version: 66.13
glider: 527
mission: 5
dive: 115
start: 6 8 119 0 57 47
data:
$ID,527
$MISSION,5
$DIVE,115
$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,39
$R_STBD_OVSHOOT,14
$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
$GPS1,080619,005025,5910.1265,-2149.9609,51,0.8,58,-12.7,0.6,266.1,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-77.3
$GPS2,080619,005703,5910.1191,-2150.0232,6,1.3,6,-12.7,0.5,73.9,6,0.0
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S4
$TGT_LATLONG,5910.000,-2140.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,132.4,9517,-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,-165.5,127,2871,1825,1920,0.0,0.0,0,104,0.00,0.00,-85.53,0.008,16390,0.000,0.000,126,2871,3576,3747,3406,0,0,0,0,0,0,14.62,12.62,14.64
$GC,106,-0.48,-165.5,126,2871,3747,3405,5.7,-9.8,9,123,12.15,1.92,0.00,0.000,2564,0.397,0.077,2576,1795,3576,3748,3405,0,0,0,0,0,0,13.93,14.38,14.31
$GC,244,-0.48,-165.5,2576,1791,3750,3405,31.4,-10.3,36,252,0.00,2.05,0.00,0.000,1030,0.000,0.138,2570,2850,3577,3750,3405,0,0,0,0,0,0,14.45,14.26,14.50
$GC,430,-0.48,-165.5,2570,2850,3750,3406,54.4,-12.9,55,436,0.00,1.92,0.00,0.000,260,0.000,0.164,2563,3842,3578,3751,3405,0,0,0,0,0,0,14.76,14.09,14.78
$GC,524,-0.48,-165.5,2562,3842,3750,3405,66.0,-11.2,73,530,0.00,1.70,0.00,0.000,1030,0.000,0.080,2562,2871,3578,3751,3405,0,0,0,0,0,0,14.57,14.46,14.60
$GC,717,-0.48,-165.5,2562,2869,3750,3406,89.2,-12.3,93,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2870,3578,3751,3405,0,0,0,0,0,0,14.85,14.87,14.86
$GC,897,-0.48,-165.5,2562,2870,3750,3405,111.3,-12.5,111,902,0.00,1.95,0.00,0.000,260,0.000,0.160,2555,3844,3577,3750,3405,0,0,0,0,0,0,14.87,13.95,14.88
$GC,930,-0.48,-165.5,2555,3844,3750,3405,115.5,-13.0,117,935,0.00,1.77,0.00,0.000,1030,0.000,0.080,2555,2838,3577,3750,3405,0,0,0,0,0,0,14.57,14.45,14.61
$GC,1123,-0.48,-165.5,2555,2837,3750,3406,141.6,-13.7,137,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2837,3577,3750,3405,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1302,-0.48,-165.5,2555,2837,3750,3405,165.9,-13.3,155,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2837,3577,3750,3405,0,0,0,0,0,0,14.89,14.91,14.90
$GC,1483,-0.48,-165.5,2555,2837,3750,3405,189.7,-13.2,173,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2837,3577,3750,3405,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1662,-0.48,-165.5,2555,2837,3750,3405,213.0,-13.0,191,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2837,3577,3750,3405,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1843,-0.48,-165.5,2555,2837,3750,3405,236.0,-12.7,209,1848,0.00,2.00,0.00,0.000,260,0.000,0.161,2548,3847,3578,3751,3405,0,0,0,0,0,0,14.91,14.07,14.93
$GC,1889,-0.48,-165.5,2548,3847,3750,3405,242.0,-12.8,218,1896,0.00,1.75,0.00,0.000,1030,0.000,0.081,2548,2846,3577,3750,3405,0,0,0,0,0,0,14.62,14.51,14.66
$GC,2076,-0.48,-165.5,2547,2845,3750,3405,266.0,-13.1,231,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2846,3577,3750,3405,0,0,0,0,0,0,14.91,14.93,14.92
$GC,2375,-0.48,-165.5,2548,2845,3750,3405,305.0,-13.1,246,2381,0.00,2.00,0.00,0.000,260,0.000,0.163,2540,3845,3577,3750,3405,0,0,0,0,0,0,14.93,13.90,14.95
$GC,2433,-0.48,-165.5,2540,3845,3750,3405,312.6,-12.5,257,2440,0.15,1.75,0.00,0.000,3078,0.226,0.081,2576,2839,3577,3750,3405,0,0,0,0,0,0,14.40,14.60,14.61
$GC,2738,-0.48,-165.5,2575,2839,3750,3405,343.3,-9.9,273,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2839,3577,3750,3405,0,0,0,0,0,0,14.96,14.98,14.97
