version: 66.14
glider: 527
mission: 10
dive: 10
start: 10 5 120 0 9 26
data:
$ID,527
$MISSION,10
$DIVE,10
$N_DIVES,10
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,750
$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,200
$T_MISSION,250
$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,2
$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,450
$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,30
$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,2600
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,29
$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,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,041020,235713,5825.1958,-2117.4285,5,1.3,22,-12.1,0.0,166.7,6,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-60.9
$GPS2,051020,000841,5825.1636,-2117.4204,9,1.5,28,-12.1,0.0,72.1,5,10.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5825.209,-2119.357
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,309.4,1880,-18.2,-10.000,-20.95,2242
$D_GRID,600
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.75,-146.0,0,2619,1123,1153,0.0,0.0,0,128,0.00,0.00,-107.88,0.008,16390,0.000,0.000,0,2616,3578,3518,3639,0,0,0,0,0,0,14.61,13.09,14.62
$GC,130,-0.75,-146.0,0,2616,3519,3640,3.5,-6.5,19,146,9.65,2.15,0.00,0.000,2340,0.409,0.055,1961,3854,3581,3522,3640,0,0,0,0,0,0,14.14,14.35,14.43
$GC,375,-0.75,-146.0,1960,3855,3530,3636,51.7,-16.1,66,384,0.00,2.17,0.00,0.000,1030,0.000,0.044,1961,2571,3583,3531,3636,0,0,0,0,0,0,14.49,14.43,14.52
$GC,566,-0.75,-146.0,1961,2561,3531,3635,84.0,-16.1,103,575,0.00,2.25,0.00,0.000,260,0.000,0.069,1952,3846,3582,3532,3633,0,0,0,0,0,0,14.68,14.47,14.70
$GC,597,-0.75,-146.0,1952,3847,3532,3635,89.0,-14.4,108,606,0.00,2.10,0.00,0.000,1030,0.000,0.043,1952,2600,3583,3532,3635,0,0,0,0,0,0,14.58,14.52,14.59
$GC,789,-0.75,-146.0,1952,2587,3532,3635,119.9,-16.0,133,797,0.00,2.38,0.00,0.000,516,0.000,0.057,1952,1190,3583,3532,3635,0,0,0,0,0,0,14.72,14.50,14.75
$GC,824,-0.75,-146.0,1952,1190,3533,3634,126.4,-16.7,139,832,0.15,2.45,0.00,0.000,3078,0.289,0.060,1973,2601,3584,3533,3635,0,0,0,0,0,0,14.20,14.50,14.44
$GC,1139,-0.75,-146.0,1973,2601,3533,3635,174.1,-15.4,171,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,2601,3584,3533,3635,0,0,0,0,0,0,14.73,14.76,14.75
$GC,1440,-0.75,-146.0,1973,2601,3533,3635,217.8,-14.7,201,1448,0.00,2.42,0.00,0.000,516,0.000,0.058,1973,1191,3583,3533,3634,0,0,0,0,0,0,14.76,14.52,14.78
$GC,1489,-0.75,-146.0,1973,1192,3534,3635,225.0,-13.5,210,1498,0.00,2.45,0.00,0.000,1030,0.000,0.060,1967,2601,3584,3534,3634,0,0,0,0,0,0,14.57,14.49,14.59
$GC,1795,-0.75,-146.0,1967,2601,3534,3634,270.4,-14.7,241,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2601,3584,3534,3635,0,0,0,0,0,0,14.75,14.77,14.76
$GC,2097,-0.75,-146.0,1967,2601,3534,3634,315.9,-14.9,271,2104,0.00,2.42,0.00,0.000,516,0.000,0.057,1966,1191,3584,3534,3634,0,0,0,0,0,0,14.76,14.52,14.78
$GC,2151,-0.75,-146.0,1967,1191,3534,3634,324.4,-15.1,281,2160,0.00,2.47,0.00,0.000,1030,0.000,0.060,1958,2610,3584,3534,3634,0,0,0,0,0,0,14.57,14.49,14.59
