version: 66.14
glider: 527
mission: 10
dive: 20
start: 10 6 120 1 38 57
data:
$ID,527
$MISSION,10
$DIVE,20
$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,1
$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
$GPS1,061020,013004,5826.0659,-2120.8740,21,0.8,38,-12.1,0.2,31.6,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-63.3
$GPS2,061020,013812,5826.0605,-2120.7466,14,0.9,24,-12.1,0.7,19.0,8,9.6
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5825.604,-2123.339
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,282.4,2652,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.75,-146.0,0,2620,1115,1163,0.0,0.0,0,121,0.00,0.00,-108.55,0.008,16390,0.000,0.000,2,2616,3578,3518,3639,0,0,0,0,0,0,14.64,13.05,14.62
$GC,124,-0.75,-146.0,0,2616,3518,3640,3.4,-7.2,18,144,9.82,2.20,0.00,0.000,2340,0.412,0.067,1964,3867,3582,3525,3640,0,0,0,0,0,0,14.09,14.42,14.40
$GC,332,-0.75,-146.0,1963,3867,3529,3639,44.0,-16.6,58,339,0.00,2.25,0.00,0.000,1030,0.000,0.060,1964,2579,3584,3529,3639,0,0,0,0,0,0,14.53,14.44,14.57
$GC,521,-0.75,-146.0,1963,2569,3529,3638,77.2,-14.7,95,528,0.00,2.40,0.00,0.000,516,0.000,0.071,1963,1191,3584,3530,3638,0,0,0,0,0,0,14.73,14.45,14.76
$GC,565,-0.75,-146.0,1963,1191,3530,3638,84.2,-16.3,103,572,0.00,2.50,0.00,0.000,1030,0.000,0.070,1955,2609,3584,3530,3638,0,0,0,0,0,0,14.52,14.42,14.54
$GC,759,-0.75,-146.0,1954,2609,3530,3638,117.2,-17.0,131,765,0.00,2.50,0.00,0.000,516,0.000,0.073,1954,1195,3584,3530,3639,0,0,0,0,0,0,14.78,14.50,14.79
$GC,795,-0.75,-146.0,1955,1195,3531,3639,124.2,-19.0,138,803,0.15,2.47,0.00,0.000,3078,0.305,0.070,1975,2600,3584,3530,3638,0,0,0,0,0,0,14.20,14.45,14.47
$GC,1103,-0.75,-146.0,1974,2599,3531,3638,172.1,-15.7,169,1108,0.00,2.50,0.00,0.000,516,0.000,0.074,1975,1190,3584,3531,3638,0,0,0,0,0,0,14.84,14.50,14.86
$GC,1135,-0.75,-146.0,1975,1190,3531,3639,177.4,-15.2,175,1141,0.00,2.50,0.00,0.000,1030,0.000,0.070,1969,2611,3585,3532,3638,0,0,0,0,0,0,14.56,14.47,14.59
$GC,1448,-0.75,-146.0,1969,2611,3532,3639,229.6,-16.5,207,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2610,3584,3531,3638,0,0,0,0,0,0,14.87,14.89,14.88
$GC,1749,-0.75,-146.0,1968,2610,3531,3637,279.3,-16.3,237,1755,0.00,2.50,0.00,0.000,516,0.000,0.074,1969,1186,3584,3531,3638,0,0,0,0,0,0,14.88,14.57,14.90
$GC,1772,-0.75,-146.0,1968,1186,3531,3638,283.4,-16.7,241,1778,0.00,2.50,0.00,0.000,1030,0.000,0.070,1959,2603,3584,3531,3638,0,0,0,0,0,0,14.69,14.60,14.71
$GC,2086,-0.75,-146.0,1959,2604,3532,3637,337.1,-17.2,273,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2604,3584,3531,3637,0,0,0,0,0,0,14.88,14.91,14.90
$GC,2386,-0.75,-146.0,1959,2603,3531,3636,387.2,-17.2,303,2392,0.00,2.47,0.00,0.000,516,0.000,0.074,1961,1192,3583,3531,3636,0,0,0,0,0,0,14.89,14.57,14.90
