version: 66.14
glider: 527
mission: 10
dive: 26
start: 10 6 120 16 23 2
data:
$ID,527
$MISSION,10
$DIVE,26
$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,21
$R_STBD_OVSHOOT,23
$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,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,061020,161425,5820.1890,-2122.4797,8,0.8,42,-12.1,0.6,147.3,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-63.5
$GPS2,061020,162218,5820.1084,-2122.3596,12,0.8,17,-12.1,0.7,181.2,10,10.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5820.952,-2121.231
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,2.2,1909,-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,8,begin dive
$GC,10,-0.75,-146.0,0,2621,1091,1173,0.0,0.0,0,123,0.00,0.00,-108.12,0.008,16390,0.000,0.000,0,2620,3577,3511,3644,0,0,0,0,0,0,14.64,13.06,14.63
$GC,126,-0.75,-146.0,0,2619,3511,3645,3.6,-7.1,18,146,9.77,2.55,0.00,0.000,2596,0.407,0.065,1967,1170,3582,3518,3646,0,0,0,0,0,0,14.10,14.35,14.43
$GC,183,-0.75,-146.0,1967,1170,3523,3646,18.8,-18.5,28,191,0.00,2.53,0.00,0.000,1030,0.000,0.068,1961,2602,3584,3523,3646,0,0,0,0,0,0,14.53,14.44,14.55
$GC,374,-0.75,-146.0,1961,2602,3523,3644,56.1,-20.8,65,380,0.00,2.15,0.00,0.000,260,0.000,0.081,1951,3846,3583,3523,3644,0,0,0,0,0,0,14.73,14.47,14.75
$GC,412,-0.75,-146.0,1951,3846,3523,3643,63.3,-19.7,72,420,0.00,2.20,0.00,0.000,1030,0.000,0.058,1952,2579,3583,3524,3643,0,0,0,0,0,0,14.52,14.43,14.54
$GC,603,-0.75,-146.0,1951,2570,3524,3642,100.5,-20.3,109,609,0.00,2.40,0.00,0.000,516,0.000,0.072,1951,1188,3583,3524,3643,0,0,0,0,0,0,14.78,14.50,14.80
$GC,676,-0.75,-146.0,1951,1188,3524,3642,115.2,-19.3,123,683,0.15,2.47,0.00,0.000,3078,0.305,0.068,1971,2601,3583,3525,3642,0,0,0,0,0,0,14.27,14.52,14.55
$GC,990,-0.75,-146.0,1971,2601,3526,3642,171.7,-17.4,155,995,0.00,2.15,0.00,0.000,260,0.000,0.083,1964,3849,3584,3526,3643,0,0,0,0,0,0,14.81,14.54,14.83
$GC,1023,-0.75,-146.0,1963,3849,3526,3642,176.9,-18.0,161,1028,0.00,2.17,0.00,0.000,1030,0.000,0.059,1963,2589,3583,3525,3642,0,0,0,0,0,0,14.64,14.56,14.67
$GC,1336,-0.75,-146.0,1963,2578,3526,3642,230.4,-17.0,193,1341,0.00,2.40,0.00,0.000,516,0.000,0.073,1963,1185,3584,3526,3642,0,0,0,0,0,0,14.84,14.54,14.85
$GC,1402,-0.75,-146.0,1963,1185,3526,3641,241.6,-16.7,206,1409,0.00,2.50,0.00,0.000,1030,0.000,0.068,1955,2607,3583,3526,3641,0,0,0,0,0,0,14.59,14.50,14.61
$GC,1709,-0.75,-146.0,1954,2607,3526,3641,293.6,-16.9,237,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2607,3584,3527,3641,0,0,0,0,0,0,14.88,14.90,14.90
$GC,2009,-0.75,-146.0,1955,2607,3526,3640,343.6,-16.5,267,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2607,3583,3526,3640,0,0,0,0,0,0,14.90,14.92,14.91
$GC,2310,-0.75,-146.0,1954,2607,3526,3640,393.3,-16.7,297,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2607,3583,3526,3640,0,0,0,0,0,0,14.91,14.93,14.92
$GC,2619,-0.75,-146.0,1954,2607,3526,3639,444.7,-16.9,328,2626,0.00,2.47,0.00,0.000,516,0.000,0.073,1955,1187,3582,3526,3639,0,0,0,0,0,0,14.92,14.60,14.94
