version: 66.14
glider: 527
mission: 10
dive: 27
start: 10 6 120 18 57 51
data:
$ID,527
$MISSION,10
$DIVE,27
$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,29
$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
$GPS1,061020,184441,5820.1543,-2122.1040,13,1.3,28,-12.1,0.6,102.3,4,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-62.2
$GPS2,061020,185706,5820.0176,-2121.9983,6,0.8,19,-12.1,0.6,86.6,11,9.8
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5820.514,-2120.684
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,21.3,1574,-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,9,-0.75,-146.0,0,2614,1088,1176,0.0,0.0,0,119,0.00,0.00,-106.60,0.008,16390,0.000,0.000,0,2617,3578,3511,3646,0,0,0,0,0,0,14.65,13.06,14.66
$GC,121,-0.75,-146.0,0,2617,3511,3647,4.0,-10.1,18,142,9.73,2.55,0.00,0.000,2564,0.403,0.067,1971,1171,3584,3519,3649,0,0,0,0,0,0,14.11,14.39,14.43
$GC,148,-0.75,-146.0,1971,1172,3522,3648,13.3,-30.8,22,155,0.00,2.53,0.00,0.000,1030,0.000,0.067,1965,2607,3585,3522,3648,0,0,0,0,0,0,14.52,14.44,14.55
$GC,339,-0.75,-146.0,1965,2607,3524,3647,48.9,-17.2,59,345,0.00,2.15,0.00,0.000,260,0.000,0.078,1955,3849,3585,3524,3647,0,0,0,0,0,0,14.74,14.47,14.76
$GC,382,-0.75,-146.0,1955,3848,3524,3645,56.0,-17.1,67,389,0.00,2.20,0.00,0.000,1030,0.000,0.057,1955,2581,3584,3524,3645,0,0,0,0,0,0,14.55,14.47,14.57
$GC,572,-0.75,-146.0,1955,2585,3524,3644,86.7,-14.3,104,580,0.00,2.40,0.00,0.000,516,0.000,0.070,1955,1190,3584,3524,3644,0,0,0,0,0,0,14.78,14.50,14.80
$GC,637,-0.75,-146.0,1955,1190,3525,3644,96.7,-15.7,116,645,0.15,2.50,0.00,0.000,3078,0.300,0.067,1975,2610,3584,3525,3644,0,0,0,0,0,0,14.26,14.50,14.53
$GC,834,-0.75,-146.0,1975,2610,3525,3644,126.0,-15.0,137,840,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2610,3584,3525,3644,0,0,0,0,0,0,14.82,14.84,14.83
$GC,1143,-0.75,-146.0,1975,2610,3526,3644,174.2,-15.8,168,1149,0.00,2.50,0.00,0.000,516,0.000,0.071,1977,1183,3585,3526,3644,0,0,0,0,0,0,14.85,14.55,14.87
$GC,1190,-0.75,-146.0,1977,1182,3526,3644,181.9,-15.4,177,1197,0.00,2.47,0.00,0.000,1030,0.000,0.067,1970,2598,3585,3526,3644,0,0,0,0,0,0,14.54,14.45,14.57
$GC,1496,-0.75,-146.0,1970,2598,3526,3644,230.9,-16.3,208,1503,0.00,2.15,0.00,0.000,260,0.000,0.080,1961,3852,3584,3526,3643,0,0,0,0,0,0,14.85,14.57,14.88
$GC,1540,-0.75,-146.0,1961,3852,3527,3643,237.8,-15.4,216,1546,0.00,2.15,0.00,0.000,1030,0.000,0.059,1962,2599,3584,3526,3643,0,0,0,0,0,0,14.69,14.60,14.70
$GC,1853,-0.75,-146.0,1960,2587,3527,3642,290.2,-16.8,248,1860,0.00,2.42,0.00,0.000,516,0.000,0.071,1961,1182,3584,3527,3642,0,0,0,0,0,0,14.90,14.58,14.93
$GC,1907,-0.75,-146.0,1960,1182,3527,3642,299.5,-17.3,258,1913,0.00,2.47,0.00,0.000,1030,0.000,0.067,1951,2607,3584,3527,3642,0,0,0,0,0,0,14.71,14.62,14.73
$GC,2219,-0.75,-146.0,1951,2607,3527,3641,356.0,-18.5,290,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2607,3584,3527,3641,0,0,0,0,0,0,14.90,14.92,14.91
$GC,2520,-0.75,-146.0,1951,2607,3527,3640,411.1,-18.5,320,2527,0.00,2.47,0.00,0.000,516,0.000,0.070,1951,1183,3583,3527,3640,0,0,0,0,0,0,14.90,14.58,14.92
