version: 66.14
glider: 527
mission: 10
dive: 32
start: 10 7 120 7 24 17
data:
$ID,527
$MISSION,10
$DIVE,32
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,850
$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,250
$T_MISSION,300
$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,22
$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
$GPS1,071020,071254,5819.2588,-2121.0613,5,1.2,24,-12.1,0.0,109.9,8,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-62.9
$GPS2,071020,072332,5819.2515,-2120.9297,8,0.8,18,-12.1,0.0,126.4,11,10.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5818.462,-2117.385
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,82.0,3746,-18.2,-10.000,-20.95,2242
$D_GRID,750
$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,-146.0,0,2608,1078,1187,0.0,0.0,0,124,0.00,0.00,-108.12,0.008,16390,0.000,0.000,1,2610,3577,3505,3650,0,0,0,0,0,0,14.64,13.53,14.64
$GC,127,-0.75,-146.0,0,2610,3505,3650,4.1,-9.0,18,142,9.55,2.53,0.00,0.000,2852,0.400,0.063,1968,1181,3581,3512,3650,0,0,0,0,0,0,14.10,14.40,14.43
$GC,371,-0.75,-146.0,1968,1180,3518,3650,54.8,-18.9,65,378,0.00,2.50,0.00,0.000,1030,0.000,0.067,1961,2603,3584,3518,3650,0,0,0,0,0,0,14.53,14.45,14.55
$GC,560,-0.75,-146.0,1961,2603,3518,3649,91.3,-18.4,102,567,0.00,2.15,0.00,0.000,260,0.000,0.081,1952,3849,3583,3519,3648,0,0,0,0,0,0,14.76,14.44,14.77
$GC,668,-0.75,-146.0,1952,3848,3518,3647,110.1,-16.5,123,675,0.00,2.17,0.00,0.000,1030,0.000,0.056,1952,2583,3582,3518,3647,0,0,0,0,0,0,14.59,14.49,14.60
$GC,974,-0.75,-146.0,1952,2572,3519,3645,163.8,-17.9,154,980,0.00,2.38,0.00,0.000,516,0.000,0.070,1952,1187,3583,3519,3647,0,0,0,0,0,0,14.81,14.54,14.83
$GC,1017,-0.75,-146.0,1952,1187,3521,3647,170.9,-17.0,162,1023,0.15,2.47,0.00,0.000,3078,0.302,0.066,1972,2603,3584,3521,3647,0,0,0,0,0,0,14.27,14.52,14.52
$GC,1330,-0.75,-146.0,1972,2603,3520,3647,221.0,-16.1,194,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2603,3583,3520,3647,0,0,0,0,0,0,14.85,14.87,14.87
$GC,1631,-0.75,-146.0,1971,2603,3520,3647,270.3,-16.0,224,1637,0.00,2.45,0.00,0.000,516,0.000,0.070,1972,1192,3584,3521,3647,0,0,0,0,0,0,14.85,14.57,14.87
$GC,1674,-0.75,-146.0,1972,1192,3521,3646,277.4,-16.0,232,1681,0.00,2.45,0.00,0.000,1030,0.000,0.067,1965,2598,3584,3521,3647,0,0,0,0,0,0,14.69,14.60,14.71
$GC,1988,-0.75,-146.0,1965,2598,3521,3646,328.8,-16.5,264,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2598,3583,3521,3646,0,0,0,0,0,0,14.91,14.94,14.93
$GC,2288,-0.75,-146.0,1965,2598,3521,3645,378.7,-16.5,294,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2598,3583,3521,3645,0,0,0,0,0,0,14.93,14.95,14.95
