version: 66.14
glider: 527
mission: 10
dive: 478
start: 2 20 121 13 8 3
data:
$ID,527
$MISSION,10
$DIVE,478
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,0
$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,410
$T_MISSION,720
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,14400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,56352
$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,400
$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,2220
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,43
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,270
$ROLL_MAX,3850
$ROLL_DEG,40
$C_ROLL_DIVE,2525
$C_ROLL_CLIMB,1710
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2920
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.001
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,950
$LOITER_N_DIVE,-3
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,0
$AH0_10V,310
$MINV_24V,11
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-173.88152
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0044153966
$SEABIRD_T_H,0.00064440304
$SEABIRD_T_I,2.7248538e-05
$SEABIRD_T_J,3.4282193e-06
$SEABIRD_C_G,-10.077963
$SEABIRD_C_H,1.1533748
$SEABIRD_C_I,-0.0022050336
$SEABIRD_C_J,0.00023474717
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,200221,124906,6154.9175,-1819.5361,27,1.2,33,-12.1,0.0,45.1,6,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-62.2
$GPS2,200221,130706,6154.9995,-1819.4877,6,1.2,21,-12.1,1.5,24.1,6,9.9
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,CTR
$TGT_LATLONG,6155.000,-1820.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,256.2,447,-25.8,-8.049,-28.30,992
$D_GRID,990
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,11,-0.65,-51.9,0,2492,1280,1273,0.0,0.0,0,105,0.00,0.00,-91.72,0.008,16390,0.000,0.000,0,2493,3132,3152,3112,0,0,0,0,0,0,14.72,12.38,14.62
$GC,109,-0.70,-98.7,1,2493,3158,3114,1.7,-3.2,9,133,10.80,2.60,-5.60,0.021,18980,0.415,0.083,1989,1106,3326,3377,3276,1,0,0,0,0,0,13.54,13.21,14.26
$GC,253,-0.70,-98.7,1989,1107,3380,3277,18.5,-10.8,36,259,0.00,2.70,0.00,0.000,1030,0.000,0.064,1983,2520,3328,3380,3277,0,0,0,0,0,0,14.33,14.21,14.37
$GC,558,-0.70,-98.7,1982,2520,3379,3277,54.7,-11.6,67,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2520,3328,3379,3277,0,0,0,0,0,0,14.77,14.78,14.78
$GC,871,-0.70,-98.7,1982,2519,3380,3277,93.3,-13.5,98,877,0.00,2.30,0.00,0.000,260,0.000,0.089,1973,3851,3328,3380,3276,0,0,0,0,0,0,14.75,13.91,14.77
$GC,919,-0.70,-98.7,1973,3851,3379,3277,100.6,-15.5,107,926,0.00,2.25,0.00,0.000,1030,0.000,0.055,1973,2525,3328,3379,3277,0,0,0,0,0,0,14.33,14.22,14.36
$GC,1226,-0.70,-98.7,1972,2505,3379,3276,141.3,-12.9,118,1232,0.00,2.62,0.00,0.000,516,0.000,0.070,1973,1112,3328,3379,3277,0,0,0,0,0,0,14.85,13.96,14.87
$GC,1334,-0.70,-98.7,1973,1112,3380,3277,155.0,-12.6,139,1340,0.12,2.70,0.00,0.000,3078,0.269,0.062,1987,2528,3328,3380,3276,0,0,0,0,0,0,13.80,14.14,14.05
$GC,1654,-0.70,-98.7,1987,2527,3380,3277,191.7,-11.6,152,1659,0.00,2.70,0.00,0.000,516,0.000,0.066,1988,1109,3328,3379,3277,0,0,0,0,0,0,14.81,14.09,14.83
$GC,1697,-0.70,-98.7,1988,1109,3379,3277,197.0,-11.7,160,1702,0.00,2.72,0.00,0.000,1030,0.000,0.060,1980,2534,3327,3379,3276,0,0,0,0,0,0,14.22,14.11,14.28
$GC,2021,-0.70,-98.7,1980,2533,3380,3277,236.0,-12.1,174,2027,0.00,2.70,0.00,0.000,516,0.000,0.067,1980,1117,3327,3379,3276,0,0,0,0,0,0,14.85,14.07,14.87
