version: 66.13
glider: 527
mission: 5
dive: 122
start: 6 9 119 11 25 37
data:
$ID,527
$MISSION,5
$DIVE,122
$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,40
$R_STBD_OVSHOOT,22
$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
$GPS1,090619,111808,5920.5664,-2148.9304,33,0.8,41,-12.7,0.0,140.5,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-78.1
$GPS2,090619,112456,5920.6157,-2148.9807,11,1.0,20,-12.7,0.0,1.2,10,9.8
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S2
$TGT_LATLONG,5920.000,-2200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,243.0,10471,-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,-165.5,162,2876,1820,1927,0.0,0.0,0,103,0.00,0.00,-84.20,0.008,16390,0.000,0.000,162,2877,3575,3746,3405,0,0,0,0,0,0,14.64,12.49,14.66
$GC,105,-0.48,-165.5,164,2877,3745,3405,5.2,-8.7,9,123,12.60,1.92,0.00,0.000,2596,0.394,0.072,2565,1794,3575,3746,3405,0,0,0,0,0,0,13.59,14.30,14.11
$GC,220,-0.48,-165.5,2565,1791,3749,3405,29.4,-11.0,31,226,0.00,2.03,0.00,0.000,1030,0.000,0.134,2559,2849,3577,3749,3405,0,0,0,0,0,0,14.39,14.19,14.45
$GC,413,-0.48,-165.5,2558,2849,3749,3405,54.9,-13.2,51,418,0.00,1.92,0.00,0.000,260,0.000,0.156,2551,3845,3577,3749,3406,0,0,0,0,0,0,14.80,14.09,14.81
$GC,475,-0.48,-165.5,2551,3845,3749,3406,62.9,-13.1,63,481,0.00,1.70,0.00,0.000,1030,0.000,0.075,2551,2867,3577,3749,3405,0,0,0,0,0,0,14.47,14.38,14.50
$GC,668,-0.48,-165.5,2551,2865,3749,3406,88.0,-13.1,83,673,0.00,1.92,0.00,0.000,260,0.000,0.153,2544,3845,3577,3749,3406,0,0,0,0,0,0,14.85,14.12,14.85
$GC,704,-0.48,-165.5,2544,3845,3749,3406,92.8,-13.4,90,711,0.12,1.73,0.00,0.000,3078,0.233,0.073,2571,2842,3577,3749,3406,0,0,0,0,0,0,14.31,14.53,14.52
$GC,891,-0.48,-165.5,2570,2842,3749,3406,112.9,-10.7,109,896,0.00,1.98,0.00,0.000,260,0.000,0.154,2565,3847,3577,3749,3406,0,0,0,0,0,0,14.83,14.07,14.85
$GC,917,-0.48,-165.5,2565,3847,3749,3406,116.0,-11.6,114,924,0.00,1.73,0.00,0.000,1030,0.000,0.074,2565,2854,3577,3749,3406,0,0,0,0,0,0,14.56,14.47,14.59
$GC,1104,-0.48,-165.5,2565,2853,3749,3406,137.1,-11.4,133,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2853,3577,3749,3406,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1283,-0.48,-165.5,2565,2853,3749,3406,157.3,-11.3,151,1289,0.00,1.92,0.00,0.000,260,0.000,0.152,2558,3840,3577,3749,3406,0,0,0,0,0,0,14.90,14.18,14.91
$GC,1326,-0.48,-165.5,2558,3841,3749,3406,161.9,-11.5,159,1331,0.00,1.73,0.00,0.000,1030,0.000,0.073,2558,2839,3577,3749,3406,0,0,0,0,0,0,14.50,14.39,14.53
$GC,1518,-0.48,-165.5,2558,2837,3749,3406,185.1,-12.2,179,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2838,3577,3749,3406,0,0,0,0,0,0,14.88,14.90,14.89
$GC,1699,-0.48,-165.5,2558,2837,3749,3406,207.2,-12.1,197,1705,0.00,1.98,0.00,0.000,260,0.000,0.154,2551,3846,3577,3749,3406,0,0,0,0,0,0,14.90,14.17,14.91
$GC,1765,-0.48,-165.5,2550,3847,3749,3406,215.2,-11.4,210,1772,0.00,1.73,0.00,0.000,1030,0.000,0.073,2551,2842,3577,3749,3406,0,0,0,0,0,0,14.53,14.44,14.54
$GC,1952,-0.48,-165.5,2550,2841,3749,3406,237.9,-12.3,229,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2841,3577,3749,3406,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2132,-0.48,-165.5,2550,2841,3749,3405,260.6,-12.5,243,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2841,3577,3749,3405,0,0,0,0,0,0,14.92,14.94,14.93
$GC,2432,-0.48,-165.5,2550,2840,3749,3406,297.6,-12.4,258,2437,0.00,1.98,0.00,0.000,260,0.000,0.155,2543,3845,3577,3749,3406,0,0,0,0,0,0,14.95,14.21,14.96
