version: 66.14
glider: 527
mission: 10
dive: 28
start: 10 6 120 21 30 21
data:
$ID,527
$MISSION,10
$DIVE,28
$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,28
$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
$GPS1,061020,212035,5820.1641,-2121.5483,15,0.8,30,-12.1,0.8,105.4,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-65.3
$GPS2,061020,212935,5820.1079,-2121.6084,8,0.8,16,-12.1,1.3,117.9,10,10.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5820.481,-2121.120
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,19.5,838,-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,-146.0,1,2615,1088,1181,0.0,0.0,0,119,0.00,0.00,-107.70,0.008,16390,0.000,0.000,0,2614,3579,3509,3649,0,0,0,0,0,0,14.63,13.05,14.64
$GC,122,-0.75,-146.0,0,2615,3509,3650,3.5,-7.9,18,137,9.82,2.55,0.00,0.000,2596,0.408,0.062,1968,1169,3583,3515,3651,0,0,0,0,0,0,14.07,14.42,14.38
$GC,229,-0.75,-146.0,1968,1169,3523,3650,27.7,-18.2,38,237,0.00,2.50,0.00,0.000,1030,0.000,0.067,1961,2595,3586,3523,3650,0,0,0,0,0,0,14.50,14.42,14.51
$GC,420,-0.75,-146.0,1961,2595,3523,3649,65.7,-20.7,75,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2595,3586,3523,3649,0,0,0,0,0,0,14.73,14.75,14.75
$GC,608,-0.75,-146.0,1961,2595,3524,3649,99.8,-18.4,112,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2595,3587,3526,3649,0,0,0,0,0,0,14.78,14.80,14.80
$GC,793,-0.75,-146.0,1961,2595,3524,3649,132.1,-17.5,131,798,0.00,2.17,0.00,0.000,260,0.000,0.080,1952,3853,3586,3524,3648,0,0,0,0,0,0,14.81,14.53,14.83
$GC,839,-0.75,-146.0,1951,3853,3524,3648,139.9,-17.2,140,846,0.00,2.17,0.00,0.000,1030,0.000,0.057,1951,2583,3585,3524,3647,0,0,0,0,0,0,14.56,14.50,14.59
$GC,1146,-0.75,-146.0,1952,2573,3525,3647,193.0,-17.0,171,1152,0.00,2.40,0.00,0.000,516,0.000,0.073,1952,1195,3586,3526,3647,0,0,0,0,0,0,14.85,14.52,14.87
$GC,1193,-0.75,-146.0,1952,1195,3526,3647,201.2,-17.0,180,1200,0.15,2.47,0.00,0.000,3078,0.298,0.067,1972,2610,3586,3526,3647,0,0,0,0,0,0,14.31,14.57,14.57
$GC,1500,-0.75,-146.0,1972,2610,3526,3646,250.2,-15.7,211,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2610,3586,3526,3647,0,0,0,0,0,0,14.85,14.88,14.88
$GC,1800,-0.75,-146.0,1971,2610,3526,3646,296.9,-16.0,241,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2610,3586,3526,3646,0,0,0,0,0,0,14.88,14.90,14.89
$GC,2100,-0.75,-146.0,1972,2610,3526,3645,345.0,-16.0,271,2106,0.00,2.47,0.00,0.000,516,0.000,0.073,1973,1194,3585,3526,3645,0,0,0,0,0,0,14.88,14.52,14.90
$GC,2153,-0.75,-146.0,1972,1194,3526,3645,353.8,-16.3,281,2158,0.00,2.45,0.00,0.000,1030,0.000,0.068,1966,2599,3585,3526,3645,0,0,0,0,0,0,14.71,14.62,14.73
$GC,2465,-0.75,-146.0,1966,2599,3526,3644,404.5,-16.5,313,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2599,3584,3526,3642,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2767,-0.75,-146.0,1965,2598,3526,3643,453.2,-16.4,343,2772,0.00,2.47,0.00,0.000,516,0.000,0.070,1966,1183,3584,3526,3643,0,0,0,0,0,0,14.93,14.54,14.95
