version: 66.14
glider: 527
mission: 10
dive: 35
start: 10 7 120 16 19 57
data:
$ID,527
$MISSION,10
$DIVE,35
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,071020,161006,5816.4824,-2120.5513,23,0.8,44,-12.1,0.7,316.8,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-65.1
$GPS2,071020,161913,5816.4829,-2120.6086,12,0.8,19,-12.1,0.4,286.8,10,9.7
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5815.993,-2116.657
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,70.4,3955,-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,-146.0,3,2624,1075,1197,0.0,0.0,0,124,0.00,0.00,-107.25,0.008,16390,0.000,0.000,0,2616,3577,3504,3650,0,0,0,0,0,0,14.63,13.50,14.64
$GC,126,-0.75,-146.0,0,2616,3504,3650,4.5,-10.2,18,142,9.62,2.50,0.00,0.000,2564,0.397,0.050,1976,1167,3580,3510,3651,1,0,0,0,0,0,14.04,14.41,14.42
$GC,360,-0.75,-146.0,1976,1167,3516,3651,51.5,-18.0,63,367,0.00,2.47,0.00,0.000,1030,0.000,0.060,1969,2597,3583,3516,3650,0,0,0,0,0,0,14.57,14.48,14.59
$GC,551,-0.75,-146.0,1970,2597,3518,3649,82.7,-15.6,100,557,0.00,2.15,0.00,0.000,260,0.000,0.076,1960,3853,3582,3516,3648,0,0,0,0,0,0,14.74,14.41,14.76
$GC,656,-0.75,-146.0,1960,3853,3516,3648,98.7,-14.4,120,663,0.00,2.15,0.00,0.000,1030,0.000,0.047,1960,2576,3582,3516,3648,0,0,0,0,0,0,14.51,14.45,14.53
$GC,850,-0.75,-146.0,1960,2566,3517,3648,130.5,-16.4,140,852,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2566,3582,3517,3648,0,0,0,0,0,0,14.80,14.82,14.81
$GC,1150,-0.75,-146.0,1960,2566,3518,3648,180.0,-16.2,170,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2566,3583,3518,3648,0,0,0,0,0,0,14.81,14.83,14.83
$GC,1451,-0.75,-146.0,1959,2566,3518,3648,228.6,-16.0,200,1456,0.00,2.30,0.00,0.000,516,0.000,0.067,1960,1198,3582,3518,3647,0,0,0,0,0,0,14.85,14.58,14.87
$GC,1487,-0.75,-146.0,1960,1198,3518,3648,235.1,-15.7,207,1494,0.00,2.42,0.00,0.000,1030,0.000,0.057,1951,2606,3583,3518,3648,0,0,0,0,0,0,14.62,14.54,14.65
$GC,1793,-0.75,-146.0,1951,2606,3519,3647,288.3,-17.3,238,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2606,3583,3519,3648,0,0,0,0,0,0,14.89,14.92,14.91
$GC,2094,-0.75,-146.0,1951,2606,3518,3647,340.3,-16.8,268,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2606,3583,3519,3647,0,0,0,0,0,0,14.90,14.92,14.91
$GC,2394,-0.75,-146.0,1951,2606,3519,3646,390.3,-15.7,298,2400,0.00,2.40,0.00,0.000,516,0.000,0.066,1951,1194,3582,3519,3646,0,0,0,0,0,0,14.90,14.61,14.92
$GC,2422,-0.75,-146.0,1951,1194,3519,3646,394.7,-16.4,303,2430,0.15,2.42,0.00,0.000,3078,0.293,0.059,1972,2603,3582,3519,3646,0,0,0,0,0,0,14.30,14.58,14.57
$GC,2727,-0.75,-146.0,1971,2603,3518,3645,440.3,-14.8,334,2732,0.00,2.40,0.00,0.000,516,0.000,0.060,1973,1190,3582,3519,3645,0,0,0,0,0,0,14.89,14.61,14.90
$GC,2753,-0.75,-146.0,1972,1191,3519,3645,444.3,-15.2,339,2760,0.00,2.42,0.00,0.000,1030,0.000,0.058,1966,2601,3582,3519,3645,0,0,0,0,0,0,14.66,14.56,14.67
$GC,3059,-0.75,-146.0,1966,2601,3519,3644,491.2,-15.2,370,3065,0.00,2.40,0.00,0.000,516,0.000,0.065,1966,1192,3581,3519,3644,0,0,0,0,0,0,14.92,14.59,14.94
$GC,3093,-0.75,-146.0,1965,1192,3519,3644,496.1,-15.7,376,3098,0.00,2.42,0.00,0.000,1030,0.000,0.059,1957,2604,3581,3518,3644,0,0,0,0,0,0,14.72,14.63,14.75
$GC,3406,-0.75,-146.0,1956,2605,3519,3643,544.8,-15.8,408,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2604,3581,3519,3643,0,0,0,0,0,0,14.94,14.96,14.95