$GC,2412,-0.75,-146.0,1959,1192,3531,3637,392.3,-18.9,308,2420,0.00,2.50,0.00,0.000,1030,0.000,0.070,1950,2609,3583,3530,3637,0,0,0,0,0,0,14.69,14.59,14.71
$GC,2719,-0.75,-146.0,1950,2609,3531,3635,445.6,-17.6,339,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2609,3583,3531,3635,0,0,0,0,0,0,14.91,14.93,14.92
$GC,3020,-0.75,-146.0,1950,2609,3532,3635,497.3,-17.3,369,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2609,3582,3530,3634,0,0,0,0,0,0,14.90,14.93,14.92
$GC,3329,-0.75,-146.0,1950,2609,3531,3634,550.3,-16.9,400,3336,0.00,2.50,0.00,0.000,516,0.000,0.076,1950,1181,3582,3531,3634,0,0,0,0,0,0,14.92,14.58,14.93
$GC,3358,-0.75,-146.0,1950,1182,3531,3634,555.3,-17.9,405,3365,0.15,2.50,0.00,0.000,3078,0.301,0.070,1970,2608,3582,3531,3634,0,0,0,0,0,0,14.31,14.61,14.59
$STATE,3651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3651,begin apogee
$GC,3657,-0.17,0.0,1971,1781,3531,3634,600.2,-15.0,435,3797,0.65,0.00,135.95,1.780,10246,0.220,0.000,2156,1782,2980,2978,2982,0,0,0,0,0,0,14.36,13.96,13.14
$STATE,3799,end apogee,CONTROL_FINISHED_OK
$STATE,3799,begin climb
$GC,3801,0.75,146.0,2155,1782,2978,2980,607.0,0.0,449,3947,0.98,2.75,136.50,1.743,10756,0.132,0.100,2467,380,2382,2372,2392,0,0,0,0,0,0,13.99,13.83,13.03
$GC,3983,0.75,146.0,2466,379,2363,2390,590.5,14.8,482,3990,0.00,2.60,0.00,0.000,1030,0.000,0.073,2467,1797,2376,2363,2390,0,0,0,0,0,0,14.14,14.06,14.16
$GC,4290,0.75,146.0,2466,1798,2362,2382,544.7,15.0,513,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1798,2372,2363,2382,0,0,0,0,0,0,14.64,14.65,14.65
$GC,4590,0.75,146.0,2466,1798,2362,2381,500.4,14.6,543,4596,0.00,2.58,0.00,0.000,516,0.000,0.094,2476,385,2371,2362,2381,0,0,0,0,0,0,14.75,14.46,14.77
$GC,4617,0.75,146.0,2476,385,2360,2381,496.1,15.6,548,4625,0.00,2.50,0.00,0.000,1030,0.000,0.073,2476,1797,2370,2360,2381,0,0,0,0,0,0,14.58,14.49,14.61
$GC,4923,0.75,146.0,2476,1797,2360,2381,449.7,14.9,579,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1797,2370,2360,2380,0,0,0,0,0,0,14.83,14.85,14.85
$GC,5224,0.75,146.0,2475,1800,2360,2380,406.1,14.1,609,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1800,2369,2360,2379,0,0,0,0,0,0,14.85,14.88,14.88
$GC,5524,0.75,146.0,2475,1801,2360,2379,364.0,13.3,639,5530,0.00,2.55,0.00,0.000,516,0.000,0.094,2485,385,2369,2360,2379,0,0,0,0,0,0,14.88,14.54,14.90
$GC,5557,0.75,146.0,2485,385,2359,2379,359.0,14.4,645,5563,0.00,2.47,0.00,0.000,1030,0.000,0.073,2485,1793,2368,2359,2378,0,0,0,0,0,0,14.64,14.59,14.67
$GC,5871,0.75,146.0,2485,1795,2359,2379,315.3,14.0,677,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1795,2369,2359,2379,0,0,0,0,0,0,14.89,14.92,14.92
$GC,6171,0.75,146.0,2485,1797,2359,2378,271.8,14.5,707,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1798,2368,2359,2378,0,0,0,0,0,0,14.90,14.92,14.92
