version: 66.14
glider: 527
mission: 10
dive: 14
start: 10 5 120 10 22 14
data:
$ID,527
$MISSION,10
$DIVE,14
$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,17
$R_STBD_OVSHOOT,15
$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
$GPS1,051020,100309,5825.3159,-2114.5818,18,1.5,44,-12.1,0.5,56.0,7,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-62.5
$GPS2,051020,102129,5825.3311,-2114.6118,9,1.5,28,-12.1,1.0,52.9,7,9.9
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5826.495,-2116.883
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,334.1,3081,-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,-146.0,0,2611,1118,1160,0.0,0.0,0,129,0.00,0.00,-107.15,0.008,16390,0.000,0.000,0,2611,3576,3517,3636,0,0,0,0,0,0,14.59,13.52,14.61
$GC,131,-0.75,-146.0,0,2611,3517,3637,4.5,-11.5,19,148,9.70,2.22,0.00,0.000,2308,0.408,0.067,1961,3858,3580,3522,3638,0,0,0,0,0,0,14.09,14.35,14.40
$GC,375,-0.75,-146.0,1961,3858,3527,3635,55.7,-17.8,66,383,0.00,2.25,0.00,0.000,1030,0.000,0.065,1961,2582,3581,3528,3635,0,0,0,0,0,0,14.43,14.33,14.45
$GC,566,-0.75,-146.0,1961,2572,3529,3635,90.1,-15.7,103,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2572,3581,3529,3634,0,0,0,0,0,0,14.66,14.69,14.68
$GC,756,-0.75,-146.0,1961,2572,3529,3633,120.4,-17.1,128,764,0.00,2.42,0.00,0.000,516,0.000,0.077,1962,1196,3581,3528,3634,0,0,0,0,0,0,14.71,14.35,14.72
$GC,821,-0.75,-146.0,1961,1195,3530,3634,131.7,-17.1,140,829,0.00,2.53,0.00,0.000,1030,0.000,0.073,1952,2610,3582,3530,3634,0,0,0,0,0,0,14.55,14.46,14.58
$GC,1137,-0.75,-146.0,1952,2610,3530,3634,186.9,-17.1,172,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2610,3582,3530,3634,0,0,0,0,0,0,14.72,14.75,14.74
$GC,1438,-0.75,-146.0,1952,2609,3530,3634,238.4,-17.6,202,1445,0.00,2.53,0.00,0.000,516,0.000,0.076,1952,1185,3582,3530,3634,0,0,0,0,0,0,14.74,14.47,14.76
$GC,1462,-0.75,-146.0,1952,1184,3533,3634,243.0,-18.4,206,1471,0.15,2.53,0.00,0.000,3078,0.299,0.073,1973,2598,3582,3530,3634,0,0,0,0,0,0,14.20,14.48,14.48
$GC,1778,-0.75,-146.0,1973,2598,3530,3634,293.3,-15.7,238,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,2598,3582,3530,3634,0,0,0,0,0,0,14.78,14.81,14.81
$GC,2079,-0.75,-146.0,1972,2598,3530,3633,341.5,-16.1,268,2087,0.00,2.50,0.00,0.000,516,0.000,0.081,1973,1196,3581,3530,3633,0,0,0,0,0,0,14.78,14.49,14.80
$GC,2105,-0.75,-146.0,1973,1196,3530,3633,345.9,-17.0,272,2113,0.00,2.53,0.00,0.000,1030,0.000,0.076,1966,2612,3581,3530,3633,0,0,0,0,0,0,14.52,14.42,14.54
$GC,2420,-0.75,-146.0,1966,2611,3530,3632,399.6,-17.3,304,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2611,3581,3530,3632,0,0,0,0,0,0,14.79,14.81,14.81
$GC,2721,-0.75,-146.0,1966,2611,3533,3631,450.6,-17.1,334,2729,0.00,2.53,0.00,0.000,516,0.000,0.078,1967,1196,3580,3530,3631,0,0,0,0,0,0,14.78,14.45,14.81
