version: 66.12
glider: 528
mission: 3
dive: 7
start: 12 20 116 9 32 24
data:
$ID,528
$MISSION,3
$DIVE,7
$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,24
$R_STBD_OVSHOOT,15
$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
$GPS1,201216,092808,-338.9778,5542.8203,42,0.9,46,-4.7,0.7,211.2,7,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-69.6
$GPS2,201216,093159,-338.9664,5542.7891,17,0.9,17,-4.7,0.5,294.2,8,8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,S
$TGT_LATLONG,-300.000,5600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,9.5,78874,-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,-146.0,189,2293,934,915,0.0,0.0,0,107,0.00,0.00,-89.20,0.000,16386,0.000,0.000,189,2287,3131,2980,3282,0,0,0,0,0,0,14.86,28.83,14.88
$GC,109,-0.79,-146.0,189,2287,2981,3282,3.3,-4.8,15,135,11.65,2.70,-7.88,0.000,18948,0.386,2.196,3054,898,3565,3343,3787,0,0,0,0,0,0,14.43,13.78,14.59
$GC,173,-0.55,-146.0,3053,898,3344,3788,26.1,-29.3,26,180,0.30,2.47,0.00,0.000,3078,0.253,0.106,3137,2305,3565,3344,3787,0,0,0,0,0,0,14.52,14.59,14.67
$GC,483,-0.72,-146.0,3136,2306,3346,3788,67.2,-6.3,70,493,0.12,2.42,0.00,0.000,4356,0.147,0.120,3088,3711,3567,3346,3788,0,0,0,0,0,0,14.73,14.66,14.77
$GC,628,-0.81,-146.0,3087,3711,3349,3788,81.3,-8.3,99,635,0.00,2.40,0.00,0.000,1030,0.000,0.093,3088,2295,3568,3349,3788,0,0,0,0,0,0,14.83,14.73,14.85
$GC,936,-0.89,-146.0,3087,2296,3351,3791,112.2,-10.5,130,945,0.15,2.47,0.00,0.000,4612,0.148,0.132,3022,894,3571,3351,3791,0,0,0,0,0,0,14.81,14.76,14.85
$GC,1060,-0.89,-146.0,3021,894,3351,3791,129.8,-13.5,155,1067,0.00,2.47,0.00,0.000,1030,0.000,0.103,3022,2298,3571,3351,3791,0,0,0,0,0,0,14.83,14.76,14.86
$GC,1367,-0.89,-146.0,3021,2299,3351,3791,169.0,-11.6,186,1376,0.00,2.45,0.00,0.000,260,0.000,0.127,3021,3714,3571,3351,3791,0,0,0,0,0,0,15.09,14.79,15.11
$GC,1418,-0.89,-146.0,3021,3714,3351,3791,174.6,-11.1,196,1422,0.00,2.40,0.00,0.000,1030,0.000,0.101,3021,2302,3571,3352,3791,0,0,0,0,0,0,14.91,14.82,14.94
$GC,1723,-0.89,-146.0,3021,2302,3352,3791,205.9,-10.0,227,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2302,3571,3352,3791,0,0,0,0,0,0,15.11,15.13,15.13
$GC,2023,-0.89,-146.0,3021,2302,3351,3791,239.3,-10.7,257,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2302,3571,3351,3791,0,0,0,0,0,0,15.12,15.14,15.14
$GC,2343,-0.89,-146.0,3021,2302,3351,3790,271.2,-9.9,275,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2302,3570,3351,3790,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2643,-0.89,-146.0,3021,2302,3349,3789,305.2,-12.5,285,2648,0.00,2.50,0.00,0.000,260,0.000,0.134,3021,3713,3569,3349,3790,0,0,0,0,0,0,15.16,14.84,15.18
$GC,2668,-0.89,-146.0,3020,3712,3348,3789,308.8,-13.0,290,2675,0.00,2.42,0.00,0.000,1030,0.000,0.106,3021,2302,3568,3348,3789,0,0,0,0,0,0,14.97,14.86,15.00
$GC,2974,-0.89,-146.0,3020,2302,3348,3786,348.7,-12.6,301,2979,0.00,2.50,0.00,0.000,260,0.000,0.136,3021,3713,3567,3348,3786,0,0,0,0,0,0,15.16,14.84,15.19
$GC,3044,-0.93,-146.0,3021,3713,3348,3785,357.2,-11.2,315,3048,0.00,2.42,0.00,0.000,1030,0.000,0.109,3021,2301,3567,3348,3786,0,0,0,0,0,0,14.97,14.86,15.00
$STATE,3089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3089,begin apogee
$GC,3093,-0.17,0.0,3021,2404,3348,3785,362.4,-11.5,319,3248,0.77,0.00,150.93,1.129,10246,0.211,0.000,3262,2405,2966,2852,3081,0,0,0,0,0,0,14.81,14.28,13.81
$STATE,3249,end apogee,CONTROL_FINISHED_OK
$STATE,3249,begin climb
$GC,3250,0.79,146.0,3262,2404,2848,3076,366.7,0.0,324,3371,0.90,2.80,110.00,1.220,10756,0.132,0.157,3568,996,2361,2291,2432,0,0,1,0,0,0,14.23,14.07,13.66
