version: 66.13
glider: 527
mission: 5
dive: 107
start: 6 6 119 10 14 18
data:
$ID,527
$MISSION,5
$DIVE,107
$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,19
$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
$GPS1,060619,100701,5917.7529,-2201.4399,47,0.9,59,-12.8,0.5,50.9,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-76.2
$GPS2,060619,101337,5917.7871,-2201.4373,10,0.9,21,-12.8,0.6,80.2,10,9.3
$SPEED_LIMITS,0.191,0.285
$TGT_NAME,S3
$TGT_LATLONG,5910.000,-2200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,200.2,14486,-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,9,begin dive
$GC,11,-0.48,-165.5,146,2870,1824,1923,0.0,0.0,0,98,0.00,0.00,-84.82,0.008,16390,0.000,0.000,144,2869,3576,3746,3406,0,0,0,0,0,0,14.64,12.87,14.66
$GC,101,-0.48,-165.5,145,2869,3746,3406,3.2,-3.9,8,118,11.85,1.88,0.00,0.000,2852,0.397,0.126,2562,3840,3577,3747,3407,0,0,0,0,0,0,14.07,14.26,14.40
$GC,309,-0.48,-165.5,2561,3839,3748,3407,38.7,-10.2,49,316,0.00,1.70,0.00,0.000,1030,0.000,0.075,2562,2861,3577,3748,3407,0,0,0,0,0,0,14.57,14.50,14.60
$GC,495,-0.48,-165.5,2561,2860,3748,3407,60.9,-12.5,68,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2860,3577,3748,3406,0,0,0,0,0,0,14.80,14.82,14.81
$GC,676,-0.48,-165.5,2561,2860,3748,3406,82.5,-11.9,86,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2860,3577,3748,3407,0,0,0,0,0,0,14.83,14.85,14.85
$GC,855,-0.48,-165.5,2561,2860,3748,3407,104.1,-11.9,104,861,0.00,1.90,0.00,0.000,260,0.000,0.151,2555,3839,3577,3748,3407,0,0,0,0,0,0,14.85,14.23,14.87
$GC,898,-0.48,-165.5,2555,3840,3748,3406,109.4,-12.0,112,903,0.00,1.70,0.00,0.000,1030,0.000,0.067,2555,2842,3577,3748,3406,0,0,0,0,0,0,14.67,14.60,14.69
$GC,1090,-0.48,-165.5,2554,2842,3748,3407,133.1,-12.7,132,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2842,3577,3748,3407,0,0,0,0,0,0,14.85,14.88,14.87
$GC,1270,-0.48,-165.5,2554,2842,3748,3406,156.3,-13.0,150,1277,0.00,1.92,0.00,0.000,260,0.000,0.151,2548,3838,3577,3748,3406,0,0,0,0,0,0,14.86,14.32,14.88
$GC,1304,-0.48,-165.5,2547,3837,3748,3407,160.9,-12.3,156,1309,0.00,1.67,0.00,0.000,1030,0.000,0.069,2548,2854,3577,3749,3406,0,0,0,0,0,0,14.68,14.60,14.70
$GC,1496,-0.48,-165.5,2548,2853,3748,3407,186.0,-13.5,176,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2853,3577,3748,3407,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1676,-0.48,-165.5,2548,2853,3749,3406,210.4,-13.6,194,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2853,3577,3748,3407,0,0,0,0,0,0,14.89,14.91,14.91
$GC,1856,-0.48,-165.5,2548,2853,3748,3407,234.8,-13.7,212,1862,0.00,1.92,0.00,0.000,260,0.000,0.153,2540,3841,3577,3748,3407,0,0,0,0,0,0,14.90,14.28,14.91
$GC,1903,-0.48,-165.5,2540,3841,3748,3407,241.6,-13.4,221,1910,0.15,1.70,0.00,0.000,3078,0.229,0.067,2575,2839,3577,3748,3407,0,0,0,0,0,0,14.39,14.63,14.60
$GC,2089,-0.48,-165.5,2575,2839,3748,3407,261.5,-10.8,235,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2839,3577,3748,3407,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2389,-0.48,-165.5,2575,2839,3749,3407,294.4,-10.9,250,2395,0.00,1.92,0.00,0.000,260,0.000,0.152,2570,3837,3577,3748,3407,0,0,0,0,0,0,14.93,14.35,14.95
$GC,2426,-0.48,-165.5,2570,3837,3748,3406,298.7,-11.0,257,2433,0.00,1.67,0.00,0.000,1030,0.000,0.070,2570,2855,3578,3749,3407,0,0,0,0,0,0,14.66,14.58,14.69
