version: 66.14
glider: 527
mission: 10
dive: 79
start: 10 16 120 18 45 53
data:
$ID,527
$MISSION,10
$DIVE,79
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,161020,183135,5835.6689,-2220.7664,26,1.2,31,-12.7,1.1,305.2,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.2
$GPS2,161020,184510,5835.7764,-2220.7231,8,1.2,20,-12.7,1.2,89.7,8,8.9
$SPEED_LIMITS,0.154,0.252
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5838.657,-2221.521
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,4.5,5391,-17.2,-8.919,-20.17,2321
$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,-134.9,1,2533,1277,1400,0.0,0.0,0,111,0.00,0.00,-94.32,0.008,16390,0.000,0.000,0,2533,3531,3469,3594,0,0,0,0,0,0,14.64,13.45,14.64
$GC,113,-0.55,-146.0,1,2534,3470,3594,3.9,-8.1,18,133,10.15,2.30,-0.98,0.090,18724,0.399,0.092,2028,3851,3580,3530,3630,1,0,0,0,0,0,13.88,13.06,14.42
$GC,310,-0.55,-146.0,2028,3851,3534,3629,36.3,-12.4,56,316,0.00,2.33,0.00,0.000,1030,0.000,0.056,2028,2509,3581,3533,3629,0,0,0,0,0,0,14.57,14.47,14.59
$GC,498,-0.55,-146.0,2028,2497,3534,3629,57.9,-14.6,93,505,0.00,2.40,0.00,0.000,516,0.000,0.072,2029,1112,3581,3534,3629,0,0,0,0,0,0,14.80,14.48,14.81
$GC,557,-0.55,-146.0,2028,1111,3534,3629,65.1,-13.2,104,563,0.00,2.47,0.00,0.000,1030,0.000,0.065,2019,2531,3581,3534,3629,0,0,0,0,0,0,14.59,14.49,14.62
$GC,745,-0.55,-146.0,2019,2532,3534,3629,90.2,-11.5,141,752,0.00,2.47,0.00,0.000,516,0.000,0.074,2020,1111,3581,3534,3629,0,0,0,0,0,0,14.81,14.43,14.83
$GC,779,-0.55,-146.0,2019,1112,3534,3629,94.8,-12.2,147,786,0.12,2.47,0.00,0.000,3078,0.254,0.063,2037,2537,3581,3534,3629,0,0,0,0,0,0,14.31,14.52,14.54
$GC,974,-0.55,-146.0,2037,2537,3534,3629,114.4,-10.3,171,979,0.00,2.47,0.00,0.000,516,0.000,0.069,2037,1109,3581,3534,3629,0,0,0,0,0,0,14.83,14.52,14.85
$GC,1001,-0.55,-146.0,2037,1109,3534,3629,117.3,-10.7,176,1008,0.00,2.47,0.00,0.000,1030,0.000,0.063,2030,2531,3581,3534,3629,0,0,0,0,0,0,14.63,14.52,14.66
$GC,1306,-0.55,-146.0,2030,2531,3535,3629,151.9,-11.9,207,1311,0.00,2.45,0.00,0.000,516,0.000,0.073,2030,1117,3582,3535,3629,0,0,0,0,0,0,14.87,14.48,14.89
$GC,1331,-0.55,-146.0,2030,1117,3535,3629,155.0,-13.2,212,1338,0.00,2.45,0.00,0.000,1030,0.000,0.063,2021,2526,3582,3535,3629,0,0,0,0,0,0,14.65,14.54,14.68
$GC,1638,-0.55,-146.0,2021,2526,3535,3628,192.1,-11.8,243,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2526,3582,3535,3629,0,0,0,0,0,0,14.89,14.91,14.91
$GC,1939,-0.55,-146.0,2022,2526,3535,3629,227.7,-12.5,273,1944,0.00,2.45,0.00,0.000,516,0.000,0.068,2022,1110,3582,3535,3629,0,0,0,0,0,0,14.90,14.54,14.92