$GC,3432,0.76,146.0,3568,996,2286,2431,353.5,11.3,362,3437,0.00,2.55,0.00,0.000,1030,0.000,0.116,3569,2396,2358,2285,2431,0,0,0,0,0,0,14.45,14.33,14.47
$GC,3748,0.72,146.0,3568,2396,2281,2428,317.3,11.0,375,3755,0.00,2.60,0.00,0.000,260,0.000,0.155,3569,3815,2354,2281,2427,0,0,0,0,0,0,14.91,14.61,14.93
$GC,3882,0.63,146.0,3568,3815,2281,2425,300.5,11.8,402,3888,0.20,2.50,0.00,0.000,5126,0.283,0.121,3523,2403,2353,2281,2425,0,0,0,0,0,0,14.59,14.67,14.78
$GC,4196,0.68,156.8,3522,2403,2277,2425,270.5,9.5,414,4208,0.00,2.60,7.30,1.075,8708,0.000,0.155,3522,986,2322,2248,2397,0,0,0,0,0,0,15.03,14.69,14.28
$GC,4244,0.77,159.6,3522,986,2247,2397,265.7,9.9,424,4251,0.15,2.53,0.00,0.000,3078,0.134,0.122,3577,2401,2321,2246,2397,0,0,0,0,0,0,14.76,14.71,14.83
$GC,4551,0.70,159.6,3577,2401,2245,2396,230.4,10.9,445,4556,0.12,2.55,0.00,0.000,4356,0.273,0.153,3546,3811,2320,2245,2396,0,0,0,0,0,0,14.69,14.72,14.80
$GC,4608,0.66,159.6,3546,3812,2245,2393,224.0,11.2,456,4614,0.00,2.50,0.00,0.000,1030,0.000,0.120,3546,2394,2320,2245,2395,0,0,0,0,0,0,14.87,14.76,14.89
$GC,4912,0.66,159.6,3545,2394,2243,2394,193.9,10.6,487,4917,0.00,2.55,0.00,0.000,516,0.000,0.155,3546,989,2318,2243,2394,0,0,0,0,0,0,15.07,14.76,15.09
$GC,4998,0.66,159.6,3545,989,2243,2394,184.9,10.2,504,5003,0.00,2.50,0.00,0.000,1030,0.000,0.116,3546,2407,2318,2243,2394,0,0,0,0,0,0,14.90,14.78,14.92
$GC,5303,0.66,159.6,3545,2407,2241,2393,154.0,10.5,535,5308,0.00,2.50,0.00,0.000,260,0.000,0.142,3546,3816,2317,2241,2393,0,0,0,0,0,0,15.09,14.78,15.11
$GC,5332,0.66,159.6,3545,3816,2241,2393,150.5,12.0,541,5341,0.00,2.50,0.00,0.000,1030,0.000,0.112,3546,2403,2317,2241,2393,0,0,0,0,0,0,14.85,14.78,14.88
$GC,5639,0.67,167.4,3546,2403,2239,2393,120.1,9.6,572,5654,0.00,2.60,8.80,0.968,8708,0.000,0.140,3546,985,2280,2204,2357,0,0,0,0,0,0,15.10,14.73,14.36
$GC,5742,0.75,194.7,3546,985,2203,2355,110.6,8.7,592,5773,0.00,2.50,23.92,0.962,9222,0.000,0.116,3546,2403,2169,2090,2248,0,0,0,0,0,0,14.88,14.77,14.26
$GC,6071,0.87,250.2,3545,2402,2082,2246,85.2,7.4,628,6126,0.15,2.65,46.95,0.918,10756,0.127,0.136,3615,986,1940,1850,2030,0,0,1,0,0,0,14.78,14.47,14.15
$GC,6196,0.87,250.2,3614,986,1847,2027,71.8,11.4,653,6204,0.00,2.53,0.00,0.000,1030,0.000,0.114,3614,2400,1936,1845,2027,0,0,0,0,0,0,14.68,14.57,14.71
$GC,6505,0.99,316.5,3614,2400,1838,2026,40.4,7.0,696,6565,0.00,2.62,53.92,0.854,8452,0.000,0.138,3614,3809,1668,1577,1760,0,0,0,0,0,0,14.95,14.43,14.12
$GC,6677,1.04,316.5,3614,3810,1571,1755,25.6,10.7,728,6685,0.12,2.47,0.00,0.000,3078,0.143,0.103,3671,2393,1663,1571,1755,0,0,0,0,0,0,14.60,14.56,14.68
$STATE,6865,end climb,SURFACE_DEPTH_REACHED
$STATE,6865,begin surface coast
$FINISH,0.2,1.022563
$STATE,6887,end surface coast,CONTROL_FINISHED_OK
$STATE,6887,begin surface
$SM_CCo,6902,79.12,0.077,0,0,927,500.16
$SM_GC,0.90,9.18,0.17,79.12,0.085,0.156,0.077,234,2299,927,-9.71,0.65,500.16,0,0,0,0,0,0,14.66,14.64,14.65
$IRIDIUM_FIX,-337.97,5542.62,201216,073028
$TT8_MAMPS,0.025466,0.155043
$HUMID,51.41
$INTERNAL_PRESSURE,9.64917
$TCM_TEMP,24.10
$XPDR_PINGS,124
$24V_AH,13.66,2.915
$10V_AH,13.12,0.000
$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,23.825,76.100,401.825,79.125,0.000,0.000,0.000,163.725,31.000,0.000,18.317,1552.657,3751.187,585.418,1293.085,45.846,0.000,1383.920,0.000,1102.079,0.000,0.542,0.000
$DEVICE_MAMPS,385.560,2195.550,1220.175,77.265,0.000,0.000,0.000,156.825,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311204
$DATA_FILE_SIZE,33450,769
$CAP_FILE_SIZE,83475,0
$CFSIZE,2097872896,2094530560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,5,0
$CURRENT,0.039,81.59,1
$GPS,201216,113002,-338.092,5543.082,38,0.9,42,-4.7,0.5,299.7,8,8.9