version: 66.14
glider: 527
mission: 10
dive: 13
start: 10 5 120 7 31 53
data:
$ID,527
$MISSION,10
$DIVE,13
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,750
$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,200
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$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,150
$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,450
$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,30
$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,2600
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2980
$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,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,0
$AH0_10V,310
$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,-173.88152
$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,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,051020,071618,5824.8750,-2116.3936,19,0.9,34,-12.1,0.0,319.4,7,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-57.8
$GPS2,051020,073109,5824.9087,-2116.5093,9,0.8,20,-12.1,0.0,137.6,11,9.5
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5825.433,-2113.296
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,48.2,3264,-18.2,-10.000,-20.95,2242
$D_GRID,600
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.75,-146.0,0,2612,1125,1152,0.0,0.0,0,128,0.00,0.00,-109.43,0.008,16390,0.000,0.000,0,2613,3577,3516,3638,0,0,0,0,0,0,14.59,13.05,14.58
$GC,130,-0.75,-146.0,0,2613,3518,3640,2.9,-5.1,19,152,9.77,2.25,0.00,0.000,2340,0.412,0.075,1961,3861,3583,3525,3642,0,0,0,0,0,0,14.08,14.34,14.40
$GC,239,-0.75,-146.0,1961,3861,3528,3638,28.5,-19.3,39,248,0.00,2.25,0.00,0.000,1030,0.000,0.068,1961,2589,3583,3529,3638,0,0,0,0,0,0,14.42,14.34,14.43
$GC,430,-0.75,-146.0,1961,2578,3529,3637,61.8,-18.1,76,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2578,3583,3530,3637,0,0,0,0,0,0,14.64,14.66,14.66
$GC,620,-0.75,-146.0,1961,2578,3530,3637,92.1,-15.1,113,629,0.00,2.28,0.00,0.000,260,0.000,0.084,1952,3852,3583,3530,3637,0,0,0,0,0,0,14.68,14.33,14.70
$GC,696,-0.75,-146.0,1951,3852,3530,3636,103.5,-14.6,127,703,0.00,2.22,0.00,0.000,1030,0.000,0.067,1953,2596,3583,3530,3636,0,0,0,0,0,0,14.44,14.15,14.49
$GC,1010,-0.75,-146.0,1952,2585,3531,3636,155.8,-17.3,159,1018,0.00,2.47,0.00,0.000,516,0.000,0.080,1952,1191,3583,3531,3636,0,0,0,0,0,0,14.72,14.36,14.74
$GC,1064,-0.75,-146.0,1951,1191,3531,3636,165.5,-17.6,169,1073,0.15,2.53,0.00,0.000,3078,0.301,0.074,1971,2609,3583,3531,3635,0,0,0,0,0,0,14.21,14.42,14.50
$GC,1381,-0.75,-146.0,1972,2610,3532,3636,215.8,-15.6,201,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2610,3584,3532,3636,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1683,-0.75,-146.0,1972,2610,3531,3636,262.4,-16.1,231,1690,0.00,2.53,0.00,0.000,516,0.000,0.080,1972,1193,3584,3532,3636,0,0,0,0,0,0,14.76,14.47,14.78
$GC,1717,-0.75,-146.0,1972,1192,3532,3636,267.9,-15.5,237,1726,0.00,2.53,0.00,0.000,1030,0.000,0.075,1965,2605,3584,3532,3636,0,0,0,0,0,0,14.54,14.47,14.57
$GC,2032,-0.75,-146.0,1965,2605,3532,3635,318.9,-15.9,269,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2605,3583,3532,3635,0,0,0,0,0,0,14.78,14.81,14.81
