version: 66.14
glider: 527
mission: 10
dive: 23
start: 10 6 120 9 18 31
data:
$ID,527
$MISSION,10
$DIVE,23
$N_DIVES,0
$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,17
$R_STBD_OVSHOOT,19
$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,1
$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
$GPS1,061020,090920,5824.7998,-2123.6108,14,1.0,39,-12.2,0.4,261.5,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-61.5
$GPS2,061020,091733,5824.8042,-2123.6340,9,0.9,17,-12.2,0.5,164.6,11,10.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5823.064,-2123.209
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,209.5,3249,-18.3,-10.000,-21.05,2216
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.75,-144.3,0,2612,1110,1167,0.0,0.0,0,125,0.00,0.00,-108.30,0.008,16390,0.000,0.000,0,2615,3570,3503,3637,0,0,0,0,0,0,14.64,13.52,14.62
$GC,128,-0.75,-144.3,0,2615,3503,3638,4.1,-11.5,19,142,9.77,2.22,0.00,0.000,2308,0.409,0.073,1962,3858,3573,3508,3638,0,0,0,0,0,0,14.07,14.43,14.39
$GC,321,-0.75,-144.3,1962,3859,3514,3635,43.2,-15.9,56,327,0.00,2.22,0.00,0.000,1030,0.000,0.063,1962,2583,3574,3515,3634,0,0,0,0,0,0,14.43,14.35,14.45
$GC,511,-0.75,-144.3,1962,2573,3516,3634,75.5,-15.1,93,518,0.00,2.40,0.00,0.000,516,0.000,0.075,1962,1195,3574,3515,3634,0,0,0,0,0,0,14.75,14.40,14.77
$GC,621,-0.75,-144.3,1962,1194,3517,3634,92.0,-15.2,114,628,0.00,2.50,0.00,0.000,1030,0.000,0.070,1954,2607,3575,3517,3634,0,0,0,0,0,0,14.47,14.26,14.51
$GC,816,-0.75,-144.3,1953,2607,3517,3634,123.2,-16.4,138,822,0.00,2.50,0.00,0.000,516,0.000,0.072,1954,1184,3575,3517,3634,0,0,0,0,0,0,14.80,14.47,14.81
$GC,843,-0.75,-144.3,1953,1184,3518,3634,128.3,-17.8,143,850,0.15,2.50,0.00,0.000,3078,0.301,0.068,1974,2605,3575,3517,3634,0,0,0,0,0,0,14.28,14.54,14.54
$GC,1150,-0.75,-144.3,1975,2607,3519,3634,176.2,-15.4,174,1155,0.00,2.50,0.00,0.000,516,0.000,0.074,1974,1185,3576,3518,3634,0,0,0,0,0,0,14.83,14.45,14.84
$GC,1176,-0.75,-144.3,1974,1185,3519,3634,180.3,-15.4,179,1183,0.00,2.50,0.00,0.000,1030,0.000,0.068,1968,2603,3576,3519,3634,0,0,0,0,0,0,14.24,14.16,14.42
$GC,1483,-0.75,-144.3,1967,2603,3519,3633,229.2,-15.8,210,1489,0.00,2.50,0.00,0.000,516,0.000,0.075,1968,1181,3576,3519,3634,0,0,0,0,0,0,14.85,14.54,14.87
$GC,1509,-0.75,-144.3,1968,1181,3519,3634,233.7,-14.8,215,1516,0.00,2.50,0.00,0.000,1030,0.000,0.068,1958,2605,3576,3519,3634,0,0,0,0,0,0,14.66,14.57,14.69
$GC,1817,-0.75,-144.3,1958,2605,3519,3633,285.1,-16.9,246,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2605,3576,3519,3633,0,0,0,0,0,0,14.88,14.90,14.90
$GC,2117,-0.75,-144.3,1958,2605,3519,3633,336.0,-17.2,276,2122,0.00,2.47,0.00,0.000,516,0.000,0.073,1958,1190,3576,3519,3633,0,0,0,0,0,0,14.90,14.57,14.91
$GC,2139,-0.75,-144.3,1958,1190,3519,3633,340.0,-17.4,280,2145,0.00,2.47,0.00,0.000,1030,0.000,0.070,1949,2602,3576,3519,3633,0,0,0,0,0,0,14.70,14.61,14.72
$GC,2452,-0.75,-144.3,1949,2602,3519,3632,395.5,-17.9,312,2458,0.00,2.50,0.00,0.000,516,0.000,0.072,1949,1183,3576,3519,3633,0,0,0,0,0,0,14.92,14.54,14.94
