version: 66.14
glider: 527
mission: 10
dive: 125
start: 10 27 120 21 29 16
data:
$ID,527
$MISSION,10
$DIVE,125
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,720
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,14400
$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,120
$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,1710
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2920
$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,400
$LOITER_D_BOTTOM,950
$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
$GPS1,271020,212030,5839.7378,-2143.2627,15,2.2,55,-12.4,0.9,50.3,5,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-57.9
$GPS2,271020,212833,5839.7598,-2143.2776,10,1.5,50,-12.4,0.0,63.1,5,13.4
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,NORTH
$TGT_LATLONG,5854.000,-2129.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,39.8,29700,-20.4,-10.000,-23.00,1795
$D_GRID,540
$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,9,-0.59,-116.8,0,2542,1216,1338,0.0,0.0,0,116,0.00,0.00,-103.22,0.008,16390,0.000,0.000,0,2533,3397,3344,3451,0,0,0,0,0,0,14.73,12.88,14.72
$GC,119,-0.59,-116.8,0,2533,3345,3452,2.0,-7.0,19,138,9.98,2.28,0.00,0.000,2340,0.399,0.061,2012,3842,3402,3352,3452,1,0,0,0,0,0,14.00,14.46,14.46
$GC,241,-0.59,-116.8,2011,3843,3359,3448,23.6,-14.7,42,247,0.00,2.28,0.00,0.000,1030,0.000,0.050,2011,2507,3403,3359,3448,0,0,0,0,0,0,14.62,14.53,14.64
$GC,429,-0.59,-116.8,2011,2495,3359,3449,46.3,-10.0,79,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2495,3403,3359,3448,0,0,0,0,0,0,14.85,14.87,14.86
$GC,617,-0.59,-116.8,2011,2495,3360,3448,68.6,-12.1,116,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2495,3403,3359,3448,0,0,0,0,0,0,14.89,14.90,14.90
$GC,804,-0.59,-116.8,2011,2495,3359,3449,92.9,-12.1,153,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2495,3403,3359,3448,0,0,0,0,0,0,14.90,14.92,14.92
$GC,991,-0.59,-116.8,2011,2495,3359,3448,115.7,-11.5,177,997,0.00,2.35,0.00,0.000,516,0.000,0.063,2011,1116,3403,3359,3448,0,0,0,0,0,0,14.92,14.28,14.94
$GC,1108,-0.59,-116.8,2011,1116,3359,3448,128.7,-10.5,200,1114,0.00,2.42,0.00,0.000,1030,0.000,0.060,2002,2533,3403,3359,3448,0,0,0,0,0,0,14.71,14.62,14.74
$GC,1414,-0.59,-116.8,2002,2533,3359,3447,160.3,-10.1,231,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2533,3403,3359,3448,0,0,0,0,0,0,14.95,14.97,14.96
$GC,1715,-0.59,-116.8,2003,2533,3359,3447,191.1,-10.8,261,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2533,3403,3359,3448,0,0,0,0,0,0,14.96,14.97,14.97