$GC,2334,-0.75,-146.0,1965,2605,3532,3635,367.5,-15.9,299,2341,0.00,2.53,0.00,0.000,516,0.000,0.080,1965,1189,3583,3532,3634,0,0,0,0,0,0,14.78,14.41,14.80
$GC,2373,-0.75,-146.0,1965,1190,3532,3635,374.0,-15.9,306,2381,0.00,2.50,0.00,0.000,1030,0.000,0.074,1956,2598,3583,3532,3635,0,0,0,0,0,0,14.62,14.51,14.64
$GC,2678,-0.75,-146.0,1956,2598,3532,3634,424.4,-15.8,337,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2598,3583,3532,3634,0,0,0,0,0,0,14.80,14.82,14.81
$GC,2980,-0.75,-146.0,1956,2598,3532,3633,473.2,-15.5,367,2987,0.00,2.50,0.00,0.000,516,0.000,0.080,1955,1194,3582,3532,3633,0,0,0,0,0,0,14.77,14.47,14.79
$GC,3014,-0.75,-146.0,1956,1194,3532,3633,479.2,-15.9,373,3023,0.12,2.53,0.00,0.000,3078,0.297,0.075,1970,2610,3582,3532,3633,0,0,0,0,0,0,14.21,14.42,14.46
$GC,3330,-0.75,-146.0,1970,2611,3532,3632,528.0,-15.7,405,3338,0.00,2.53,0.00,0.000,516,0.000,0.080,1970,1193,3582,3532,3632,0,0,0,0,0,0,14.79,14.47,14.81
$GC,3359,-0.75,-146.0,1970,1193,3532,3633,532.8,-16.8,410,3368,0.00,2.53,0.00,0.000,1030,0.000,0.075,1964,2611,3582,3532,3632,0,0,0,0,0,0,14.59,14.49,14.62
$GC,3665,-0.75,-146.0,1963,2611,3532,3631,580.5,-15.6,441,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2611,3581,3532,3631,0,0,0,0,0,0,14.79,14.81,14.81
$STATE,3794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3794,begin apogee
$GC,3800,-0.17,0.0,1964,1782,3532,3631,600.8,-15.5,454,3947,0.70,0.00,136.05,1.781,10246,0.221,0.000,2157,1782,2978,2981,2976,0,0,0,0,0,0,14.27,13.92,13.09
$STATE,3949,end apogee,CONTROL_FINISHED_OK
$STATE,3950,begin climb
$GC,3951,0.75,146.0,2157,1782,2981,2975,608.7,0.0,469,4098,0.95,2.78,135.85,1.750,10756,0.129,0.105,2466,380,2383,2376,2390,0,0,0,0,0,0,14.00,13.81,13.03
$GC,4143,0.75,146.0,2466,380,2364,2389,592.9,12.8,504,4152,0.00,2.60,0.00,0.000,1030,0.000,0.076,2466,1791,2376,2364,2389,0,0,0,0,0,0,14.14,14.07,14.16
$GC,4450,0.75,146.0,2466,1792,2364,2381,550.2,13.9,535,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1792,2372,2364,2381,0,0,0,0,0,0,14.60,14.62,14.62
$GC,4752,0.75,146.0,2466,1794,2364,2380,509.3,13.6,565,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1795,2372,2364,2380,0,0,0,0,0,0,14.71,14.73,14.73
$GC,5062,0.75,146.0,2466,1795,2363,2379,469.7,12.1,596,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1795,2371,2364,2379,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5372,0.75,146.0,2466,1796,2363,2378,430.0,13.3,627,5380,0.00,2.60,0.00,0.000,516,0.000,0.100,2476,382,2371,2364,2378,0,0,0,0,0,0,14.78,14.46,14.78
$GC,5407,0.75,146.0,2475,383,2363,2378,425.4,13.7,633,5414,0.00,2.53,0.00,0.000,1030,0.000,0.077,2475,1800,2370,2362,2378,0,0,0,0,0,0,14.62,14.51,14.64
$GC,5721,0.75,146.0,2476,1801,2362,2377,384.4,12.9,665,5728,0.00,2.47,0.00,0.000,260,0.000,0.087,2474,3202,2369,2362,2377,0,0,0,0,0,0,14.78,14.49,14.81
$GC,5740,0.75,146.0,2475,3202,2362,2377,381.6,13.0,668,5749,0.00,2.53,0.00,0.000,1030,0.000,0.081,2484,1786,2369,2362,2377,0,0,0,0,0,0,14.57,14.45,14.60
$GC,6047,0.75,146.0,2484,1786,2362,2378,340.1,13.6,699,6054,0.00,2.60,0.00,0.000,516,0.000,0.106,2496,368,2369,2362,2377,0,0,0,0,0,0,14.77,14.45,14.79
$GC,6171,0.75,146.0,2495,367,2361,2376,322.5,14.0,723,6180,0.15,2.55,0.00,0.000,5126,0.275,0.078,2465,1790,2368,2360,2377,0,0,0,0,0,0,14.31,14.52,14.57
