version: 66.14
glider: 527
mission: 10
dive: 21
start: 10 6 120 4 10 57
data:
$ID,527
$MISSION,10
$DIVE,21
$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,16
$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
$GPS1,061020,040225,5825.9102,-2121.8650,13,0.8,42,-12.2,0.8,86.4,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-60.0
$GPS2,061020,041011,5825.8584,-2121.7659,9,0.8,23,-12.2,0.5,98.6,11,9.7
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5825.220,-2123.902
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,275.4,2385,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.75,-146.0,0,2602,1114,1162,0.0,0.0,0,123,0.00,0.00,-108.62,0.008,16390,0.000,0.000,2,2605,3578,3515,3641,0,0,0,0,0,0,14.63,13.05,14.62
$GC,126,-0.75,-146.0,0,2605,3515,3641,4.0,-9.9,19,140,9.75,2.22,0.00,0.000,2340,0.409,0.071,1960,3857,3580,3520,3641,0,0,0,0,0,0,14.09,14.40,14.42
$GC,237,-0.75,-146.0,1960,3857,3525,3640,30.5,-18.5,40,244,0.00,2.20,0.00,0.000,1030,0.000,0.059,1960,2584,3582,3525,3640,0,0,0,0,0,0,14.54,14.45,14.56
$GC,428,-0.75,-146.0,1960,2575,3527,3640,66.1,-18.8,77,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2574,3583,3527,3639,0,0,0,0,0,0,14.75,14.77,14.77
$GC,617,-0.75,-146.0,1960,2574,3527,3640,99.0,-18.0,114,624,0.00,2.25,0.00,0.000,260,0.000,0.079,1951,3857,3583,3527,3640,0,0,0,0,0,0,14.78,14.50,14.79
$GC,655,-0.75,-146.0,1949,3857,3527,3639,106.0,-17.6,121,662,0.00,2.17,0.00,0.000,1030,0.000,0.059,1951,2600,3583,3527,3639,0,0,0,0,0,0,14.54,14.47,14.57
$GC,961,-0.75,-146.0,1950,2587,3529,3639,160.2,-17.6,152,967,0.00,2.45,0.00,0.000,516,0.000,0.072,1951,1186,3583,3529,3638,0,0,0,0,0,0,14.83,14.53,14.85
$GC,988,-0.75,-146.0,1950,1186,3530,3639,165.6,-17.9,157,996,0.15,2.50,0.00,0.000,3078,0.300,0.069,1971,2614,3584,3529,3639,0,0,0,0,0,0,14.29,14.54,14.57
$GC,1294,-0.75,-146.0,1970,2614,3529,3639,215.3,-16.1,188,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2613,3584,3530,3639,0,0,0,0,0,0,14.83,14.85,14.85
$GC,1596,-0.75,-146.0,1971,2614,3530,3639,263.2,-15.7,218,1601,0.00,2.50,0.00,0.000,516,0.000,0.072,1972,1184,3584,3529,3639,0,0,0,0,0,0,14.85,14.51,14.88
$GC,1632,-0.75,-146.0,1971,1184,3529,3639,269.7,-16.9,225,1640,0.00,2.50,0.00,0.000,1030,0.000,0.069,1964,2608,3585,3532,3639,0,0,0,0,0,0,14.67,14.58,14.69
$GC,1939,-0.75,-146.0,1963,2608,3530,3637,319.5,-16.7,256,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2607,3584,3530,3638,0,0,0,0,0,0,14.88,14.90,14.89
$GC,2240,-0.75,-146.0,1964,2608,3529,3637,367.6,-16.6,286,2245,0.00,2.50,0.00,0.000,516,0.000,0.076,1965,1187,3583,3529,3637,0,0,0,0,0,0,14.88,14.47,14.90
$GC,2272,-0.75,-146.0,1964,1187,3530,3637,373.0,-16.9,292,2278,0.00,2.50,0.00,0.000,1030,0.000,0.070,1955,2606,3583,3530,3637,0,0,0,0,0,0,14.65,14.56,14.66
