version: 67.00
glider: 528
mission: 5
dive: 40
start: 6 5 123 15 17 16
data:
$ID,528
$MISSION,5
$DIVE,40
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,50
$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,360
$T_MISSION,420
$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
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55492
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,0.1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,671.92169
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$NETBOX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3970
$C_PITCH,2590.4058
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$PITCH_GAIN,24.064249
$PITCH_TIMEOUT,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$C_PITCH_AUTO_DELTA,0.5
$C_PITCH_AUTO_MAX,200
$PITCH_GAIN_AUTO_DELTA,0.5
$PITCH_GAIN_AUTO_MAX,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,225
$ROLL_MAX,3500
$ROLL_DEG,40
$C_ROLL_DIVE,2058.6543
$C_ROLL_CLIMB,1769.0867
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.15000001
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3235.4321
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0.5
$C_VBD_AUTO_MAX,100
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,6.4496155
$FG_AHR_24V,18.54693
$PHONE_SUPPLY,2
$PRESSURE_YINT,-174.83636
$PRESSURE_SLOPE,0.00021603379
$COMPASS_USE,16388
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,6
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,41
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044244844
$SEABIRD_T_H,0.00064698409
$SEABIRD_T_I,2.7614331e-05
$SEABIRD_T_J,3.4337004e-06
$SEABIRD_C_G,-9.9323845
$SEABIRD_C_H,1.1413088
$SEABIRD_C_I,-0.0018536064
$SEABIRD_C_J,0.00022970721
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,050623,151110,1957.538,14148.648,21,1.4,23,-2.3
$_CALLS,1
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-65.2
$GPS2,050623,151658,1957.469,14148.638,1,0.7,3,-2.3
$SPEED_LIMITS,0.159,0.226
$TGT_NAME,HEADING
$TGT_LATLONG,2008.268,14148.657
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,5.3,20000,-18.4,-9.167,-22.07,1929,0.124
$D_GRID,1000
$IRON,1.000000,0.002277,-0.033955,0.007186,1.039742,-0.020262,0.043849,0.027381,1.030225,-65.357445,16.698788,-45.457405
$OSC,8000348
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.29,16386,-116.79,-0.91,0.00,493.7,352.9,634.4,180.8,2028.8,0.00,0.00,0,107.43,72.12,0.00,0.00,0.005,0.000,0.000,3141.03,3390.12,2891.94,180.19,2029.12,0,0,0,15.76,30.00,30.00
$GC,107.88,18727,-116.79,-0.91,40.00,3141.3,3391.8,2890.9,180.2,2029.2,3.52,-4.78,19,137.28,7.87,6.46,1.83,0.007,0.350,0.140,3709.47,4017.12,3401.81,2289.44,3479.06,0,0,0,15.82,15.68,15.84
$GC,204.96,1028,-116.79,-0.91,0.00,3710.6,4019.0,3402.2,2289.1,3478.8,37.46,-31.31,38,211.63,0.00,0.00,1.67,0.000,0.000,0.066,3710.25,4018.81,3401.69,2289.38,2044.94,0,0,0,30.00,30.00,15.92