$GC,3038,-0.48,-165.5,2576,2839,3750,3405,372.7,-9.8,288,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2839,3577,3750,3405,0,0,0,0,0,0,14.98,15.00,15.00
$GC,3338,-0.48,-165.5,2575,2839,3750,3405,402.1,-9.6,303,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2839,3577,3750,3405,0,0,0,0,0,0,14.99,15.01,15.00
$GC,3638,-0.48,-165.5,2576,2839,3750,3406,431.5,-9.8,318,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2839,3577,3750,3405,0,0,0,0,0,0,15.00,15.02,15.01
$GC,3938,-0.48,-165.5,2575,2839,3749,3405,460.3,-9.6,333,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2839,3576,3748,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,4238,-0.48,-165.5,2576,2838,3748,3406,488.9,-9.6,348,4245,0.00,1.98,0.00,0.000,260,0.000,0.164,2570,3844,3576,3748,3405,0,0,0,0,0,0,15.00,14.32,15.02
$GC,4281,-0.48,-165.5,2570,3843,3748,3405,493.2,-9.7,356,4288,0.00,1.73,0.00,0.000,1030,0.000,0.082,2570,2847,3576,3748,3405,0,0,0,0,0,0,14.74,14.64,14.77
$GC,4605,-0.48,-165.5,2570,2847,3748,3404,525.4,-9.8,375,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2847,3576,3748,3405,0,0,0,0,0,0,14.97,15.00,14.99
$GC,4905,-0.48,-165.5,2570,2846,3748,3405,554.6,-9.6,390,4911,0.00,1.98,0.00,0.000,260,0.000,0.167,2563,3849,3576,3748,3405,0,0,0,0,0,0,14.98,14.26,15.00
$GC,4937,-0.48,-165.5,2563,3849,3747,3405,557.8,-10.3,396,4943,0.00,1.75,0.00,0.000,1030,0.000,0.083,2563,2842,3576,3748,3405,0,0,0,0,0,0,14.73,14.62,14.76
$GC,5251,-0.48,-165.5,2562,2841,3747,3405,589.1,-9.9,413,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2840,3576,3747,3405,0,0,0,0,0,0,14.97,15.00,14.99
$GC,5550,-0.48,-165.5,2563,2840,3747,3405,620.2,-10.4,428,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2840,3576,3747,3405,0,0,0,0,0,0,14.97,15.00,14.99
$GC,5850,-0.48,-165.5,2563,2840,3746,3405,651.5,-10.6,443,5856,0.00,1.98,0.00,0.000,260,0.000,0.166,2556,3843,3575,3746,3405,0,0,0,0,0,0,14.97,14.28,14.99
$GC,5893,-0.48,-165.5,2556,3842,3745,3405,656.2,-10.1,451,5899,0.00,1.73,0.00,0.000,1030,0.000,0.082,2556,2849,3575,3745,3405,0,0,0,0,0,0,14.71,14.61,14.75
$GC,6215,-0.48,-165.5,2556,2849,3745,3405,692.1,-11.1,470,6221,0.00,1.98,0.00,0.000,260,0.000,0.168,2549,3845,3575,3745,3405,0,0,0,0,0,0,14.99,14.23,15.00
$GC,6253,-0.48,-165.5,2549,3845,3744,3405,696.4,-10.6,477,6259,0.00,1.75,0.00,0.000,1030,0.000,0.083,2549,2839,3574,3744,3405,0,0,0,0,0,0,14.71,14.61,14.75
$GC,6558,-0.48,-165.5,2549,2838,3744,3405,729.9,-11.0,493,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2839,3574,3744,3405,0,0,0,0,0,0,15.00,15.01,15.01
$GC,6858,-0.48,-165.5,2549,2838,3744,3405,762.8,-10.8,508,6864,0.00,2.00,0.00,0.000,260,0.000,0.170,2542,3848,3574,3743,3405,0,0,0,0,0,0,15.00,14.26,15.02
$GC,6901,-0.48,-165.5,2542,3848,3742,3404,767.5,-10.7,516,6908,0.12,1.75,0.00,0.000,3078,0.226,0.083,2570,2850,3573,3742,3405,0,0,0,0,0,0,14.45,14.62,14.64
$GC,7226,-0.48,-165.5,2570,2850,3742,3405,796.3,-8.8,535,7232,0.00,1.83,0.00,0.000,548,0.000,0.083,2571,1783,3573,3742,3405,0,0,0,0,0,0,14.98,14.59,15.00
$GC,7249,-0.48,-165.5,2570,1780,3742,3405,798.3,-9.2,539,7254,0.00,2.03,0.00,0.000,1030,0.000,0.133,2565,2856,3573,3742,3405,0,0,0,0,0,0,14.65,14.45,14.70
$GC,7572,-0.48,-165.5,2564,2856,3742,3405,827.1,-8.9,558,7578,0.00,1.92,0.00,0.000,292,0.000,0.171,2558,3844,3573,3741,3405,0,0,0,0,0,0,14.97,14.26,14.98
