version: 66.14
glider: 527
mission: 10
dive: 78
start: 10 16 120 13 7 54
data:
$ID,527
$MISSION,10
$DIVE,78
$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,24
$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
$GPS1,161020,125356,5831.4526,-2220.6252,41,0.9,49,-12.7,1.1,333.3,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-62.2
$GPS2,161020,130711,5831.5498,-2220.7573,9,0.9,19,-12.7,0.6,351.5,8,9.6
$SPEED_LIMITS,0.154,0.252
$TGT_NAME,SG527_TGT
$TGT_LATLONG,5833.992,-2223.728
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,340.3,5357,-17.3,-8.919,-20.29,2289
$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,-0.54,-133.0,0,2533,1280,1395,0.0,0.0,0,106,0.00,0.00,-93.20,0.008,16390,0.000,0.000,0,2534,3525,3464,3586,0,0,0,0,0,0,14.64,12.85,14.64
$GC,109,-0.54,-138.7,0,2534,3467,3587,3.7,-8.7,17,128,10.25,2.30,-0.45,0.188,18724,0.402,0.088,2030,3850,3548,3497,3600,1,0,0,0,0,0,13.88,13.08,14.43
$GC,299,-0.54,-138.7,2029,3850,3500,3599,30.3,-14.4,54,306,0.00,2.33,0.00,0.000,1030,0.000,0.056,2029,2509,3549,3500,3599,0,0,0,0,0,0,14.56,14.47,14.59
$GC,487,-0.54,-138.7,2028,2498,3501,3598,56.0,-13.3,91,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2498,3550,3501,3599,0,0,0,0,0,0,14.79,14.81,14.81
$GC,675,-0.54,-138.7,2029,2498,3501,3599,78.8,-11.5,128,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2498,3549,3500,3599,0,0,0,0,0,0,14.81,14.83,14.83
$GC,862,-0.54,-138.7,2029,2498,3501,3599,101.4,-11.7,164,868,0.00,2.40,0.00,0.000,260,0.000,0.081,2019,3849,3550,3501,3600,0,0,0,0,0,0,14.85,14.47,14.86
$GC,895,-0.54,-138.7,2019,3848,3501,3599,105.2,-11.7,170,900,0.00,2.28,0.00,0.000,1030,0.000,0.054,2019,2525,3550,3501,3599,0,0,0,0,0,0,14.64,14.55,14.66
$GC,1207,-0.54,-138.7,2019,2524,3502,3599,143.2,-12.5,202,1212,0.00,2.45,0.00,0.000,516,0.000,0.076,2019,1109,3550,3502,3599,0,0,0,0,0,0,14.88,14.49,14.89
$GC,1330,-0.54,-138.7,2019,1109,3502,3599,158.9,-12.5,226,1336,0.12,2.47,0.00,0.000,3078,0.253,0.066,2037,2533,3550,3502,3599,0,0,0,0,0,0,14.34,14.54,14.57
$GC,1643,-0.54,-138.7,2037,2533,3502,3599,194.1,-11.1,258,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2534,3551,3503,3599,0,0,0,0,0,0,14.90,14.92,14.91
$GC,1944,-0.54,-138.7,2037,2533,3503,3599,226.8,-10.9,288,1949,0.00,2.50,0.00,0.000,516,0.000,0.069,2038,1108,3551,3503,3599,0,0,0,0,0,0,14.90,14.55,14.92
$GC,2000,-0.54,-138.7,2038,1109,3502,3599,233.0,-9.9,299,2006,0.00,2.45,0.00,0.000,1030,0.000,0.064,2031,2525,3551,3503,3599,0,0,0,0,0,0,14.67,14.56,14.70
