version: 66.14
glider: 527
mission: 10
dive: 66
start: 10 13 120 17 51 52
data:
$ID,527
$MISSION,10
$DIVE,66
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,31
$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
$GPS1,131020,173836,5803.1821,-2138.3831,40,0.7,45,-12.1,0.8,285.2,12,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.5
$GPS2,131020,175109,5803.2275,-2138.4580,9,0.8,17,-12.1,0.0,203.1,11,9.7
$SPEED_LIMITS,0.154,0.252
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5801.621,-2135.696
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,149.8,4023,-23.7,-8.919,-26.20,1247
$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,-0.62,-72.3,0,2541,1277,1400,0.0,0.0,0,100,0.00,0.00,-85.03,0.008,16390,0.000,0.000,0,2543,3276,3211,3342,0,0,0,0,0,0,14.64,12.81,14.64
$GC,103,-0.66,-107.0,0,2543,3212,3344,2.7,-6.1,16,122,9.88,2.35,-3.92,0.028,18724,0.396,0.095,1990,3845,3419,3377,3462,1,0,0,0,0,0,13.84,12.95,14.40
$GC,234,-0.66,-107.0,1990,3844,3381,3462,21.8,-18.4,41,241,0.00,2.33,0.00,0.000,1030,0.000,0.056,1990,2502,3421,3381,3462,0,0,0,0,0,0,14.54,14.46,14.56
$GC,423,-0.66,-107.0,1990,2493,3381,3462,47.8,-13.7,78,430,0.00,2.40,0.00,0.000,260,0.000,0.082,1980,3847,3422,3382,3462,0,0,0,0,0,0,14.78,14.45,14.81
$GC,456,-0.66,-107.0,1980,3848,3381,3462,51.6,-12.1,84,462,0.00,2.30,0.00,0.000,1030,0.000,0.055,1980,2516,3421,3381,3462,0,0,0,0,0,0,14.49,14.41,14.52
$GC,644,-0.66,-107.0,1980,2503,3381,3462,79.2,-14.1,121,650,0.00,2.38,0.00,0.000,260,0.000,0.081,1970,3849,3422,3382,3462,0,0,0,0,0,0,14.81,14.48,14.83
$GC,672,-0.66,-107.0,1970,3849,3381,3462,82.7,-14.2,126,679,0.15,2.30,0.00,0.000,3078,0.267,0.054,2002,2513,3421,3381,3462,0,0,0,0,0,0,14.28,14.53,14.52
$GC,861,-0.66,-107.0,2002,2503,3381,3462,104.7,-11.2,159,867,0.00,2.40,0.00,0.000,516,0.000,0.070,2003,1108,3421,3381,3462,0,0,0,0,0,0,14.83,14.36,14.84
$GC,914,-0.66,-107.0,2002,1109,3382,3462,111.4,-12.2,169,919,0.00,2.45,0.00,0.000,1030,0.000,0.063,1996,2527,3421,3381,3462,0,0,0,0,0,0,14.62,14.52,14.65
$GC,1226,-0.66,-107.0,1996,2527,3382,3462,150.2,-12.6,201,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2528,3422,3382,3462,0,0,0,0,0,0,14.85,14.87,14.86
$GC,1527,-0.66,-107.0,1996,2527,3381,3462,189.0,-12.9,231,1532,0.00,2.45,0.00,0.000,516,0.000,0.067,1996,1108,3421,3381,3462,0,0,0,0,0,0,14.87,14.55,14.88
$GC,1559,-0.66,-107.0,1996,1108,3382,3463,193.8,-13.8,237,1564,0.00,2.45,0.00,0.000,1030,0.000,0.063,1988,2525,3422,3382,3462,0,0,0,0,0,0,14.66,14.54,14.69
$GC,1871,-0.66,-107.0,1987,2526,3382,3462,234.9,-13.1,269,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2525,3421,3381,3462,0,0,0,0,0,0,14.88,14.90,14.90
$GC,2172,-0.66,-107.0,1987,2525,3382,3462,274.5,-12.7,299,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2525,3422,3382,3462,0,0,0,0,0,0,14.90,14.92,14.91
$GC,2472,-0.66,-107.0,1987,2525,3382,3462,312.6,-12.5,329,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2525,3421,3381,3462,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2772,-0.66,-107.0,1987,2525,3382,3463,351.9,-13.0,359,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2525,3421,3381,3462,0,0,0,0,0,0,14.91,14.92,14.92
$GC,3072,-0.66,-107.0,1987,2526,3382,3462,391.3,-12.9,389,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2526,3422,3382,3462,0,0,0,0,0,0,14.91,14.93,14.92
