version: 66.12
glider: 528
mission: 3
dive: 5
start: 12 20 116 5 36 24
data:
$ID,528
$MISSION,3
$DIVE,5
$N_DIVES,5
$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,1440
$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,1000
$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,20
$R_STBD_OVSHOOT,16
$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
$GPS1,201216,053207,-340.5365,5541.8325,40,0.8,40,-4.7,0.4,340.5,10,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-68.5
$GPS2,201216,053559,-340.5307,5541.8223,17,0.8,17,-4.7,0.0,257.3,9,6.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,S
$TGT_LATLONG,-300.000,5600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,6.0,82248,-18.2,-10.000,-21.02,2236
$D_GRID,1000
$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,-146.0,191,2285,575,496,0.0,0.0,0,125,0.00,0.00,-108.05,0.000,16386,0.000,0.000,191,2285,3284,3139,3429,0,0,0,0,0,0,15.02,28.83,15.04
$GC,128,-0.79,-146.0,191,2285,3141,3430,3.3,-5.1,18,154,11.48,2.65,-5.05,0.000,18948,0.382,2.155,3051,894,3566,3361,3772,0,0,0,0,0,0,14.57,13.81,14.77
$GC,171,0.06,-146.0,3051,893,3361,3772,21.9,-40.9,25,179,0.90,2.42,0.00,0.000,3078,0.231,0.096,3331,2307,3566,3361,3772,0,0,0,0,0,0,14.62,14.70,14.77
$GC,481,-0.56,-146.0,3329,2307,3361,3773,45.8,-6.3,86,489,0.50,2.40,0.00,0.000,4356,0.112,0.115,3141,3714,3567,3361,3773,0,0,0,0,0,0,14.79,14.78,14.84
$GC,537,-0.92,-146.0,3141,3714,3361,3773,49.3,-6.2,96,545,0.35,2.38,0.00,0.000,5126,0.103,0.093,3007,2295,3567,3361,3773,0,0,0,0,0,0,14.84,14.81,14.91
$GC,852,-0.88,-146.0,3005,2295,3361,3776,89.5,-12.2,128,861,0.00,2.45,0.00,0.000,516,0.000,0.130,3006,888,3568,3361,3776,0,0,0,0,0,0,15.14,14.83,15.16
$GC,963,-0.84,-146.0,3005,888,3361,3776,103.8,-14.8,150,968,0.15,2.40,0.00,0.000,3078,0.259,0.096,3042,2303,3568,3361,3776,0,0,0,0,0,0,14.79,14.86,14.95
$GC,1275,-0.91,-146.0,3040,2303,3361,3776,144.2,-13.8,182,1280,0.00,2.40,0.00,0.000,260,0.000,0.123,3040,3710,3568,3361,3776,0,0,0,0,0,0,15.16,14.86,15.19
$GC,1447,-0.99,-146.0,3040,3710,3361,3776,165.4,-11.8,216,1456,0.15,2.38,0.00,0.000,5126,0.137,0.096,2988,2299,3568,3361,3776,0,0,0,0,0,0,14.92,14.88,15.00
$GC,1756,-0.99,-146.0,2987,2299,3361,3776,204.1,-14.0,248,1761,0.00,2.50,0.00,0.000,516,0.000,0.142,2986,887,3568,3361,3776,0,0,0,0,0,0,15.17,14.85,15.20
$GC,1813,-0.96,-146.0,2986,887,3361,3776,212.2,-14.3,259,1822,0.00,2.42,0.00,0.000,1030,0.000,0.103,2989,2308,3568,3361,3776,0,0,0,0,0,0,14.99,14.88,15.01
$GC,2143,-0.96,-146.0,2989,2308,3361,3773,257.9,-12.9,289,2150,0.00,2.42,0.00,0.000,260,0.000,0.133,2989,3709,3567,3361,3773,0,0,0,0,0,0,15.19,14.87,15.21
$GC,2262,-0.96,-146.0,2989,3708,3361,3772,272.9,-12.1,313,2267,0.00,2.40,0.00,0.000,1030,0.000,0.106,2989,2303,3566,3360,3772,0,0,0,0,0,0,15.00,14.89,15.02
$GC,2588,-0.96,-146.0,2988,2303,3361,3767,312.9,-12.4,328,2593,0.00,2.53,0.00,0.000,516,0.000,0.149,2989,890,3563,3360,3766,0,0,0,0,0,0,15.19,14.85,15.22
$GC,2617,-0.96,-146.0,2989,890,3360,3766,317.0,-13.7,334,2623,0.00,2.47,0.00,0.000,1030,0.000,0.107,2989,2296,3563,3361,3765,0,0,0,0,0,0,14.94,14.87,14.97
$GC,2944,-0.96,-146.0,2988,2296,3356,3765,357.8,-12.2,349,2949,0.00,2.47,0.00,0.000,260,0.000,0.133,2989,3717,3561,3357,3765,0,0,0,0,0,0,15.20,14.87,15.22
$STATE,2962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2962,begin apogee
$GC,2968,-0.17,0.0,2989,2403,3356,3765,360.3,-12.1,353,3078,0.90,0.00,106.53,1.249,10246,0.207,0.000,3269,2401,2965,2853,3078,0,0,0,0,0,0,14.83,14.42,13.90
$STATE,3079,end apogee,CONTROL_FINISHED_OK
$STATE,3079,begin climb