$GC,395.08,0,-116.79,-0.91,0.00,3710.9,4019.6,3402.2,2289.1,2033.3,91.50,-25.14,76,396.76,0.00,0.00,0.00,0.000,0.000,0.000,3710.69,4019.00,3402.38,2288.88,2033.44,0,0,0,30.00,30.00,30.00
$GC,585.05,260,-116.79,-0.91,40.00,3711.2,4020.0,3402.4,2289.1,2033.4,141.42,-26.81,98,591.27,0.00,0.00,1.80,0.000,0.000,0.136,3711.47,4020.12,3402.81,2278.12,3481.31,0,0,0,30.00,30.00,16.01
$GC,645.07,1028,-116.79,-0.91,0.02,3711.1,4020.1,3402.1,2278.2,3481.2,157.05,-25.53,110,651.40,0.00,0.00,1.67,0.000,0.000,0.073,3711.16,4019.81,3402.50,2278.19,2047.06,0,0,0,30.00,30.00,16.07
$GC,955.91,0,-116.79,-0.91,0.02,3712.1,4021.8,3402.4,2278.2,2037.2,222.52,-19.90,142,957.68,0.00,0.00,0.00,0.000,0.000,0.000,3712.25,4021.62,3402.88,2277.81,2037.44,0,0,0,30.00,30.00,30.00
$GC,1265.22,516,-116.79,-0.91,-40.00,3712.3,4022.4,3402.2,2277.8,2036.9,281.80,-17.33,173,1271.48,0.00,0.00,1.64,0.000,0.000,0.086,3712.06,4022.50,3401.62,2278.06,631.94,0,0,0,30.00,30.00,16.06
$GC,1300.20,1028,-116.79,-0.91,0.10,3712.9,4023.4,3402.4,2278.4,631.8,287.54,-16.26,180,1306.57,0.00,0.00,1.72,0.000,0.000,0.098,3712.59,4023.69,3401.50,2269.75,2063.81,0,0,0,30.00,30.00,16.15
$GC,1615.28,260,-116.79,-0.91,40.00,3712.8,4023.4,3402.2,2269.2,2063.6,343.14,-18.21,212,1621.61,0.00,0.00,1.74,0.000,0.000,0.139,3713.62,4023.62,3403.62,2258.50,3480.38,0,0,0,30.00,30.00,16.16
$GC,1645.28,3077,-116.79,-0.91,0.10,3712.8,4023.1,3402.4,2258.8,3480.9,348.68,-18.48,218,1651.70,0.00,0.10,1.65,0.000,0.219,0.068,3712.62,4022.88,3402.38,2301.94,2049.00,0,0,0,30.00,16.12,16.20
$GC,1955.42,260,-116.79,-0.91,40.00,3712.5,4023.0,3401.9,2301.6,2038.9,392.39,-13.99,250,1961.76,0.00,0.00,1.82,0.000,0.000,0.145,3712.34,4023.38,3401.31,2293.06,3481.38,0,0,0,30.00,30.00,16.07
$GC,2015.37,1028,-116.79,-0.91,0.13,3711.6,4021.4,3401.8,2292.9,3480.9,401.41,-15.53,262,2021.61,0.00,0.00,1.65,0.000,0.000,0.069,3713.72,4022.88,3404.56,2294.00,2048.94,0,0,0,30.00,30.00,16.10
$GC,2325.49,516,-116.79,-0.91,-40.00,3710.9,4019.9,3401.9,2293.4,2039.4,445.86,-14.05,294,2331.69,0.00,0.00,1.66,0.000,0.000,0.095,3711.00,4019.62,3402.38,2293.69,631.69,0,0,0,30.00,30.00,16.20
$GC,2350.41,1028,-116.79,-0.91,0.12,3710.7,4019.4,3402.0,2293.2,631.8,449.23,-13.68,299,2356.78,0.00,0.00,1.73,0.000,0.000,0.105,3710.91,4019.88,3401.94,2285.56,2073.31,0,0,0,30.00,30.00,16.20
$GC,2665.56,0,-116.79,-0.91,0.12,3708.6,4015.4,3401.9,2284.6,2072.7,492.56,-13.43,331,2667.33,0.00,0.00,0.00,0.000,0.000,0.000,3708.66,4015.12,3402.19,2284.75,2072.50,0,0,0,30.00,30.00,30.00
$GC,2975.58,516,-116.79,-0.91,-40.00,3706.6,4011.1,3402.0,2284.9,2072.5,535.93,-14.39,362,2981.99,0.00,0.00,1.74,0.000,0.000,0.103,3706.84,4011.50,3402.19,2285.12,633.50,0,0,0,30.00,30.00,16.11
