version: 66.14
glider: 527
mission: 10
dive: 74
start: 10 15 120 14 35 25
data:
$ID,527
$MISSION,10
$DIVE,74
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,151020,142158,5816.3198,-2212.2668,39,0.7,43,-12.5,1.1,355.4,11,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-68.4
$GPS2,151020,143441,5816.4326,-2212.2808,9,0.8,15,-12.5,2.1,260.7,10,9.3
$SPEED_LIMITS,0.154,0.252
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5818.872,-2215.308
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,339.4,5393,-17.2,-8.919,-20.16,2324
$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,-135.0,0,2525,1277,1401,0.0,0.0,0,111,0.00,0.00,-95.82,0.008,16390,0.000,0.000,0,2525,3533,3474,3593,0,0,0,0,0,0,14.64,12.84,14.64
$GC,113,-0.55,-146.0,1,2525,3474,3594,3.3,-6.2,18,133,10.18,2.33,-1.00,0.089,18724,0.400,0.090,2029,3854,3579,3529,3630,1,0,0,0,0,0,13.72,13.05,14.42
$GC,324,-0.55,-146.0,2029,3854,3533,3629,34.3,-11.0,59,331,0.00,2.33,0.00,0.000,1030,0.000,0.054,2029,2508,3581,3533,3629,0,0,0,0,0,0,14.57,14.48,14.59
$GC,513,-0.55,-146.0,2029,2499,3534,3628,57.8,-12.6,96,520,0.00,2.38,0.00,0.000,516,0.000,0.069,2029,1114,3581,3534,3628,0,0,0,0,0,0,14.80,14.47,14.81
$GC,607,-0.55,-146.0,2028,1114,3534,3628,68.9,-11.5,114,613,0.00,2.47,0.00,0.000,1030,0.000,0.065,2020,2526,3581,3534,3629,0,0,0,0,0,0,14.55,14.44,14.58
$GC,795,-0.55,-146.0,2020,2526,3534,3629,91.1,-12.5,151,802,0.00,2.45,0.00,0.000,516,0.000,0.073,2020,1119,3581,3534,3629,0,0,0,0,0,0,14.83,13.95,14.84
$GC,824,-0.55,-146.0,2020,1120,3534,3629,94.9,-14.3,156,831,0.12,2.45,0.00,0.000,3078,0.256,0.065,2038,2532,3581,3534,3629,0,0,0,0,0,0,14.32,14.51,14.54
$GC,1014,-0.55,-146.0,2038,2532,3534,3629,115.7,-11.0,179,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2532,3582,3535,3629,0,0,0,0,0,0,14.85,14.88,14.87
$GC,1314,-0.55,-146.0,2038,2532,3535,3629,148.8,-11.2,209,1319,0.00,2.45,0.00,0.000,516,0.000,0.067,2039,1118,3581,3534,3628,0,0,0,0,0,0,14.88,14.54,14.89
$GC,1386,-0.55,-146.0,2038,1118,3535,3629,157.1,-11.0,223,1391,0.00,2.45,0.00,0.000,1030,0.000,0.063,2031,2532,3582,3536,3629,0,0,0,0,0,0,14.54,14.45,14.57
$GC,1698,-0.55,-146.0,2031,2532,3535,3629,194.3,-11.7,255,1703,0.00,2.45,0.00,0.000,516,0.000,0.073,2031,1115,3582,3535,3629,0,0,0,0,0,0,14.89,14.54,14.91
$GC,1730,-0.55,-146.0,2031,1115,3535,3629,197.8,-11.5,261,1736,0.00,2.45,0.00,0.000,1030,0.000,0.063,2023,2525,3582,3535,3629,0,0,0,0,0,0,14.53,14.42,14.55
$GC,2043,-0.55,-146.0,2023,2525,3535,3629,236.0,-12.3,293,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2525,3582,3535,3629,0,0,0,0,0,0,14.91,14.93,14.92