$GC,2306,-0.54,-138.7,2031,2525,3502,3599,265.5,-10.4,330,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2524,3550,3502,3598,0,0,0,0,0,0,14.88,14.91,14.90
$GC,2607,-0.54,-138.7,2030,2525,3502,3598,298.0,-11.1,360,2612,0.00,2.45,0.00,0.000,516,0.000,0.068,2031,1111,3550,3502,3599,0,0,0,0,0,0,14.90,14.55,14.91
$GC,2649,-0.54,-138.7,2031,1111,3502,3599,303.0,-11.4,368,2654,0.00,2.47,0.00,0.000,1030,0.000,0.064,2022,2535,3550,3502,3599,0,0,0,0,0,0,14.68,14.57,14.71
$GC,2961,-0.54,-138.7,2022,2535,3502,3598,341.0,-12.3,400,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2535,3550,3503,3598,0,0,0,0,0,0,14.92,14.95,14.95
$GC,3262,-0.54,-138.7,2022,2535,3503,3597,377.5,-12.0,430,3267,0.00,2.50,0.00,0.000,516,0.000,0.071,2022,1108,3549,3502,3597,0,0,0,0,0,0,14.92,14.52,14.95
$GC,3304,-0.54,-138.7,2022,1109,3502,3597,382.8,-11.9,438,3310,0.12,2.45,0.00,0.000,3078,0.253,0.064,2040,2524,3550,3503,3597,0,0,0,0,0,0,14.36,14.57,14.59
$GC,3617,-0.54,-138.7,2039,2525,3502,3595,416.3,-10.5,470,3623,0.00,2.45,0.00,0.000,516,0.000,0.073,2040,1111,3549,3503,3595,0,0,0,0,0,0,14.94,14.57,14.95
$GC,3663,-0.54,-138.7,2040,1111,3502,3595,421.3,-10.0,479,3669,0.00,2.47,0.00,0.000,1030,0.000,0.067,2033,2535,3548,3501,3595,0,0,0,0,0,0,14.68,14.57,14.71
$GC,3970,-0.54,-138.7,2033,2535,3502,3594,453.8,-10.5,510,3975,0.00,2.47,0.00,0.000,516,0.000,0.073,2033,1108,3548,3502,3594,0,0,0,0,0,0,14.92,14.57,14.95
$GC,4002,-0.54,-138.7,2033,1109,3502,3594,457.4,-11.3,516,4007,0.00,2.47,0.00,0.000,1030,0.000,0.064,2025,2534,3548,3502,3594,0,0,0,0,0,0,14.69,14.57,14.72
$GC,4314,-0.54,-138.7,2025,2534,3502,3593,491.4,-10.7,548,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2534,3547,3502,3593,0,0,0,0,0,0,14.94,14.96,14.96
$GC,4615,-0.54,-138.7,2024,2534,3502,3593,524.2,-10.7,578,4620,0.00,2.47,0.00,0.000,516,0.000,0.068,2025,1108,3547,3502,3592,0,0,0,0,0,0,14.93,14.57,14.95
$GC,4667,-0.54,-138.7,2024,1108,3502,3593,530.3,-11.4,588,4673,0.00,2.45,0.00,0.000,1030,0.000,0.064,2016,2525,3547,3502,3593,0,0,0,0,0,0,14.68,14.57,14.72
$GC,4979,-0.54,-138.7,2015,2526,3504,3590,566.5,-11.4,620,4985,0.00,2.45,0.00,0.000,516,0.000,0.067,2016,1112,3547,3504,3590,0,0,0,0,0,0,14.92,14.56,14.94
$GC,5022,-0.54,-138.7,2014,1111,3504,3589,571.2,-11.1,628,5028,0.15,2.47,0.00,0.000,3078,0.243,0.065,2040,2535,3547,3504,3590,0,0,0,0,0,0,14.33,14.57,14.57
$GC,5335,-0.54,-138.7,2040,2535,3504,3590,600.6,-9.1,660,5340,0.00,2.47,0.00,0.000,516,0.000,0.073,2041,1111,3546,3504,3589,0,0,0,0,0,0,14.94,14.57,14.95
$GC,5387,-0.54,-138.7,2041,1111,3503,3589,605.6,-9.4,670,5392,0.00,2.45,0.00,0.000,1030,0.000,0.065,2034,2524,3546,3504,3589,0,0,0,0,0,0,14.69,14.57,14.71