$GC,2653,-0.75,-146.0,1954,1187,3526,3639,450.7,-17.8,334,2659,0.15,2.47,0.00,0.000,3078,0.298,0.069,1976,2610,3582,3526,3639,0,0,0,0,0,0,14.34,14.63,14.62
$GC,2966,-0.75,-146.0,1975,2610,3526,3638,498.8,-15.1,366,2972,0.00,2.47,0.00,0.000,516,0.000,0.073,1976,1187,3582,3526,3638,0,0,0,0,0,0,14.92,14.60,14.93
$GC,3013,-0.75,-146.0,1975,1187,3526,3638,506.4,-15.8,375,3020,0.00,2.47,0.00,0.000,1030,0.000,0.068,1969,2609,3582,3526,3638,0,0,0,0,0,0,14.73,14.63,14.75
$GC,3319,-0.75,-146.0,1968,2609,3526,3637,554.5,-16.2,406,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2609,3581,3526,3637,0,0,0,0,0,0,14.95,14.97,14.97
$STATE,3608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3608,begin apogee
$GC,3614,-0.17,0.0,1969,1789,3525,3636,601.3,-16.0,435,3752,0.68,0.00,134.43,1.798,10246,0.222,0.000,2156,1789,2980,2972,2988,0,0,0,0,0,0,14.38,13.97,13.14
$STATE,3754,end apogee,CONTROL_FINISHED_OK
$STATE,3754,begin climb
$GC,3756,0.75,146.0,2156,1789,2972,2985,609.2,0.0,449,3904,0.98,2.72,135.05,1.763,10756,0.132,0.097,2467,385,2381,2366,2396,0,0,0,0,0,0,13.99,13.83,13.05
$GC,3945,0.75,146.0,2467,385,2360,2393,592.9,13.7,484,3953,0.00,2.58,0.00,0.000,1030,0.000,0.073,2467,1795,2376,2360,2392,0,0,0,0,0,0,14.16,14.09,14.19
$GC,4251,0.75,146.0,2467,1797,2359,2386,550.9,13.8,515,4256,0.00,2.47,0.00,0.000,260,0.000,0.082,2467,3204,2372,2359,2385,0,0,0,0,0,0,14.68,14.41,14.70
$GC,4274,0.75,146.0,2468,3203,2358,2385,547.6,14.0,519,4279,0.00,2.50,0.00,0.000,1030,0.000,0.075,2476,1797,2372,2359,2386,0,0,0,0,0,0,14.52,14.41,14.54
$GC,4586,0.75,146.0,2476,1797,2358,2384,502.5,14.5,551,4592,0.00,2.58,0.00,0.000,516,0.000,0.098,2487,375,2371,2358,2384,0,0,0,0,0,0,14.81,14.45,14.82
$GC,4760,0.75,146.0,2487,375,2355,2384,475.7,15.4,585,4766,0.00,2.53,0.00,0.000,1030,0.000,0.073,2487,1800,2369,2355,2384,0,0,0,0,0,0,14.63,14.54,14.65
$GC,5073,0.75,146.0,2487,1801,2355,2382,427.7,15.3,617,5079,0.00,2.58,0.00,0.000,516,0.000,0.093,2497,372,2368,2355,2382,0,0,0,0,0,0,14.88,14.54,14.90
$GC,5106,0.75,146.0,2496,371,2355,2383,422.3,16.1,623,5112,0.15,2.50,0.00,0.000,5126,0.269,0.073,2465,1802,2368,2355,2382,0,0,0,0,0,0,14.38,14.60,14.64
$GC,5419,0.75,146.0,2465,1804,2355,2381,379.0,13.4,655,5424,0.00,2.58,0.00,0.000,516,0.000,0.093,2473,374,2368,2355,2381,0,0,0,0,0,0,14.89,14.54,14.91
$GC,5445,0.75,146.0,2472,375,2355,2382,375.1,14.2,660,5453,0.00,2.50,0.00,0.000,1030,0.000,0.073,2473,1799,2368,2354,2382,0,0,0,0,0,0,14.70,14.61,14.73
$GC,5751,0.75,146.0,2472,1801,2354,2381,332.1,14.2,691,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1801,2368,2355,2381,0,0,0,0,0,0,14.92,14.94,14.94
$GC,6053,0.75,146.0,2472,1804,2355,2381,290.0,13.9,721,6058,0.00,2.58,0.00,0.000,516,0.000,0.093,2482,371,2368,2355,2381,0,0,0,0,0,0,14.92,14.57,14.95
$GC,6076,0.75,146.0,2482,370,2354,2381,286.5,14.2,725,6082,0.00,2.50,0.00,0.000,1030,0.000,0.073,2482,1800,2367,2354,2381,0,0,0,0,0,0,14.73,14.64,14.76
