version: 66.14
glider: 527
mission: 10
dive: 50
start: 10 10 120 5 31 17
data:
$ID,527
$MISSION,10
$DIVE,50
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,370
$T_MISSION,410
$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,0
$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,400
$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,43
$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,2525
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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
$GPS1,101020,051805,5812.5005,-2107.2717,39,0.7,43,-12.0,0.0,92.7,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.2
$GPS2,101020,053033,5812.5088,-2107.2500,9,0.8,16,-12.0,0.0,62.9,11,10.0
$SPEED_LIMITS,0.154,0.252
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5810.473,-2103.048
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,144.6,5572,-16.5,-8.919,-19.56,2499
$D_GRID,990
$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,-0.53,-145.3,75,2493,1283,1396,0.0,0.0,0,111,0.00,0.08,-95.70,0.008,16390,0.000,0.899,72,2554,3576,3509,3643,0,0,0,0,0,0,14.63,12.93,14.64
$GC,114,-0.53,-146.0,75,2555,3510,3643,3.7,-8.1,18,132,9.57,2.17,0.00,0.000,2340,0.399,0.063,2033,3824,3580,3516,3644,0,0,0,0,0,0,14.06,14.40,14.40
$GC,324,-0.53,-146.0,2034,3824,3523,3641,34.8,-9.6,59,331,0.00,2.22,0.00,0.000,1030,0.000,0.055,2033,2526,3581,3523,3640,0,0,0,0,0,0,14.57,14.50,14.59
$GC,512,-0.53,-146.0,2033,2516,3524,3639,57.4,-12.6,96,518,0.00,2.40,0.00,0.000,516,0.000,0.076,2033,1113,3581,3524,3639,0,0,0,0,0,0,14.79,14.50,14.81
$GC,575,-0.53,-146.0,2033,1113,3524,3639,65.8,-12.6,108,582,0.00,2.40,0.00,0.000,1030,0.000,0.064,2024,2500,3582,3525,3640,0,0,0,0,0,0,14.51,14.43,14.53
$GC,764,-0.53,-146.0,2024,2500,3525,3639,90.6,-13.0,145,770,0.00,2.33,0.00,0.000,260,0.000,0.083,2014,3846,3582,3525,3639,0,0,0,0,0,0,14.82,14.50,14.83
$GC,846,-0.53,-146.0,2014,3846,3525,3637,100.5,-11.6,161,853,0.15,2.28,0.00,0.000,3078,0.228,0.054,2049,2512,3580,3524,3637,0,0,0,0,0,0,14.33,14.49,14.53
$GC,1160,-0.53,-146.0,2049,2501,3525,3637,134.7,-10.7,193,1165,0.00,2.35,0.00,0.000,516,0.000,0.071,2050,1118,3581,3525,3637,0,0,0,0,0,0,14.85,14.47,14.88
$GC,1227,-0.53,-146.0,2049,1118,3526,3637,141.9,-10.4,206,1234,0.00,2.45,0.00,0.000,1030,0.000,0.064,2043,2540,3581,3526,3637,0,0,0,0,0,0,14.66,14.55,14.69
$GC,1532,-0.53,-146.0,2043,2540,3526,3637,174.6,-10.8,237,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2540,3581,3525,3637,0,0,0,0,0,0,14.87,14.90,14.88