$GC,2588,-0.75,-146.0,1965,2598,3521,3644,426.9,-16.1,324,2595,0.00,2.45,0.00,0.000,516,0.000,0.069,1966,1193,3582,3521,3644,0,0,0,0,0,0,14.92,14.60,14.95
$GC,2626,-0.75,-146.0,1965,1193,3521,3644,433.2,-16.0,331,2633,0.00,2.47,0.00,0.000,1030,0.000,0.068,1956,2611,3583,3522,3644,0,0,0,0,0,0,14.72,14.63,14.75
$GC,2932,-0.75,-146.0,1956,2612,3521,3643,483.1,-16.8,362,2937,0.00,2.47,0.00,0.000,516,0.000,0.069,1956,1189,3582,3521,3643,0,0,0,0,0,0,14.94,14.57,14.96
$GC,2954,-0.75,-146.0,1956,1189,3521,3643,487.1,-17.4,366,2961,0.12,2.47,0.00,0.000,3078,0.304,0.068,1970,2599,3582,3521,3643,0,0,0,0,0,0,14.36,14.64,14.63
$GC,3268,-0.75,-146.0,1970,2599,3521,3643,535.2,-15.3,398,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2599,3581,3521,3642,0,0,0,0,0,0,14.93,14.95,14.95
$GC,3569,-0.75,-146.0,1970,2599,3522,3642,581.2,-15.5,428,3575,0.00,2.45,0.00,0.000,516,0.000,0.071,1971,1190,3581,3521,3642,0,0,0,0,0,0,14.94,14.61,14.95
$GC,3622,-0.75,-146.0,1970,1190,3521,3641,589.5,-15.2,438,3627,0.00,2.47,0.00,0.000,1030,0.000,0.067,1963,2604,3581,3521,3641,0,0,0,0,0,0,14.69,14.59,14.71
$GC,3935,-0.75,-146.0,1963,2605,3521,3641,638.4,-15.8,470,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2605,3581,3521,3641,0,0,0,0,0,0,14.95,14.97,14.97
$GC,4235,-0.75,-146.0,1963,2605,3520,3640,686.0,-15.8,500,4242,0.00,2.45,0.00,0.000,516,0.000,0.071,1964,1196,3580,3520,3640,0,0,0,0,0,0,14.95,14.53,14.96
$GC,4283,-0.75,-146.0,1963,1196,3521,3640,694.0,-15.9,509,4289,0.00,2.47,0.00,0.000,1030,0.000,0.068,1955,2607,3580,3520,3640,0,0,0,0,0,0,14.66,14.59,14.69
$GC,4589,-0.75,-146.0,1954,2607,3520,3640,745.3,-17.2,540,4595,0.00,2.45,0.00,0.000,516,0.000,0.070,1954,1196,3580,3521,3640,0,0,0,0,0,0,14.92,14.59,14.95
$STATE,4616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4616,begin apogee
$GC,4622,-0.17,0.0,1951,1811,3521,3638,750.1,-17.4,545,4767,0.75,0.00,138.85,1.984,10246,0.221,0.000,2160,1817,2979,2963,2995,0,0,0,0,0,0,14.36,13.92,12.96
$STATE,4769,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4771,0.75,146.0,2160,1817,2963,2994,758.5,0.0,560,4923,0.95,2.80,138.85,1.952,10756,0.125,0.096,2467,396,2382,2362,2402,0,0,0,0,0,0,13.97,13.78,12.93
$GC,4990,0.75,146.0,2466,396,2354,2397,739.5,13.2,600,4996,0.00,2.55,0.00,0.000,1030,0.000,0.072,2466,1793,2375,2354,2396,0,0,0,0,0,0,14.19,14.11,14.21
$GC,5303,0.75,146.0,2466,1793,2354,2390,699.1,12.7,632,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1793,2372,2354,2391,0,0,0,0,0,0,14.67,14.71,14.71