$GC,2732,-0.48,-165.5,2569,2855,3748,3407,330.8,-10.7,273,2738,0.00,1.90,0.00,0.000,260,0.000,0.154,2563,3837,3577,3748,3407,0,0,0,0,0,0,14.96,14.35,14.98
$GC,2764,-0.48,-165.5,2562,3837,3748,3407,334.4,-10.8,279,2770,0.00,1.70,0.00,0.000,1030,0.000,0.070,2563,2838,3577,3748,3407,0,0,0,0,0,0,14.74,14.66,14.76
$GC,3077,-0.48,-165.5,2562,2837,3748,3407,369.2,-11.4,296,3083,0.00,1.95,0.00,0.000,260,0.000,0.153,2555,3844,3577,3748,3406,0,0,0,0,0,0,14.97,14.35,15.00
$GC,3104,-0.48,-165.5,2555,3844,3748,3407,372.4,-11.6,301,3109,0.00,1.70,0.00,0.000,1030,0.000,0.070,2555,2843,3577,3748,3407,0,0,0,0,0,0,14.75,14.67,14.78
$GC,3422,-0.48,-165.5,2554,2843,3748,3407,409.3,-11.4,319,3427,0.00,1.92,0.00,0.000,260,0.000,0.154,2548,3839,3578,3749,3407,0,0,0,0,0,0,14.98,14.38,15.00
$GC,3454,-0.48,-165.5,2547,3838,3748,3407,413.1,-10.9,325,3459,0.00,1.67,0.00,0.000,1030,0.000,0.071,2548,2847,3577,3748,3406,0,0,0,0,0,0,14.76,14.69,14.78
$GC,3766,-0.48,-165.5,2548,2847,3748,3406,449.9,-12.1,342,3773,0.00,1.92,0.00,0.000,260,0.000,0.156,2541,3837,3576,3747,3406,0,0,0,0,0,0,14.98,14.37,15.00
$GC,3810,-0.48,-165.5,2540,3837,3748,3407,455.2,-12.0,350,3817,0.15,1.67,0.00,0.000,3078,0.224,0.071,2576,2853,3577,3748,3406,0,0,0,0,0,0,14.44,14.66,14.64
$GC,4134,-0.48,-165.5,2576,2853,3748,3406,487.0,-9.7,369,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2853,3577,3748,3406,0,0,0,0,0,0,14.96,14.98,14.98
$GC,4434,-0.48,-165.5,2576,2853,3748,3407,514.9,-9.2,384,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2853,3577,3748,3407,0,0,0,0,0,0,14.97,14.99,14.99
$GC,4734,-0.48,-165.5,2576,2852,3748,3407,542.3,-9.1,399,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2853,3577,3747,3407,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5034,-0.48,-165.5,2576,2853,3747,3406,568.7,-8.5,414,5036,0.00,0.00,0.00,0.000,38,0.000,0.000,2576,2853,3577,3747,3407,0,0,0,0,0,0,15.01,15.02,15.02
$GC,5334,-0.48,-165.5,2576,2853,3746,3406,594.4,-8.7,429,5340,0.00,1.92,0.00,0.000,292,0.000,0.159,2571,3841,3576,3746,3407,0,0,0,0,0,0,14.99,14.34,15.01
$GC,5372,-0.48,-165.5,2571,3841,3746,3406,597.8,-8.9,436,5378,0.00,1.70,0.00,0.000,1062,0.000,0.073,2571,2845,3575,3745,3406,0,0,0,0,0,0,14.75,14.66,14.78
$GC,5677,-0.48,-165.5,2571,2845,3745,3407,626.3,-9.6,452,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2845,3576,3745,3407,0,0,0,0,0,0,15.01,15.02,15.02
$GC,5977,-0.48,-165.5,2571,2845,3744,3406,655.4,-9.7,467,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2844,3575,3744,3406,0,0,0,0,0,0,15.02,15.03,15.02
$GC,6278,-0.48,-165.5,2571,2844,3744,3406,682.7,-8.9,482,6279,0.00,0.00,0.00,0.000,38,0.000,0.000,2571,2845,3575,3744,3407,0,0,0,0,0,0,15.00,15.02,15.01
$GC,6577,-0.48,-165.5,2570,2845,3742,3407,708.2,-8.4,497,6583,0.00,1.92,0.00,0.000,292,0.000,0.158,2564,3837,3574,3743,3406,0,0,0,0,0,0,15.00,14.38,15.02
$GC,6610,-0.48,-165.5,2564,3837,3742,3406,711.1,-9.0,503,6615,0.00,1.70,0.00,0.000,1030,0.000,0.076,2564,2845,3574,3742,3406,0,0,0,0,0,0,14.76,14.66,14.78
$GC,6922,-0.48,-165.5,2563,2843,3741,3406,739.2,-9.4,520,6928,0.00,1.95,0.00,0.000,260,0.000,0.160,2557,3842,3573,3741,3406,0,0,0,0,0,0,15.01,14.34,15.02
$GC,6959,-0.48,-165.5,2556,3843,3741,3406,742.8,-9.5,527,6966,0.00,1.70,0.00,0.000,1030,0.000,0.074,2556,2849,3574,3741,3407,0,0,0,0,0,0,14.76,14.68,14.79
