version: 66.12
glider: 528
mission: 3
dive: 6
start: 12 20 116 7 33 25
data:
$ID,528
$MISSION,3
$DIVE,6
$N_DIVES,0
$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,500
$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,28
$R_STBD_OVSHOOT,19
$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
$GPS1,201216,072926,-339.7617,5542.2622,6,1.0,14,-4.7,0.0,343.2,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-69.2
$GPS2,201216,073259,-339.7551,5542.2422,19,1.0,19,-4.7,0.0,295.7,8,6.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,S
$TGT_LATLONG,-300.000,5600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,15.4,80619,-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,-146.0,227,2316,591,480,0.0,0.0,0,122,0.00,0.00,-104.62,0.000,16386,0.000,0.000,227,2314,3192,3029,3356,0,0,0,0,0,0,14.90,28.83,14.92
$GC,124,-0.79,-146.0,227,2314,3030,3357,3.7,-6.1,18,150,11.65,2.78,-6.57,0.000,18948,0.387,2.202,3057,895,3564,3345,3783,0,0,0,0,0,0,14.47,13.81,14.71
$GC,183,-0.51,-146.0,3056,895,3347,3785,26.0,-31.1,28,191,0.32,2.47,0.00,0.000,3078,0.245,0.107,3148,2305,3565,3347,3784,0,0,0,0,0,0,14.54,14.60,14.69
$GC,498,-0.71,-146.0,3147,2305,3347,3788,62.2,-7.6,75,503,0.17,2.45,0.00,0.000,4356,0.134,0.120,3081,3720,3567,3347,3788,0,0,0,0,0,0,14.74,14.71,14.80
$GC,624,-0.81,-146.0,3080,3720,3350,3789,76.8,-11.8,100,631,0.00,2.40,0.00,0.000,1030,0.000,0.095,3081,2304,3569,3350,3789,0,0,0,0,0,0,14.85,14.76,14.88
$GC,930,-0.89,-146.0,3080,2303,3353,3788,107.1,-10.3,131,936,0.12,2.50,0.00,0.000,4612,0.159,0.132,3026,888,3570,3353,3788,0,0,0,0,0,0,14.83,14.77,14.88
$GC,1052,-0.89,-146.0,3024,887,3354,3788,124.7,-14.6,155,1057,0.00,2.42,0.00,0.000,1030,0.000,0.101,3024,2301,3571,3354,3789,0,0,0,0,0,0,14.90,14.81,14.93
$GC,1363,-0.89,-146.0,3024,2301,3354,3789,168.7,-12.9,187,1368,0.00,2.42,0.00,0.000,260,0.000,0.125,3024,3711,3571,3354,3789,0,0,0,0,0,0,15.11,14.81,15.14
$GC,1428,-0.89,-146.0,3023,3711,3354,3788,177.3,-12.6,200,1435,0.00,2.40,0.00,0.000,1030,0.000,0.101,3024,2300,3571,3354,3788,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1735,-0.89,-146.0,3024,2300,3354,3788,211.0,-9.9,231,1739,0.00,2.50,0.00,0.000,516,0.000,0.136,3024,891,3571,3354,3789,0,0,0,0,0,0,15.13,14.81,15.15
$GC,1769,-0.89,-146.0,3023,891,3354,3788,214.9,-10.4,238,1776,0.00,2.45,0.00,0.000,1030,0.000,0.106,3024,2307,3571,3354,3788,0,0,0,0,0,0,14.95,14.83,14.97
$GC,2076,-0.89,-146.0,3023,2307,3354,3788,247.7,-11.7,269,2080,0.00,2.45,0.00,0.000,260,0.000,0.130,3024,3717,3571,3354,3788,0,0,0,0,0,0,15.14,14.82,15.16
$GC,2193,-0.93,-146.0,3023,3717,3354,3788,262.3,-12.6,292,2199,0.00,2.42,0.00,0.000,1030,0.000,0.104,3023,2296,3571,3354,3788,0,0,0,0,0,0,14.96,14.85,14.97
$GC,2522,-0.93,-146.0,3023,2297,3353,3787,304.8,-12.8,308,2528,0.00,2.50,0.00,0.000,516,0.000,0.145,3024,893,3570,3354,3786,0,0,0,0,0,0,15.16,14.83,15.18
$GC,2545,-0.93,-146.0,3023,893,3353,3786,308.0,-13.5,313,2552,0.00,2.45,0.00,0.000,1030,0.000,0.109,3024,2306,3569,3353,3786,0,0,0,0,0,0,14.97,14.86,15.00
$GC,2853,-0.96,-146.0,3023,2307,3353,3783,344.5,-11.5,324,2859,0.00,2.45,0.00,0.000,260,0.000,0.138,3024,3709,3567,3353,3782,0,0,0,0,0,0,15.16,14.85,15.19
$GC,2975,-1.02,-146.0,3023,3708,3353,3781,358.1,-10.2,349,2979,0.00,2.42,0.00,0.000,1030,0.000,0.112,3024,2303,3567,3353,3781,0,0,0,0,0,0,14.97,14.85,15.00
$STATE,2994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2994,begin apogee
$GC,2998,-0.17,0.0,3024,2399,3353,3781,360.3,-11.1,353,3131,0.75,0.00,129.90,1.179,10246,0.207,0.000,3257,2400,2966,2854,3079,0,0,0,0,0,0,14.81,14.33,13.85
$STATE,3132,end apogee,CONTROL_FINISHED_OK
$STATE,3132,begin climb