$GC,2015,-0.59,-116.8,2003,2533,3359,3447,225.1,-11.6,291,2020,0.00,2.42,0.00,0.000,516,0.000,0.061,2003,1112,3403,3359,3448,0,0,0,0,0,0,14.97,14.64,14.99
$GC,2061,-0.59,-116.8,2002,1112,3359,3448,230.9,-11.4,300,2068,0.15,2.42,0.00,0.000,3078,0.251,0.059,2027,2526,3403,3359,3447,0,0,0,0,0,0,14.40,14.64,14.64
$GC,2367,-0.59,-116.8,2027,2526,3360,3447,264.2,-10.8,331,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2526,3403,3359,3447,0,0,0,0,0,0,14.99,15.01,15.01
$GC,2668,-0.59,-116.8,2027,2525,3359,3447,297.0,-10.7,361,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2526,3403,3360,3447,0,0,0,0,0,0,15.00,15.02,15.01
$GC,2968,-0.59,-116.8,2027,2525,3359,3445,327.5,-10.0,391,2974,0.00,2.40,0.00,0.000,548,0.000,0.062,2028,1120,3402,3359,3445,0,0,0,0,0,0,15.00,14.65,15.01
$GC,3020,-0.59,-116.8,2028,1120,3359,3445,332.7,-10.1,401,3026,0.00,2.42,0.00,0.000,1030,0.000,0.060,2022,2531,3402,3359,3445,0,0,0,0,0,0,14.74,14.63,14.78
$GC,3333,-0.59,-116.8,2021,2531,3359,3444,364.4,-10.2,433,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2531,3401,3359,3443,0,0,0,0,0,0,15.00,15.02,15.02
$GC,3635,-0.59,-116.8,2021,2531,3358,3443,395.1,-10.1,463,3640,0.00,2.42,0.00,0.000,516,0.000,0.068,2022,1112,3400,3359,3442,0,0,0,0,0,0,15.00,14.52,15.01
$GC,3677,-0.59,-116.8,2021,1111,3359,3443,399.8,-10.4,471,3683,0.00,2.42,0.00,0.000,1030,0.000,0.060,2013,2528,3401,3359,3443,0,0,0,0,0,0,14.74,14.64,14.78
$GC,3990,-0.59,-116.8,2012,2528,3359,3442,432.9,-10.7,503,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2528,3401,3359,3443,0,0,0,0,0,0,15.01,15.03,15.02
$GC,4290,-0.59,-116.8,2013,2528,3359,3442,465.6,-11.1,533,4296,0.00,2.40,0.00,0.000,516,0.000,0.061,2013,1120,3400,3359,3442,0,0,0,0,0,0,15.01,14.64,15.02
$GC,4323,-0.59,-116.8,2013,1120,3359,3442,469.4,-10.9,539,4328,0.00,2.42,0.00,0.000,1030,0.000,0.060,2005,2536,3400,3359,3442,0,0,0,0,0,0,14.74,14.64,14.78
$GC,4635,-0.59,-116.8,2004,2535,3359,3441,506.2,-11.7,571,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2536,3400,3359,3442,0,0,0,0,0,0,15.02,15.04,15.03
$STATE,4924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4924,begin apogee
$GC,4930,-0.12,0.0,2005,1716,3359,3441,541.0,-12.3,600,5045,0.60,0.00,108.22,1.744,10246,0.201,0.000,2175,1716,2919,2923,2915,0,0,0,0,0,0,14.34,13.88,13.14
$STATE,5047,end apogee,CONTROL_FINISHED_OK
$STATE,5047,begin climb
$GC,5049,0.59,116.8,2175,1716,2921,2915,546.4,0.0,612,5169,0.75,2.67,108.97,1.711,10756,0.116,0.090,2420,294,2441,2433,2450,0,0,0,0,0,0,14.12,13.93,13.02
$GC,5185,0.63,158.3,2420,294,2428,2450,540.5,7.6,639,5232,0.00,2.55,38.90,1.649,9254,0.000,0.055,2420,1716,2274,2269,2279,0,0,0,0,0,0,14.16,14.08,13.06
