version: 66.14
glider: 527
mission: 10
dive: 16
start: 10 5 120 15 43 8
data:
$ID,527
$MISSION,10
$DIVE,16
$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,21
$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
$GPS1,051020,152737,5826.0498,-2115.7878,61,0.8,67,-12.1,1.0,293.5,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-63.7
$GPS2,051020,154223,5825.9902,-2115.8352,10,0.8,19,-12.1,0.7,263.7,9,9.5
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5826.124,-2117.960
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,314.8,2075,-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,-146.0,0,2618,1114,1164,0.0,0.0,0,128,0.00,0.00,-108.20,0.008,16390,0.000,0.000,0,2620,3577,3518,3637,0,0,0,0,0,0,14.59,13.05,14.60
$GC,130,-0.75,-146.0,0,2618,3518,3638,3.5,-6.7,19,148,9.82,2.22,0.00,0.000,2340,0.413,0.074,1964,3857,3581,3523,3640,0,0,0,0,0,0,14.07,14.31,14.40
$GC,330,-0.75,-146.0,1962,3857,3528,3637,44.3,-16.8,57,339,0.00,2.25,0.00,0.000,1030,0.000,0.063,1963,2581,3583,3529,3637,0,0,0,0,0,0,14.47,14.38,14.49
$GC,522,-0.75,-146.0,1962,2571,3529,3637,77.5,-18.0,94,530,0.00,2.42,0.00,0.000,516,0.000,0.077,1964,1188,3583,3530,3636,0,0,0,0,0,0,14.67,14.42,14.69
$GC,583,-0.75,-146.0,1963,1188,3530,3636,88.4,-17.2,105,592,0.00,2.53,0.00,0.000,1030,0.000,0.070,1954,2610,3583,3530,3636,0,0,0,0,0,0,14.54,14.45,14.57
$GC,780,-0.75,-146.0,1955,2610,3530,3636,120.1,-16.3,131,788,0.00,2.17,0.00,0.000,260,0.000,0.081,1944,3854,3583,3530,3636,0,0,0,0,0,0,14.71,14.46,14.72
$GC,839,-0.75,-146.0,1944,3854,3530,3636,129.8,-17.4,142,848,0.15,2.20,0.00,0.000,3078,0.282,0.063,1974,2592,3583,3530,3636,0,0,0,0,0,0,14.21,14.47,14.45
$GC,1146,-0.75,-146.0,1974,2581,3530,3636,174.2,-14.9,173,1153,0.00,2.45,0.00,0.000,516,0.000,0.077,1975,1196,3583,3531,3636,0,0,0,0,0,0,14.73,14.07,14.75
$GC,1204,-0.75,-146.0,1974,1196,3531,3636,183.4,-14.5,184,1213,0.00,2.47,0.00,0.000,1030,0.000,0.070,1968,2598,3583,3531,3636,0,0,0,0,0,0,14.47,14.40,14.50
$GC,1511,-0.75,-146.0,1968,2598,3531,3636,231.5,-16.1,215,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2598,3583,3531,3636,0,0,0,0,0,0,14.73,14.76,14.76
$GC,1812,-0.75,-146.0,1968,2597,3531,3635,279.7,-15.8,245,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2598,3583,3531,3635,0,0,0,0,0,0,14.76,14.79,14.78
$GC,2122,-0.75,-146.0,1968,2598,3531,3635,329.5,-15.9,276,2130,0.00,2.50,0.00,0.000,516,0.000,0.075,1968,1188,3583,3531,3635,0,0,0,0,0,0,14.78,14.46,14.81
$GC,2167,-0.75,-146.0,1968,1188,3531,3634,337.0,-16.1,284,2175,0.00,2.53,0.00,0.000,1030,0.000,0.071,1959,2610,3583,3531,3635,0,0,0,0,0,0,14.57,14.46,14.61
$GC,2483,-0.75,-146.0,1959,2610,3531,3634,389.0,-16.2,316,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2610,3582,3531,3633,0,0,0,0,0,0,14.80,14.82,14.82