$GC,3372,-0.66,-107.0,1987,2526,3382,3462,431.0,-13.0,419,3377,0.00,2.42,0.00,0.000,516,0.000,0.069,1987,1117,3422,3382,3462,0,0,0,0,0,0,14.92,14.57,14.94
$GC,3404,-0.66,-107.0,1987,1118,3382,3462,435.5,-14.0,425,3409,0.00,2.42,0.00,0.000,1030,0.000,0.063,1979,2525,3422,3382,3462,0,0,0,0,0,0,14.69,14.57,14.71
$GC,3716,-0.66,-107.0,1978,2526,3382,3462,477.8,-13.5,457,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2526,3423,3384,3462,0,0,0,0,0,0,14.92,14.94,14.93
$GC,4018,-0.66,-107.0,1979,2525,3382,3461,518.1,-13.2,487,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2526,3421,3382,3461,0,0,0,0,0,0,14.93,14.95,14.95
$GC,4327,-0.66,-107.0,1979,2526,3382,3461,559.2,-13.2,518,4332,0.00,2.45,0.00,0.000,516,0.000,0.067,1979,1112,3421,3382,3460,0,0,0,0,0,0,14.95,14.54,14.97
$GC,4359,-0.66,-107.0,1979,1112,3382,3461,563.7,-14.0,524,4365,0.15,2.45,0.00,0.000,3078,0.269,0.063,2002,2531,3421,3382,3461,0,0,0,0,0,0,14.31,14.58,14.57
$GC,4672,-0.66,-107.0,2001,2532,3382,3460,600.3,-11.4,556,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2532,3421,3382,3460,0,0,0,0,0,0,14.95,14.97,14.97
$GC,4973,-0.66,-107.0,2001,2532,3382,3459,633.9,-11.0,586,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2531,3420,3382,3459,0,0,0,0,0,0,14.95,14.97,14.97
$GC,5273,-0.66,-107.0,2001,2531,3382,3458,666.8,-11.1,616,5278,0.00,2.47,0.00,0.000,516,0.000,0.070,2002,1107,3420,3382,3458,0,0,0,0,0,0,14.95,14.51,14.97
$GC,5315,-0.66,-107.0,2002,1107,3382,3458,671.7,-11.0,624,5321,0.00,2.45,0.00,0.000,1030,0.000,0.063,1996,2528,3420,3382,3458,0,0,0,0,0,0,14.64,14.53,14.67
$GC,5627,-0.66,-107.0,1995,2528,3382,3457,708.1,-11.6,656,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2528,3419,3382,3457,0,0,0,0,0,0,14.93,14.95,14.95
$GC,5928,-0.66,-107.0,1995,2528,3381,3457,742.1,-11.4,686,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2528,3419,3382,3457,0,0,0,0,0,0,14.94,14.96,14.96
$GC,6228,-0.66,-107.0,1995,2528,3382,3456,776.8,-11.9,716,6233,0.00,2.45,0.00,0.000,516,0.000,0.067,1996,1109,3419,3382,3456,0,0,0,0,0,0,14.95,14.57,14.96
$GC,6284,-0.66,-107.0,1995,1109,3382,3456,784.0,-12.3,727,6290,0.00,2.45,0.00,0.000,1030,0.000,0.062,1987,2527,3419,3382,3456,0,0,0,0,0,0,14.68,14.57,14.71
$GC,6591,-0.66,-107.0,1986,2528,3382,3455,821.4,-12.2,758,6596,0.00,2.45,0.00,0.000,516,0.000,0.072,1987,1112,3418,3382,3455,0,0,0,0,0,0,14.95,14.50,14.97
$GC,6617,-0.66,-107.0,1986,1111,3382,3455,824.8,-13.7,763,6624,0.00,2.45,0.00,0.000,1030,0.000,0.063,1978,2532,3418,3382,3455,0,0,0,0,0,0,14.69,14.57,14.72
$GC,6923,-0.66,-107.0,1978,2532,3382,3454,863.5,-12.8,794,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2532,3418,3382,3454,0,0,0,0,0,0,14.95,14.97,14.97
$GC,7224,-0.66,-107.0,1978,2531,3382,3453,903.0,-12.9,824,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2531,3417,3382,3453,0,0,0,0,0,0,14.95,14.96,14.96
$GC,7524,-0.66,-107.0,1978,2532,3382,3453,941.5,-12.7,854,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2531,3417,3382,3453,0,0,0,0,0,0,14.95,14.97,14.96
$GC,7824,-0.66,-107.0,1978,2532,3382,3452,978.9,-12.0,884,7829,0.00,2.45,0.00,0.000,516,0.000,0.067,1978,1118,3417,3382,3452,0,0,0,0,0,0,14.94,14.56,14.96
$GC,7880,-0.66,-107.0,1978,1118,3382,3452,985.9,-11.7,895,7887,0.15,2.45,0.00,0.000,3078,0.265,0.063,2001,2534,3417,3382,3452,0,0,0,0,0,0,14.23,14.52,14.50
$STATE,7924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7925,begin apogee