$GC,2344,-0.55,-146.0,2023,2525,3535,3629,272.9,-12.1,323,2349,0.00,2.45,0.00,0.000,516,0.000,0.067,2023,1108,3582,3535,3629,0,0,0,0,0,0,14.91,14.56,14.93
$GC,2406,-0.55,-146.0,2023,1107,3535,3629,280.6,-11.9,335,2411,0.00,2.45,0.00,0.000,1030,0.000,0.063,2014,2523,3582,3535,3629,0,0,0,0,0,0,14.63,14.52,14.66
$GC,2718,-0.55,-146.0,2013,2523,3535,3628,319.9,-12.4,367,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2523,3581,3535,3628,0,0,0,0,0,0,14.92,14.95,14.95
$GC,3019,-0.55,-146.0,2014,2524,3537,3625,356.9,-12.3,397,3024,0.00,2.42,0.00,0.000,516,0.000,0.067,2015,1118,3581,3537,3625,0,0,0,0,0,0,14.92,14.56,14.95
$GC,3075,-0.55,-146.0,2014,1118,3537,3625,364.1,-12.6,408,3082,0.15,2.45,0.00,0.000,3078,0.239,0.064,2039,2532,3581,3537,3625,0,0,0,0,0,0,14.34,14.56,14.57
$GC,3381,-0.55,-146.0,2038,2532,3537,3624,395.4,-10.3,439,3386,0.00,2.45,0.00,0.000,516,0.000,0.069,2040,1120,3581,3538,3624,0,0,0,0,0,0,14.93,14.25,14.95
$GC,3427,-0.55,-146.0,2039,1119,3537,3624,400.5,-10.4,448,3434,0.00,2.45,0.00,0.000,1030,0.000,0.063,2032,2528,3580,3537,3624,0,0,0,0,0,0,14.63,14.52,14.66
$GC,3733,-0.55,-146.0,2032,2528,3537,3623,433.4,-10.9,479,3739,0.00,2.45,0.00,0.000,516,0.000,0.067,2032,1113,3580,3537,3623,0,0,0,0,0,0,14.92,14.57,14.94
$GC,3766,-0.55,-146.0,2032,1113,3537,3623,436.9,-11.1,485,3771,0.00,2.45,0.00,0.000,1030,0.000,0.063,2024,2530,3580,3537,3623,0,0,0,0,0,0,14.69,14.57,14.71
$GC,4078,-0.55,-146.0,2023,2530,3537,3623,471.3,-11.1,517,4083,0.00,2.45,0.00,0.000,516,0.000,0.067,2024,1116,3580,3537,3623,0,0,0,0,0,0,14.92,14.55,14.94
$GC,4120,-0.55,-146.0,2023,1116,3537,3623,475.9,-11.4,525,4126,0.00,2.45,0.00,0.000,1030,0.000,0.063,2015,2530,3580,3537,3624,0,0,0,0,0,0,14.69,14.57,14.71
$GC,4432,-0.55,-146.0,2015,2530,3537,3622,512.7,-11.8,557,4438,0.00,2.45,0.00,0.000,516,0.000,0.070,2015,1119,3579,3537,3622,0,0,0,0,0,0,14.95,14.51,14.97
$GC,4458,-0.55,-146.0,2014,1119,3537,3622,516.0,-11.8,562,4465,0.15,2.45,0.00,0.000,3078,0.240,0.063,2040,2535,3579,3536,3622,0,0,0,0,0,0,14.35,14.57,14.58
$GC,4765,-0.55,-146.0,2039,2535,3537,3621,546.7,-9.6,593,4770,0.00,2.45,0.00,0.000,516,0.000,0.066,2041,1119,3578,3537,3620,0,0,0,0,0,0,14.94,14.57,14.95
$GC,4811,-0.55,-146.0,2040,1119,3537,3621,551.5,-9.9,602,4817,0.00,2.45,0.00,0.000,1030,0.000,0.063,2033,2533,3579,3537,3621,0,0,0,0,0,0,14.69,14.57,14.72
$GC,5117,-0.55,-146.0,2033,2533,3537,3620,582.6,-10.1,633,5122,0.00,2.45,0.00,0.000,516,0.000,0.072,2033,1115,3578,3537,3619,0,0,0,0,0,0,14.95,14.57,14.96