$GC,5699,-0.54,-138.7,2033,2523,3504,3588,636.4,-10.2,702,5704,0.00,2.30,0.00,0.000,260,0.000,0.084,2024,3847,3546,3504,3588,0,0,0,0,0,0,14.94,14.54,14.96
$GC,5721,-0.54,-138.7,2023,3847,3504,3587,638.4,-10.0,706,5727,0.00,2.28,0.00,0.000,1030,0.000,0.054,2024,2521,3545,3504,3587,0,0,0,0,0,0,14.64,14.56,14.67
$GC,6034,-0.54,-138.7,2024,2520,3504,3587,669.6,-9.9,738,6039,0.00,2.40,0.00,0.000,516,0.000,0.079,2024,1116,3545,3504,3587,0,0,0,0,0,0,14.95,14.55,14.97
$GC,6210,-0.54,-138.7,2024,1115,3504,3587,687.3,-9.7,773,6216,0.00,2.45,0.00,0.000,1030,0.000,0.067,2015,2524,3545,3504,3586,0,0,0,0,0,0,14.68,14.57,14.71
$GC,6516,-0.54,-138.7,2015,2524,3504,3586,718.0,-10.5,804,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2525,3545,3504,3586,0,0,0,0,0,0,14.95,14.97,14.96
$GC,6817,-0.54,-138.7,2015,2525,3504,3584,750.1,-10.5,834,6822,0.00,2.47,0.00,0.000,516,0.000,0.068,2015,1105,3543,3503,3584,0,0,0,0,0,0,14.95,14.52,14.96
$GC,6853,-0.54,-138.7,2015,1106,3504,3585,754.3,-10.9,841,6860,0.15,2.47,0.00,0.000,3078,0.244,0.064,2040,2533,3543,3503,3584,0,0,0,0,0,0,14.33,14.57,14.57
$GC,7159,-0.55,-144.0,2039,2533,3504,3584,781.0,-8.7,872,7165,0.00,2.47,0.00,0.000,548,0.000,0.075,2041,1110,3544,3504,3584,0,0,0,0,0,0,14.95,14.56,14.97
$GC,7195,-0.55,-144.0,2041,1110,3504,3583,784.5,-9.6,879,7202,0.00,2.47,0.00,0.000,1030,0.000,0.064,2033,2534,3544,3504,3584,0,0,0,0,0,0,14.68,14.57,14.71
$GC,7502,-0.55,-144.0,2033,2534,3504,3582,815.6,-10.6,910,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2534,3543,3503,3583,0,0,0,0,0,0,14.95,14.97,14.96
$GC,7804,-0.55,-144.0,2033,2534,3504,3583,845.8,-9.4,940,7809,0.00,2.45,0.00,0.000,516,0.000,0.073,2034,1118,3543,3504,3583,0,0,0,0,0,0,14.94,14.51,14.96
$GC,7886,-0.55,-144.0,2033,1118,3504,3583,853.7,-9.2,956,7892,0.00,2.45,0.00,0.000,1030,0.000,0.065,2025,2526,3543,3504,3583,0,0,0,0,0,0,14.67,14.56,14.71
$GC,8199,-0.55,-144.0,2025,2526,3504,3583,883.5,-9.5,988,8204,0.00,2.47,0.00,0.000,516,0.000,0.070,2025,1113,3543,3504,3583,0,0,0,0,0,0,14.94,14.54,14.96
$GC,8261,-0.55,-144.0,2025,1113,3504,3582,889.8,-9.9,1000,8266,0.00,2.47,0.00,0.000,1030,0.000,0.065,2016,2532,3543,3504,3583,0,0,0,0,0,0,14.67,14.55,14.70
$GC,8573,-0.55,-144.0,2016,2532,3504,3582,922.9,-10.8,1032,8579,0.00,2.47,0.00,0.000,516,0.000,0.073,2016,1118,3543,3504,3582,0,0,0,0,0,0,14.92,14.47,14.96
$GC,8609,-0.55,-144.0,2016,1118,3504,3582,927.2,-11.5,1039,8616,0.15,2.47,0.00,0.000,3078,0.237,0.065,2041,2529,3543,3504,3582,0,0,0,0,0,0,14.32,14.55,14.56
