version: 66.12
glider: 528
mission: 3
dive: 4
start: 12 20 116 4 49 41
data:
$ID,528
$MISSION,3
$DIVE,4
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,120
$T_MISSION,150
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52309
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,595.14526
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3970
$C_PITCH,3320
$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,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3830
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3959
$C_VBD,2967
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-56.708107
$PRESSURE_SLOPE,0.00011645618
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043548695
$SEABIRD_T_H,0.0006268858
$SEABIRD_T_I,2.3578436e-05
$SEABIRD_T_J,2.4722265e-06
$SEABIRD_C_G,-10.467909
$SEABIRD_C_H,1.2025218
$SEABIRD_C_I,-0.00091677177
$SEABIRD_C_J,0.00016246161
$GPS1,201216,044552,-340.8228,5541.6328,103,0.8,103,-4.7,0.2,114.7,9,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-67.4
$GPS2,201216,044917,-340.8221,5541.6265,24,0.8,24,-4.7,0.3,282.4,9,4.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,S
$TGT_LATLONG,-300.000,5600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,17.7,82888,-18.2,-10.000,-21.02,2236
$D_GRID,100
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.79,-146.0,189,2293,572,500,0.0,0.0,0,125,0.00,0.00,-106.88,0.000,16386,0.000,0.000,189,2291,3228,3087,3370,0,0,0,0,0,0,15.05,28.83,15.07
$GC,127,-0.79,-146.0,189,2291,3089,3370,3.0,-4.5,18,153,11.45,2.67,-6.32,0.000,18948,0.381,2.151,3052,888,3564,3357,3772,0,0,0,0,0,0,14.59,13.81,14.81
$GC,205,-0.65,-146.0,3052,888,3357,3773,29.1,-25.4,32,213,0.17,2.40,0.00,0.000,3078,0.278,0.093,3097,2303,3564,3357,3772,0,0,0,0,0,0,14.65,14.74,14.82
$GC,515,-0.74,-146.0,3097,2303,3357,3774,61.6,-8.4,79,517,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2303,3565,3357,3774,0,0,0,0,0,0,15.11,15.13,15.13
$GC,816,-0.88,-146.0,3097,2303,3357,3776,88.8,-7.5,109,826,0.17,2.50,0.00,0.000,4612,0.132,0.129,3031,889,3566,3357,3775,0,0,0,0,0,0,14.90,14.82,14.92
$GC,851,-0.88,-146.0,3030,888,3357,3776,93.1,-13.2,116,859,0.00,2.40,0.00,0.000,1030,0.000,0.096,3033,2301,3566,3358,3775,0,0,0,0,0,0,14.97,14.87,14.99
$STATE,906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,906,begin apogee
$GC,910,-0.17,0.0,3032,2403,3357,3775,100.0,-12.8,122,1013,0.75,0.00,98.70,0.848,10246,0.209,0.000,3263,2403,2965,2847,3084,0,0,0,0,0,0,14.81,14.57,14.16
$STATE,1014,end apogee,CONTROL_FINISHED_OK
$STATE,1014,begin climb
$GC,1015,0.79,146.0,3263,2403,2842,3079,103.6,0.0,132,1123,0.88,2.65,98.65,0.838,10756,0.140,0.135,3569,995,2364,2288,2440,0,0,1,0,0,0,14.51,14.35,14.04
$GC,1150,0.83,181.8,3568,995,2284,2439,96.8,8.4,155,1181,0.00,2.45,25.02,0.828,9222,0.000,0.100,3569,2393,2220,2142,2298,0,0,0,0,0,0,14.60,14.50,14.09
$GC,1480,0.92,211.2,3568,2393,2127,2297,67.1,8.6,191,1511,0.12,2.60,20.02,0.821,10756,0.141,0.128,3630,985,2100,2011,2190,0,0,0,0,0,0,14.81,14.65,14.32
$GC,1593,0.92,211.2,3630,985,2008,2189,54.4,11.9,213,1597,0.00,2.45,0.00,0.000,1030,0.000,0.102,3629,2401,2098,2008,2189,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1899,1.16,360.2,3630,2401,2001,2189,30.4,3.2,271,2011,0.15,2.58,100.00,0.777,10500,0.128,0.129,3705,3814,1488,1395,1582,0,0,0,0,0,0,14.84,14.45,14.17
$GC,2068,1.10,360.2,3704,3814,1390,1578,11.6,15.1,301,2076,0.00,2.45,0.00,0.000,1030,0.000,0.100,3705,2394,1484,1390,1578,0,0,0,0,0,0,14.71,14.60,14.73
$STATE,2130,end climb,SURFACE_DEPTH_REACHED
$STATE,2130,begin surface coast
$FINISH,0.3,1.022676
$STATE,2152,end surface coast,CONTROL_FINISHED_OK
$STATE,2152,begin surface
$SM_CCo,2168,99.25,0.072,0,0,538,595.33
$SM_GC,0.93,9.18,0.17,99.25,0.082,0.138,0.072,232,2296,538,-9.72,0.57,595.33,0,0,0,0,0,0,14.69,14.70,14.72
$IRIDIUM_FIX,-337.97,5545.63,201216,044148
$TT8_MAMPS,0.025466,0.114597
$HUMID,49.17
$INTERNAL_PRESSURE,9.70776
$TCM_TEMP,24.50
$XPDR_PINGS,76
$24V_AH,13.81,2.388
$10V_AH,13.21,0.000
$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,22.875,25.500,342.400,99.250,0.000,0.000,0.000,0.000,19.000,0.000,25.392,641.964,685.266,517.358,485.136,18.667,0.000,821.678,0.000,462.811,0.000,0.545,0.000
$DEVICE_MAMPS,380.970,2151.180,847.620,71.910,0.000,0.000,0.000,0.000,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,186.528,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311208
$DATA_FILE_SIZE,13496,317
$CAP_FILE_SIZE,45141,0
$CFSIZE,2097872896,2094891008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,7,0
$CURRENT,0.111,89.16,1
$GPS,201216,052817,-340.544,5541.840,15,0.8,15,-4.7,0.0,0.0,9,5.6