$GC,2585,-0.75,-146.0,1954,2606,3530,3636,425.5,-16.6,324,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2606,3583,3530,3636,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2886,-0.75,-146.0,1954,2606,3529,3635,475.6,-16.7,354,2892,0.00,2.47,0.00,0.000,516,0.000,0.073,1955,1194,3582,3530,3635,0,0,0,0,0,0,14.91,14.54,14.93
$GC,2913,-0.75,-146.0,1955,1195,3530,3635,480.5,-16.8,359,2920,0.15,2.47,0.00,0.000,3078,0.294,0.070,1976,2607,3582,3530,3634,0,0,0,0,0,0,14.32,14.60,14.59
$GC,3220,-0.75,-146.0,1975,2607,3530,3634,526.2,-14.9,390,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2606,3582,3530,3635,0,0,0,0,0,0,14.89,14.91,14.90
$GC,3520,-0.75,-146.0,1976,2607,3530,3634,570.4,-14.2,420,3526,0.00,2.47,0.00,0.000,516,0.000,0.074,1976,1194,3581,3529,3633,0,0,0,0,0,0,14.89,14.57,14.91
$GC,3556,-0.75,-146.0,1976,1194,3530,3634,576.2,-15.0,427,3563,0.00,2.47,0.00,0.000,1030,0.000,0.070,1969,2606,3582,3530,3634,0,0,0,0,0,0,14.70,14.60,14.73
$STATE,3721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3722,begin apogee
$GC,3727,-0.17,0.0,1970,1789,3530,3633,600.9,-15.0,444,3873,0.68,0.00,135.60,1.784,10246,0.220,0.000,2156,1788,2978,2976,2981,0,0,0,0,0,0,14.33,13.95,13.12
$STATE,3874,end apogee,CONTROL_FINISHED_OK
$STATE,3875,begin climb
$GC,3876,0.75,146.0,2157,1788,2976,2979,607.8,0.0,459,4022,0.98,2.75,136.88,1.746,10756,0.130,0.099,2470,380,2382,2373,2392,0,0,0,0,0,0,14.02,13.83,13.02
$GC,4094,0.75,146.0,2470,380,2362,2389,586.0,14.7,499,4100,0.00,2.58,0.00,0.000,1030,0.000,0.073,2471,1793,2375,2361,2389,0,0,0,0,0,0,14.22,14.14,14.24
$GC,4407,0.75,146.0,2470,1794,2360,2382,541.9,13.8,531,4413,0.00,2.60,0.00,0.000,516,0.000,0.094,2480,375,2371,2361,2382,0,0,0,0,0,0,14.68,14.35,14.70
$GC,4433,0.75,146.0,2480,375,2360,2382,538.0,14.3,536,4440,0.00,2.53,0.00,0.000,1030,0.000,0.074,2480,1796,2371,2360,2383,0,0,0,0,0,0,14.53,14.43,14.55
$GC,4740,0.75,146.0,2480,1797,2360,2381,494.1,14.7,567,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1797,2370,2360,2381,0,0,0,0,0,0,14.77,14.79,14.79
$GC,5041,0.75,146.0,2480,1800,2360,2381,450.1,14.9,597,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1799,2370,2360,2380,0,0,0,0,0,0,14.81,14.83,14.83
$GC,5341,0.75,146.0,2479,1800,2360,2379,406.5,14.8,627,5346,0.00,2.55,0.00,0.000,516,0.000,0.095,2490,386,2370,2360,2380,0,0,0,0,0,0,14.83,14.52,14.86
$GC,5378,0.75,146.0,2489,386,2359,2380,400.9,15.7,634,5384,0.00,2.47,0.00,0.000,1030,0.000,0.074,2490,1791,2369,2359,2380,0,0,0,0,0,0,14.68,14.57,14.71
$GC,5683,0.75,146.0,2489,1793,2359,2379,355.1,14.8,665,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1793,2369,2359,2379,0,0,0,0,0,0,14.90,14.92,14.91
$GC,5984,0.75,146.0,2489,1794,2358,2379,311.9,14.2,695,5990,0.00,2.55,0.00,0.000,516,0.000,0.095,2498,382,2369,2359,2379,0,0,0,0,0,0,14.90,14.54,14.92
$GC,6017,0.75,146.0,2500,382,2358,2379,306.9,15.0,701,6024,0.15,2.47,0.00,0.000,5126,0.270,0.074,2467,1790,2368,2358,2379,0,0,0,0,0,0,14.38,14.61,14.65