$GC,2467,-0.75,-146.0,1958,2610,3534,3634,375.2,-16.5,313,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2610,3583,3533,3633,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2768,-0.75,-146.0,1957,2611,3533,3633,424.6,-16.7,343,2776,0.00,2.42,0.00,0.000,516,0.000,0.055,1958,1196,3584,3534,3634,0,0,0,0,0,0,14.80,14.52,14.83
$GC,2803,-0.75,-146.0,1958,1196,3534,3633,430.7,-16.9,349,2811,0.00,2.45,0.00,0.000,1030,0.000,0.059,1948,2601,3583,3534,3633,0,0,0,0,0,0,14.63,14.54,14.65
$GC,3118,-0.75,-146.0,1949,2602,3535,3630,484.4,-17.5,381,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2602,3582,3535,3630,0,0,0,0,0,0,14.78,14.81,14.81
$GC,3419,-0.75,-146.0,1948,2602,3535,3629,535.0,-16.8,411,3426,0.00,2.40,0.00,0.000,516,0.000,0.057,1949,1199,3582,3535,3629,0,0,0,0,0,0,14.79,14.54,14.81
$GC,3447,-0.75,-146.0,1949,1199,3535,3630,540.0,-17.9,416,3456,0.15,2.45,0.00,0.000,3078,0.286,0.059,1970,2600,3582,3535,3630,0,0,0,0,0,0,14.26,14.54,14.52
$GC,3754,-0.75,-146.0,1970,2599,3535,3629,585.3,-14.4,447,3761,0.00,2.42,0.00,0.000,516,0.000,0.058,1971,1190,3582,3535,3629,0,0,0,0,0,0,14.81,14.53,14.82
$GC,3778,-0.75,-146.0,1971,1189,3535,3628,589.0,-15.3,451,3785,0.00,2.45,0.00,0.000,1030,0.000,0.060,1964,2600,3582,3535,3629,0,0,0,0,0,0,14.63,14.54,14.65
$STATE,3851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3851,begin apogee
$GC,3856,-0.17,0.0,1964,1790,3535,3628,600.2,-15.1,459,3997,0.68,0.00,135.43,1.794,10246,0.214,0.000,2155,1790,2980,2982,2978,0,0,0,0,0,0,14.27,13.92,13.12
$WARN,HTMICL missed fuel gauge read
$STATE,4002,end apogee,CONTROL_FINISHED_OK
$STATE,4002,begin climb
$GC,4003,0.75,146.0,2155,1790,2983,2975,607.4,0.0,473,4153,0.95,2.67,135.88,1.759,10756,0.125,0.086,2465,402,2382,2376,2389,0,0,0,0,0,0,13.99,13.83,13.03
$GC,4244,0.75,146.0,2467,402,2364,2385,584.1,14.1,518,4254,0.00,2.50,0.00,0.000,1030,0.000,0.060,2467,1801,2375,2366,2385,0,0,0,0,0,0,14.26,14.19,14.28
$GC,4551,0.75,146.0,2465,1800,2365,2380,542.0,13.9,549,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1800,2372,2364,2380,0,0,0,0,0,0,14.64,14.66,14.66
$GC,4852,0.75,146.0,2465,1802,2365,2379,500.8,13.9,579,4860,0.00,2.55,0.00,0.000,516,0.000,0.084,2474,389,2371,2364,2379,0,0,0,0,0,0,14.71,14.45,14.72
$GC,4891,0.75,146.0,2474,389,2363,2378,494.9,16.0,586,4900,0.00,2.45,0.00,0.000,1030,0.000,0.060,2474,1798,2371,2363,2379,0,0,0,0,0,0,14.58,14.50,14.60
$GC,5197,0.75,146.0,2474,1797,2363,2378,450.4,15.0,617,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1797,2370,2363,2378,0,0,0,0,0,0,14.73,14.76,14.76
$GC,5499,0.75,146.0,2474,1799,2363,2377,406.0,14.9,647,5507,0.00,2.53,0.00,0.000,516,0.000,0.084,2484,396,2370,2363,2377,0,0,0,0,0,0,14.76,14.48,14.78
$GC,5534,0.75,146.0,2483,396,2363,2377,400.6,15.4,653,5541,0.00,2.42,0.00,0.000,1030,0.000,0.061,2484,1789,2369,2362,2377,0,0,0,0,0,0,14.63,14.54,14.65
$GC,5848,0.75,146.0,2483,1790,2362,2379,351.7,15.3,685,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1790,2369,2362,2376,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6150,0.75,146.0,2483,1790,2362,2376,306.4,14.7,715,6157,0.00,2.50,0.00,0.000,516,0.000,0.083,2493,401,2368,2361,2376,0,0,0,0,0,0,14.79,14.50,14.81