$GC,5532,0.63,158.3,2420,1716,2261,2270,506.4,10.0,678,5537,0.00,2.45,0.00,0.000,260,0.000,0.073,2420,3121,2266,2262,2271,0,0,0,0,0,0,14.74,14.43,14.76
$GC,5618,0.63,158.3,2421,3122,2262,2270,497.2,10.5,695,5625,0.00,2.47,0.00,0.000,1030,0.000,0.069,2430,1715,2266,2262,2270,0,0,0,0,0,0,14.59,14.48,14.62
$GC,5924,0.63,158.3,2429,1715,2262,2268,464.7,10.8,726,5930,0.00,2.55,0.00,0.000,516,0.000,0.096,2441,294,2265,2262,2269,0,0,0,0,0,0,14.88,14.52,14.90
$GC,5996,0.63,158.3,2441,293,2259,2269,456.5,11.5,740,6002,0.00,2.45,0.00,0.000,1030,0.000,0.057,2441,1711,2264,2259,2269,0,0,0,0,0,0,14.69,14.60,14.72
$GC,6309,0.63,158.3,2441,1712,2259,2268,420.3,11.9,772,6314,0.00,2.42,0.00,0.000,260,0.000,0.073,2440,3120,2263,2259,2268,0,0,0,0,0,0,14.94,14.58,14.96
$GC,6385,0.63,158.3,2441,3120,2258,2268,410.6,12.6,787,6391,0.00,2.47,0.00,0.000,1030,0.000,0.068,2450,1702,2263,2258,2268,0,0,0,0,0,0,14.71,14.60,14.75
$GC,6692,0.63,158.3,2449,1702,2258,2268,372.5,12.5,818,6697,0.00,2.53,0.00,0.000,516,0.000,0.095,2461,289,2263,2258,2268,0,0,0,0,0,0,14.97,14.57,14.98
$GC,6764,0.63,158.3,2461,289,2258,2268,362.8,13.4,832,6770,0.15,2.40,0.00,0.000,5126,0.256,0.058,2429,1716,2262,2257,2268,0,0,0,0,0,0,14.38,14.65,14.66
$GC,7077,0.63,158.3,2428,1717,2256,2268,326.6,11.4,864,7082,0.00,2.40,0.00,0.000,260,0.000,0.073,2427,3114,2262,2257,2268,0,0,0,0,0,0,14.98,14.60,15.00
$GC,7159,0.63,158.3,2428,3114,2256,2267,316.9,11.7,880,7164,0.00,2.45,0.00,0.000,1030,0.000,0.069,2435,1706,2262,2256,2268,0,0,0,0,0,0,14.73,14.61,14.77
$GC,7471,0.63,158.3,2435,1706,2256,2267,280.6,11.5,912,7477,0.00,2.53,0.00,0.000,516,0.000,0.091,2446,292,2262,2256,2269,0,0,0,0,0,0,15.00,14.57,15.01
$GC,7547,0.63,158.3,2446,293,2255,2267,271.4,11.6,927,7553,0.00,2.45,0.00,0.000,1030,0.000,0.057,2447,1715,2261,2255,2268,0,0,0,0,0,0,14.76,14.66,14.79
$GC,7854,0.63,158.3,2446,1716,2255,2266,235.8,11.5,958,7860,0.00,2.42,0.00,0.000,260,0.000,0.073,2447,3121,2261,2255,2268,0,0,0,0,0,0,14.92,14.56,14.95
$GC,7942,0.63,158.3,2446,3121,2255,2267,225.1,11.7,975,7951,0.15,2.47,0.00,0.000,5126,0.267,0.068,2423,1705,2261,2255,2267,0,0,0,0,0,0,14.33,14.57,14.61
$GC,8248,0.64,167.4,2422,1705,2255,2267,195.3,9.5,1006,8266,0.00,2.58,7.53,1.093,8740,0.000,0.096,2432,290,2237,2235,2239,0,0,0,0,0,0,14.90,14.61,13.62
$GC,8323,0.64,167.4,2431,290,2234,2241,187.8,10.1,1020,8330,0.00,2.45,0.00,0.000,1030,0.000,0.058,2432,1711,2237,2234,2240,0,0,0,0,0,0,14.78,14.69,14.81
$GC,8637,0.64,167.4,2432,1712,2234,2239,155.5,10.6,1052,8644,0.00,2.40,0.00,0.000,260,0.000,0.073,2433,3124,2236,2234,2239,0,0,0,0,0,0,15.03,14.64,15.04