$GC,2070,-0.70,-98.7,1980,1117,3379,3276,242.1,-12.2,183,2075,0.00,2.70,0.00,0.000,1030,0.000,0.062,1972,2529,3328,3380,3277,0,0,0,0,0,0,14.23,14.10,14.27
$GC,2389,-0.70,-98.7,1971,2529,3380,3276,281.5,-12.2,196,2394,0.00,2.70,0.00,0.000,516,0.000,0.063,1972,1112,3328,3380,3277,0,0,0,0,0,0,14.81,14.04,14.83
$GC,2437,-0.70,-98.7,1971,1112,3380,3276,287.4,-12.0,205,2444,0.15,2.72,0.00,0.000,3078,0.262,0.061,1992,2533,3328,3380,3277,0,0,0,0,0,0,13.69,14.07,13.97
$GC,2758,-0.70,-98.7,1992,2533,3380,3276,320.9,-10.2,218,2764,0.00,2.72,0.00,0.000,516,0.000,0.070,1993,1108,3327,3379,3276,0,0,0,0,0,0,14.82,14.00,14.83
$GC,2812,-0.70,-98.7,1992,1108,3379,3276,326.7,-10.6,228,2817,0.00,2.72,0.00,0.000,1030,0.000,0.061,1985,2532,3328,3380,3276,0,0,0,0,0,0,14.21,14.07,14.25
$GC,3126,-0.70,-98.7,1985,2532,3380,3277,361.3,-11.0,240,3131,0.00,2.72,0.00,0.000,516,0.000,0.070,1985,1107,3328,3380,3277,0,0,0,0,0,0,14.85,13.88,14.88
$GC,3180,-0.70,-98.7,1985,1107,3380,3276,367.5,-11.9,250,3185,0.00,2.72,0.00,0.000,1030,0.000,0.061,1976,2533,3328,3380,3276,0,0,0,0,0,0,14.20,14.07,14.24
$GC,3494,-0.70,-98.7,1976,2533,3379,3276,406.3,-12.4,262,3500,0.00,2.70,0.00,0.000,516,0.000,0.063,1976,1114,3328,3380,3276,0,0,0,0,0,0,14.85,14.04,14.87
$GC,3533,-0.70,-98.7,1976,1114,3380,3276,411.3,-12.5,269,3539,0.00,2.70,0.00,0.000,1030,0.000,0.060,1967,2524,3328,3380,3276,0,0,0,0,0,0,14.19,14.07,14.24
$GC,3863,-0.70,-98.7,1967,2523,3379,3276,453.2,-12.9,284,3868,0.00,2.70,0.00,0.000,516,0.000,0.064,1968,1108,3328,3380,3277,0,0,0,0,0,0,14.83,14.02,14.85
$GC,3900,-0.70,-98.7,1967,1108,3379,3276,458.4,-12.9,291,3907,0.15,2.72,0.00,0.000,3078,0.262,0.061,1987,2533,3328,3380,3276,0,0,0,0,0,0,13.65,14.05,13.93
$GC,4231,-0.70,-98.7,1987,2533,3380,3276,497.2,-11.7,306,4236,0.00,2.72,0.00,0.000,516,0.000,0.065,1988,1107,3327,3379,3276,0,0,0,0,0,0,14.85,13.90,14.87
$GC,4295,-0.70,-98.7,1988,1107,3380,3276,504.8,-11.2,318,4301,0.00,2.72,0.00,0.000,1030,0.000,0.060,1981,2531,3327,3379,3276,0,0,0,0,0,0,14.16,14.04,14.22
$GC,4630,-0.70,-98.7,1981,2531,3379,3276,545.1,-12.0,334,4636,0.00,2.72,0.00,0.000,516,0.000,0.067,1981,1111,3328,3380,3277,0,0,0,0,0,0,14.85,13.90,14.87
$GC,4704,-0.70,-98.7,1981,1110,3379,3276,554.3,-12.4,348,4709,0.00,2.72,0.00,0.000,1030,0.000,0.060,1972,2533,3327,3379,3276,0,0,0,0,0,0,14.16,14.04,14.21
$GC,5028,-0.70,-98.7,1972,2533,3380,3276,594.5,-12.3,362,5034,0.00,2.72,0.00,0.000,516,0.000,0.069,1972,1108,3327,3379,3276,0,0,0,0,0,0,14.85,14.00,14.87
$GC,5062,-0.70,-98.7,1971,1108,3379,3276,598.8,-12.1,368,5069,0.15,2.72,0.00,0.000,3078,0.259,0.060,1992,2529,3328,3380,3276,0,0,0,0,0,0,13.61,14.01,13.88
$GC,5397,-0.70,-98.7,1992,2529,3379,3276,633.7,-10.0,384,5403,0.00,2.72,0.00,0.000,516,0.000,0.071,1993,1106,3327,3380,3275,0,0,0,0,0,0,14.83,13.93,14.85
$GC,5455,-0.70,-98.7,1993,1106,3379,3276,639.7,-9.9,395,5462,0.00,2.72,0.00,0.000,1030,0.000,0.061,1986,2526,3327,3379,3276,0,0,0,0,0,0,14.15,14.02,14.19
$GC,5762,-0.70,-98.7,1986,2525,3379,3276,671.6,-10.4,406,5767,0.00,2.72,0.00,0.000,516,0.000,0.064,1986,1105,3327,3379,3276,0,0,0,0,0,0,14.81,13.95,14.83
$GC,5846,-0.70,-98.7,1986,1105,3379,3276,680.8,-10.9,422,5852,0.00,2.75,0.00,0.000,1030,0.000,0.061,1977,2534,3327,3379,3276,0,0,0,0,0,0,14.12,13.99,14.16
$GC,6161,-0.70,-98.7,1977,2534,3379,3276,713.8,-10.6,434,6166,0.00,2.72,0.00,0.000,516,0.000,0.070,1977,1111,3327,3379,3276,0,0,0,0,0,0,14.84,13.98,14.85