$GC,2519,-0.48,-165.5,2543,3845,3749,3406,308.3,-11.7,275,2525,0.12,1.70,0.00,0.000,3078,0.230,0.074,2570,2852,3578,3750,3406,0,0,0,0,0,0,14.34,14.59,14.56
$GC,2838,-0.48,-165.5,2570,2852,3749,3406,341.5,-10.4,293,2843,0.00,1.80,0.00,0.000,516,0.000,0.073,2570,1785,3577,3749,3406,0,0,0,0,0,0,14.97,14.58,14.98
$GC,2864,-0.48,-165.5,2570,1781,3749,3406,344.3,-8.8,298,2870,0.00,2.00,0.00,0.000,1062,0.000,0.128,2565,2853,3577,3748,3406,0,0,0,0,0,0,14.63,14.43,14.68
$GC,3182,-0.48,-165.5,2565,2853,3749,3405,377.4,-10.5,316,3188,0.00,1.90,0.00,0.000,260,0.000,0.158,2557,3842,3577,3749,3405,0,0,0,0,0,0,14.97,14.22,14.98
$GC,3274,-0.48,-165.5,2557,3842,3748,3406,387.2,-10.1,334,3280,0.00,1.70,0.00,0.000,1030,0.000,0.073,2558,2852,3577,3748,3406,0,0,0,0,0,0,14.68,14.58,14.71
$GC,3587,-0.48,-165.5,2557,2851,3748,3406,420.8,-10.8,351,3593,0.00,1.95,0.00,0.000,260,0.000,0.158,2550,3844,3577,3748,3406,0,0,0,0,0,0,14.97,14.19,14.99
$GC,3630,-0.48,-165.5,2550,3844,3747,3406,425.5,-10.9,359,3635,0.00,1.73,0.00,0.000,1030,0.000,0.074,2550,2838,3576,3747,3406,0,0,0,0,0,0,14.70,14.59,14.73
$GC,3952,-0.48,-165.5,2550,2837,3747,3406,462.7,-11.7,378,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2837,3576,3747,3406,0,0,0,0,0,0,14.97,15.00,15.00
$GC,4253,-0.48,-165.5,2550,2837,3748,3406,498.9,-12.3,393,4258,0.00,1.98,0.00,0.000,260,0.000,0.158,2544,3846,3576,3747,3406,0,0,0,0,0,0,14.98,14.22,15.00
$GC,4336,-0.48,-165.5,2543,3846,3747,3406,509.0,-11.7,409,4342,0.12,1.75,0.00,0.000,3078,0.226,0.075,2570,2839,3576,3747,3406,0,0,0,0,0,0,14.23,14.45,14.47
$GC,4659,-0.48,-165.5,2569,2838,3746,3406,540.9,-9.7,428,4666,0.00,1.77,0.00,0.000,516,0.000,0.073,2570,1783,3576,3747,3406,0,0,0,0,0,0,14.99,14.59,15.00
$GC,4697,-0.48,-165.5,2570,1778,3746,3406,544.5,-9.1,435,4704,0.00,2.03,0.00,0.000,1030,0.000,0.127,2565,2854,3576,3746,3406,0,0,0,0,0,0,14.60,14.38,14.66
$GC,5003,-0.48,-165.5,2565,2853,3746,3406,574.8,-10.1,451,5008,0.00,1.90,0.00,0.000,260,0.000,0.160,2558,3844,3575,3746,3405,0,0,0,0,0,0,14.98,14.28,15.00
$GC,5089,-0.48,-165.5,2557,3845,3745,3406,582.9,-9.4,468,5095,0.00,1.70,0.00,0.000,1030,0.000,0.074,2558,2853,3575,3744,3406,0,0,0,0,0,0,14.71,14.62,14.75
$GC,5407,-0.48,-165.5,2557,2853,3744,3405,615.5,-10.4,486,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2852,3575,3745,3406,0,0,0,0,0,0,14.99,15.01,15.00
$GC,5708,-0.48,-165.5,2557,2852,3744,3406,646.3,-10.2,501,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2852,3575,3744,3406,0,0,0,0,0,0,15.00,15.02,15.01
$GC,6007,-0.48,-165.5,2557,2852,3743,3406,676.2,-9.8,516,6014,0.00,1.95,0.00,0.000,260,0.000,0.161,2551,3846,3575,3743,3407,0,0,0,0,0,0,15.00,14.26,15.02
$GC,6055,-0.48,-165.5,2550,3846,3742,3406,681.0,-9.8,525,6061,0.00,1.73,0.00,0.000,1030,0.000,0.076,2550,2841,3573,3741,3406,0,0,0,0,0,0,14.72,14.63,14.76
$GC,6373,-0.48,-165.5,2550,2840,3742,3405,713.8,-10.3,543,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2840,3574,3742,3406,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6672,-0.48,-165.5,2550,2840,3742,3406,745.2,-10.5,558,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2840,3574,3742,3406,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6973,-0.48,-165.5,2550,2840,3741,3406,776.7,-10.6,573,6979,0.00,1.98,0.00,0.000,260,0.000,0.161,2543,3843,3573,3741,3406,0,0,0,0,0,0,15.00,14.19,15.02