$GC,5169,-0.55,-146.0,2033,1115,3537,3620,588.1,-10.3,643,5175,0.00,2.45,0.00,0.000,1030,0.000,0.063,2025,2529,3578,3537,3619,0,0,0,0,0,0,14.69,14.57,14.72
$GC,5481,-0.55,-146.0,2024,2529,3537,3619,621.7,-10.8,675,5487,0.00,2.45,0.00,0.000,516,0.000,0.073,2025,1119,3578,3537,3619,0,0,0,0,0,0,14.95,14.50,14.97
$GC,5507,-0.55,-146.0,2024,1119,3537,3619,624.7,-11.8,680,5514,0.00,2.45,0.00,0.000,1030,0.000,0.064,2016,2535,3577,3536,3619,0,0,0,0,0,0,14.68,14.57,14.71
$GC,5814,-0.55,-146.0,2016,2534,3536,3618,658.7,-10.9,711,5819,0.00,2.47,0.00,0.000,516,0.000,0.066,2016,1109,3577,3537,3618,0,0,0,0,0,0,14.95,14.57,14.97
$GC,5850,-0.55,-146.0,2016,1109,3537,3619,663.1,-11.4,718,5857,0.15,2.45,0.00,0.000,3078,0.236,0.063,2042,2526,3577,3537,3618,0,0,0,0,0,0,14.32,14.52,14.55
$GC,6156,-0.55,-146.0,2042,2526,3537,3618,690.0,-9.2,749,6162,0.00,2.47,0.00,0.000,516,0.000,0.070,2042,1107,3577,3537,3618,0,0,0,0,0,0,14.95,14.29,14.96
$GC,6202,-0.55,-146.0,2042,1107,3537,3618,694.6,-9.6,758,6209,0.00,2.50,0.00,0.000,1030,0.000,0.063,2036,2532,3577,3536,3618,0,0,0,0,0,0,14.64,14.53,14.67
$GC,6509,-0.55,-146.0,2035,2533,3537,3617,725.1,-10.1,789,6514,0.00,2.47,0.00,0.000,516,0.000,0.069,2035,1107,3577,3537,3617,0,0,0,0,0,0,14.94,14.56,14.95
$GC,6555,-0.55,-146.0,2035,1106,3537,3617,730.0,-10.6,798,6561,0.00,2.47,0.00,0.000,1030,0.000,0.063,2026,2535,3577,3537,3617,0,0,0,0,0,0,14.69,14.57,14.71
$GC,6861,-0.55,-146.0,2026,2535,3536,3616,762.3,-10.5,829,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2535,3576,3537,3616,0,0,0,0,0,0,14.95,14.97,14.97
$GC,7163,-0.55,-146.0,2026,2535,3537,3616,792.9,-10.0,859,7168,0.00,2.47,0.00,0.000,516,0.000,0.072,2027,1116,3576,3537,3616,0,0,0,0,0,0,14.95,14.48,14.97
$GC,7260,-0.55,-146.0,2026,1116,3537,3616,803.6,-11.0,878,7267,0.00,2.45,0.00,0.000,1030,0.000,0.063,2018,2530,3576,3537,3616,0,0,0,0,0,0,14.68,14.56,14.71
$GC,7565,-0.55,-146.0,2017,2530,3537,3614,837.8,-11.5,909,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2530,3576,3537,3615,0,0,0,0,0,0,14.95,14.97,14.97
$GC,7866,-0.55,-146.0,2017,2530,3537,3613,871.9,-11.6,939,7871,0.00,2.45,0.00,0.000,516,0.000,0.073,2018,1119,3575,3537,3613,0,0,0,0,0,0,14.95,14.50,14.96
$GC,7968,-0.55,-146.0,2018,1119,3537,3614,884.2,-11.3,959,7974,0.15,2.45,0.00,0.000,3078,0.237,0.064,2043,2533,3580,3547,3613,0,0,0,0,0,0,14.33,14.56,14.57
$GC,8282,-0.55,-146.0,2042,2533,3537,3612,914.2,-8.8,991,8287,0.00,2.47,0.00,0.000,548,0.000,0.075,2043,1109,3574,3537,3612,0,0,0,0,0,0,14.95,14.54,14.96