$GC,1833,-0.53,-146.0,2043,2540,3526,3637,206.3,-10.6,267,1838,0.00,2.45,0.00,0.000,516,0.000,0.069,2043,1113,3581,3526,3637,0,0,0,0,0,0,14.90,14.57,14.91
$GC,1869,-0.53,-146.0,2044,1113,3526,3637,210.5,-11.1,274,1875,0.00,2.45,0.00,0.000,1030,0.000,0.063,2034,2537,3581,3526,3637,0,0,0,0,0,0,14.68,14.58,14.71
$GC,2175,-0.53,-146.0,2034,2537,3526,3637,244.9,-11.6,305,2181,0.00,2.42,0.00,0.000,516,0.000,0.067,2034,1118,3581,3526,3637,0,0,0,0,0,0,14.90,14.59,14.92
$GC,2201,-0.53,-146.0,2034,1117,3526,3637,247.9,-12.0,310,2207,0.00,2.42,0.00,0.000,1030,0.000,0.063,2025,2527,3581,3526,3637,0,0,0,0,0,0,14.68,14.56,14.71
$GC,2507,-0.53,-146.0,2025,2527,3525,3636,286.4,-12.8,341,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2527,3581,3526,3637,0,0,0,0,0,0,14.92,14.94,14.94
$GC,2808,-0.53,-146.0,2025,2527,3526,3636,324.8,-12.8,371,2814,0.00,2.42,0.00,0.000,516,0.000,0.066,2026,1106,3581,3526,3636,0,0,0,0,0,0,14.92,14.59,14.94
$GC,2850,-0.53,-146.0,2025,1107,3526,3636,330.5,-13.0,379,2856,0.12,2.45,0.00,0.000,3078,0.255,0.063,2042,2534,3581,3526,3637,0,0,0,0,0,0,14.33,14.53,14.55
$GC,3163,-0.53,-146.0,2042,2535,3526,3635,364.1,-10.6,411,3169,0.00,2.42,0.00,0.000,516,0.000,0.067,2043,1118,3580,3526,3635,0,0,0,0,0,0,14.92,14.59,14.93
$GC,3195,-0.53,-146.0,2043,1118,3526,3635,367.7,-11.4,417,3201,0.00,2.45,0.00,0.000,1030,0.000,0.063,2036,2536,3580,3526,3635,0,0,0,0,0,0,14.70,14.59,14.73
$GC,3508,-0.53,-146.0,2036,2536,3526,3634,401.5,-10.9,449,3513,0.00,2.42,0.00,0.000,516,0.000,0.068,2036,1117,3580,3526,3635,0,0,0,0,0,0,14.92,14.57,14.94
$GC,3544,-0.53,-146.0,2036,1117,3526,3634,405.2,-10.7,456,3551,0.00,2.42,0.00,0.000,1030,0.000,0.063,2027,2529,3580,3526,3635,0,0,0,0,0,0,14.70,14.59,14.73
$GC,3850,-0.53,-146.0,2027,2530,3526,3634,439.4,-10.9,487,3855,0.00,2.42,0.00,0.000,516,0.000,0.065,2027,1109,3580,3526,3634,0,0,0,0,0,0,14.92,14.59,14.93
$GC,3896,-0.53,-146.0,2027,1110,3526,3634,444.7,-11.2,496,3903,0.12,2.45,0.00,0.000,3078,0.255,0.064,2044,2534,3580,3526,3634,0,0,0,0,0,0,14.38,14.59,14.61
$GC,4203,-0.53,-146.0,2044,2535,3526,3634,474.6,-9.6,527,4208,0.00,2.42,0.00,0.000,516,0.000,0.070,2045,1118,3579,3526,3633,0,0,0,0,0,0,14.94,14.59,14.95
$GC,4235,-0.53,-146.0,2045,1118,3527,3634,477.8,-9.9,533,4240,0.00,2.42,0.00,0.000,1030,0.000,0.064,2038,2529,3580,3526,3634,0,0,0,0,0,0,14.66,14.56,14.69
$GC,4547,-0.53,-146.0,2038,2528,3526,3633,509.8,-10.4,565,4552,0.00,2.42,0.00,0.000,516,0.000,0.067,2038,1111,3579,3526,3633,0,0,0,0,0,0,14.94,14.59,14.96
$GC,4569,-0.53,-146.0,2038,1112,3526,3634,512.2,-10.7,569,4575,0.00,2.45,0.00,0.000,1030,0.000,0.064,2029,2533,3579,3526,3633,0,0,0,0,0,0,14.70,14.59,14.73