$GC,1971,-0.55,-146.0,2022,1110,3535,3629,231.8,-13.3,279,1977,0.12,2.47,0.00,0.000,3078,0.256,0.065,2039,2533,3582,3535,3629,0,0,0,0,0,0,14.29,14.50,14.35
$GC,2284,-0.55,-146.0,2039,2533,3534,3629,266.9,-11.1,311,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2533,3582,3535,3629,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2586,-0.55,-146.0,2039,2533,3535,3629,299.2,-10.5,341,2591,0.00,2.47,0.00,0.000,516,0.000,0.067,2040,1111,3582,3535,3629,0,0,0,0,0,0,14.92,14.52,14.94
$GC,2638,-0.55,-146.0,2039,1111,3535,3629,305.3,-11.3,351,2644,0.00,2.47,0.00,0.000,1030,0.000,0.063,2033,2536,3582,3535,3629,0,0,0,0,0,0,14.69,14.57,14.71
$GC,2950,-0.55,-146.0,2032,2536,3535,3628,339.2,-10.7,383,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2536,3581,3534,3629,0,0,0,0,0,0,14.91,14.92,14.92
$GC,3251,-0.55,-146.0,2032,2537,3535,3627,371.9,-10.9,413,3257,0.00,2.47,0.00,0.000,516,0.000,0.073,2033,1108,3581,3535,3627,0,0,0,0,0,0,14.90,14.57,14.92
$GC,3318,-0.55,-146.0,2032,1108,3535,3627,379.5,-10.7,426,3325,0.00,2.47,0.00,0.000,1030,0.000,0.064,2024,2532,3581,3535,3627,0,0,0,0,0,0,14.67,14.56,14.70
$GC,3624,-0.55,-146.0,2024,2532,3537,3624,414.0,-11.2,457,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2533,3580,3536,3624,0,0,0,0,0,0,14.93,14.95,14.95
$GC,3924,-0.55,-146.0,2024,2532,3537,3623,447.8,-11.0,487,3930,0.00,2.47,0.00,0.000,516,0.000,0.070,2024,1111,3580,3537,3624,0,0,0,0,0,0,14.92,14.57,14.95
$GC,3977,-0.55,-146.0,2024,1111,3536,3624,453.8,-10.8,497,3982,0.00,2.47,0.00,0.000,1030,0.000,0.065,2015,2537,3580,3537,3624,0,0,0,0,0,0,14.69,14.57,14.72
$GC,4289,-0.55,-146.0,2015,2537,3536,3623,490.2,-11.7,529,4294,0.00,2.47,0.00,0.000,516,0.000,0.066,2015,1109,3580,3537,3623,0,0,0,0,0,0,14.92,14.56,14.93
$GC,4315,-0.55,-146.0,2015,1108,3537,3623,493.2,-12.6,534,4322,0.15,2.47,0.00,0.000,3078,0.243,0.064,2039,2533,3580,3537,3623,0,0,0,0,0,0,14.33,14.57,14.57
$GC,4621,-0.55,-146.0,2039,2533,3537,3622,523.4,-10.0,565,4627,0.00,2.47,0.00,0.000,516,0.000,0.068,2040,1106,3579,3537,3622,0,0,0,0,0,0,14.94,14.57,14.96
$GC,4664,-0.55,-146.0,2040,1105,3537,3622,527.7,-10.5,573,4669,0.00,2.47,0.00,0.000,1030,0.000,0.064,2033,2533,3579,3537,3622,0,0,0,0,0,0,14.69,14.57,14.72
$GC,4976,-0.55,-146.0,2033,2533,3537,3621,559.1,-9.8,605,4981,0.00,2.47,0.00,0.000,516,0.000,0.067,2033,1104,3578,3536,3621,0,0,0,0,0,0,14.92,14.57,14.93
$GC,5038,-0.55,-146.0,2032,1104,3536,3621,565.7,-9.9,617,5044,0.00,2.50,0.00,0.000,1030,0.000,0.065,2024,2534,3579,3537,3621,0,0,0,0,0,0,14.69,14.57,14.72