$GC,3080,0.79,146.0,3268,2401,2850,3072,362.3,0.0,356,3195,0.85,2.70,104.95,1.219,10756,0.125,0.141,3571,989,2362,2292,2432,0,0,0,0,0,0,14.39,14.21,13.78
$GC,3290,0.79,146.0,3570,988,2284,2430,346.8,10.5,403,3297,0.00,2.53,0.00,0.000,1030,0.000,0.113,3570,2399,2356,2283,2430,0,0,0,0,0,0,14.62,14.51,14.65
$GC,3597,0.75,146.0,3570,2399,2280,2428,313.9,10.3,414,3601,0.00,2.55,0.00,0.000,260,0.000,0.151,3570,3810,2353,2280,2427,0,0,0,0,0,0,15.01,14.70,15.04
$GC,3682,0.67,146.0,3570,3810,2280,2426,303.9,12.1,431,3689,0.15,2.47,0.00,0.000,5126,0.275,0.115,3538,2396,2353,2280,2426,0,0,0,0,0,0,14.67,14.74,14.85
$GC,3988,0.70,173.3,3537,2396,2275,2426,276.4,8.7,442,4019,0.00,2.62,20.67,1.136,8708,0.000,0.145,3537,988,2252,2176,2328,0,0,0,0,0,0,15.09,14.66,14.26
$GC,4085,0.77,184.6,3537,988,2172,2327,267.6,9.5,461,4099,0.00,2.50,9.05,1.101,9222,0.000,0.119,3537,2398,2213,2135,2292,0,0,0,0,0,0,14.83,14.71,14.23
$GC,4402,0.83,196.1,3537,2398,2123,2287,237.8,9.5,483,4423,0.15,2.60,9.55,1.081,10500,0.135,0.148,3601,3812,2160,2079,2241,0,0,0,0,0,0,14.81,14.68,14.30
$GC,4486,0.72,196.1,3601,3812,2078,2240,226.5,14.1,499,4496,0.20,2.47,0.00,0.000,5126,0.261,0.118,3552,2401,2159,2078,2241,0,0,0,0,0,0,14.67,14.73,14.85
$GC,4796,0.72,196.1,3551,2401,2075,2241,191.7,11.6,531,4805,0.00,2.55,0.00,0.000,516,0.000,0.148,3552,985,2158,2075,2241,0,0,0,0,0,0,15.08,14.76,15.10
$GC,4877,0.77,196.1,3552,985,2074,2241,182.1,11.6,547,4886,0.00,2.53,0.00,0.000,1030,0.000,0.123,3552,2407,2157,2074,2241,0,0,0,0,0,0,14.90,14.79,14.93
$GC,5187,0.77,196.1,3551,2407,2072,2241,148.0,10.6,579,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2407,2156,2072,2240,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5487,0.81,196.1,3551,2407,2070,2241,114.6,12.1,609,5497,0.00,2.50,0.00,0.000,260,0.000,0.142,3551,3813,2155,2070,2240,0,0,0,0,0,0,15.13,14.81,15.15
$GC,5521,0.81,196.1,3551,3813,2070,2239,109.9,12.8,616,5529,0.00,2.50,0.00,0.000,1030,0.000,0.112,3551,2398,2155,2070,2240,0,0,0,0,0,0,14.88,14.81,14.92
$GC,5830,0.91,236.3,3551,2398,2069,2240,77.9,8.2,647,5871,0.15,2.55,32.70,0.933,10756,0.130,0.140,3620,984,1995,1903,2087,0,0,0,0,0,0,14.88,14.64,14.32
$GC,6016,0.91,236.3,3620,983,1900,2083,55.0,13.7,684,6024,0.00,2.55,0.00,0.000,1030,0.000,0.116,3620,2400,1990,1898,2083,0,0,0,0,0,0,14.78,14.71,14.81
$GC,6324,1.12,369.7,3620,2400,1895,2083,33.6,3.9,741,6437,0.15,2.58,103.43,0.843,10500,0.136,0.136,3689,3816,1448,1365,1532,0,0,0,0,0,0,14.81,14.38,14.07
$GC,6524,1.04,369.7,3689,3816,1358,1526,12.9,15.6,777,6532,0.15,2.47,0.00,0.000,5126,0.250,0.103,3655,2397,1441,1357,1526,0,0,0,0,0,0,14.48,14.54,14.64
$STATE,6601,end climb,SURFACE_DEPTH_REACHED
$STATE,6601,begin surface coast
$FINISH,0.0,1.022644
$STATE,6623,end surface coast,CONTROL_FINISHED_OK
$STATE,6623,begin surface
$SM_CCo,6639,96.62,0.078,0,0,538,595.33
$SM_GC,0.74,9.18,0.20,96.62,0.089,0.146,0.078,235,2280,538,-9.71,0.31,595.33,0,0,0,0,0,0,14.62,14.62,14.64
$IRIDIUM_FIX,-335.81,5542.62,201216,052917
$TT8_MAMPS,0.025466,0.116844
$HUMID,52.59
$INTERNAL_PRESSURE,9.6394
$TCM_TEMP,24.00
$XPDR_PINGS,157
$24V_AH,13.78,2.566
$10V_AH,13.23,0.000
$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,25.400,79.875,386.875,96.625,0.000,0.000,0.000,0.000,39.250,0.000,18.470,1538.252,3445.978,614.076,1172.194,40.558,0.000,1274.941,0.000,1138.596,0.000,0.541,0.000
$DEVICE_MAMPS,381.735,2155.005,1249.245,78.030,0.000,0.000,0.000,0.000,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311220
$DATA_FILE_SIZE,33372,796
$CAP_FILE_SIZE,89841,0
$CFSIZE,2097872896,2094727168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.070,144.99,1
$GPS,201216,072926,-339.762,5542.262,6,1.0,14,-4.7,0.0,343.2,8,9.3