$GC,3025.59,1028,-116.79,-0.91,0.11,3706.6,4010.7,3402.4,2284.8,633.6,543.00,-14.17,372,3032.00,0.00,0.00,1.73,0.000,0.000,0.105,3706.59,4011.06,3402.12,2277.00,2071.25,0,0,0,30.00,30.00,16.21
$GC,3335.65,516,-116.79,-0.91,-40.00,3703.1,4004.7,3401.4,2279.1,2070.9,586.94,-13.73,404,3342.07,0.00,0.00,1.73,0.000,0.000,0.097,3703.75,4005.00,3402.50,2279.56,631.81,0,0,0,30.00,30.00,16.10
$GC,3355.64,1028,-116.79,-0.91,0.11,3703.3,4004.9,3401.7,2279.5,632.1,589.61,-13.40,408,3362.07,0.00,0.00,1.74,0.000,0.000,0.105,3702.81,4004.75,3400.88,2270.88,2069.38,0,0,0,30.00,30.00,16.21
$GC,3665.77,516,-116.79,-0.91,-40.00,3700.0,3998.6,3401.4,2270.6,2069.3,631.82,-13.25,440,3672.10,0.00,0.00,1.73,0.000,0.000,0.099,3699.50,3998.31,3400.69,2270.69,632.00,0,0,0,30.00,30.00,16.17
$GC,3720.68,1028,-116.79,-0.91,0.10,3699.6,3997.6,3401.6,2270.6,632.1,638.88,-12.99,451,3727.14,0.00,0.00,1.75,0.000,0.000,0.107,3699.66,3997.75,3401.56,2262.06,2071.31,0,0,0,30.00,30.00,16.21
$GC,4035.79,2565,-116.79,-0.91,-40.00,3696.2,3990.8,3401.7,2261.9,2071.6,680.98,-13.04,483,4042.30,0.00,0.09,1.74,0.000,0.233,0.100,3697.09,3991.50,3402.69,2299.94,632.25,0,0,0,30.00,16.16,16.20
$GC,4075.72,1028,-116.79,-0.91,0.07,3696.2,3990.4,3401.9,2299.8,632.2,685.07,-11.65,491,4082.15,0.00,0.00,1.74,0.000,0.000,0.109,3696.12,3990.31,3401.94,2298.25,2067.94,0,0,0,30.00,30.00,16.21
$GC,4385.83,260,-116.79,-0.91,40.00,3692.8,3984.2,3401.4,2297.8,2067.1,718.20,-11.07,523,4392.15,0.00,0.00,1.77,0.000,0.000,0.152,3692.75,3983.88,3401.62,2293.69,3481.25,0,0,0,30.00,30.00,16.16
$GC,4400.73,1028,-116.79,-0.91,0.08,3692.5,3983.4,3401.6,2295.4,3480.9,719.91,-11.17,526,4407.08,0.00,0.00,1.69,0.000,0.000,0.083,3692.84,3983.00,3402.69,2296.19,2045.88,0,0,0,30.00,30.00,16.09
$GC,4715.78,516,-116.79,-0.91,-40.00,3689.2,3977.3,3401.2,2295.4,2034.3,755.28,-11.26,558,4722.13,0.00,0.00,1.68,0.000,0.000,0.103,3689.34,3976.81,3401.88,2296.31,631.12,0,0,0,30.00,30.00,16.19
$GC,4775.79,1028,-116.79,-0.91,0.08,3688.7,3975.8,3401.6,2295.1,630.8,762.15,-11.27,570,4782.20,0.00,0.00,1.76,0.000,0.000,0.111,3688.81,3975.94,3401.69,2294.75,2067.69,0,0,0,30.00,30.00,16.18
$GC,5085.89,516,-116.79,-0.91,-40.00,3685.8,3970.0,3401.5,2294.2,2067.4,795.23,-10.56,602,5092.23,0.00,0.00,1.74,0.000,0.000,0.103,3685.91,3970.00,3401.81,2295.00,632.38,0,0,0,30.00,30.00,16.20
$GC,5135.81,1028,-116.79,-0.91,0.06,3685.4,3969.5,3401.2,2294.1,632.2,800.45,-10.32,612,5142.23,0.00,0.00,1.75,0.000,0.000,0.113,3685.28,3969.19,3401.38,2289.69,2070.06,0,0,0,30.00,30.00,16.18
$GC,5445.93,516,-116.79,-0.91,-40.00,3682.2,3963.3,3401.2,2289.6,2069.3,831.99,-9.94,644,5452.27,0.00,0.00,1.75,0.000,0.000,0.105,3682.84,3964.38,3401.31,2289.50,631.00,0,0,0,30.00,30.00,16.19
$GC,5480.84,1028,-116.79,-0.91,0.04,3682.2,3963.1,3401.4,2289.7,630.5,835.51,-10.08,651,5487.28,0.00,0.00,1.75,0.000,0.000,0.112,3683.03,3963.38,3402.69,2282.44,2066.75,0,0,0,30.00,30.00,16.17