$GC,7930,-0.12,0.0,2001,1849,3383,3452,990.9,-11.1,900,8047,0.60,0.00,111.30,2.309,10246,0.194,0.000,2176,1848,2980,2972,2989,0,0,0,0,0,0,14.31,13.87,12.55
$STATE,8048,end apogee,CONTROL_FINISHED_OK
$STATE,8048,begin climb
$GC,8050,0.66,107.0,2176,1848,2972,2988,994.3,0.0,912,8173,0.80,2.67,113.72,2.272,10756,0.102,0.097,2447,454,2541,2521,2562,0,0,0,0,0,0,13.99,13.42,12.43
$GC,8239,0.66,107.0,2446,454,2510,2560,978.7,12.6,949,8245,0.00,2.53,0.00,0.000,1030,0.000,0.063,2447,1847,2534,2510,2559,0,0,0,0,0,0,14.12,14.03,14.14
$GC,8545,0.66,107.0,2447,1848,2510,2553,941.0,12.0,980,8550,0.00,2.58,0.00,0.000,516,0.000,0.093,2456,448,2531,2510,2553,0,0,0,0,0,0,14.67,14.33,14.69
$GC,8591,0.66,107.0,2456,448,2508,2553,934.8,13.2,989,8598,0.00,2.47,0.00,0.000,1030,0.000,0.063,2456,1854,2530,2508,2553,0,0,0,0,0,0,14.51,14.41,14.54
$GC,8897,0.66,107.0,2455,1855,2508,2551,895.9,12.7,1020,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1855,2529,2508,2551,0,0,0,0,0,0,14.81,14.83,14.83
$GC,9198,0.66,107.0,2457,1857,2509,2551,859.2,12.0,1050,9203,0.00,2.58,0.00,0.000,516,0.000,0.094,2465,446,2528,2508,2549,0,0,0,0,0,0,14.84,14.47,14.86
$GC,9260,0.66,107.0,2464,445,2506,2550,851.3,12.4,1062,9266,0.15,2.47,0.00,0.000,5126,0.295,0.063,2436,1865,2528,2507,2550,0,0,0,0,0,0,14.24,14.54,14.56
$GC,9573,0.66,107.0,2435,1865,2506,2548,817.9,10.8,1094,9578,0.00,2.58,0.00,0.000,516,0.000,0.092,2443,445,2527,2506,2548,0,0,0,0,0,0,14.88,14.50,14.90
$GC,9606,0.66,107.0,2442,444,2506,2548,814.3,11.1,1100,9611,0.00,2.45,0.00,0.000,1030,0.000,0.063,2443,1857,2527,2506,2548,0,0,0,0,0,0,14.66,14.57,14.70
$GC,9918,0.66,107.0,2443,1858,2507,2548,779.8,10.6,1132,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1857,2526,2506,2547,0,0,0,0,0,0,14.90,14.92,14.92
$GC,10219,0.66,107.0,2443,1857,2506,2544,747.0,10.4,1162,10224,0.00,2.55,0.00,0.000,516,0.000,0.098,2451,452,2525,2506,2545,0,0,0,0,0,0,14.90,14.50,14.92
$GC,10286,0.66,107.0,2451,452,2505,2546,739.3,11.4,1175,10293,0.00,2.42,0.00,0.000,1030,0.000,0.061,2452,1859,2525,2505,2545,0,0,0,0,0,0,14.68,14.58,14.72
$GC,10591,0.66,107.0,2451,1860,2505,2545,704.3,11.6,1206,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1859,2525,2505,2545,0,0,0,0,0,0,14.92,14.95,14.95
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$STATE,17067,end climb,SURFACE_DEPTH_REACHED
$STATE,17067,begin surface coast
$FINISH,0.2,1.026880
$STATE,17094,end surface coast,CONTROL_FINISHED_OK
$STATE,17094,begin surface
$SM_CCo,17111,258.05,0.960,1,0,1348,400.08
$SM_GC,0.83,6.57,1.17,258.05,0.054,0.080,0.960,156,2516,1348,-6.35,-1.05,400.08,0,0,0,0,1,0,14.58,14.49,13.47
$IRIDIUM_FIX,5806.17,-2132.96,131020,123156
$TT8_MAMPS,0.023219,0.806673
$HUMID,43.34
$INTERNAL_PRESSURE,7.87076
$TCM_TEMP,18.60
$XPDR_PINGS,17
$SC_FREEKB,3859040
$TM_FREEKB,7235424
$24V_AH,12.43,0.000
$10V_AH,12.97,55.228
$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
$DEVICE_SECS,18.975,140.775,225.025,258.050,0.000,0.000,0.000,541.850,4.250,0.000,28.776,4417.809,8867.427,723.338,3871.235,243.277,0.000,2762.454,0.000,3167.071,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.784,18.552,0.000,0.000
$MEM,324016
$DATA_FILE_SIZE,69886,2019
$CAP_FILE_SIZE,193205,0
$CFSIZE,2097872896,2079293440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,1,2,0
$INTR,0,8065.71,0x2359e4,1,24
$GPS,131020,224258,5801.276,-2137.940,39,0.8,48,-12.1,0.9,286.8,10,9.9