$GC,3706,-0.75,-146.0,1956,2605,3519,3642,591.3,-15.8,438,3711,0.00,2.40,0.00,0.000,516,0.000,0.058,1957,1192,3581,3519,3643,0,0,0,0,0,0,14.93,14.62,14.95
$GC,3752,-0.75,-146.0,1956,1192,3519,3643,598.8,-15.7,447,3759,0.00,2.42,0.00,0.000,1030,0.000,0.060,1948,2602,3580,3518,3642,0,0,0,0,0,0,14.71,14.62,14.74
$GC,4058,-0.75,-146.0,1947,2602,3519,3641,648.7,-16.1,478,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2601,3579,3518,3641,0,0,0,0,0,0,14.94,14.96,14.95
$GC,4360,-0.75,-146.0,1948,2601,3519,3641,697.4,-15.9,508,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2601,3579,3518,3641,0,0,0,0,0,0,14.92,14.94,14.93
$GC,4659,-0.75,-146.0,1948,2601,3519,3640,745.1,-15.4,538,4665,0.00,2.40,0.00,0.000,516,0.000,0.060,1948,1191,3579,3519,3640,0,0,0,0,0,0,14.93,14.62,14.95
$STATE,4691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4691,begin apogee
$GC,4696,-0.17,0.0,1944,1816,3519,3640,750.6,-17.1,544,4843,0.77,0.00,137.52,1.984,10246,0.226,0.000,2158,1818,2979,2962,2996,0,0,0,0,0,0,14.35,13.75,13.02
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$GC,4846,0.75,146.0,2158,1818,2962,2995,757.4,0.0,559,4997,0.95,2.78,138.77,1.955,10756,0.122,0.093,2466,393,2383,2363,2403,0,0,0,0,0,0,13.99,13.78,12.90
$GC,5037,0.75,146.0,2466,393,2355,2400,741.5,13.0,594,5044,0.00,2.47,0.00,0.000,1030,0.000,0.057,2466,1776,2377,2355,2400,0,0,0,0,0,0,14.12,14.04,14.14
$GC,5345,0.75,146.0,2466,1777,2354,2392,699.4,14.0,625,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1776,2372,2354,2391,0,0,0,0,0,0,14.66,14.69,14.68
$GC,5645,0.75,146.0,2466,1776,2355,2390,657.9,13.9,655,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1776,2372,2354,2390,0,0,0,0,0,0,14.78,14.81,14.81
$GC,5946,0.75,146.0,2465,1778,2354,2389,616.7,13.5,685,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1778,2371,2354,2389,0,0,0,0,0,0,14.85,14.87,14.87
$GC,6255,0.75,146.0,2466,1780,2354,2389,574.3,13.7,716,6261,0.00,2.47,0.00,0.000,516,0.000,0.093,2474,396,2371,2353,2389,0,0,0,0,0,0,14.88,14.55,14.90
$GC,6283,0.75,146.0,2474,396,2352,2389,570.1,14.4,721,6290,0.00,2.40,0.00,0.000,1030,0.000,0.059,2475,1796,2370,2352,2389,0,0,0,0,0,0,14.70,14.62,14.73
$GC,6588,0.75,146.0,2474,1797,2352,2388,525.8,14.2,752,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1797,2370,2352,2388,0,0,0,0,0,0,14.90,14.93,14.92
$GC,6889,0.75,146.0,2475,1800,2353,2388,482.8,14.6,782,6894,0.00,2.50,0.00,0.000,516,0.000,0.096,2484,399,2370,2352,2388,0,0,0,0,0,0,14.92,14.57,14.94
$GC,6926,0.75,146.0,2484,399,2351,2388,477.0,15.8,789,6932,0.00,2.40,0.00,0.000,1030,0.000,0.059,2484,1804,2369,2351,2388,0,0,0,0,0,0,14.73,14.64,14.76
$GC,7232,0.75,146.0,2484,1808,2351,2388,429.7,15.6,820,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1808,2369,2351,2388,0,0,0,0,0,0,14.92,14.95,14.95
$GC,7532,0.75,146.0,2484,1809,2350,2387,382.7,15.8,850,7538,0.00,2.53,0.00,0.000,516,0.000,0.091,2494,391,2369,2351,2387,0,0,0,0,0,0,14.92,14.57,14.95
$GC,7559,0.75,146.0,2494,391,2351,2388,378.1,16.8,855,7567,0.15,2.40,0.00,0.000,5126,0.265,0.058,2462,1800,2369,2351,2388,0,0,0,0,0,0,14.39,14.65,14.66
$GC,7865,0.75,146.0,2462,1803,2350,2387,334.2,14.0,886,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1803,2369,2351,2387,0,0,0,0,0,0,14.94,14.96,14.96