$GC,3133,0.79,146.0,3257,2400,2851,3075,363.1,0.0,357,3246,0.95,0.00,109.00,1.222,10246,0.134,0.000,3577,2400,2369,2300,2439,0,0,0,0,0,0,14.30,14.18,13.69
$GC,3537,0.74,146.0,3576,2400,2281,2429,322.2,12.0,371,3542,0.00,2.55,0.00,0.000,260,0.000,0.148,3576,3808,2354,2281,2428,0,0,0,0,0,0,14.90,14.60,14.92
$GC,3599,0.64,146.0,3575,3808,2281,2427,314.6,12.6,383,3604,0.20,2.47,0.00,0.000,5126,0.265,0.113,3530,2402,2354,2281,2427,0,0,0,0,0,0,14.57,14.64,14.75
$GC,3932,0.70,168.7,3529,2401,2277,2427,284.5,9.0,399,3955,0.00,2.60,17.23,1.123,8708,0.000,0.144,3529,981,2273,2198,2348,0,0,0,0,0,0,15.02,14.62,14.23
$GC,4016,0.77,168.7,3530,981,2194,2348,276.0,10.2,416,4023,0.12,2.53,0.00,0.000,3078,0.148,0.119,3574,2396,2270,2193,2347,0,0,0,0,0,0,14.72,14.67,14.80
$GC,4322,0.72,168.7,3573,2396,2192,2345,240.3,10.2,433,4331,0.00,2.55,0.00,0.000,260,0.000,0.148,3575,3810,2268,2192,2344,0,0,0,0,0,0,15.03,14.72,15.05
$GC,4413,0.63,168.7,3574,3810,2192,2343,230.5,10.4,451,4418,0.20,2.47,0.00,0.000,5126,0.268,0.115,3528,2393,2267,2192,2343,0,0,0,0,0,0,14.67,14.76,14.85
$GC,4726,0.73,214.8,3527,2392,2189,2343,207.4,7.9,483,4770,0.00,2.58,38.58,1.075,8708,0.000,0.144,3527,987,2085,2000,2170,0,0,0,0,0,0,15.07,14.53,14.16
$GC,4867,0.84,214.8,3527,986,1998,2166,193.7,11.1,511,4873,0.20,2.55,0.00,0.000,3078,0.123,0.122,3603,2404,2081,1997,2166,0,0,0,0,0,0,14.68,14.64,14.76
$GC,5179,0.77,214.8,3602,2404,1993,2164,150.3,12.7,543,5181,0.15,0.00,0.00,0.000,4102,0.266,0.000,3567,2404,2078,1993,2164,0,0,0,0,0,0,14.66,14.86,14.83
$GC,5479,0.77,214.8,3566,2404,1990,2164,119.7,10.8,573,5483,0.00,2.50,0.00,0.000,260,0.000,0.140,3567,3810,2077,1990,2164,0,0,0,0,0,0,15.06,14.73,15.08
$GC,5515,0.77,214.8,3566,3810,1990,2161,115.5,11.9,580,5524,0.00,2.45,0.00,0.000,1030,0.000,0.110,3566,2396,2075,1989,2161,0,0,0,0,0,0,14.88,14.77,14.90
$GC,5826,0.82,251.4,3566,2396,1988,2161,89.1,8.3,612,5860,0.00,2.55,28.98,0.952,8708,0.000,0.138,3567,981,1937,1840,2034,0,0,0,0,0,0,15.08,14.61,14.27
$GC,6032,0.90,251.4,3566,981,1836,2030,66.6,10.2,653,6042,0.15,2.50,0.00,0.000,3078,0.128,0.107,3621,2408,1933,1835,2031,0,0,0,0,0,0,14.76,14.71,14.83
$GC,6343,1.00,309.2,3621,2408,1830,2031,38.2,7.3,699,6397,0.00,2.50,46.47,0.856,8452,0.000,0.132,3621,3811,1698,1599,1797,0,0,0,0,0,0,15.02,14.49,14.19
$GC,6529,1.10,357.0,3621,3811,1593,1794,25.1,7.8,734,6574,0.15,2.45,34.90,0.817,11270,0.126,0.102,3687,2395,1502,1407,1597,0,0,0,0,0,0,14.69,14.64,14.16
$STATE,6705,end climb,SURFACE_DEPTH_REACHED
$STATE,6705,begin surface coast
$FINISH,0.0,1.022741
$STATE,6726,end surface coast,CONTROL_FINISHED_OK
$STATE,6727,begin surface
$SM_CCo,6743,61.10,0.076,0,0,927,500.16
$SM_GC,0.70,9.25,0.17,61.10,0.084,0.153,0.076,190,2294,927,-9.72,0.65,500.16,0,0,0,0,0,0,14.62,14.62,14.64
$IRIDIUM_FIX,-335.81,5540.84,201216,053253
$TT8_MAMPS,0.025466,0.113099
$HUMID,52.59
$INTERNAL_PRESSURE,9.67846
$TCM_TEMP,24.40
$XPDR_PINGS,112
$24V_AH,13.69,2.741
$10V_AH,13.86,0.000
$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,24.400,75.200,405.050,61.100,0.000,0.000,0.000,141.600,28.000,0.000,20.799,1544.573,3567.151,598.132,1276.292,45.210,0.000,1362.801,0.000,1104.846,0.000,0.541,0.000
$DEVICE_MAMPS,387.090,2201.670,1222.470,76.500,0.000,0.000,0.000,161.415,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.705,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311180
$DATA_FILE_SIZE,33397,771
$CAP_FILE_SIZE,83267,0
$CFSIZE,2097872896,2094628864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$INTR,0,6547.82,0x2344d0,1,24
$CURRENT,0.090,94.07,1
$GPS,201216,092808,-338.978,5542.820,42,0.9,46,-4.7,0.7,211.2,7,9.1