$GC,2557,-0.75,-146.0,1951,1183,3527,3640,418.2,-18.3,327,2565,0.15,2.47,0.00,0.000,3078,0.299,0.067,1972,2599,3583,3527,3640,0,0,0,0,0,0,14.26,14.58,14.56
$GC,2864,-0.75,-146.0,1971,2599,3527,3639,470.0,-16.8,358,2869,0.00,2.45,0.00,0.000,516,0.000,0.071,1972,1191,3583,3526,3640,0,0,0,0,0,0,14.92,14.59,14.94
$GC,2900,-0.75,-146.0,1972,1189,3527,3640,476.1,-17.1,365,2907,0.00,2.47,0.00,0.000,1030,0.000,0.068,1965,2608,3583,3527,3640,0,0,0,0,0,0,14.66,14.57,14.69
$GC,3206,-0.75,-146.0,1965,2609,3527,3639,528.2,-16.9,396,3212,0.00,2.47,0.00,0.000,516,0.000,0.072,1965,1186,3583,3527,3639,0,0,0,0,0,0,14.92,14.60,14.93
$GC,3240,-0.75,-146.0,1965,1186,3529,3638,534.0,-17.4,402,3245,0.00,2.47,0.00,0.000,1030,0.000,0.067,1956,2607,3583,3527,3639,0,0,0,0,0,0,14.68,14.59,14.71
$GC,3552,-0.75,-146.0,1955,2608,3527,3638,589.3,-17.6,434,3558,0.00,2.12,0.00,0.000,260,0.000,0.082,1946,3848,3583,3527,3640,0,0,0,0,0,0,14.93,14.61,14.95
$GC,3589,-0.75,-146.0,1946,3848,3527,3637,595.8,-17.7,441,3596,0.12,2.15,0.00,0.000,3078,0.276,0.059,1971,2593,3582,3527,3637,0,0,0,0,0,0,14.38,14.64,14.62
$STATE,3613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3613,begin apogee
$GC,3619,-0.17,0.0,1971,1792,3527,3637,600.2,-16.8,444,3758,0.65,0.00,134.48,1.784,10246,0.215,0.000,2156,1792,2979,2971,2988,0,0,0,0,0,0,14.38,13.97,13.14
$STATE,3760,end apogee,CONTROL_FINISHED_OK
$STATE,3760,begin climb
$GC,3762,0.75,146.0,2156,1792,2972,2987,608.4,0.0,458,3910,0.98,2.75,135.25,1.751,10756,0.132,0.099,2468,382,2380,2365,2396,0,0,0,0,0,0,14.00,13.84,13.05
$GC,3952,0.75,146.0,2468,381,2359,2394,592.7,13.6,493,3958,0.00,2.58,0.00,0.000,1030,0.000,0.073,2468,1790,2376,2359,2393,0,0,0,0,0,0,14.17,14.09,14.20
$GC,4257,0.75,146.0,2468,1790,2359,2386,550.7,13.8,524,4264,0.00,2.50,0.00,0.000,260,0.000,0.082,2468,3213,2372,2358,2386,0,0,0,0,0,0,14.68,14.41,14.70
$GC,4290,0.75,146.0,2467,3215,2358,2386,545.8,14.8,530,4296,0.00,2.53,0.00,0.000,1030,0.000,0.077,2477,1795,2372,2358,2387,0,0,0,0,0,0,14.50,14.39,14.53
$GC,4603,0.75,146.0,2477,1795,2357,2383,499.7,14.7,562,4609,0.00,2.60,0.00,0.000,516,0.000,0.099,2489,374,2371,2357,2385,0,0,0,0,0,0,14.81,14.48,14.83
$GC,4770,0.75,146.0,2488,373,2354,2385,473.7,15.5,595,4777,0.00,2.50,0.00,0.000,1030,0.000,0.073,2488,1795,2369,2354,2384,0,0,0,0,0,0,14.66,14.56,14.69
$GC,5076,0.75,146.0,2488,1796,2354,2383,427.7,15.1,626,5082,0.00,2.58,0.00,0.000,516,0.000,0.093,2498,371,2368,2354,2383,0,0,0,0,0,0,14.86,14.54,14.88
$GC,5098,0.75,146.0,2498,371,2357,2383,424.2,14.6,630,5104,0.15,2.50,0.00,0.000,5126,0.270,0.072,2466,1798,2368,2354,2383,0,0,0,0,0,0,14.38,14.60,14.64
$GC,5411,0.75,146.0,2466,1800,2354,2382,382.4,13.0,662,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1800,2368,2354,2382,0,0,0,0,0,0,14.90,14.92,14.92
$GC,5712,0.75,146.0,2466,1802,2354,2381,342.6,13.3,692,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1801,2367,2354,2381,0,0,0,0,0,0,14.92,14.94,14.94
