,14.78
$GC,5535,-0.48,-165.5,2546,2846,3747,3403,640.6,-11.8,486,5541,0.00,1.95,0.00,0.000,260,0.000,0.161,2540,3844,3575,3747,3404,0,0,0,0,0,0,15.00,14.31,15.01
$GC,5598,-0.48,-165.5,2539,3844,3747,3404,647.9,-11.6,498,5604,0.15,1.70,0.00,0.000,3078,0.222,0.073,2575,2848,3575,3747,3404,0,0,0,0,0,0,14.44,14.66,14.66
$GC,5921,-0.48,-165.5,2575,2848,3747,3404,678.7,-9.4,517,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2848,3575,3747,3403,0,0,0,0,0,0,15.00,15.02,15.01
$GC,6222,-0.48,-165.5,2575,2847,3746,3403,706.1,-9.0,532,6228,0.00,1.95,0.00,0.000,292,0.000,0.162,2570,3845,3575,3746,3404,0,0,0,0,0,0,15.00,14.32,15.02
$GC,6254,-0.48,-165.5,2570,3844,3745,3404,709.2,-9.2,538,6259,0.00,1.73,0.00,0.000,1030,0.000,0.075,2570,2839,3574,3745,3404,0,0,0,0,0,0,14.74,14.64,14.78
$GC,6566,-0.48,-165.5,2570,2838,3745,3404,737.7,-9.1,555,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2838,3574,3745,3404,0,0,0,0,0,0,14.99,15.01,15.00
$GC,6866,-0.48,-165.5,2570,2838,3745,3404,765.3,-9.4,570,6872,0.00,1.98,0.00,0.000,260,0.000,0.161,2563,3844,3574,3744,3404,0,0,0,0,0,0,14.99,14.31,15.00
$GC,6938,-0.48,-165.5,2563,3844,3744,3404,772.3,-9.6,584,6944,0.00,1.70,0.00,0.000,1030,0.000,0.075,2563,2852,3574,3744,3404,0,0,0,0,0,0,14.74,14.65,14.77
$GC,7251,-0.48,-165.5,2562,2852,3743,3404,803.2,-9.8,601,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2852,3574,3744,3404,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7551,-0.48,-165.5,2563,2852,3743,3403,832.6,-9.9,616,7557,0.00,1.95,0.00,0.000,260,0.000,0.164,2556,3844,3573,3743,3404,0,0,0,0,0,0,15.00,14.32,15.02
$GC,7594,-0.48,-165.5,2556,3844,3742,3404,836.9,-9.5,624,7600,0.00,1.73,0.00,0.000,1030,0.000,0.076,2556,2840,3573,3742,3404,0,0,0,0,0,0,14.75,14.65,14.78
$GC,7917,-0.48,-165.5,2556,2839,3742,3403,871.0,-10.7,643,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2838,3572,3741,3404,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8217,-0.48,-165.5,2556,2838,3741,3404,902.6,-10.5,658,8223,0.00,1.98,0.00,0.000,260,0.000,0.165,2548,3842,3573,3742,3404,0,0,0,0,0,0,15.00,14.32,15.02
$GC,8283,-0.48,-165.5,2548,3841,3741,3404,909.7,-10.3,671,8290,0.00,1.75,0.00,0.000,1030,0.000,0.075,2549,2850,3572,3741,3404,0,0,0,0,0,0,14.66,14.61,14.71
$GC,8602,-0.48,-165.5,2548,2849,3741,3404,944.1,-11.0,689,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2849,3572,3741,3404,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8902,-0.48,-165.5,2548,2846,3739,3404,976.5,-10.8,704,8908,0.00,1.98,0.00,0.000,260,0.000,0.168,2541,3847,3572,3740,3404,0,0,0,0,0,0,15.00,14.30,15.02
$GC,8968,-0.48,-165.5,2541,3847,3739,3403,983.9,-10.7,717,8975,0.08,1.77,0.00,0.000,3078,0.199,0.076,2571,2842,3571,3739,3404,0,0,0,0,0,0,14.45,14.62,14.66
$STATE,9046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9046,begin apogee
$GC,9050,-0.10,0.0,2572,2598,3739,3403,991.0,-9.0,723,9288,0.43,0.00,230.18,2.016,10246,0.184,0.000,2693,2598,2900,2924,2876,0,0,0,0,0,0,14.47,13.35,12.55
$STATE,9289,end apogee,CONTROL_FINISHED_OK
$STATE,9289,begin climb
$GC,9291,0.48,165.5,2693,2598,2923,2876,999.5,0.0,735,9544,0.62,2.05,241.60,1.952,10756,0.113,0.082,2889,1549,2226,2218,2234,0,0,0,0,0,0,13.62,13.37,12.37
$GC,9575,0.48,165.5,2889,1549,2218,2234,978.4,11.3,790,9582,0.00,2.10,0.00,0.000,1030,0.000,0.119,2889,2598,2226,2218,2234,0,0,0,0,0,0,13.75,13.62,13.77
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$STATE,17213,end climb,SURFACE_DEPTH_REACHED
$STATE,17214,begin surface coast
$FINISH,0.3,1.026998
$STATE,17235,end surface coast,CONTROL_FINISHED_OK
$STATE,17235,begin surface
$SM_CCo,17251,101.40,0.883,1,0,1879,250.20
$SM_GC,0.64,7.93,0.47,101.40,0.063,0.133,0.883,170,2854,1879,-7.93,-0.51,250.20,0,0,0,0,1,0,14.59,14.47,13.51
$IRIDIUM_FIX,5920.75,-2150.44,040619,180905
$TT8_MAMPS,0.023219,0.608188
$HUMID,38.10
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3859520
$24V_AH,12.37,0.000
$10V_AH,12.74,40.615
$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,22.525,150.400,471.775,101.400,0.000,0.000,0.000,268.150,0.000,0.000,30.873,3346.420,11078.852,835.058,2384.354,128.144,0.000,2252.529,0.000,2006.821,0.000,0.536,0.000
$DEVICE_MAMPS,399.330,168.300,2015.775,882.810,0.000,0.000,0.000,192.015,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17248.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.110,0.000,0.000,0.000
$MEM,303016
$DATA_FILE_SIZE,49957,1400
$CAP_FILE_SIZE,168944,0
$CFSIZE,2097872896,2076278784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.137,54.68,1
$GPS,050619,040757,5920.368,-2155.190,49,0.8,57,-12.8,0.8,117.7,9,9.6