$GC,8916,-0.55,-146.0,2041,2529,3503,3581,954.5,-8.5,1070,8921,0.00,2.47,0.00,0.000,548,0.000,0.069,2043,1111,3543,3504,3582,0,0,0,0,0,0,14.94,14.47,14.96
$GC,8962,-0.55,-146.0,2041,1111,3504,3581,958.8,-9.0,1079,8969,0.00,2.47,0.00,0.000,1030,0.000,0.064,2035,2524,3542,3503,3581,0,0,0,0,0,0,14.62,14.51,14.65
$GC,9268,-0.55,-146.0,2034,2524,3504,3579,986.7,-9.1,1110,9273,0.00,2.47,0.00,0.000,516,0.000,0.076,2035,1106,3541,3504,3579,0,0,0,0,0,0,14.92,14.54,14.94
$STATE,9309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9309,begin apogee
$GC,9314,-0.12,0.0,2031,1856,3504,3580,990.4,-9.3,1118,9461,0.50,0.00,138.48,2.341,10246,0.184,0.000,2178,1858,2978,2961,2995,0,0,0,0,0,0,14.35,13.58,12.71
$STATE,9463,end apogee,CONTROL_FINISHED_OK
$STATE,9463,begin climb
$GC,9464,0.55,146.0,2177,1857,2960,2993,994.7,0.0,1133,9624,0.70,2.80,150.15,2.295,10756,0.106,0.096,2405,450,2384,2366,2402,0,0,0,0,0,0,13.91,13.59,12.47
$GC,9676,0.55,146.0,2405,450,2355,2398,980.8,10.1,1175,9681,0.00,2.55,0.00,0.000,1030,0.000,0.063,2405,1843,2376,2356,2397,0,0,0,0,0,0,14.01,13.92,14.04
$GC,9988,0.55,146.0,2405,1842,2356,2390,948.4,10.2,1207,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1842,2373,2356,2390,0,0,0,0,0,0,14.64,14.66,14.66
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$STATE,19097,end climb,SURFACE_DEPTH_REACHED
$STATE,19097,begin surface coast
$FINISH,0.4,1.026875
$STATE,19124,end surface coast,CONTROL_FINISHED_OK
$STATE,19124,begin surface
$SM_CCo,19141,199.15,0.948,1,0,1348,400.08
$SM_GC,0.90,6.62,1.23,199.15,0.062,0.074,0.948,167,2523,1348,-6.35,-0.93,400.08,0,0,0,0,1,0,14.51,14.47,13.49
$IRIDIUM_FIX,5827.90,-2115.24,161020,071150
$TT8_MAMPS,0.023219,0.644889
$HUMID,42.87
$INTERNAL_PRESSURE,7.86099
$TCM_TEMP,18.80
$XPDR_PINGS,30
$SC_FREEKB,3846816
$TM_FREEKB,7135904
$24V_AH,12.47,0.000
$10V_AH,12.91,61.103
$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,19.525,207.950,320.675,199.150,0.000,0.000,0.000,570.650,7.500,0.000,30.392,4988.314,9690.505,790.640,4386.993,274.591,0.000,3108.909,0.000,3629.908,0.000,0.539,0.000
$DEVICE_MAMPS,402.390,99.450,2340.900,947.835,0.000,0.000,0.000,224.910,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19163.000,2534.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.011,18.525,0.000,0.000
$MEM,324084
$DATA_FILE_SIZE,83079,2326
$CAP_FILE_SIZE,224365,0
$CFSIZE,2097872896,2075623424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,1,2,0
$GPS,161020,183135,5835.669,-2220.766,26,1.2,31,-12.7,1.1,305.2,8,9.9