$GC,6331,0.75,146.0,2467,1793,2358,2378,266.9,12.8,733,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1793,2368,2358,2378,0,0,0,0,0,0,14.88,14.90,14.90
$GC,6632,0.75,146.0,2467,1794,2358,2378,228.7,13.0,763,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1795,2368,2358,2378,0,0,0,0,0,0,14.88,14.90,14.90
$GC,6932,0.75,146.0,2467,1794,2358,2377,190.4,12.4,793,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1795,2368,2358,2378,0,0,0,0,0,0,14.88,14.90,14.90
$GC,7232,0.75,146.0,2467,1794,2358,2377,153.4,12.3,823,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1795,2367,2358,2377,0,0,0,0,0,0,14.86,14.88,14.88
$GC,7532,0.75,146.0,2467,1795,2358,2377,115.7,12.4,853,7538,0.00,2.47,0.00,0.000,260,0.000,0.083,2467,3207,2367,2358,2377,0,0,0,0,0,0,14.85,14.54,14.88
$GC,7549,0.75,146.0,2466,3207,2357,2377,113.4,11.9,856,7556,0.00,2.47,0.00,0.000,1030,0.000,0.076,2474,1798,2367,2358,2377,0,0,0,0,0,0,14.66,14.54,14.69
$GC,7856,0.75,146.0,2473,1798,2358,2377,73.5,14.2,907,7863,0.00,2.60,0.00,0.000,516,0.000,0.101,2484,371,2368,2359,2378,0,0,0,0,0,0,14.85,14.41,14.87
$GC,8007,0.75,146.0,2484,371,2356,2378,54.0,13.5,936,8014,0.00,2.55,0.00,0.000,1030,0.000,0.074,2485,1801,2367,2357,2378,0,0,0,0,0,0,14.62,14.52,14.66
$GC,8197,0.75,146.0,2484,1806,2356,2376,31.6,11.5,973,8204,0.00,2.45,0.00,0.000,260,0.000,0.083,2484,3202,2367,2357,2377,0,0,0,0,0,0,14.84,14.49,14.87
$GC,8231,0.75,146.0,2483,3202,2355,2377,27.2,13.7,979,8238,0.15,2.53,0.00,0.000,5126,0.285,0.077,2463,1782,2366,2356,2377,0,0,0,0,0,0,14.23,14.09,14.51
$GC,8421,0.75,146.0,2463,1782,2356,2376,3.4,13.6,1016,8428,0.00,2.53,0.00,0.000,516,0.000,0.094,2472,376,2366,2356,2376,0,0,0,0,0,0,14.83,14.42,14.84
$STATE,8434,end climb,SURFACE_DEPTH_REACHED
$STATE,8434,begin surface coast
$FINISH,-0.0,1.026867
$STATE,8459,end surface coast,CONTROL_FINISHED_OK
$STATE,8459,begin surface
$SM_CCo,8478,261.05,0.962,1,0,1145,450.12
$SM_GC,0.62,6.65,4.03,261.05,0.063,0.078,0.962,154,2601,1145,-6.35,-0.68,450.12,0,0,0,0,1,0,14.59,14.54,13.51
$IRIDIUM_FIX,5826.77,-2115.24,061020,013227
$TT8_MAMPS,0.023219,0.80143
$HUMID,44.60
$INTERNAL_PRESSURE,7.86099
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3896448
$24V_AH,13.02,0.000
$10V_AH,13.08,37.025
$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,18.650,77.275,272.475,261.050,0.000,0.000,0.000,315.200,0.000,0.000,34.748,2490.544,3882.053,700.952,2027.920,129.009,0.000,1811.427,0.000,1624.099,0.000,0.538,0.000
$DEVICE_MAMPS,408.510,100.980,1783.980,961.605,0.000,0.000,0.000,211.140,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8484.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.614,0.000,0.000,0.000
$MEM,324064
$DATA_FILE_SIZE,36683,1023
$CAP_FILE_SIZE,102370,0
$CFSIZE,2097872896,2090336256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.125,99.80,1
$GPS,061020,063801,5825.675,-2122.908,17,0.7,40,-12.2,0.4,173.0,12,9.6