version: 66.12
glider: 528
mission: 3
dive: 8
start: 12 20 116 11 34 38
data:
$ID,528
$MISSION,3
$DIVE,8
$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,17
$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
$GPS1,201216,113002,-338.0918,5543.0820,38,0.9,42,-4.7,0.5,299.7,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-70.1
$GPS2,201216,113413,-338.0772,5543.0483,50,0.9,50,-4.7,0.6,294.1,9,3.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,S
$TGT_LATLONG,-300.000,5600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,21.5,77174,-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,-146.0,228,2287,926,918,0.0,0.0,0,105,0.00,0.00,-87.85,0.000,16386,0.000,0.000,228,2288,3078,2934,3222,0,0,0,0,0,0,14.88,28.83,14.90
$GC,107,-0.79,-146.0,228,2288,2934,3223,3.1,-4.4,15,133,11.68,0.00,-9.05,0.000,18950,0.389,0.000,3057,2288,3564,3340,3789,0,0,0,0,0,0,14.44,13.76,14.60
$GC,435,-0.79,-146.0,3056,2288,3345,3792,68.5,-8.9,65,440,0.00,2.53,0.00,0.000,260,0.000,0.129,3057,3715,3568,3345,3792,0,0,0,0,0,0,14.97,14.66,14.99
$GC,547,-0.84,-146.0,3056,3715,3346,3792,78.3,-10.0,87,556,0.00,2.45,0.00,0.000,1030,0.000,0.106,3055,2300,3569,3346,3792,0,0,0,0,0,0,14.81,14.70,14.83
$GC,857,-0.89,-146.0,3054,2301,3351,3793,115.2,-11.8,119,866,0.00,2.50,0.00,0.000,516,0.000,0.135,3054,890,3572,3351,3793,0,0,0,0,0,0,15.04,14.73,15.06
$GC,961,-0.94,-146.0,3054,890,3350,3793,127.0,-10.5,140,968,0.15,2.45,0.00,0.000,5126,0.133,0.099,2999,2309,3572,3351,3794,0,0,0,0,0,0,14.81,14.76,14.88
$GC,1268,-0.89,-146.0,2998,2310,3351,3793,168.4,-13.4,171,1277,0.12,2.45,0.00,0.000,2308,0.260,0.130,3030,3714,3572,3351,3793,0,0,0,0,0,0,14.73,14.77,14.83
$GC,1319,-0.93,-146.0,3026,3714,3351,3794,174.4,-11.0,181,1324,0.00,2.45,0.00,0.000,1030,0.000,0.109,3032,2291,3572,3351,3793,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1631,-0.97,-146.0,3031,2292,3351,3793,209.0,-11.3,213,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2292,3572,3351,3793,0,0,0,0,0,0,15.09,15.12,15.12
$GC,1931,-1.01,-146.0,3030,2292,3351,3793,242.3,-10.6,243,1933,0.15,0.00,0.00,0.000,4102,0.140,0.000,2982,2292,3572,3351,3793,0,0,0,0,0,0,14.86,14.96,14.94
$GC,2241,-0.95,-146.0,2981,2292,3351,3793,283.1,-13.8,258,2243,0.12,0.00,0.00,0.000,2054,0.271,0.000,3009,2290,3571,3351,3792,0,0,0,0,0,0,14.78,14.97,14.94
$GC,2540,-0.95,-146.0,3007,2291,3348,3792,316.5,-10.1,268,2545,0.00,2.53,0.00,0.000,260,0.000,0.138,3008,3710,3569,3347,3792,0,0,0,0,0,0,15.14,14.83,15.16
$GC,2590,-0.95,-146.0,3007,3710,3347,3792,321.1,-8.6,278,2597,0.00,2.45,0.00,0.000,1030,0.000,0.118,3008,2301,3569,3347,3792,0,0,0,0,0,0,14.96,14.84,14.98
$GC,2897,-0.95,-146.0,3007,2301,3346,3789,348.7,-9.9,289,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2301,3567,3346,3789,0,0,0,0,0,0,15.15,15.17,15.17
$STATE,3015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3015,begin apogee
$GC,3019,-0.17,0.0,3007,2404,3346,3788,360.9,-10.1,293,3138,0.80,0.00,114.65,1.251,10246,0.213,0.000,3261,2405,2963,2850,3077,0,0,0,0,0,0,14.81,14.31,13.80
$STATE,3139,end apogee,CONTROL_FINISHED_OK
$STATE,3139,begin climb
$GC,3140,0.79,146.0,3261,2405,2848,3075,362.8,0.0,297,3262,0.93,2.80,112.70,1.226,10756,0.133,0.147,3574,991,2363,2294,2432,0,0,0,0,0,0,14.28,14.07,13.64
$GC,3290,0.75,146.0,3574,991,2290,2431,352.3,11.6,317,3297,0.00,2.60,0.00,0.000,1030,0.000,0.119,3574,2398,2360,2289,2431,0,0,0,0,0,0,14.34,14.23,14.37
$GC,3619,0.69,146.0,3574,2398,2282,2429,316.5,10.7,333,3627,0.12,2.58,0.00,0.000,4356,0.304,0.147,3543,3811,2355,2282,2428,0,0,0,0,0,0,14.54,14.59,14.65