$GC,6487,0.75,146.0,2464,1794,2361,2376,283.9,11.8,755,6494,0.00,2.50,0.00,0.000,260,0.000,0.086,2465,3207,2368,2361,2376,0,0,0,0,0,0,14.80,14.50,14.82
$GC,6525,0.75,146.0,2464,3208,2361,2376,279.0,12.8,762,6534,0.00,2.55,0.00,0.000,1030,0.000,0.083,2471,1784,2368,2361,2376,0,0,0,0,0,0,14.59,14.47,14.64
$GC,6832,0.75,146.0,2471,1784,2361,2376,241.9,11.9,793,6840,0.00,2.60,0.00,0.000,516,0.000,0.107,2482,369,2369,2361,2377,0,0,0,0,0,0,14.78,14.42,14.80
$GC,6947,0.75,146.0,2481,368,2360,2376,226.6,13.1,815,6954,0.00,2.55,0.00,0.000,1030,0.000,0.078,2482,1795,2368,2360,2376,0,0,0,0,0,0,14.61,14.50,14.63
$GC,7262,0.75,146.0,2482,1796,2359,2376,184.3,13.6,847,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1796,2368,2360,2376,0,0,0,0,0,0,14.74,14.77,14.77
$GC,7563,0.75,146.0,2482,1797,2360,2376,143.6,13.5,877,7570,0.00,2.62,0.00,0.000,516,0.000,0.101,2491,372,2368,2360,2376,0,0,0,0,0,0,14.75,14.42,14.77
$GC,7581,0.75,146.0,2491,372,2360,2376,140.9,13.7,880,7589,0.00,2.55,0.00,0.000,1030,0.000,0.080,2491,1794,2367,2360,2375,0,0,0,0,0,0,14.59,14.48,14.62
$GC,7888,0.75,146.0,2491,1795,2360,2376,97.6,13.1,912,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1795,2368,2360,2376,0,0,0,0,0,0,14.78,14.80,14.79
$GC,8078,0.75,146.0,2491,1796,2360,2376,73.9,13.0,949,8086,0.00,2.53,0.00,0.000,260,0.000,0.089,2493,3208,2369,2362,2377,0,0,0,0,0,0,14.75,14.45,14.78
$GC,8128,0.75,146.0,2491,3208,2360,2376,67.4,12.9,958,8137,0.17,2.58,0.00,0.000,5126,0.274,0.085,2463,1784,2367,2360,2374,0,0,0,0,0,0,14.23,14.37,14.52
$GC,8320,0.76,156.2,2463,1783,2358,2374,48.4,9.5,995,8334,0.00,0.00,7.70,0.939,8230,0.000,0.000,2463,1784,2342,2339,2346,0,0,0,0,0,0,14.72,14.47,13.81
$GC,8517,0.76,156.2,2462,1784,2339,2343,25.1,14.1,1033,8525,0.00,2.62,0.00,0.000,516,0.000,0.108,2472,368,2341,2338,2344,0,0,0,0,0,0,14.71,14.35,14.73
$GC,8583,0.76,156.2,2470,366,2335,2344,16.4,12.4,1045,8591,0.00,2.58,0.00,0.000,1030,0.000,0.080,2471,1800,2339,2335,2344,0,0,0,0,0,0,14.54,14.44,14.57
$STATE,8691,end climb,SURFACE_DEPTH_REACHED
$STATE,8691,begin surface coast
$FINISH,0.3,1.026799
$STATE,8713,end surface coast,CONTROL_FINISHED_OK
$STATE,8714,begin surface
$SM_CCo,8731,253.05,0.940,1,0,1144,450.12
$SM_GC,0.56,6.65,1.48,253.05,0.062,0.097,0.940,161,2595,1144,-6.35,-0.65,450.12,0,0,0,0,1,0,14.56,14.43,13.53
$IRIDIUM_FIX,5825.06,-2113.75,051020,043934
$TT8_MAMPS,0.023219,0.940744
$HUMID,44.29
$INTERNAL_PRESSURE,7.86099
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3902016
$TM_FREEKB,7638432
$24V_AH,13.03,0.000
$10V_AH,12.78,27.366
$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,18.675,83.450,279.600,253.050,0.000,0.000,0.000,678.775,0.000,0.000,31.501,2543.008,3897.569,714.997,2554.226,183.046,0.000,2302.957,0.000,1695.343,0.000,0.538,0.000
$DEVICE_MAMPS,412.335,107.865,1780.920,940.185,0.000,0.000,0.000,221.085,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8737.000,8739.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.878,1000.000,0.000,0.000
$MEM,323968
$DATA_FILE_SIZE,36657,1070
$CAP_FILE_SIZE,110570,0
$CFSIZE,2097872896,2092433408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.122,150.82,1
$GPS,051020,100309,5825.316,-2114.582,18,1.5,44,-12.1,0.5,56.0,7,9.9