$GC,2803,-0.75,-146.0,1965,1184,3526,3643,459.8,-16.7,350,2811,0.00,2.47,0.00,0.000,1030,0.000,0.067,1956,2604,3584,3526,3643,0,0,0,0,0,0,14.71,14.63,14.73
$GC,3109,-0.75,-146.0,1956,2605,3526,3642,510.9,-16.9,381,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2605,3584,3526,3642,0,0,0,0,0,0,14.93,14.95,14.95
$GC,3410,-0.75,-146.0,1956,2605,3526,3641,561.7,-17.4,411,3416,0.00,2.47,0.00,0.000,516,0.000,0.071,1956,1192,3583,3526,3641,0,0,0,0,0,0,14.94,14.56,14.96
$GC,3443,-0.75,-146.0,1956,1190,3526,3641,567.7,-17.9,417,3448,0.00,2.47,0.00,0.000,1030,0.000,0.068,1947,2606,3583,3526,3641,0,0,0,0,0,0,14.72,14.63,14.75
$STATE,3624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3624,begin apogee
$GC,3629,-0.17,0.0,1947,1784,3526,3641,600.3,-17.8,436,3769,0.77,0.00,134.95,1.789,10246,0.231,0.000,2159,1784,2980,2970,2991,0,0,0,0,0,0,14.36,13.97,13.14
$STATE,3771,end apogee,CONTROL_FINISHED_OK
$STATE,3771,begin climb
$GC,3772,0.75,146.0,2159,1784,2968,2988,608.9,0.0,450,3918,0.95,2.72,135.50,1.757,10756,0.132,0.096,2465,391,2382,2366,2398,0,0,0,0,0,0,14.00,13.84,13.05
$GC,3970,0.75,146.0,2464,391,2357,2394,593.0,13.0,486,3976,0.00,2.55,0.00,0.000,1030,0.000,0.070,2465,1792,2375,2357,2393,0,0,0,0,0,0,14.19,14.11,14.21
$GC,4283,0.75,146.0,2464,1792,2357,2388,552.8,13.0,518,4288,0.00,2.47,0.00,0.000,260,0.000,0.080,2465,3202,2372,2357,2388,0,0,0,0,0,0,14.68,14.41,14.70
$GC,4305,0.75,146.0,2464,3202,2357,2388,549.7,14.1,522,4311,0.00,2.50,0.00,0.000,1030,0.000,0.076,2473,1797,2372,2357,2388,0,0,0,0,0,0,14.52,14.42,14.55
$GC,4618,0.75,146.0,2473,1797,2356,2386,507.2,13.6,554,4624,0.00,2.58,0.00,0.000,516,0.000,0.098,2485,377,2371,2356,2386,0,0,0,0,0,0,14.81,14.46,14.83
$GC,4781,0.75,146.0,2484,376,2354,2386,483.4,14.8,586,4786,0.00,2.50,0.00,0.000,1030,0.000,0.073,2483,1799,2370,2355,2385,0,0,0,0,0,0,14.66,14.57,14.69
$GC,5093,0.75,146.0,2484,1801,2353,2384,438.1,14.4,618,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1801,2369,2354,2384,0,0,0,0,0,0,14.88,14.90,14.90
$GC,5395,0.75,146.0,2485,1803,2354,2382,394.0,14.9,648,5400,0.00,2.58,0.00,0.000,516,0.000,0.093,2494,372,2368,2353,2383,0,0,0,0,0,0,14.90,14.55,14.92
$GC,5418,0.75,146.0,2494,371,2353,2384,390.3,15.1,652,5424,0.15,2.50,0.00,0.000,5126,0.264,0.072,2462,1798,2368,2353,2384,0,0,0,0,0,0,14.40,14.62,14.66
$GC,5732,0.75,146.0,2462,1800,2353,2382,348.0,13.4,684,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1800,2367,2353,2382,0,0,0,0,0,0,14.90,14.92,14.92
$GC,6032,0.75,146.0,2462,1802,2353,2382,308.3,13.4,714,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1802,2367,2353,2382,0,0,0,0,0,0,14.91,14.93,14.93