$GC,2766,-0.75,-146.0,1966,1196,3530,3631,458.5,-16.8,342,2773,0.00,2.53,0.00,0.000,1030,0.000,0.076,1957,2608,3580,3530,3631,0,0,0,0,0,0,14.16,14.11,14.30
$GC,3080,-0.75,-146.0,1957,2609,3529,3629,513.1,-17.2,374,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2609,3580,3530,3630,0,0,0,0,0,0,14.78,14.81,14.80
$GC,3382,-0.75,-146.0,1957,2609,3530,3629,564.3,-16.9,404,3390,0.00,2.53,0.00,0.000,516,0.000,0.077,1957,1193,3579,3530,3629,0,0,0,0,0,0,14.78,14.42,14.81
$GC,3411,-0.75,-146.0,1957,1193,3530,3629,569.6,-17.8,409,3419,0.00,2.53,0.00,0.000,1030,0.000,0.075,1948,2603,3579,3530,3629,0,0,0,0,0,0,14.55,14.44,14.57
$STATE,3585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3585,begin apogee
$GC,3591,-0.17,0.0,1948,1783,3531,3628,600.2,-17.4,427,3737,0.77,0.00,134.95,1.775,10246,0.233,0.000,2159,1783,2978,2981,2976,0,0,0,0,0,0,14.23,13.93,13.12
$STATE,3740,end apogee,CONTROL_FINISHED_OK
$STATE,3740,begin climb
$GC,3741,0.75,146.0,2159,1783,2981,2975,608.1,0.0,442,3891,0.95,2.72,135.80,1.751,10756,0.129,0.105,2469,388,2381,2373,2390,0,0,0,0,0,0,14.00,13.79,13.04
$GC,3973,0.75,146.0,2468,388,2363,2389,584.9,14.4,485,3981,0.00,2.60,0.00,0.000,1030,0.000,0.076,2468,1802,2375,2363,2388,0,0,0,0,0,0,14.20,14.11,14.23
$GC,4279,0.75,146.0,2467,1803,2363,2381,541.1,14.6,516,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1802,2372,2363,2382,0,0,0,0,0,0,14.62,14.64,14.65
$GC,4580,0.75,146.0,2468,1805,2362,2381,498.1,14.2,546,4587,0.00,2.62,0.00,0.000,516,0.000,0.100,2476,378,2371,2363,2380,0,0,0,0,0,0,14.72,14.42,14.74
$GC,4604,0.75,146.0,2477,378,2363,2380,494.2,15.0,550,4612,0.00,2.53,0.00,0.000,1030,0.000,0.077,2477,1791,2371,2362,2380,0,0,0,0,0,0,14.53,14.44,14.54
$GC,4919,0.75,146.0,2477,1793,2362,2379,447.8,14.7,582,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1793,2370,2362,2379,0,0,0,0,0,0,14.77,14.78,14.78
$GC,5230,0.75,146.0,2476,1795,2362,2378,403.4,14.4,613,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1795,2370,2362,2379,0,0,0,0,0,0,14.79,14.81,14.81
$GC,5539,0.75,146.0,2477,1796,2363,2378,358.9,14.3,644,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1796,2369,2362,2377,0,0,0,0,0,0,14.78,14.81,14.81
$GC,5849,0.75,146.0,2476,1796,2362,2378,314.4,14.4,675,5857,0.00,2.60,0.00,0.000,516,0.000,0.099,2487,375,2369,2362,2377,0,0,0,0,0,0,14.78,14.47,14.81
$GC,5875,0.75,146.0,2486,375,2362,2378,310.9,13.5,679,5882,0.00,2.53,0.00,0.000,1030,0.000,0.078,2487,1795,2370,2362,2378,0,0,0,0,0,0,14.55,14.45,14.59
$GC,6190,0.75,146.0,2486,1795,2360,2377,264.3,14.8,711,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1796,2369,2361,2377,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6491,0.75,146.0,2486,1798,2359,2377,220.5,14.5,741,6499,0.00,2.60,0.00,0.000,516,0.000,0.098,2496,384,2369,2361,2377,0,0,0,0,0,0,14.78,14.42,14.80