$GC,5351,-0.55,-146.0,2024,2534,3536,3620,599.1,-11.3,649,5356,0.00,2.45,0.00,0.000,516,0.000,0.066,2024,1116,3578,3537,3620,0,0,0,0,0,0,14.90,14.56,14.92
$GC,5413,-0.55,-146.0,2024,1116,3536,3620,606.7,-12.0,661,5418,0.00,2.45,0.00,0.000,1030,0.000,0.064,2016,2525,3578,3536,3620,0,0,0,0,0,0,14.68,14.56,14.71
$GC,5725,-0.55,-146.0,2015,2525,3537,3619,645.2,-12.0,693,5730,0.00,2.45,0.00,0.000,516,0.000,0.074,2016,1116,3577,3536,3619,0,0,0,0,0,0,14.92,14.57,14.94
$GC,5781,-0.55,-146.0,2015,1115,3536,3619,652.1,-11.7,704,5788,0.15,2.45,0.00,0.000,3078,0.241,0.064,2040,2525,3577,3536,3619,0,0,0,0,0,0,14.28,14.52,14.52
$GC,6087,-0.55,-146.0,2040,2525,3537,3619,680.8,-9.1,735,6093,0.00,2.45,0.00,0.000,516,0.000,0.069,2041,1115,3578,3537,3619,0,0,0,0,0,0,14.92,14.55,14.94
$GC,6160,-0.55,-146.0,2041,1114,3536,3619,687.4,-9.1,749,6165,0.00,2.47,0.00,0.000,1030,0.000,0.064,2033,2537,3578,3537,3619,0,0,0,0,0,0,14.68,14.57,14.72
$GC,6472,-0.55,-146.0,2033,2537,3537,3618,718.4,-10.0,781,6478,0.00,2.50,0.00,0.000,516,0.000,0.067,2034,1105,3576,3536,3617,0,0,0,0,0,0,14.95,14.51,14.96
$GC,6554,-0.55,-146.0,2033,1105,3537,3617,727.1,-10.6,797,6560,0.00,2.47,0.00,0.000,1030,0.000,0.065,2025,2527,3576,3536,3617,0,0,0,0,0,0,14.66,14.55,14.70
$GC,6867,-0.55,-146.0,2025,2528,3536,3616,760.4,-10.6,829,6872,0.00,2.47,0.00,0.000,516,0.000,0.069,2024,1106,3576,3536,3616,0,0,0,0,0,0,14.91,14.55,14.92
$GC,6934,-0.55,-146.0,2024,1106,3536,3616,767.5,-10.0,842,6941,0.00,2.47,0.00,0.000,1030,0.000,0.064,2016,2530,3576,3536,3616,0,0,0,0,0,0,14.67,14.56,14.71
$GC,7239,-0.55,-146.0,2016,2531,3535,3615,800.0,-10.6,873,7244,0.00,2.47,0.00,0.000,516,0.000,0.069,2016,1108,3575,3536,3615,0,0,0,0,0,0,14.94,14.56,14.96
$GC,7291,-0.55,-146.0,2016,1107,3537,3615,805.9,-11.2,883,7297,0.15,2.47,0.00,0.000,3078,0.237,0.065,2041,2530,3576,3537,3615,0,0,0,0,0,0,14.34,14.56,14.57
$GC,7604,-0.55,-146.0,2041,2531,3536,3614,834.3,-8.8,915,7606,0.00,0.00,0.00,0.000,38,0.000,0.000,2041,2530,3575,3537,3614,0,0,0,0,0,0,14.94,14.96,14.95
$GC,7905,-0.55,-146.0,2041,2530,3537,3613,859.7,-8.7,945,7910,0.00,2.47,0.00,0.000,548,0.000,0.068,2042,1106,3575,3537,3613,0,0,0,0,0,0,14.93,14.55,14.95
$GC,7988,-0.55,-146.0,2042,1107,3536,3614,867.0,-8.7,961,7993,0.00,2.50,0.00,0.000,1062,0.000,0.064,2035,2530,3575,3536,3614,0,0,0,0,0,0,14.64,14.51,14.66
$GC,8300,-0.55,-146.0,2035,2530,3537,3612,895.9,-9.7,993,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2530,3574,3536,3613,0,0,0,0,0,0,14.95,14.97,14.96