$GC,6332,0.75,146.0,2461,1804,2353,2382,268.4,13.4,744,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1804,2367,2353,2381,0,0,0,0,0,0,14.92,14.95,14.94
$GC,6632,0.75,146.0,2462,1803,2353,2381,228.9,13.1,774,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1803,2367,2353,2381,0,0,0,0,0,0,14.86,14.88,14.88
$GC,6942,0.75,146.0,2462,1803,2353,2381,189.1,12.8,805,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1803,2367,2353,2381,0,0,0,0,0,0,14.85,14.88,14.87
$GC,7253,0.75,146.0,2462,1803,2351,2381,149.7,12.4,836,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1805,2368,2355,2382,0,0,0,0,0,0,14.83,14.85,14.85
$GC,7562,0.75,146.0,2462,1803,2353,2381,111.6,12.3,867,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1804,2367,2353,2381,0,0,0,0,0,0,14.81,14.83,14.83
$GC,7872,0.75,146.0,2462,1803,2353,2381,72.8,12.4,919,7881,0.00,2.47,0.00,0.000,260,0.000,0.082,2462,3212,2367,2353,2381,0,0,0,0,0,0,14.82,14.48,14.83
$GC,7913,0.75,146.0,2462,3212,2352,2381,67.5,12.5,926,7922,0.00,2.53,0.00,0.000,1030,0.000,0.075,2470,1780,2367,2353,2382,0,0,0,0,0,0,14.62,14.50,14.66
$GC,8104,0.75,146.0,2469,1779,2353,2381,44.3,11.2,963,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1779,2367,2353,2381,0,0,0,0,0,0,14.80,14.83,14.82
$GC,8296,0.75,146.0,2469,1779,2353,2380,21.2,12.7,1000,8304,0.00,2.55,0.00,0.000,516,0.000,0.099,2480,371,2366,2353,2380,0,0,0,0,0,0,14.79,14.45,14.81
$GC,8362,0.75,146.0,2480,371,2351,2381,12.5,12.9,1012,8370,0.00,2.50,0.00,0.000,1030,0.000,0.072,2480,1791,2366,2352,2381,0,0,0,0,0,0,14.62,14.52,14.66
$STATE,8430,end climb,SURFACE_DEPTH_REACHED
$STATE,8430,begin surface coast
$FINISH,0.7,1.026831
$STATE,8452,end surface coast,CONTROL_FINISHED_OK
$STATE,8452,begin surface
$SM_CCo,8470,261.15,0.965,1,0,1144,450.12
$SM_GC,0.78,6.65,1.45,261.15,0.060,0.076,0.965,165,2610,1144,-6.34,-0.57,450.12,0,0,0,0,1,0,14.62,14.56,13.52
$IRIDIUM_FIX,5821.56,-2116.09,061020,185107
$TT8_MAMPS,0.023219,0.63665
$HUMID,44.05
$INTERNAL_PRESSURE,7.85122
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3891552
$TM_FREEKB,7494976
$24V_AH,13.05,0.000
$10V_AH,13.10,39.306
$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,18.500,62.450,270.450,261.150,0.000,0.000,0.000,372.250,0.000,0.000,27.871,2448.158,3905.876,689.044,2105.748,142.223,0.000,1871.910,0.000,1628.003,0.000,0.538,0.000
$DEVICE_MAMPS,407.745,98.685,1789.335,964.665,0.000,0.000,0.000,212.670,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8474.000,1990.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.277,18.595,0.000,0.000
$MEM,324068
$DATA_FILE_SIZE,36675,1029
$CAP_FILE_SIZE,100025,0
$CFSIZE,2097872896,2089091072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.186,179.06,1
$GPS,061020,235723,5820.409,-2121.250,39,0.8,43,-12.1,0.5,6.3,10,10.0