$GC,3679,0.69,146.0,3543,3811,2282,2427,310.0,10.9,345,3683,0.00,2.50,0.00,0.000,1030,0.000,0.119,3544,2403,2354,2282,2427,0,0,0,0,0,0,14.73,14.62,14.76
$GC,4005,0.72,172.6,3543,2403,2278,2427,280.6,8.8,360,4036,0.00,2.65,21.15,1.134,8708,0.000,0.151,3544,991,2257,2183,2332,0,0,0,0,0,0,15.00,14.56,14.17
$GC,4082,0.78,187.5,3542,991,2179,2331,273.6,9.3,375,4102,0.00,2.55,12.85,1.109,9222,0.000,0.121,3543,2406,2199,2122,2276,0,0,0,0,0,0,14.73,14.62,14.14
$GC,4410,0.83,199.5,3543,2405,2115,2273,243.3,9.4,398,4430,0.12,2.60,10.70,1.093,10500,0.145,0.146,3596,3810,2148,2069,2227,0,0,0,0,0,0,14.75,14.59,14.21
$GC,4473,0.72,199.5,3596,3810,2067,2225,235.1,14.5,410,4478,0.20,2.50,0.00,0.000,5126,0.272,0.116,3549,2393,2146,2067,2225,0,0,0,0,0,0,14.58,14.64,14.73
$GC,4785,0.72,199.5,3548,2393,2064,2225,200.7,11.3,442,4789,0.00,2.58,0.00,0.000,516,0.000,0.148,3549,982,2144,2064,2225,0,0,0,0,0,0,15.00,14.69,15.02
$GC,4866,0.76,199.5,3548,982,2064,2225,191.7,11.1,458,4871,0.00,2.50,0.00,0.000,1030,0.000,0.113,3549,2400,2144,2064,2225,0,0,0,0,0,0,14.83,14.71,14.85
$GC,5177,0.76,199.5,3548,2400,2061,2225,154.7,10.8,490,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2400,2143,2061,2225,0,0,0,0,0,0,15.04,15.07,15.06
$GC,5478,0.83,229.4,3548,2400,2059,2225,126.0,8.6,520,5513,0.12,2.60,25.77,0.994,10756,0.142,0.139,3607,983,2026,1940,2112,0,0,0,0,0,0,14.82,14.62,14.26
$GC,5523,0.77,229.4,3608,984,1940,2111,120.4,12.5,529,5531,0.15,2.53,0.00,0.000,5126,0.245,0.114,3573,2402,2025,1938,2112,0,0,0,0,0,0,14.59,14.64,14.73
$GC,5830,0.77,229.4,3572,2402,1932,2111,86.7,10.4,560,5834,0.00,2.62,0.00,0.000,516,0.000,0.145,3572,980,2021,1932,2111,0,0,0,0,0,0,15.00,14.70,15.02
$GC,5896,0.82,229.4,3572,980,1932,2110,79.2,11.7,573,5906,0.00,2.53,0.00,0.000,1030,0.000,0.114,3572,2408,2020,1932,2109,0,0,0,0,0,0,14.83,14.73,14.86
$GC,6207,0.94,294.0,3572,2408,1931,2108,48.2,7.0,607,6272,0.12,2.58,54.58,0.873,10500,0.142,0.137,3631,3807,1759,1668,1851,0,0,0,0,0,0,14.80,14.48,14.16
$GC,6374,0.94,294.0,3631,3807,1662,1848,31.2,11.0,638,6381,0.00,2.45,0.00,0.000,1030,0.000,0.104,3631,2398,1755,1662,1849,0,0,0,0,0,0,14.69,14.59,14.71
$GC,6684,1.00,306.6,3631,2398,1657,1848,4.3,9.4,699,6697,0.00,2.58,4.35,0.087,8452,0.000,0.129,3631,3806,1715,1619,1811,0,0,0,0,0,0,14.95,14.63,14.70
$STATE,6702,end climb,SURFACE_DEPTH_REACHED
$STATE,6702,begin surface coast
$FINISH,0.0,1.022639
$STATE,6729,end surface coast,CONTROL_FINISHED_OK
$STATE,6730,begin surface
$SM_CCo,6747,84.57,0.077,0,0,927,500.16
$SM_GC,0.79,9.02,2.67,84.57,0.084,0.101,0.077,187,2297,927,-9.71,0.48,500.16,0,0,0,0,0,0,14.71,14.67,14.68
$IRIDIUM_FIX,-335.81,5542.62,201216,092907
$TT8_MAMPS,0.025466,0.152796
$HUMID,50.98
$INTERNAL_PRESSURE,9.62963
$TCM_TEMP,24.00
$XPDR_PINGS,95
$24V_AH,13.64,3.078
$10V_AH,13.80,0.000
$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,23.825,66.425,356.750,84.575,0.000,0.000,0.000,150.250,23.750,0.000,51.917,1493.526,3774.043,564.627,1223.104,43.078,0.000,1297.814,0.000,1014.677,0.000,0.539,0.000
$DEVICE_MAMPS,388.620,151.470,1250.775,77.265,0.000,0.000,0.000,160.650,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311224
$DATA_FILE_SIZE,30083,707
$CAP_FILE_SIZE,79553,0
$CFSIZE,2097872896,2094465024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,16,0
$INTR,0,4788.26,0x213808,1,24
$CURRENT,0.037,335.41,1
$GPS,201216,132945,-337.091,5543.254,29,1.5,41,-4.7,0.3,257.6,6,9.8