$GC,2786,-0.75,-146.0,1959,2610,3531,3633,439.2,-16.8,346,2793,0.00,2.50,0.00,0.000,516,0.000,0.076,1959,1196,3582,3531,3633,0,0,0,0,0,0,14.77,14.49,14.78
$GC,2810,-0.75,-146.0,1959,1196,3532,3633,443.6,-16.7,350,2818,0.00,2.50,0.00,0.000,1030,0.000,0.073,1950,2607,3582,3531,3634,0,0,0,0,0,0,14.56,14.47,14.59
$GC,3125,-0.75,-146.0,1950,2606,3531,3632,498.5,-17.6,382,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2607,3582,3532,3632,0,0,0,0,0,0,14.78,14.81,14.81
$GC,3426,-0.75,-146.0,1949,2606,3531,3631,550.4,-17.3,412,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2607,3581,3531,3631,0,0,0,0,0,0,14.79,14.81,14.81
$STATE,3725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3725,begin apogee
$GC,3730,-0.17,0.0,1950,1786,3531,3630,601.6,-17.0,442,3878,0.75,0.00,136.02,1.776,10246,0.233,0.000,2154,1786,2978,2980,2977,0,0,0,0,0,0,14.26,13.89,13.09
$STATE,3881,end apogee,CONTROL_FINISHED_OK
$STATE,3881,begin climb
$GC,3883,0.75,146.0,2155,1786,2979,2975,609.7,0.0,457,4030,0.98,2.75,135.95,1.744,10756,0.132,0.101,2468,388,2383,2376,2390,0,0,0,0,0,0,14.00,13.82,13.00
$GC,4066,0.75,146.0,2468,388,2365,2389,594.3,14.1,490,4074,0.00,2.58,0.00,0.000,1030,0.000,0.072,2467,1791,2377,2365,2389,0,0,0,0,0,0,14.08,14.01,14.10
$GC,4372,0.75,146.0,2467,1791,2365,2381,552.7,14.0,521,4380,0.00,2.60,0.00,0.000,516,0.000,0.097,2477,387,2372,2364,2381,0,0,0,0,0,0,14.57,14.31,14.60
$GC,4398,0.75,146.0,2476,386,2363,2381,549.1,14.2,525,4405,0.00,2.53,0.00,0.000,1030,0.000,0.073,2477,1792,2372,2363,2381,0,0,0,0,0,0,14.43,14.33,14.47
$GC,4712,0.75,146.0,2477,1794,2363,2380,502.6,14.8,557,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1794,2371,2363,2380,0,0,0,0,0,0,14.71,14.73,14.73
$GC,5023,0.75,146.0,2476,1798,2363,2379,458.1,13.9,588,5031,0.00,2.58,0.00,0.000,516,0.000,0.096,2486,388,2371,2363,2379,0,0,0,0,0,0,14.74,14.45,14.76
$GC,5048,0.75,146.0,2486,388,2362,2378,454.1,14.9,592,5056,0.00,2.53,0.00,0.000,1030,0.000,0.073,2486,1798,2370,2362,2379,0,0,0,0,0,0,14.59,14.50,14.62
$GC,5363,0.75,146.0,2485,1802,2362,2378,406.8,15.2,624,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1802,2370,2363,2378,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5664,0.75,146.0,2485,1802,2362,2377,361.6,15.1,654,5672,0.00,2.58,0.00,0.000,516,0.000,0.096,2495,389,2369,2362,2377,0,0,0,0,0,0,14.77,14.46,14.78
$GC,5703,0.75,146.0,2495,388,2361,2377,355.3,17.2,661,5712,0.15,2.50,0.00,0.000,5126,0.267,0.074,2464,1793,2369,2361,2377,0,0,0,0,0,0,14.28,14.49,14.54
$GC,6009,0.75,146.0,2464,1797,2361,2377,312.9,13.6,692,6017,0.00,2.47,0.00,0.000,260,0.000,0.083,2463,3206,2368,2361,2376,0,0,0,0,0,0,14.77,14.50,14.80
$GC,6038,0.75,146.0,2463,3206,2360,2377,308.7,13.9,697,6047,0.00,2.50,0.00,0.000,1030,0.000,0.080,2470,1799,2369,2361,2377,0,0,0,0,0,0,14.61,14.49,14.65