$GC,5604,0.75,146.0,2466,1793,2354,2389,661.1,12.9,662,5610,0.00,2.55,0.00,0.000,516,0.000,0.093,2475,387,2371,2354,2389,0,0,0,0,0,0,14.78,14.47,14.80
$GC,5641,0.75,146.0,2475,387,2352,2390,655.8,13.7,669,5649,0.00,2.50,0.00,0.000,1030,0.000,0.073,2475,1805,2371,2353,2389,0,0,0,0,0,0,14.64,14.54,14.66
$GC,5947,0.75,146.0,2476,1805,2352,2389,614.2,14.1,700,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1807,2372,2354,2390,0,0,0,0,0,0,14.86,14.88,14.88
$GC,6248,0.75,146.0,2475,1806,2352,2388,571.4,14.4,730,6254,0.00,2.55,0.00,0.000,516,0.000,0.093,2484,392,2370,2352,2388,0,0,0,0,0,0,14.88,14.55,14.90
$GC,6294,0.75,146.0,2484,392,2353,2388,564.0,15.5,739,6301,0.00,2.47,0.00,0.000,1030,0.000,0.072,2484,1804,2369,2351,2388,0,0,0,0,0,0,14.66,14.57,14.70
$GC,6602,0.75,146.0,2484,1805,2351,2387,517.7,15.0,770,6607,0.00,2.55,0.00,0.000,516,0.000,0.094,2494,388,2369,2351,2387,0,0,0,0,0,0,14.91,14.56,14.92
$GC,6645,0.75,146.0,2493,388,2350,2388,511.0,15.2,778,6651,0.15,2.47,0.00,0.000,5126,0.273,0.072,2463,1802,2369,2351,2388,0,0,0,0,0,0,14.39,14.62,14.66
$GC,6959,0.75,146.0,2463,1806,2353,2386,467.7,13.6,810,6964,0.00,2.42,0.00,0.000,260,0.000,0.081,2463,3207,2368,2351,2386,0,0,0,0,0,0,14.92,14.60,14.94
$GC,6982,0.75,146.0,2462,3206,2350,2386,464.2,15.0,814,6987,0.00,2.45,0.00,0.000,1030,0.000,0.073,2469,1804,2368,2350,2386,0,0,0,0,0,0,14.68,14.57,14.71
$GC,7295,0.75,146.0,2468,1804,2350,2386,420.4,14.2,846,7300,0.00,2.58,0.00,0.000,516,0.000,0.099,2480,370,2368,2350,2386,0,0,0,0,0,0,14.93,14.50,14.96
$GC,7462,0.75,146.0,2480,370,2350,2387,395.0,14.8,879,7469,0.00,2.50,0.00,0.000,1030,0.000,0.072,2480,1793,2368,2349,2387,0,0,0,0,0,0,14.67,14.58,14.73
$GC,7769,0.75,146.0,2480,1795,2349,2386,351.3,14.1,910,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1794,2367,2349,2386,0,0,0,0,0,0,14.94,14.96,14.95
$GC,8070,0.75,146.0,2480,1797,2349,2386,308.2,14.4,940,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1798,2367,2350,2385,0,0,0,0,0,0,14.94,14.96,14.95
$GC,8370,0.75,146.0,2480,1798,2350,2386,265.9,13.8,970,8376,0.00,2.55,0.00,0.000,516,0.000,0.092,2490,374,2367,2350,2385,0,0,0,0,0,0,14.95,14.57,14.96
$GC,8387,0.75,146.0,2490,374,2349,2386,263.0,14.4,973,8395,0.00,2.47,0.00,0.000,1030,0.000,0.073,2491,1793,2369,2351,2387,0,0,0,0,0,0,14.73,14.64,14.77
$GC,8693,0.75,146.0,2490,1795,2350,2385,217.4,15.4,1004,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1795,2368,2350,2386,0,0,0,0,0,0,14.87,14.90,14.88
$GC,8995,0.75,146.0,2489,1796,2349,2386,172.5,15.4,1034,9003,0.00,2.55,0.00,0.000,516,0.000,0.093,2499,376,2367,2349,2386,0,0,0,0,0,0,14.83,14.50,14.85