$GC,6012,0.75,146.0,2466,1804,2354,2381,303.2,13.1,722,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1804,2367,2354,2381,0,0,0,0,0,0,14.92,14.95,14.95
$GC,6312,0.75,146.0,2466,1804,2354,2381,264.0,13.1,752,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1804,2367,2354,2381,0,0,0,0,0,0,14.93,14.96,14.95
$GC,6612,0.75,146.0,2466,1804,2354,2381,224.5,12.9,782,6619,0.00,2.58,0.00,0.000,516,0.000,0.093,2473,370,2367,2354,2380,0,0,0,0,0,0,14.88,14.54,14.89
$GC,6636,0.75,146.0,2473,370,2353,2381,221.0,13.5,786,6644,0.00,2.50,0.00,0.000,1030,0.000,0.072,2473,1797,2367,2354,2381,0,0,0,0,0,0,14.69,14.60,14.73
$GC,6951,0.75,146.0,2472,1798,2354,2381,177.8,14.0,818,6958,0.00,2.45,0.00,0.000,260,0.000,0.081,2473,3207,2367,2354,2381,0,0,0,0,0,0,14.83,14.55,14.85
$GC,6975,0.75,146.0,2473,3207,2353,2381,174.4,14.2,822,6983,0.00,2.50,0.00,0.000,1030,0.000,0.075,2483,1787,2366,2352,2381,0,0,0,0,0,0,14.28,14.28,14.30
$GC,7289,0.75,146.0,2485,1788,2354,2381,129.8,14.0,854,7297,0.00,2.58,0.00,0.000,516,0.000,0.098,2494,370,2367,2353,2381,0,0,0,0,0,0,14.83,14.45,14.85
$GC,7429,0.75,146.0,2494,370,2352,2381,109.0,15.3,881,7438,0.15,2.53,0.00,0.000,5126,0.263,0.073,2462,1803,2367,2353,2382,0,0,0,0,0,0,14.33,14.54,14.59
$GC,7737,0.75,146.0,2462,1807,2353,2380,62.6,16.0,936,7746,0.00,2.60,0.00,0.000,516,0.000,0.093,2470,371,2366,2352,2381,0,0,0,0,0,0,14.82,14.47,14.84
$GC,7758,0.75,146.0,2469,371,2352,2381,59.9,13.1,939,7767,0.00,2.53,0.00,0.000,1030,0.000,0.072,2469,1804,2366,2352,2381,0,0,0,0,0,0,14.64,14.54,14.67
$GC,7949,0.75,146.0,2469,1804,2352,2380,34.3,13.6,976,7958,0.00,2.45,0.00,0.000,260,0.000,0.082,2469,3207,2366,2352,2380,0,0,0,0,0,0,14.81,14.49,14.82
$GC,8010,0.75,146.0,2468,3207,2352,2380,25.9,14.0,987,8019,0.00,2.53,0.00,0.000,1030,0.000,0.075,2479,1780,2366,2352,2380,0,0,0,0,0,0,14.48,14.10,14.56
$STATE,8185,end climb,SURFACE_DEPTH_REACHED
$STATE,8185,begin surface coast
$FINISH,-0.1,1.026827
$STATE,8207,end surface coast,CONTROL_FINISHED_OK
$STATE,8207,begin surface
$SM_CCo,8225,260.75,0.960,1,0,1145,450.12
$SM_GC,0.71,6.68,1.48,260.75,0.062,0.072,0.960,161,2605,1145,-6.35,-0.71,450.12,0,0,0,0,1,0,14.62,14.57,13.53
$IRIDIUM_FIX,5822.60,-2121.41,061020,184724
$TT8_MAMPS,0.02247,0.893557
$HUMID,44.99
$INTERNAL_PRESSURE,7.86099
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3892256
$TM_FREEKB,7501408
$24V_AH,13.05,0.000
$10V_AH,13.00,38.978
$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,18.750,96.200,269.725,260.750,0.000,0.000,0.000,511.075,0.000,0.000,30.163,2418.505,3726.109,716.128,2236.009,153.726,0.000,2053.732,0.000,1616.749,0.000,0.539,0.000
$DEVICE_MAMPS,403.155,98.685,1783.980,960.075,0.000,0.000,0.000,205.020,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8232.000,1806.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.447,18.651,0.000,0.000
$MEM,324048
$DATA_FILE_SIZE,36669,1025
$CAP_FILE_SIZE,108869,0
$CFSIZE,2097872896,2089320448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.213,180.46,1
$GPS,061020,212035,5820.164,-2121.548,15,0.8,30,-12.1,0.8,105.4,10,9.2