$GC,4882,-0.53,-146.0,2029,2533,3526,3633,546.8,-11.0,601,4887,0.00,2.45,0.00,0.000,516,0.000,0.070,2029,1111,3579,3526,3632,0,0,0,0,0,0,14.95,14.56,14.97
$GC,4908,-0.53,-146.0,2029,1110,3526,3633,549.9,-11.3,606,4914,0.00,2.45,0.00,0.000,1030,0.000,0.064,2020,2534,3579,3526,3632,0,0,0,0,0,0,14.70,14.59,14.73
$GC,5214,-0.53,-146.0,2020,2535,3525,3632,585.1,-11.7,637,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2534,3578,3526,3631,0,0,0,0,0,0,14.95,14.97,14.96
$GC,5515,-0.53,-146.0,2020,2535,3527,3630,620.3,-11.9,667,5520,0.00,2.45,0.00,0.000,516,0.000,0.067,2020,1108,3578,3526,3630,0,0,0,0,0,0,14.94,14.59,14.95
$GC,5561,-0.53,-146.0,2020,1108,3526,3630,626.1,-12.0,676,5568,0.15,2.45,0.00,0.000,3078,0.243,0.065,2045,2527,3578,3526,3630,0,0,0,0,0,0,14.38,14.59,14.60
$GC,5867,-0.53,-146.0,2045,2527,3526,3629,658.0,-10.8,707,5872,0.00,2.42,0.00,0.000,516,0.000,0.068,2046,1115,3578,3526,3630,0,0,0,0,0,0,14.95,14.59,14.97
$GC,5893,-0.53,-146.0,2046,1114,3526,3630,661.1,-11.9,712,5900,0.00,2.45,0.00,0.000,1030,0.000,0.065,2039,2537,3578,3526,3630,0,0,0,0,0,0,14.71,14.59,14.73
$GC,6199,-0.53,-146.0,2039,2537,3526,3629,694.9,-10.9,743,6204,0.00,2.45,0.00,0.000,516,0.000,0.070,2039,1111,3577,3526,3629,0,0,0,0,0,0,14.95,14.59,14.97
$GC,6251,-0.53,-146.0,2039,1110,3526,3629,700.8,-11.1,753,6257,0.00,2.45,0.00,0.000,1030,0.000,0.064,2030,2533,3578,3526,3630,0,0,0,0,0,0,14.69,14.59,14.73
$GC,6564,-0.53,-146.0,2030,2533,3526,3628,735.5,-10.4,785,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2533,3575,3523,3627,0,0,0,0,0,0,14.92,14.95,14.95
$GC,6864,-0.53,-146.0,2030,2533,3526,3627,765.9,-9.7,815,6870,0.00,2.45,0.00,0.000,516,0.000,0.072,2030,1108,3576,3526,3627,0,0,0,0,0,0,14.93,14.59,14.95
$GC,6930,-0.53,-146.0,2030,1107,3526,3627,772.6,-10.0,828,6937,0.00,2.45,0.00,0.000,1030,0.000,0.064,2022,2526,3576,3525,3627,0,0,0,0,0,0,14.69,14.58,14.72
$GC,7237,-0.53,-146.0,2022,2526,3528,3627,803.3,-10.1,859,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2526,3576,3526,3627,0,0,0,0,0,0,14.95,14.97,14.97
$GC,7537,-0.53,-146.0,2021,2526,3526,3626,834.4,-10.5,889,7543,0.00,2.45,0.00,0.000,516,0.000,0.069,2022,1108,3576,3526,3626,0,0,0,0,0,0,14.95,14.54,14.96
$GC,7590,-0.53,-146.0,2021,1108,3526,3625,840.3,-11.1,899,7596,0.15,2.45,0.00,0.000,3078,0.245,0.064,2047,2528,3576,3526,3626,0,0,0,0,0,0,14.35,14.58,14.59
$GC,7903,-0.53,-146.0,2046,2528,3526,3625,868.1,-8.6,931,7905,0.00,0.00,0.00,0.000,38,0.000,0.000,2047,2527,3575,3526,3625,0,0,0,0,0,0,14.92,14.95,14.95