$GC,5795.92,0,-116.79,-0.91,0.04,3678.8,3956.3,3401.2,2282.1,2066.3,868.39,-10.62,683,5797.73,0.00,0.00,0.00,0.000,0.000,0.000,3678.75,3956.06,3401.44,2282.56,2065.94,0,0,0,30.00,30.00,30.00
$GC,6105.99,260,-116.79,-0.91,40.00,3677.1,3952.9,3401.2,2282.3,2066.2,904.48,-12.01,714,6112.39,0.00,0.00,1.78,0.000,0.000,0.159,3677.03,3952.81,3401.25,2282.44,3481.50,0,0,0,30.00,30.00,16.16
$GC,6130.96,1028,-116.79,-0.91,0.04,3676.6,3951.7,3401.6,2282.6,3481.5,907.61,-12.39,719,6137.32,0.00,0.00,1.70,0.000,0.000,0.087,3676.94,3951.69,3402.19,2282.06,2047.12,0,0,0,30.00,30.00,16.21
$GC,6446.11,516,-116.79,-0.91,-40.00,3674.4,3947.4,3401.3,2281.9,2035.2,944.01,-9.35,751,6452.55,0.00,0.00,1.71,0.000,0.000,0.111,3675.03,3947.56,3402.50,2281.56,633.44,0,0,0,30.00,30.00,16.17
$GC,6491.03,1028,-116.79,-0.91,0.03,3673.7,3946.2,3401.2,2281.4,632.4,949.42,-11.82,760,6497.48,0.00,0.00,1.77,0.000,0.000,0.117,3673.50,3946.50,3400.50,2281.75,2068.81,0,0,0,30.00,30.00,16.18
$GC,6806.20,516,-116.79,-0.91,-40.00,3672.3,3943.0,3401.6,2281.2,2068.2,986.42,-10.75,792,6812.53,0.00,0.00,1.76,0.000,0.000,0.112,3672.03,3942.56,3401.50,2281.94,632.94,0,0,0,30.00,30.00,16.17
$STATE,6841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6841,begin apogee
$GC,6845.54,10243,0.00,-0.21,0.00,3671.9,3942.6,3401.3,2281.1,1776.6,990.32,-11.16,799,6948.31,66.60,0.56,0.05,2.034,0.208,0.261,3227.81,3324.44,3131.19,2524.62,1753.88,0,0,0,12.72,16.00,15.34
$STATE,6949,end apogee,CONTROL_FINISHED_OK
$STATE,6949,begin climb
$GC,6949.48,10759,116.79,0.91,-40.00,3229.1,3326.1,3132.1,2525.1,1753.9,997.80,0.00,809,6970.48,9.24,0.77,1.82,1.489,0.135,0.128,3191.62,3273.06,3110.19,2881.12,347.88,0,0,0,12.39,15.45,15.43
$STATE,6971,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,7555.87,389.17,2.013,0,499.8,352.6,646.9,670.96
$SM_GC,0.69,0.00,5.08,1.67,0.000,0.063,0.095,488.0,337.3,638.8,191.8,1779.1,0,0,0,30.00,16.18,16.19
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,1954.14,13952.28,050623,104038
$TCM_TEMP,14.40
$XPDR_PINGS,3,12.0,11.5
$SC_FREEKB,3849088
$HUMID,52.59
$TEMP,23.41
$INTERNAL_PRESSURE,9.03146
$24V_AH,14.49,14.608
$10V_AH,15.00,0.000
$FG_AHR_24Vo,18.965
$FG_AHR_10Vo,6.542
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,545.005,13.060,62.040,295.460,0.750,13.140,1115.576,1.909,0.000,11582.218,1167.517,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,2033.680,349.728,260.512,243.003,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6963.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.314,0.000,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,997688,25,49220,58
$DATA_FILE_SIZE,22494,812
$CAP_FILE_SIZE,200173,0
$SDSIZE,3887104,3858944
$SDFILEDIR,283,41
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,050623,191739,1957.663,14148.664,15,0.9,15,-2.3