$GC,2479,-0.75,-144.3,1949,1181,3519,3632,400.6,-18.0,317,2487,0.15,2.47,0.00,0.000,3078,0.304,0.068,1969,2600,3575,3519,3632,0,0,0,0,0,0,14.32,14.62,14.59
$GC,2785,-0.75,-144.3,1969,2600,3519,3632,451.3,-16.3,348,2790,0.00,2.47,0.00,0.000,516,0.000,0.074,1970,1188,3575,3519,3631,0,0,0,0,0,0,14.90,14.58,14.92
$GC,2807,-0.75,-144.3,1971,1188,3519,3631,455.1,-17.0,352,2813,0.00,2.47,0.00,0.000,1030,0.000,0.069,1963,2600,3574,3518,3631,0,0,0,0,0,0,14.71,14.62,14.73
$GC,3120,-0.75,-144.3,1963,2600,3519,3629,509.0,-17.4,384,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2601,3574,3519,3629,0,0,0,0,0,0,14.90,14.92,14.92
$GC,3421,-0.75,-144.3,1963,2601,3519,3629,560.5,-17.3,414,3427,0.00,2.47,0.00,0.000,516,0.000,0.074,1963,1189,3574,3519,3629,0,0,0,0,0,0,14.90,14.57,14.92
$GC,3454,-0.75,-144.3,1963,1188,3519,3629,566.2,-17.3,420,3460,0.00,2.47,0.00,0.000,1030,0.000,0.070,1954,2601,3574,3519,3629,0,0,0,0,0,0,14.70,14.60,14.73
$STATE,3655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3655,begin apogee
$GC,3661,-0.17,0.0,1955,1782,3519,3628,601.7,-17.6,441,3799,0.75,0.00,133.50,1.789,10246,0.230,0.000,2160,1783,2980,2976,2984,0,0,0,0,0,0,14.35,13.96,13.13
$STATE,3801,end apogee,CONTROL_FINISHED_OK
$STATE,3801,begin climb
$GC,3803,0.75,144.3,2160,1782,2975,2982,610.1,0.0,455,3948,0.98,2.67,134.50,1.756,10756,0.133,0.099,2472,382,2390,2378,2402,0,0,0,0,0,0,13.99,13.68,13.03
$GC,4004,0.75,144.3,2472,383,2367,2398,592.2,13.9,492,4011,0.00,2.60,0.00,0.000,1030,0.000,0.073,2472,1793,2382,2367,2397,0,0,0,0,0,0,14.18,14.09,14.19
$GC,4310,0.75,144.3,2474,1793,2367,2391,549.8,13.8,523,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1793,2378,2366,2390,0,0,0,0,0,0,14.67,14.69,14.69
$GC,4611,0.75,144.3,2472,1796,2367,2389,506.8,14.1,553,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1796,2377,2366,2389,0,0,0,0,0,0,14.78,14.81,14.81
$GC,4911,0.75,144.3,2472,1796,2366,2389,464.4,13.8,583,4916,0.00,2.55,0.00,0.000,516,0.000,0.094,2481,386,2377,2366,2389,0,0,0,0,0,0,14.83,14.52,14.85
$GC,4937,0.75,144.3,2481,386,2365,2389,460.3,14.0,588,4944,0.00,2.50,0.00,0.000,1030,0.000,0.073,2480,1803,2377,2365,2389,0,0,0,0,0,0,14.62,14.53,14.65
$GC,5244,0.75,144.3,2481,1804,2365,2388,416.4,14.4,619,5249,0.00,2.58,0.00,0.000,516,0.000,0.096,2492,386,2376,2365,2388,0,0,0,0,0,0,14.88,14.53,14.90
$GC,5266,0.75,144.3,2490,385,2364,2388,413.0,15.2,623,5272,0.00,2.50,0.00,0.000,1030,0.000,0.075,2489,1801,2376,2364,2388,0,0,0,0,0,0,14.64,14.54,14.66
$GC,5579,0.75,144.3,2489,1806,2364,2388,366.1,14.9,655,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1806,2376,2364,2388,0,0,0,0,0,0,14.90,14.92,14.92
$GC,5880,0.75,144.3,2489,1806,2365,2387,321.9,14.6,685,5886,0.00,2.58,0.00,0.000,516,0.000,0.096,2500,384,2375,2364,2387,0,0,0,0,0,0,14.92,14.55,14.95
$GC,5937,0.75,144.3,2499,384,2364,2388,312.7,15.9,696,5945,0.17,2.50,0.00,0.000,5126,0.264,0.074,2463,1802,2375,2363,2387,0,0,0,0,0,0,14.16,14.52,14.59
$GC,6243,0.75,144.3,2462,1806,2364,2386,272.4,13.2,727,6249,0.00,2.45,0.00,0.000,260,0.000,0.083,2463,3212,2374,2363,2386,0,0,0,0,0,0,14.90,14.59,14.92