$GC,6472,0.75,146.0,2485,1798,2359,2378,228.4,13.9,737,6477,0.00,2.55,0.00,0.000,516,0.000,0.093,2494,383,2368,2359,2378,0,0,0,0,0,0,14.90,14.54,14.91
$GC,6499,0.75,146.0,2494,384,2359,2378,224.1,14.8,742,6507,0.15,2.50,0.00,0.000,5126,0.269,0.073,2463,1804,2367,2357,2378,0,0,0,0,0,0,14.36,14.59,14.64
$GC,6806,0.75,146.0,2462,1808,2359,2377,186.4,12.2,773,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1809,2369,2360,2378,0,0,0,0,0,0,14.88,14.90,14.90
$GC,7106,0.75,146.0,2463,1809,2359,2377,149.8,12.1,803,7112,0.00,2.45,0.00,0.000,260,0.000,0.084,2463,3198,2368,2359,2378,0,0,0,0,0,0,14.86,14.20,14.89
$GC,7153,0.75,146.0,2462,3199,2359,2377,143.8,12.8,812,7161,0.00,2.47,0.00,0.000,1030,0.000,0.075,2469,1795,2367,2358,2377,0,0,0,0,0,0,14.62,14.48,14.65
$GC,7459,0.75,146.0,2469,1795,2358,2378,105.3,12.5,843,7465,0.00,2.55,0.00,0.000,516,0.000,0.100,2480,377,2367,2358,2377,0,0,0,0,0,0,14.85,14.49,14.87
$GC,7583,0.75,146.0,2480,377,2357,2378,88.5,13.7,867,7589,0.00,2.50,0.00,0.000,1030,0.000,0.074,2481,1793,2368,2358,2378,0,0,0,0,0,0,14.66,14.55,14.69
$GC,7773,0.75,146.0,2480,1795,2357,2377,63.0,12.4,904,7781,0.00,2.47,0.00,0.000,260,0.000,0.083,2480,3211,2367,2357,2377,0,0,0,0,0,0,14.82,14.52,14.83
$GC,7838,0.75,146.0,2480,3211,2357,2378,55.5,10.9,916,7846,0.00,2.50,0.00,0.000,1030,0.000,0.079,2489,1791,2367,2357,2378,0,0,0,0,0,0,14.63,14.50,14.67
$GC,8031,0.75,146.0,2489,1791,2357,2377,29.0,13.3,953,8038,0.00,2.58,0.00,0.000,516,0.000,0.099,2501,368,2367,2357,2377,0,0,0,0,0,0,14.82,14.43,14.83
$GC,8116,0.75,146.0,2501,368,2356,2377,16.8,15.4,969,8124,0.17,2.53,0.00,0.000,5126,0.257,0.074,2462,1790,2366,2356,2377,0,0,0,0,0,0,14.26,14.48,14.53
$STATE,8219,end climb,SURFACE_DEPTH_REACHED
$STATE,8219,begin surface coast
$FINISH,-0.2,1.026923
$STATE,8245,end surface coast,CONTROL_FINISHED_OK
$STATE,8245,begin surface
$SM_CCo,8261,260.45,0.959,1,0,1145,450.12
$SM_GC,0.57,6.72,1.45,260.45,0.072,0.086,0.959,162,2590,1145,-6.35,-0.82,450.12,0,0,0,0,1,0,14.57,14.50,13.51
$IRIDIUM_FIX,5826.11,-2119.07,051020,230502
$TT8_MAMPS,0.023219,0.874083
$HUMID,44.36
$INTERNAL_PRESSURE,7.86099
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3897152
$24V_AH,13.03,0.000
$10V_AH,12.98,36.694
$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,18.800,77.775,272.450,260.450,0.000,0.000,0.000,335.775,0.000,0.000,35.745,2417.655,3778.927,697.270,2004.268,134.063,0.000,1811.493,0.000,1588.033,0.000,0.539,0.000
$DEVICE_MAMPS,412.335,100.215,1780.155,958.545,0.000,0.000,0.000,205.785,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8269.000,4.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.100,353.150,0.000,0.000
$MEM,324172
$DATA_FILE_SIZE,33309,994
$CAP_FILE_SIZE,101061,0
$CFSIZE,2097872896,2090500096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.134,109.60,1
$GPS,061020,040225,5825.910,-2121.865,13,0.8,42,-12.2,0.8,86.4,10,9.8