$GC,6530,0.75,146.0,2496,384,2361,2377,214.5,15.3,748,6540,0.15,2.53,0.00,0.000,5126,0.265,0.077,2464,1800,2369,2361,2377,0,0,0,0,0,0,14.30,14.50,14.56
$GC,6837,0.75,146.0,2464,1805,2361,2376,174.7,12.9,779,6844,0.00,2.50,0.00,0.000,260,0.000,0.087,2464,3205,2368,2361,2376,0,0,0,0,0,0,14.77,14.44,14.79
$GC,6875,0.75,146.0,2464,3205,2360,2376,169.6,13.5,786,6883,0.00,2.53,0.00,0.000,1030,0.000,0.081,2471,1793,2368,2361,2376,0,0,0,0,0,0,14.47,14.35,14.51
$GC,7182,0.75,146.0,2470,1794,2361,2376,130.0,12.7,817,7189,0.00,2.62,0.00,0.000,516,0.000,0.106,2481,371,2368,2360,2376,0,0,0,0,0,0,14.76,14.38,14.78
$GC,7322,0.75,146.0,2481,371,2360,2376,111.3,13.5,844,7332,0.00,2.55,0.00,0.000,1030,0.000,0.080,2481,1793,2367,2359,2376,0,0,0,0,0,0,14.57,14.46,14.60
$GC,7631,0.75,146.0,2481,1797,2360,2376,71.6,10.9,897,7639,0.00,2.65,0.00,0.000,516,0.000,0.100,2490,370,2367,2359,2376,0,0,0,0,0,0,14.72,14.04,14.74
$GC,7681,0.75,146.0,2491,370,2359,2376,65.0,14.1,906,7689,0.00,2.55,0.00,0.000,1030,0.000,0.078,2491,1791,2367,2359,2376,0,0,0,0,0,0,14.51,14.41,14.54
$GC,7872,0.75,146.0,2491,1795,2359,2375,42.5,13.2,943,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1796,2367,2359,2375,0,0,0,0,0,0,14.73,14.75,14.75
$GC,8062,0.75,146.0,2490,1798,2359,2374,17.3,13.0,980,8071,0.00,2.53,0.00,0.000,260,0.000,0.086,2490,3210,2367,2360,2375,0,0,0,0,0,0,14.73,14.42,14.73
$GC,8083,0.75,146.0,2489,3211,2359,2375,14.4,13.6,983,8092,0.17,2.55,0.00,0.000,5126,0.270,0.080,2462,1790,2366,2358,2375,0,0,0,0,0,0,14.23,14.41,14.50
$STATE,8200,end climb,SURFACE_DEPTH_REACHED
$STATE,8200,begin surface coast
$FINISH,0.8,1.026793
$STATE,8222,end surface coast,CONTROL_FINISHED_OK
$STATE,8222,begin surface
$WARN,HTMICL missed fuel gauge read
$SM_CCo,8240,260.20,0.950,1,0,1144,450.12
$SM_GC,0.57,6.68,1.50,260.20,0.069,0.084,0.950,161,2599,1144,-6.34,-0.65,450.12,0,0,0,0,1,0,14.57,14.47,13.52
$IRIDIUM_FIX,5825.06,-2113.75,051020,100637
$TT8_MAMPS,0.02247,0.892059
$HUMID,44.76
$INTERNAL_PRESSURE,7.86099
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3901312
$TM_FREEKB,7612160
$24V_AH,13.04,0.000
$10V_AH,13.04,28.802
$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,18.575,73.775,270.750,260.200,0.000,0.000,0.000,816.150,0.000,0.000,39.874,2431.154,3710.146,706.108,2582.040,190.244,0.000,2377.049,0.000,1590.682,0.000,0.539,0.000
$DEVICE_MAMPS,407.745,105.570,1774.800,950.130,0.000,0.000,0.000,222.615,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8246.000,8249.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.021,465.409,0.000,0.000
$MEM,324052
$DATA_FILE_SIZE,33348,1009
$CAP_FILE_SIZE,106620,0
$CFSIZE,2097872896,2092105728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.148,152.41,1
$GPS,051020,124529,5825.696,-2115.194,36,1.1,46,-12.1,0.6,184.7,7,8.9