$GC,9020,0.75,146.0,2499,376,2348,2387,168.5,15.3,1038,9028,0.15,2.50,0.00,0.000,5126,0.263,0.072,2468,1798,2367,2349,2386,0,0,0,0,0,0,14.31,14.53,14.57
$GC,9336,0.75,146.0,2468,1800,2349,2385,125.6,13.5,1070,9343,0.00,2.45,0.00,0.000,260,0.000,0.080,2468,3200,2367,2349,2385,0,0,0,0,0,0,14.84,14.50,14.86
$GC,9374,0.75,146.0,2467,3200,2349,2385,120.1,14.1,1077,9383,0.00,2.50,0.00,0.000,1030,0.000,0.076,2474,1781,2367,2349,2385,0,0,0,0,0,0,14.60,14.48,14.64
$GC,9680,0.75,146.0,2474,1781,2349,2385,80.5,12.1,1123,9689,0.00,2.55,0.00,0.000,516,0.000,0.099,2485,377,2367,2349,2385,0,0,0,0,0,0,14.83,14.43,14.84
$GC,9801,0.75,146.0,2484,377,2350,2386,66.2,11.5,1146,9810,0.00,2.53,0.00,0.000,1030,0.000,0.073,2485,1798,2367,2349,2386,0,0,0,0,0,0,14.57,14.50,14.60
$GC,9993,0.75,146.0,2485,1804,2348,2385,40.6,14.6,1183,10002,0.00,2.60,0.00,0.000,516,0.000,0.097,2495,380,2366,2348,2385,0,0,0,0,0,0,14.80,14.45,14.82
$GC,10034,0.75,146.0,2495,379,2348,2386,35.0,14.3,1190,10044,0.15,2.53,0.00,0.000,5126,0.261,0.073,2464,1804,2367,2348,2386,0,0,0,0,0,0,14.28,14.52,14.55
$GC,10226,0.75,146.0,2463,1808,2348,2384,14.1,11.3,1227,10235,0.00,2.45,0.00,0.000,260,0.000,0.082,2463,3200,2366,2348,2384,0,0,0,0,0,0,14.78,14.48,14.80
$GC,10252,0.75,146.0,2463,3200,2348,2384,10.8,13.3,1231,10260,0.00,2.50,0.00,0.000,1030,0.000,0.076,2470,1792,2366,2348,2384,0,0,0,0,0,0,14.54,14.44,14.58
$STATE,10311,end climb,SURFACE_DEPTH_REACHED
$STATE,10311,begin surface coast
$FINISH,-0.1,1.026841
$STATE,10333,end surface coast,CONTROL_FINISHED_OK
$STATE,10333,begin surface
$SM_CCo,10351,262.05,0.965,1,0,1143,450.12
$SM_GC,0.70,6.70,1.45,262.05,0.066,0.075,0.965,163,2599,1143,-6.35,-0.88,450.12,0,0,0,0,1,0,14.61,14.56,13.53
$IRIDIUM_FIX,5817.38,-2122.24,071020,071533
$TT8_MAMPS,0.02247,0.918274
$HUMID,44.21
$INTERNAL_PRESSURE,7.85122
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3888736
$TM_FREEKB,7471520
$24V_AH,12.93,0.000
$10V_AH,13.02,40.636
$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,18.675,104.400,277.700,262.050,0.000,0.000,0.000,415.075,0.000,0.000,29.843,2997.929,4881.726,735.304,2500.113,158.424,0.000,2125.427,0.000,1964.726,0.000,0.538,0.000
$DEVICE_MAMPS,400.095,99.450,1983.645,965.430,0.000,0.000,0.000,207.315,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10351.000,1869.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.563,18.580,0.000,0.000
$MEM,324040
$DATA_FILE_SIZE,43366,1246
$CAP_FILE_SIZE,124736,0
$CFSIZE,2097872896,2088304640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.194,205.76,1
$GPS,071020,102236,5818.698,-2119.328,19,0.9,37,-12.1,1.1,139.3,10,9.3