$GC,6255,-0.70,-98.7,1977,1111,3380,3276,724.1,-11.1,452,6260,0.00,2.72,0.00,0.000,1030,0.000,0.061,1968,2529,3327,3379,3276,0,0,0,0,0,0,14.13,14.01,14.19
$GC,6589,-0.70,-98.7,1967,2528,3379,3276,763.1,-11.9,468,6595,0.00,2.72,0.00,0.000,516,0.000,0.067,1968,1106,3327,3379,3276,0,0,0,0,0,0,14.85,13.96,14.86
$GC,6653,-0.70,-98.7,1968,1106,3379,3276,771.1,-12.3,480,6660,0.15,2.75,0.00,0.000,3078,0.256,0.062,1989,2525,3327,3379,3276,0,0,0,0,0,0,13.59,14.00,13.87
$GC,6988,-0.70,-98.7,1988,2525,3379,3276,807.7,-10.9,496,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2525,3327,3379,3276,0,0,0,0,0,0,14.85,14.86,14.86
$GC,7289,-0.70,-98.7,1988,2525,3379,3276,839.1,-10.1,506,7294,0.00,2.72,0.00,0.000,516,0.000,0.066,1989,1109,3327,3379,3276,0,0,0,0,0,0,14.85,13.94,14.87
$GC,7377,-0.70,-98.7,1989,1109,3379,3276,848.3,-10.2,523,7384,0.00,2.72,0.00,0.000,1030,0.000,0.062,1983,2524,3328,3380,3276,0,0,0,0,0,0,14.11,13.98,14.15
$GC,7684,-0.70,-98.7,1983,2522,3379,3276,879.2,-10.1,534,7689,0.00,2.72,0.00,0.000,516,0.000,0.065,1983,1109,3327,3379,3276,0,0,0,0,0,0,14.83,13.91,14.84
$GC,7737,-0.70,-98.7,1983,1109,3379,3276,884.9,-10.3,544,7742,0.00,2.75,0.00,0.000,1030,0.000,0.061,1974,2532,3327,3379,3276,0,0,0,0,0,0,14.08,13.95,14.13
$GC,8051,-0.70,-98.7,1974,2531,3379,3275,919.0,-11.0,556,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2532,3327,3379,3275,0,0,0,0,0,0,14.84,14.85,14.85
$GC,8351,-0.70,-98.7,1974,2532,3379,3275,952.2,-11.3,566,8357,0.00,2.78,0.00,0.000,516,0.000,0.069,1974,1106,3327,3380,3275,0,0,0,0,0,0,14.84,13.90,14.85
$GC,8460,-0.70,-98.7,1974,1106,3379,3275,965.3,-11.9,587,8466,0.00,2.75,0.00,0.000,1030,0.000,0.062,1965,2525,3327,3380,3275,0,0,0,0,0,0,14.08,13.95,14.13
$STATE,8686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8686,begin apogee
$GC,8695,-0.12,0.0,1965,1706,3379,3273,993.7,-12.5,597,8807,0.82,0.00,103.75,2.365,10246,0.204,0.000,2178,1706,2919,2989,2850,0,0,0,0,0,0,13.71,13.74,12.37
$STATE,8809,end apogee,CONTROL_FINISHED_OK
$STATE,8809,begin loiter
$GC,9109,-0.08,33.2,2178,1706,2989,2838,1008.5,-3.4,606,9147,0.00,0.00,35.67,2.310,8230,0.000,0.000,2178,1706,2784,2860,2709,0,0,0,0,0,0,14.81,13.99,12.63
$STATE,9226,end loiter,ABORT_DEPTH_EXCEEDED
$SM_CCo,9239,540.00,2.328,0,1,856,506.05
$SM_CCo,9784,92.97,2.092,0,0,551,581.35
$SM_GC,0.12,5.95,0.00,0.00,0.050,0.000,0.000,171,1705,549,-6.33,-0.14,581.60,0,0,0,0,0,0,14.16,15.02,14.24
$IRIDIUM_FIX,6154.48,-1807.31,200221,063218
$TT8_MAMPS,0.02247,0.277879
$HUMID,51.65
$INTERNAL_PRESSURE,7.76333
$TCM_TEMP,16.80
$XPDR_PINGS,13
$SC_FREEKB,3513760
$TM_FREEKB,3839808
$24V_AH,11.51,0.000
$10V_AH,12.53,235.282
$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,18.300,109.500,139.425,632.975,0.000,0.000,0.000,671.725,3.250,0.000,32.421,1657.864,13743.154,991.233,1653.488,409.827,0.000,2316.708,0.000,933.126,0.000,0.538,0.000
$DEVICE_MAMPS,414.630,144.585,2364.615,2327.895,0.000,0.000,0.000,212.670,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8877.000,24.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.766,3.969,0.000,0.000
$MEM,323920
$DATA_FILE_SIZE,20097,608
$CAP_FILE_SIZE,114216,7
$CFSIZE,2097872896,1974697984
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,1,0,0,1,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,200221,175904,6155.297,-1819.139,36,0.8,40,-12.1,1.1,265.2,10,9.8