$GC,6344,0.75,146.0,2470,1799,2361,2377,265.9,13.8,728,6353,0.00,2.62,0.00,0.000,516,0.000,0.106,2481,370,2368,2359,2377,0,0,0,0,0,0,14.80,14.45,14.82
$GC,6460,0.75,146.0,2481,370,2360,2377,249.3,13.8,750,6467,0.00,2.53,0.00,0.000,1030,0.000,0.075,2481,1794,2368,2360,2377,0,0,0,0,0,0,14.62,14.52,14.66
$GC,6774,0.75,146.0,2481,1798,2359,2376,204.8,14.1,782,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1798,2368,2360,2376,0,0,0,0,0,0,14.78,14.81,14.80
$GC,7076,0.75,146.0,2480,1798,2359,2376,163.5,13.5,812,7084,0.00,2.60,0.00,0.000,516,0.000,0.097,2491,375,2368,2360,2376,0,0,0,0,0,0,14.77,14.33,14.78
$GC,7111,0.75,146.0,2490,376,2360,2376,157.9,16.4,818,7118,0.00,2.53,0.00,0.000,1030,0.000,0.075,2490,1798,2367,2359,2375,0,0,0,0,0,0,14.50,14.40,14.54
$GC,7425,0.75,146.0,2490,1803,2359,2375,115.4,13.3,850,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1802,2368,2360,2376,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7726,0.75,146.0,2490,1801,2359,2376,75.4,12.3,898,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1803,2367,2359,2376,0,0,0,0,0,0,14.74,14.76,14.76
$GC,7917,0.75,146.0,2490,1803,2359,2374,51.9,11.9,935,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1803,2367,2359,2375,0,0,0,0,0,0,14.73,14.75,14.75
$GC,8109,0.76,149.0,2490,1803,2359,2374,27.4,9.9,972,8118,0.00,2.62,0.00,0.000,548,0.000,0.097,2500,368,2366,2359,2374,0,0,0,0,0,0,14.71,14.39,14.73
$GC,8141,0.76,149.0,2500,368,2359,2373,24.2,11.9,977,8150,0.15,2.58,0.00,0.000,5126,0.252,0.074,2468,1802,2366,2359,2374,0,0,0,0,0,0,14.16,14.34,14.38
$STATE,8318,end climb,SURFACE_DEPTH_REACHED
$STATE,8318,begin surface coast
$FINISH,0.1,1.026808
$STATE,8339,end surface coast,CONTROL_FINISHED_OK
$STATE,8339,begin surface
$SM_CCo,8357,259.45,0.951,1,0,1145,450.12
$SM_GC,0.55,6.65,1.42,259.45,0.065,0.080,0.951,171,2598,1145,-6.33,-0.79,450.12,0,0,0,0,1,0,14.54,14.50,13.52
$IRIDIUM_FIX,5825.73,-2109.92,051020,124858
$TT8_MAMPS,0.023219,0.86135
$HUMID,44.21
$INTERNAL_PRESSURE,7.86099
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3899904
$TM_FREEKB,7558624
$24V_AH,13.00,0.000
$10V_AH,13.00,34.197
$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,18.650,72.725,271.975,259.450,0.000,0.000,0.000,677.700,0.000,0.000,30.099,2454.443,3717.138,706.285,2466.083,177.953,0.000,2244.442,0.000,1618.787,0.000,0.538,0.000
$DEVICE_MAMPS,413.100,105.570,1776.330,950.895,0.000,0.000,0.000,219.555,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8362.000,8363.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.083,1000.000,0.000,0.000
$MEM,324024
$DATA_FILE_SIZE,36588,1015
$CAP_FILE_SIZE,104635,0
$CFSIZE,2097872896,2091515904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.128,140.93,1
$GPS,051020,180803,5826.181,-2117.005,17,0.8,30,-12.1,0.8,216.1,11,9.7