$GC,8205,-0.53,-146.0,2046,2528,3526,3624,892.6,-8.0,961,8210,0.00,2.45,0.00,0.000,548,0.000,0.073,2047,1106,3575,3526,3624,0,0,0,0,0,0,14.93,14.51,14.95
$GC,8268,-0.53,-146.0,2047,1106,3526,3624,897.8,-8.0,973,8273,0.00,2.45,0.00,0.000,1062,0.000,0.065,2040,2525,3575,3526,3624,0,0,0,0,0,0,14.69,14.57,14.72
$GC,8580,-0.53,-146.0,2040,2525,3526,3623,924.0,-8.6,1005,8586,0.00,2.45,0.00,0.000,548,0.000,0.073,2040,1116,3574,3526,3623,0,0,0,0,0,0,14.95,14.53,14.96
$GC,8627,-0.53,-146.0,2040,1115,3526,3623,928.3,-8.8,1014,8634,0.00,2.47,0.00,0.000,1062,0.000,0.065,2031,2536,3575,3526,3624,0,0,0,0,0,0,14.67,14.56,14.71
$GC,8933,-0.53,-146.0,2031,2536,3526,3623,956.6,-9.3,1045,8938,0.00,2.47,0.00,0.000,516,0.000,0.072,2031,1108,3574,3526,3623,0,0,0,0,0,0,14.95,14.50,14.96
$GC,8969,-0.53,-146.0,2031,1107,3526,3623,960.4,-10.1,1052,8976,0.00,2.47,0.00,0.000,1030,0.000,0.065,2023,2536,3574,3526,3622,0,0,0,0,0,0,14.68,14.57,14.71
$STATE,9263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9264,begin apogee
$GC,9269,-0.12,0.0,2023,1741,3526,3621,990.0,-9.8,1082,9419,0.52,0.00,144.95,2.324,10246,0.178,0.000,2177,1740,2980,2962,2998,0,0,0,0,0,0,14.38,13.83,12.76
$STATE,9420,end apogee,CONTROL_FINISHED_OK
$STATE,9420,begin climb
$GC,9422,0.53,146.0,2177,1740,2962,2995,994.4,0.0,1097,9582,0.68,2.72,147.50,2.287,10756,0.101,0.103,2401,333,2382,2362,2403,0,0,0,0,0,0,13.91,13.64,12.59
$GC,9604,0.53,146.0,2401,333,2355,2402,983.6,9.5,1133,9609,0.00,2.58,0.00,0.000,1030,0.000,0.061,2401,1739,2378,2355,2401,0,0,0,0,0,0,13.93,13.85,13.95
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$STATE,18798,end climb,SURFACE_DEPTH_REACHED
$STATE,18798,begin surface coast
$FINISH,0.4,1.026473
$STATE,18824,end surface coast,CONTROL_FINISHED_OK
$STATE,18824,begin surface
$SM_CCo,18843,184.18,0.944,1,0,1348,400.08
$SM_GC,0.98,6.47,1.40,184.18,0.061,0.067,0.944,156,2532,1348,-6.35,-0.79,400.08,0,0,0,0,1,0,14.57,14.51,13.52
$IRIDIUM_FIX,5813.77,-2102.54,101020,001217
$TT8_MAMPS,0.02247,0.817159
$HUMID,44.36
$INTERNAL_PRESSURE,7.87076
$TCM_TEMP,18.80
$XPDR_PINGS,29
$SC_FREEKB,3874528
$TM_FREEKB,7360928
$24V_AH,12.59,0.000
$10V_AH,12.87,48.078
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18859.000,2416.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.597,18.562,0.000,0.000
$MEM,324028
$DATA_FILE_SIZE,79834,2298
$CAP_FILE_SIZE,227784,0
$CFSIZE,2097872896,2083946496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,101020,105003,5810.591,-2107.350,41,0.9,50,-11.9,0.3,182.0,10,9.9