$GC,8741,0.64,167.4,2431,3124,2233,2239,144.1,11.2,1072,8748,0.00,2.45,0.00,0.000,1030,0.000,0.069,2441,1708,2236,2233,2239,0,0,0,0,0,0,14.79,14.66,14.83
$GC,9055,0.64,167.4,2441,1707,2233,2239,108.0,10.7,1104,9062,0.00,2.50,0.00,0.000,516,0.000,0.088,2452,288,2236,2233,2239,0,0,0,0,0,0,15.07,14.63,15.08
$GC,9203,0.64,167.4,2452,289,2232,2239,90.9,11.1,1133,9212,0.00,2.45,0.00,0.000,1030,0.000,0.058,2452,1719,2235,2232,2239,0,0,0,0,0,0,14.85,14.74,14.88
$GC,9393,0.64,167.4,2451,1725,2232,2239,72.4,11.2,1170,9401,0.00,2.38,0.00,0.000,260,0.000,0.073,2452,3119,2235,2232,2239,0,0,0,0,0,0,15.08,14.67,15.09
$GC,9413,0.64,167.4,2452,3118,2232,2239,69.9,12.0,1173,9422,0.15,2.45,0.00,0.000,5126,0.260,0.073,2427,1707,2234,2231,2238,0,0,0,0,0,0,14.42,14.69,14.68
$GC,9604,0.64,167.4,2426,1707,2231,2239,51.2,11.5,1210,9612,0.00,2.47,0.00,0.000,516,0.000,0.087,2436,294,2235,2232,2239,0,0,0,0,0,0,15.09,14.64,15.11
$GC,9664,0.64,167.4,2435,293,2231,2239,44.2,11.8,1221,9672,0.00,2.42,0.00,0.000,1030,0.000,0.057,2436,1717,2234,2230,2239,0,0,0,0,0,0,14.85,14.76,14.89
$GC,9854,0.64,168.4,2435,1725,2231,2239,21.5,9.9,1258,9862,0.00,2.38,0.00,0.000,292,0.000,0.073,2436,3117,2235,2231,2239,0,0,0,0,0,0,15.09,14.66,15.11
$GC,9904,0.64,168.4,2435,3117,2230,2239,16.0,11.9,1267,9912,0.00,2.42,0.00,0.000,1030,0.000,0.066,2445,1705,2235,2231,2239,0,0,0,0,0,0,14.83,14.71,14.88
$STATE,9993,end climb,SURFACE_DEPTH_REACHED
$STATE,9993,begin surface coast
$FINISH,1.4,1.027047
$STATE,10009,end surface coast,CONTROL_FINISHED_OK
$STATE,10009,begin surface
$SM_CCo,10027,211.15,0.975,1,0,1289,400.08
$SM_GC,0.02,6.68,1.42,211.15,0.082,0.062,0.975,161,2525,1289,-6.34,-0.96,400.08,0,0,0,0,1,0,14.78,14.75,13.42
$IRIDIUM_FIX,5837.73,-2139.64,271020,201144
$TT8_MAMPS,0.02247,0.556507
$HUMID,43.89
$INTERNAL_PRESSURE,7.85122
$TCM_TEMP,18.50
$XPDR_PINGS,9
$SC_FREEKB,3805792
$TM_FREEKB,6758464
$24V_AH,12.88,0.000
$10V_AH,13.19,82.312
$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,18.600,100.575,263.625,211.150,0.000,0.000,0.000,291.525,2.250,0.000,61.406,2734.273,4735.261,645.891,2472.454,159.340,0.000,1947.070,0.000,2020.035,0.000,0.539,0.000
$DEVICE_MAMPS,398.565,96.390,1744.200,974.610,0.000,0.000,0.000,200.430,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10026.000,2296.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.860,18.542,0.000,0.000
$MEM,324732
$DATA_FILE_SIZE,46581,1287
$CAP_FILE_SIZE,123256,0
$CFSIZE,2097872896,2062483456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,1,2,0
$GPS,281020,002139,5841.994,-2141.017,41,1.0,55,-12.4,0.9,143.7,8,9.7