$GC,8601,-0.55,-146.0,2035,2530,3537,3611,925.7,-9.8,1023,8606,0.00,2.47,0.00,0.000,516,0.000,0.073,2035,1116,3573,3536,3611,0,0,0,0,0,0,14.94,14.48,14.95
$GC,8657,-0.55,-146.0,2035,1116,3536,3611,931.6,-10.3,1034,8663,0.00,2.47,0.00,0.000,1030,0.000,0.065,2027,2532,3573,3536,3611,0,0,0,0,0,0,14.66,14.55,14.70
$GC,8964,-0.55,-146.0,2026,2532,3537,3610,962.1,-9.9,1065,8969,0.00,2.47,0.00,0.000,516,0.000,0.072,2027,1115,3573,3536,3610,0,0,0,0,0,0,14.93,14.54,14.95
$GC,9016,-0.55,-146.0,2026,1115,3537,3610,967.8,-10.7,1075,9021,0.00,2.47,0.00,0.000,1030,0.000,0.065,2018,2535,3573,3536,3611,0,0,0,0,0,0,14.66,14.54,14.70
$STATE,9236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9236,begin apogee
$GC,9242,-0.12,0.0,2017,1842,3537,3610,991.0,-10.6,1098,9392,0.55,0.00,145.82,2.341,10246,0.184,0.000,2178,1842,2980,2957,3003,0,0,0,0,0,0,14.34,13.77,12.68
$STATE,9393,end apogee,CONTROL_FINISHED_OK
$STATE,9393,begin climb
$GC,9395,0.55,146.0,2177,1842,2957,3002,996.0,0.0,1113,9555,0.70,2.78,149.95,2.302,10756,0.104,0.102,2407,449,2383,2364,2403,0,0,0,0,0,0,13.85,13.58,12.47
$GC,9577,0.55,146.0,2407,450,2357,2402,986.6,9.4,1149,9582,0.00,2.60,0.00,0.000,1030,0.000,0.063,2407,1853,2378,2356,2400,0,0,0,0,0,0,13.90,13.81,13.93
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$STATE,19043,end climb,SURFACE_DEPTH_REACHED
$STATE,19044,begin surface coast
$FINISH,1.0,1.026870
$STATE,19060,end surface coast,CONTROL_FINISHED_OK
$STATE,19060,begin surface
$SM_CCo,19077,144.73,0.916,1,0,1349,400.08
$SM_GC,0.94,6.62,1.20,144.73,0.063,0.082,0.916,170,2525,1349,-6.33,-0.82,400.08,0,0,0,0,1,0,14.45,14.39,13.52
$IRIDIUM_FIX,5830.30,-2219.45,161020,125727
$TT8_MAMPS,0.023219,0.745255
$HUMID,43.62
$INTERNAL_PRESSURE,7.87076
$TCM_TEMP,18.70
$XPDR_PINGS,27
$SC_FREEKB,3845792
$TM_FREEKB,7127744
$24V_AH,12.47,0.000
$10V_AH,12.83,61.594
$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,19.500,211.075,386.650,144.725,0.000,0.000,0.000,590.975,6.750,0.000,31.791,4914.896,9694.852,791.147,4368.202,264.818,0.000,3122.552,0.000,3590.576,0.000,0.538,0.000
$DEVICE_MAMPS,399.330,101.745,2340.900,916.470,0.000,0.000,0.000,221.085,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19099.000,2540.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.028,18.537,0.000,0.000
$MEM,323976
$DATA_FILE_SIZE,79746,2302
$CAP_FILE_SIZE,222044,0
$CFSIZE,2097872896,2075328512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,1,2,0
$GPS,171020,000736,5839.819,-2217.915,26,0.9,32,-12.7,0.0,96.1,8,9.7