$GC,7030,-0.48,-165.5,2543,3843,3741,3406,783.0,-10.7,584,7038,0.12,1.73,0.00,0.000,3078,0.220,0.075,2571,2838,3573,3741,3406,0,0,0,0,0,0,14.40,14.60,14.59
$GC,7336,-0.48,-165.5,2571,2838,3740,3406,810.7,-9.2,600,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2838,3573,3740,3406,0,0,0,0,0,0,14.98,15.00,15.00
$GC,7636,-0.48,-165.5,2570,2836,3739,3405,838.5,-9.2,615,7641,0.00,1.98,0.00,0.000,260,0.000,0.161,2566,3841,3572,3739,3405,0,0,0,0,0,0,14.98,14.23,15.00
$GC,7668,-0.48,-165.5,2565,3840,3739,3406,841.6,-9.6,621,7674,0.00,1.70,0.00,0.000,1030,0.000,0.074,2566,2851,3572,3739,3405,0,0,0,0,0,0,14.71,14.62,14.73
$GC,7981,-0.48,-165.5,2565,2851,3739,3405,871.1,-9.4,638,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2851,3572,3739,3405,0,0,0,0,0,0,14.99,15.01,15.00
$GC,8282,-0.48,-165.5,2565,2851,3738,3405,898.3,-8.9,653,8283,0.00,0.00,0.00,0.000,38,0.000,0.000,2566,2851,3571,3738,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8581,-0.48,-165.5,2566,2851,3737,3405,925.3,-9.0,668,8582,0.00,0.00,0.00,0.000,38,0.000,0.000,2566,2851,3571,3737,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8881,-0.48,-165.5,2565,2852,3737,3405,952.7,-9.3,683,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2851,3571,3737,3405,0,0,0,0,0,0,15.00,15.02,15.02
$GC,9181,-0.48,-165.5,2565,2851,3737,3405,980.6,-9.3,698,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2851,3570,3736,3405,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,9299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9299,begin apogee
$GC,9304,-0.10,0.0,2566,2595,3736,3405,991.8,-9.3,704,9542,0.45,0.00,231.20,2.001,10246,0.184,0.000,2692,2595,2900,2924,2877,0,0,0,0,0,0,14.43,13.51,12.47
$STATE,9543,end apogee,CONTROL_FINISHED_OK
$STATE,9543,begin climb
$GC,9545,0.48,165.5,2692,2595,2923,2876,1000.7,0.0,716,9798,0.62,2.05,241.20,1.953,10756,0.103,0.081,2889,1542,2226,2217,2235,0,0,0,0,0,0,13.59,13.39,12.38
$GC,9820,0.48,165.5,2889,1542,2216,2235,981.0,10.8,771,9827,0.00,2.12,0.00,0.000,1030,0.000,0.116,2889,2606,2225,2216,2235,0,0,0,0,0,0,13.71,13.59,13.74
$GC,10125,0.48,165.5,2888,2606,2216,2229,944.3,12.2,787,10131,0.00,2.03,0.00,0.000,260,0.000,0.150,2889,3663,2222,2216,2229,0,0,0,0,0,0,14.59,14.23,14.61
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$STATE,17532,end climb,SURFACE_DEPTH_REACHED
$STATE,17532,begin surface coast
$FINISH,1.7,1.026686
$STATE,17544,end surface coast,CONTROL_FINISHED_OK
$STATE,17544,begin surface
$SM_CCo,17562,101.45,0.881,1,0,1880,250.20
$SM_GC,0.98,8.43,1.45,101.45,0.109,0.066,0.881,171,2832,1880,-7.92,0.71,250.20,0,0,0,0,1,0,14.56,14.59,13.52
$IRIDIUM_FIX,5918.68,-2139.47,090619,061849
$TT8_MAMPS,0.023219,0.528794
$HUMID,37.99
$INTERNAL_PRESSURE,8.81806
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3851072
$24V_AH,12.38,0.000
$10V_AH,12.46,49.393
$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,23.175,131.625,472.400,101.450,0.000,0.000,0.000,263.700,0.000,0.000,29.498,3329.022,11459.404,805.713,2349.612,137.872,0.000,2194.213,0.000,1980.032,0.000,0.535,0.000
$DEVICE_MAMPS,393.975,161.415,2001.240,881.280,0.000,0.000,0.000,195.840,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17558.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.220,0.000,0.000,0.000
$MEM,303072
$DATA_FILE_SIZE,49905,1381
$CAP_FILE_SIZE,164745,0
$CFSIZE,2097872896,2071953408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.137,352.27,1
$GPS,090619,162132,5920.475,-2153.183,40,0.8,48,-12.8,0.5,81.6,11,9.5