$GC,7614,-0.48,-165.5,2557,3844,3741,3405,830.9,-9.0,566,7620,0.00,1.75,0.00,0.000,1062,0.000,0.083,2557,2838,3573,3741,3405,0,0,0,0,0,0,14.70,14.58,14.73
$GC,7937,-0.48,-165.5,2558,2836,3741,3405,861.3,-9.6,585,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2836,3573,3741,3405,0,0,0,0,0,0,14.98,15.01,15.00
$GC,8237,-0.48,-165.5,2557,2836,3741,3405,889.6,-9.5,600,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2836,3573,3741,3405,0,0,0,0,0,0,15.00,15.01,15.01
$GC,8537,-0.48,-165.5,2557,2836,3740,3405,918.2,-9.7,615,8543,0.00,2.00,0.00,0.000,260,0.000,0.171,2551,3844,3572,3739,3405,0,0,0,0,0,0,15.00,14.27,15.02
$GC,8589,-0.48,-165.5,2551,3844,3739,3405,923.4,-9.7,625,8595,0.00,1.75,0.00,0.000,1030,0.000,0.083,2551,2839,3572,3739,3405,0,0,0,0,0,0,14.71,14.60,14.75
$GC,8902,-0.48,-165.5,2551,2838,3739,3405,954.5,-10.0,642,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2837,3572,3739,3405,0,0,0,0,0,0,15.00,15.02,15.01
$GC,9202,-0.48,-165.5,2551,2838,3738,3405,984.1,-9.8,657,9208,0.00,2.00,0.00,0.000,260,0.000,0.171,2543,3843,3571,3738,3405,0,0,0,0,0,0,15.00,14.26,15.02
$GC,9234,-0.48,-165.5,2543,3843,3737,3405,987.4,-10.5,663,9240,0.12,1.73,0.00,0.000,3078,0.223,0.083,2571,2853,3571,3738,3405,0,0,0,0,0,0,14.42,14.59,14.62
$STATE,9266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9266,begin apogee
$GC,9271,-0.10,0.0,2572,2586,3737,3405,990.3,-9.1,666,9509,0.43,0.00,234.40,2.010,10246,0.181,0.000,2693,2586,2901,2925,2877,0,0,0,0,0,0,14.43,13.47,12.37
$STATE,9511,end apogee,CONTROL_FINISHED_OK
$STATE,9511,begin climb
$GC,9512,0.48,165.5,2694,2586,2924,2876,997.3,0.0,678,9770,0.62,2.30,245.75,1.946,11012,0.101,0.158,2884,3663,2226,2217,2235,0,0,0,0,0,0,13.54,13.31,12.27
$GC,9792,0.48,165.5,2884,3663,2217,2235,973.9,13.8,719,9798,0.00,2.00,0.00,0.000,1030,0.000,0.075,2891,2597,2225,2217,2234,0,0,0,0,0,0,13.71,13.63,13.74
$GC,10115,0.48,165.5,2892,2584,2217,2228,932.2,12.7,738,10121,0.00,1.83,0.00,0.000,516,0.000,0.078,2899,1533,2223,2218,2228,0,0,0,0,0,0,14.61,14.34,14.63
$GC,10141,0.48,165.5,2899,1532,2217,2228,928.8,12.2,743,10148,0.00,2.03,0.00,0.000,1030,0.000,0.116,2899,2610,2222,2217,2228,0,0,0,0,0,0,14.43,14.29,14.46
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$STATE,17329,end climb,SURFACE_DEPTH_REACHED
$STATE,17329,begin surface coast
$FINISH,-0.3,1.026872
$STATE,17350,end surface coast,CONTROL_FINISHED_OK
$STATE,17350,begin surface
$SM_CCo,17367,102.93,0.886,1,0,1879,250.20
$SM_GC,0.83,7.93,1.40,102.93,0.063,0.065,0.886,168,2856,1879,-7.93,1.02,250.20,0,0,0,0,1,0,14.59,14.61,13.33
$IRIDIUM_FIX,5910.29,-2151.98,070619,194656
$TT8_MAMPS,0.023219,0.712299
$HUMID,39.01
$INTERNAL_PRESSURE,8.82782
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3853760
$24V_AH,12.27,0.000
$10V_AH,12.72,46.600
$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,21.975,120.950,480.150,102.925,0.000,0.000,0.000,272.525,0.000,0.000,15.960,3159.821,11556.354,817.353,2215.824,133.210,0.000,2139.830,0.000,1855.267,0.000,0.535,0.000
$DEVICE_MAMPS,397.035,171.360,2010.420,885.870,0.000,0.000,0.000,196.605,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17365.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.186,0.000,0.000,0.000
$MEM,302952
$DATA_FILE_SIZE,46608,1293
$CAP_FILE_SIZE,157055,0
$CFSIZE,2097872896,2073362432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.125,349.42,1
$GPS,080619,055025,5909.999,-2146.286,38,0.8,45,-12.6,0.8,60.3,11,9.3