$GC,7265,-0.48,-165.5,2556,2848,3740,3406,772.7,-9.6,543,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2848,3573,3741,3406,0,0,0,0,0,0,14.98,15.00,15.00
$GC,7565,-0.48,-165.5,2555,2848,3741,3406,802.2,-9.9,558,7571,0.00,1.95,0.00,0.000,260,0.000,0.161,2549,3843,3573,3741,3406,0,0,0,0,0,0,14.98,14.33,15.00
$GC,7594,-0.48,-165.5,2549,3843,3741,3406,805.1,-10.8,563,7600,0.00,1.70,0.00,0.000,1030,0.000,0.075,2549,2852,3573,3741,3406,0,0,0,0,0,0,14.74,14.66,14.77
$GC,7912,-0.48,-165.5,2549,2852,3741,3406,839.0,-10.6,581,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2852,3574,3741,3407,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8212,-0.48,-165.5,2549,2852,3739,3406,871.2,-10.8,596,8217,0.00,1.95,0.00,0.000,260,0.000,0.164,2542,3839,3572,3739,3406,0,0,0,0,0,0,15.00,14.35,15.02
$GC,8263,-0.48,-165.5,2542,3838,3738,3406,876.9,-10.5,606,8271,0.12,1.70,0.00,0.000,3078,0.226,0.075,2571,2847,3572,3738,3406,0,0,0,0,0,0,14.47,14.66,14.66
$GC,8579,-0.48,-165.5,2570,2847,3738,3406,904.6,-8.8,623,8580,0.00,0.00,0.00,0.000,38,0.000,0.000,2571,2847,3572,3738,3406,0,0,0,0,0,0,15.00,15.03,15.02
$GC,8878,-0.48,-165.5,2570,2847,3737,3406,930.7,-8.5,638,8879,0.00,0.00,0.00,0.000,38,0.000,0.000,2571,2847,3571,3737,3406,0,0,0,0,0,0,15.01,15.03,15.02
$GC,9178,-0.48,-165.5,2571,2847,3737,3406,956.2,-8.6,653,9183,0.00,1.80,0.00,0.000,548,0.000,0.074,2571,1777,3571,3737,3406,0,0,0,0,0,0,15.01,14.64,15.03
$GC,9211,-0.48,-165.5,2571,1773,3737,3406,959.0,-8.2,659,9217,0.00,2.00,0.00,0.000,1062,0.000,0.129,2566,2842,3571,3736,3406,0,0,0,0,0,0,14.69,14.50,14.73
$GC,9523,-0.48,-165.5,2565,2842,3736,3406,987.7,-9.4,676,9529,0.00,1.95,0.00,0.000,260,0.000,0.167,2558,3848,3571,3736,3406,0,0,0,0,0,0,14.98,14.29,15.00
$STATE,9549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9549,begin apogee
$GC,9555,-0.10,0.0,2558,2583,3735,3406,990.3,-10.0,681,9793,0.47,0.08,231.27,2.007,10246,0.180,0.207,2693,2603,2900,2924,2876,0,0,0,0,0,0,14.45,13.50,12.56
$STATE,9794,end apogee,CONTROL_FINISHED_OK
$STATE,9794,begin climb
$GC,9796,0.48,165.5,2693,2603,2923,2876,998.8,0.0,693,10049,0.62,2.08,240.88,1.947,10756,0.104,0.083,2891,1550,2226,2218,2234,0,0,0,0,0,0,13.62,13.38,12.43
$GC,10110,0.48,165.5,2891,1550,2217,2233,973.6,10.8,754,10117,0.00,2.08,0.00,0.000,1030,0.000,0.119,2891,2597,2225,2217,2233,0,0,0,0,0,0,13.90,13.78,13.93
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$STATE,17711,end climb,SURFACE_DEPTH_REACHED
$STATE,17711,begin surface coast
$FINISH,-0.1,1.026878
$STATE,17733,end surface coast,CONTROL_FINISHED_OK
$STATE,17733,begin surface
$SM_CCo,17749,101.07,0.874,1,0,1880,250.20
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$IRIDIUM_FIX,5916.54,-2156.69,060619,050859
$TT8_MAMPS,0.02247,0.684586
$HUMID,38.06
$INTERNAL_PRESSURE,8.83759
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3856832
$24V_AH,12.43,0.000
$10V_AH,12.73,43.414
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17746.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.002,0.000,0.000,0.000
$MEM,303008
$DATA_FILE_SIZE,46637,1358
$CAP_FILE_SIZE,167426,0
$CFSIZE,2097872896,2074902528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.108,34.16,1
$GPS,060619,151307,5916.180,-2201.065,29,0.8,36,-12.8,0.6,99.4,11,9.6