$GC,6260,0.75,144.3,2462,3211,2364,2386,270.1,12.6,730,6267,0.00,2.47,0.00,0.000,1030,0.000,0.077,2469,1802,2375,2364,2386,0,0,0,0,0,0,14.71,14.58,14.74
$GC,6566,0.75,144.3,2468,1802,2364,2386,228.3,13.7,761,6572,0.00,2.58,0.00,0.000,516,0.000,0.103,2480,377,2374,2363,2386,0,0,0,0,0,0,14.90,14.53,14.92
$GC,6714,0.75,144.3,2480,377,2363,2386,206.7,14.6,790,6720,0.00,2.50,0.00,0.000,1030,0.000,0.076,2480,1794,2374,2363,2386,0,0,0,0,0,0,14.70,14.60,14.73
$GC,7020,0.75,144.3,2480,1798,2363,2386,165.6,13.3,821,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1798,2374,2363,2386,0,0,0,0,0,0,14.90,14.94,14.94
$GC,7321,0.75,144.3,2480,1799,2363,2385,126.1,13.6,851,7326,0.00,2.58,0.00,0.000,516,0.000,0.096,2489,376,2374,2364,2385,0,0,0,0,0,0,14.89,14.52,14.91
$GC,7343,0.75,144.3,2489,376,2363,2386,122.4,16.4,855,7349,0.00,2.50,0.00,0.000,1030,0.000,0.076,2489,1790,2374,2363,2386,0,0,0,0,0,0,14.69,14.59,14.72
$GC,7651,0.75,144.3,2489,1793,2362,2385,77.9,14.0,901,7659,0.00,2.60,0.00,0.000,516,0.000,0.096,2498,365,2374,2363,2385,0,0,0,0,0,0,14.84,14.40,14.86
$GC,7705,0.75,144.3,2498,365,2363,2387,70.0,14.6,911,7713,0.15,2.53,0.00,0.000,5126,0.269,0.075,2467,1795,2374,2363,2386,0,0,0,0,0,0,14.31,14.56,14.59
$GC,7895,0.75,144.3,2467,1799,2363,2385,47.0,11.9,948,7902,0.00,2.60,0.00,0.000,516,0.000,0.096,2474,371,2373,2363,2384,0,0,0,0,0,0,14.83,14.48,14.85
$GC,8000,0.77,156.2,2474,371,2363,2386,34.6,9.4,968,8014,0.00,2.53,9.25,0.972,9254,0.000,0.076,2474,1791,2342,2334,2350,0,0,0,0,0,0,14.64,14.54,13.87
$GC,8198,0.77,156.2,2474,1796,2333,2345,10.0,12.4,1006,8204,0.00,2.47,0.00,0.000,260,0.000,0.083,2474,3205,2339,2334,2345,0,0,0,0,0,0,14.79,14.46,14.81
$GC,8226,0.77,156.2,2473,3206,2333,2346,6.4,12.3,1011,8233,0.00,2.53,0.00,0.000,1030,0.000,0.080,2483,1784,2338,2332,2345,0,0,0,0,0,0,14.60,14.48,14.64
$STATE,8248,end climb,SURFACE_DEPTH_REACHED
$STATE,8248,begin surface coast
$FINISH,0.7,1.026835
$STATE,8264,end surface coast,CONTROL_FINISHED_OK
$STATE,8265,begin surface
$SM_CCo,8281,254.40,0.962,1,0,1144,450.12
$SM_GC,0.68,6.60,1.48,254.40,0.052,0.078,0.962,173,2596,1144,-6.34,-0.88,450.12,0,0,0,0,1,0,14.58,14.54,13.52
$IRIDIUM_FIX,5824.40,-2117.58,061020,064024
$TT8_MAMPS,0.02247,0.629909
$HUMID,44.95
$INTERNAL_PRESSURE,7.85122
$TCM_TEMP,18.40
$XPDR_PINGS,1
$SC_FREEKB,3895040
$24V_AH,13.03,0.000
$10V_AH,13.16,37.685
$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,18.725,97.900,277.250,254.400,0.000,0.000,0.000,348.175,0.250,0.000,28.582,2476.083,3711.353,708.293,2038.202,130.843,0.000,1860.728,0.000,1607.296,0.000,0.538,0.000
$DEVICE_MAMPS,408.510,102.510,1789.335,961.605,0.000,0.000,0.000,198.900,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8289.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.487,0.000,0.000,0.000
$MEM,324084
$DATA_FILE_SIZE,36642,1018
$CAP_FILE_SIZE,105837,0
$CFSIZE,2097872896,2090008576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.127,117.51,1
$GPS,061020,114202,5823.446,-2123.441,13,0.8,31,-12.2,0.4,238.0,11,8.8