$GC,6178,0.75,146.0,2492,400,2362,2376,301.7,15.3,720,6187,0.15,2.45,0.00,0.000,5126,0.269,0.062,2461,1804,2369,2363,2375,0,0,0,0,0,0,14.31,14.54,14.57
$GC,6485,0.75,146.0,2462,1806,2362,2372,262.0,12.7,751,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1806,2367,2361,2374,0,0,0,0,0,0,14.80,14.82,14.82
$GC,6795,0.75,146.0,2461,1807,2362,2374,221.9,13.1,782,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1808,2368,2362,2374,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7105,0.75,146.0,2462,1808,2362,2374,181.5,13.1,813,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1808,2368,2363,2374,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7415,0.75,146.0,2461,1808,2362,2374,140.2,13.5,844,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1808,2368,2362,2374,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7725,0.75,146.0,2461,1808,2360,2373,99.2,13.5,875,7734,0.00,2.42,0.00,0.000,260,0.000,0.074,2462,3197,2367,2362,2373,0,0,0,0,0,0,14.77,14.47,14.78
$GC,7756,0.75,146.0,2460,3197,2362,2374,95.3,12.3,880,7764,0.00,2.42,0.00,0.000,1030,0.000,0.067,2468,1810,2368,2363,2374,0,0,0,0,0,0,14.58,14.48,14.62
$GC,7947,0.75,146.0,2468,1810,2361,2373,69.9,11.4,917,7955,0.00,2.58,0.00,0.000,516,0.000,0.089,2479,376,2368,2362,2374,0,0,0,0,0,0,14.73,14.35,14.75
$GC,8057,0.75,146.0,2479,376,2361,2374,55.3,13.0,938,8066,0.00,2.50,0.00,0.000,1030,0.000,0.063,2479,1801,2367,2362,2373,0,0,0,0,0,0,14.44,14.35,14.47
$GC,8250,0.75,146.0,2479,1804,2362,2373,30.6,13.1,975,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1806,2368,2363,2373,0,0,0,0,0,0,14.73,14.75,14.74
$GC,8440,0.75,146.0,2479,1807,2361,2372,7.6,12.2,1012,8448,0.00,2.45,0.00,0.000,260,0.000,0.074,2479,3206,2366,2361,2372,0,0,0,0,0,0,14.71,14.44,14.74
$GC,8455,0.75,146.0,2479,3206,2361,2373,5.6,13.2,1014,8464,0.00,2.50,0.00,0.000,1030,0.000,0.066,2488,1779,2366,2361,2372,0,0,0,0,0,0,14.55,14.45,14.59
$STATE,8475,end climb,SURFACE_DEPTH_REACHED
$STATE,8475,begin surface coast
$FINISH,0.5,1.026818
$STATE,8496,end surface coast,CONTROL_FINISHED_OK
$STATE,8496,begin surface
$SM_CCo,8513,258.90,0.958,1,0,1144,450.12
$SM_GC,0.61,6.60,1.48,258.90,0.054,0.069,0.958,161,2600,1144,-6.34,-0.96,450.12,0,0,0,0,1,0,14.55,14.51,13.50
$IRIDIUM_FIX,5825.06,-2113.75,041020,221930
$TT8_MAMPS,0.02247,0.620172
$HUMID,45.23
$INTERNAL_PRESSURE,7.87076
$TCM_TEMP,18.70
$XPDR_PINGS,1
$SC_FREEKB,3904064
$TM_FREEKB,7712192
$24V_AH,13.03,0.000
$10V_AH,13.04,20.913
$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,18.325,75.700,271.300,258.900,0.000,0.000,0.000,497.875,0.250,0.000,39.052,2475.280,3840.241,712.557,2297.565,159.866,0.000,2081.976,0.000,1616.899,0.000,0.539,0.000
$DEVICE_MAMPS,408.510,88.740,1793.925,957.780,0.000,0.000,0.000,213.435,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8513.000,8510.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.882,537.710,0.000,0.000
$MEM,324008
$DATA_FILE_SIZE,36643,1021
$CAP_FILE_SIZE,105633,0
$CFSIZE,2097872896,2093285376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.178,128.62,1
$GPS,051020,023708,5825.244,-2118.111,33,0.9,41,-12.1,0.0,266.9,9,9.9