$GC,8334,-0.55,-146.0,2045,1112,3538,3612,918.7,-8.6,1001,8339,0.00,2.47,0.00,0.000,1062,0.000,0.063,2037,2536,3574,3537,3612,0,0,0,0,0,0,14.68,14.56,14.71
$GC,8647,-0.55,-146.0,2036,2535,3537,3611,945.1,-8.2,1033,8652,0.00,2.47,0.00,0.000,548,0.000,0.070,2037,1119,3574,3537,3611,0,0,0,0,0,0,14.95,14.51,14.96
$GC,8673,-0.55,-146.0,2036,1119,3537,3611,947.5,-9.3,1038,8680,0.00,2.45,0.00,0.000,1030,0.000,0.064,2028,2531,3573,3536,3611,0,0,0,0,0,0,14.67,14.56,14.71
$GC,8979,-0.55,-146.0,2028,2533,3537,3611,974.8,-9.2,1069,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2533,3573,3537,3610,0,0,0,0,0,0,14.94,14.96,14.95
$STATE,9147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9147,begin apogee
$GC,9153,-0.12,0.0,2028,1851,3537,3610,990.6,-9.3,1086,9304,0.50,0.00,146.50,2.336,10246,0.182,0.000,2174,1851,2980,2956,3004,0,0,0,0,0,0,14.35,13.80,12.64
$STATE,9305,end apogee,CONTROL_FINISHED_OK
$STATE,9305,begin climb
$GC,9307,0.55,146.0,2174,1851,2956,3002,994.4,0.0,1101,9471,0.73,2.78,151.70,2.285,10756,0.106,0.096,2410,450,2382,2362,2403,0,0,0,0,0,0,13.88,13.57,12.31
$GC,9491,0.55,146.0,2409,449,2356,2403,982.0,10.5,1138,9498,0.00,2.58,0.00,0.000,1030,0.000,0.061,2410,1851,2380,2358,2402,0,0,0,0,0,0,13.88,13.79,13.90
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$STATE,18928,end climb,SURFACE_DEPTH_REACHED
$STATE,18928,begin surface coast
$FINISH,0.4,1.026870
$STATE,18959,end surface coast,CONTROL_FINISHED_OK
$STATE,18959,begin surface
$SM_CCo,18976,213.82,0.962,1,0,1347,400.08
$SM_GC,1.07,6.57,1.15,213.82,0.070,0.063,0.962,166,2527,1347,-6.33,-1.07,400.08,0,0,0,0,1,0,14.52,14.53,13.40
$IRIDIUM_FIX,5812.18,-2207.04,151020,085904
$TT8_MAMPS,0.023219,0.640395
$HUMID,43.97
$INTERNAL_PRESSURE,7.87076
$TCM_TEMP,18.80
$XPDR_PINGS,24
$SC_FREEKB,3850912
$TM_FREEKB,7168896
$24V_AH,12.31,0.000
$10V_AH,12.88,59.142
$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,19.325,185.375,315.900,213.825,0.000,0.000,0.000,550.725,6.000,0.000,26.183,4899.972,9732.354,789.657,4271.541,259.604,0.000,3033.158,0.000,3546.010,0.000,0.539,0.000
$DEVICE_MAMPS,400.095,98.685,2335.545,962.370,0.000,0.000,0.000,223.380,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18996.000,2648.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.859,18.532,0.000,0.000
$MEM,324048
$DATA_FILE_SIZE,79792,2267
$CAP_FILE_SIZE,216948,0
$CFSIZE,2097872896,2076868608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,1,2,0
$GPS,151020,195638,5819.900,-2216.607,27,1.1,34,-12.6,0.3,89.7,8,9.7