$GC,8166,0.75,146.0,2461,1804,2351,2386,293.1,13.6,916,8172,0.00,2.40,0.00,0.000,260,0.000,0.073,2462,3202,2368,2351,2386,0,0,0,0,0,0,14.94,14.35,14.96
$GC,8183,0.75,146.0,2462,3201,2350,2386,290.4,14.0,919,8190,0.00,2.42,0.00,0.000,1030,0.000,0.072,2468,1803,2368,2351,2386,0,0,0,0,0,0,14.56,14.08,14.68
$GC,8489,0.75,146.0,2468,1803,2351,2386,246.6,14.4,950,8496,0.00,2.55,0.00,0.000,516,0.000,0.099,2479,370,2368,2350,2386,0,0,0,0,0,0,14.89,14.51,14.90
$GC,8597,0.75,146.0,2479,370,2350,2387,229.5,15.7,971,8606,0.00,2.42,0.00,0.000,1030,0.000,0.058,2480,1792,2369,2351,2388,0,0,0,0,0,0,14.69,14.61,14.73
$GC,8904,0.75,146.0,2480,1797,2351,2388,183.4,14.7,1002,8911,0.00,2.40,0.00,0.000,260,0.000,0.070,2479,3193,2368,2350,2387,0,0,0,0,0,0,14.85,14.55,14.87
$GC,8922,0.75,146.0,2478,3193,2350,2387,180.6,15.2,1005,8931,0.00,2.47,0.00,0.000,1030,0.000,0.071,2488,1780,2368,2349,2388,0,0,0,0,0,0,14.66,14.54,14.69
$GC,9228,0.75,146.0,2488,1780,2350,2387,135.8,14.8,1036,9236,0.00,2.50,0.00,0.000,516,0.000,0.094,2499,378,2368,2350,2387,0,0,0,0,0,0,14.84,14.50,14.86
$GC,9323,0.75,146.0,2499,378,2349,2388,120.4,15.7,1054,9331,0.15,2.42,0.00,0.000,5126,0.271,0.058,2468,1792,2368,2349,2388,0,0,0,0,0,0,14.31,14.57,14.58
$GC,9633,0.75,146.0,2468,1794,2349,2387,77.1,12.8,1102,9641,0.00,2.40,0.00,0.000,260,0.000,0.071,2468,3191,2368,2349,2387,0,0,0,0,0,0,14.81,14.50,14.83
$GC,9668,0.75,146.0,2467,3191,2351,2387,72.8,12.0,1108,9677,0.00,2.47,0.00,0.000,1030,0.000,0.071,2474,1776,2368,2349,2387,0,0,0,0,0,0,14.62,14.50,14.65
$GC,9860,0.75,146.0,2474,1776,2349,2386,49.9,11.7,1145,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1776,2367,2349,2386,0,0,0,0,0,0,14.81,14.83,14.83
$GC,10050,0.75,146.0,2474,1776,2349,2385,26.8,15.2,1182,10058,0.00,2.50,0.00,0.000,516,0.000,0.091,2485,370,2367,2349,2385,0,0,0,0,0,0,14.80,14.47,14.82
$GC,10131,0.75,146.0,2485,369,2348,2387,13.7,17.0,1197,10139,0.00,2.45,0.00,0.000,1030,0.000,0.057,2485,1789,2367,2348,2386,0,0,0,0,0,0,14.59,14.51,14.62
$STATE,10209,end climb,SURFACE_DEPTH_REACHED
$STATE,10209,begin surface coast
$FINISH,1.5,1.026830
$STATE,10231,end surface coast,CONTROL_FINISHED_OK
$STATE,10232,begin surface
$SM_CCo,10248,262.33,0.982,1,0,1144,450.12
$SM_GC,0.65,6.68,1.38,262.33,0.063,0.058,0.982,158,2595,1144,-6.33,-1.07,450.12,0,0,0,0,1,0,14.64,14.58,13.50
$IRIDIUM_FIX,5816.34,-2116.94,071020,133329
$TT8_MAMPS,0.023219,0.752745
$HUMID,44.25
$INTERNAL_PRESSURE,7.86099
$TCM_TEMP,18.60
$XPDR_PINGS,11
$SC_FREEKB,3886560
$TM_FREEKB,7454400
$24V_AH,12.90,0.000
$10V_AH,12.88,41.684
$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,18.475,87.525,276.300,262.325,0.000,0.000,0.000,374.875,2.750,0.000,30.431,2933.267,4826.396,731.358,2427.172,156.261,0.000,2055.164,0.000,1931.136,0.000,0.539,0.000
$DEVICE_MAMPS,397.035,98.685,1983.645,982.260,0.000,0.000,0.000,211.140,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10252.000,1780.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.893,18.528,0.000,0.000
$MEM,324028
$DATA_FILE_SIZE,43320,1216
$CAP_FILE_SIZE,119335,0
$CFSIZE,2097872896,2087616512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,1,3,0
$CURRENT,0.217,223.83,1
$GPS,071020,191655,5816.317,-2119.893,33,1.2,58,-12.1,1.0,330.6,8,9.3