$GC,6389,0.75,146.0,2482,1801,2354,2380,241.3,14.4,757,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1801,2367,2354,2381,0,0,0,0,0,0,14.85,14.88,14.88
$GC,6700,0.75,146.0,2482,1803,2354,2381,197.8,13.9,788,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1803,2367,2354,2381,0,0,0,0,0,0,14.85,14.87,14.86
$GC,7009,0.75,146.0,2482,1805,2354,2381,155.1,14.0,819,7017,0.00,2.58,0.00,0.000,516,0.000,0.092,2491,377,2367,2354,2381,0,0,0,0,0,0,14.83,14.50,14.84
$GC,7044,0.75,146.0,2491,376,2354,2381,149.6,16.6,825,7052,0.00,2.50,0.00,0.000,1030,0.000,0.073,2492,1796,2367,2354,2381,0,0,0,0,0,0,14.60,14.52,14.62
$GC,7359,0.75,146.0,2491,1797,2354,2381,101.0,15.7,857,7366,0.00,2.58,0.00,0.000,516,0.000,0.093,2501,377,2367,2354,2381,0,0,0,0,0,0,14.81,14.41,14.83
$GC,7388,0.75,146.0,2501,378,2354,2381,96.3,16.2,862,7397,0.17,2.50,0.00,0.000,5126,0.258,0.073,2462,1796,2367,2353,2381,0,0,0,0,0,0,14.31,14.54,14.58
$GC,7579,0.75,146.0,2461,1798,2355,2380,69.8,12.3,899,7588,0.00,2.60,0.00,0.000,516,0.000,0.094,2469,370,2367,2354,2380,0,0,0,0,0,0,14.80,14.46,14.82
$GC,7645,0.75,146.0,2469,371,2354,2379,61.3,12.4,911,7653,0.00,2.53,0.00,0.000,1030,0.000,0.073,2469,1796,2366,2353,2380,0,0,0,0,0,0,14.58,14.47,14.61
$GC,7836,0.75,146.0,2469,1801,2353,2380,38.8,13.7,948,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1801,2367,2354,2380,0,0,0,0,0,0,14.81,14.84,14.83
$GC,8027,0.75,146.0,2469,1802,2354,2379,13.9,14.0,985,8036,0.00,2.60,0.00,0.000,516,0.000,0.096,2479,374,2366,2354,2379,0,0,0,0,0,0,14.80,14.45,14.81
$GC,8109,0.75,146.0,2479,374,2353,2381,3.3,11.4,1000,8119,0.00,2.50,0.00,0.000,1030,0.000,0.074,2480,1791,2366,2353,2380,0,0,0,0,0,0,14.54,14.45,14.57
$STATE,8123,end climb,SURFACE_DEPTH_REACHED
$STATE,8123,begin surface coast
$FINISH,-0.1,1.003774
$STATE,8145,end surface coast,CONTROL_FINISHED_OK
$STATE,8145,begin surface
$SM_CCo,8162,260.17,0.957,1,0,1145,450.12
$SM_GC,0.65,6.72,1.42,260.17,0.070,0.072,0.957,161,2610,1145,-6.34,-0.65,450.12,0,0,0,0,1,0,14.62,14.57,13.53
$IRIDIUM_FIX,5821.93,-2125.23,061020,140854
$TT8_MAMPS,0.02247,0.939995
$HUMID,44.48
$INTERNAL_PRESSURE,7.86099
$TCM_TEMP,18.50
$XPDR_PINGS,1
$SC_FREEKB,3892960
$TM_FREEKB,7507264
$24V_AH,13.05,0.000
$10V_AH,13.06,38.644
$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,18.775,87.275,269.475,260.175,0.000,0.000,0.000,330.250,0.250,0.000,28.567,2387.387,3659.353,712.715,2029.685,134.335,0.000,1857.040,0.000,1592.211,0.000,0.539,0.000
$DEVICE_MAMPS,406.980,97.920,1797.750,957.015,0.000,0.000,0.000,197.370,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8169.000,1823.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.555,18.809,0.000,0.000
$MEM,324028
$DATA_FILE_SIZE,33308,1006
$CAP_FILE_SIZE,102425,0
$CFSIZE,2097872896,2089517056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.254,166.21,1
$GPS,061020,184441,5820.154,-2122.104,13,1.3,28,-12.1,0.6,102.3,4,9.6