version: 66.12
glider: 528
mission: 3
dive: 9
start: 12 20 116 13 33 44
data:
$ID,528
$MISSION,3
$DIVE,9
$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,14
$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
$GPS1,201216,132945,-337.0913,5543.2539,29,1.5,41,-4.7,0.3,257.6,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.8
$GPS2,201216,133319,-337.0874,5543.2373,6,1.5,26,-4.7,0.3,260.8,6,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,S
$TGT_LATLONG,-300.000,5600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,35.1,75358,-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,-146.0,186,2286,924,922,0.0,0.0,0,107,0.00,0.00,-89.38,0.000,16386,0.000,0.000,187,2285,3125,2972,3279,0,0,0,0,0,0,14.88,28.83,14.90
$GC,109,-0.79,-146.0,186,2285,2973,3279,3.0,-4.0,15,136,11.62,2.80,-8.07,0.000,18948,0.383,2.205,3051,890,3566,3343,3789,0,0,0,0,0,0,14.45,13.75,14.64
$GC,208,-0.69,-146.0,3051,889,3345,3790,32.3,-22.3,33,216,0.15,2.47,0.00,0.000,3078,0.283,0.103,3096,2305,3567,3345,3789,0,0,0,0,0,0,14.52,14.60,14.68
$GC,524,-0.76,-146.0,3095,2305,3350,3789,72.8,-9.4,74,528,0.00,2.45,0.00,0.000,260,0.000,0.123,3095,3714,3569,3350,3789,0,0,0,0,0,0,14.97,14.68,14.99
$GC,580,-0.87,-146.0,3095,3714,3351,3790,76.9,-6.7,85,587,0.20,2.42,0.00,0.000,5126,0.129,0.096,3023,2291,3570,3351,3790,0,0,0,0,0,0,14.75,14.71,14.81
$GC,885,-0.84,-146.0,3021,2291,3352,3793,113.3,-12.4,116,894,0.00,2.47,0.00,0.000,516,0.000,0.132,3022,888,3572,3352,3793,0,0,0,0,0,0,15.03,14.73,15.04
$GC,976,-0.84,-146.0,3021,888,3353,3793,126.1,-15.4,134,981,0.12,2.45,0.00,0.000,3078,0.266,0.102,3048,2310,3573,3353,3793,0,0,0,0,0,0,14.69,14.76,14.85
$GC,1288,-0.89,-146.0,3047,2310,3353,3793,162.4,-10.4,166,1292,0.00,2.45,0.00,0.000,260,0.000,0.131,3047,3715,3573,3353,3793,0,0,0,0,0,0,15.07,14.77,15.09
$GC,1400,-0.97,-146.0,3046,3715,3353,3793,173.8,-9.9,188,1410,0.15,2.42,0.00,0.000,5126,0.135,0.103,2994,2295,3573,3353,3793,0,0,0,0,0,0,14.84,14.80,14.90
$GC,1709,-0.92,-146.0,2993,2296,3353,3793,210.6,-11.6,220,1711,0.12,0.00,0.00,0.000,2054,0.255,0.000,3022,2295,3573,3353,3794,0,0,0,0,0,0,14.76,14.92,14.90
$GC,2009,-0.92,-146.0,3021,2295,3353,3793,244.8,-11.6,250,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2295,3572,3353,3792,0,0,0,0,0,0,15.10,15.12,15.12
$GC,2329,-0.92,-146.0,3021,2295,3352,3793,282.7,-11.0,264,2333,0.00,2.53,0.00,0.000,260,0.000,0.139,3022,3708,3572,3352,3792,0,0,0,0,0,0,15.12,14.81,15.14
$GC,2399,-0.96,-146.0,3021,3709,3351,3792,290.4,-11.0,278,2404,0.00,2.42,0.00,0.000,1030,0.000,0.106,3021,2301,3572,3352,3792,0,0,0,0,0,0,14.94,14.84,14.97
$GC,2716,-0.96,-146.0,3021,2301,3349,3791,322.2,-9.8,291,2722,0.00,2.53,0.00,0.000,260,0.000,0.140,3021,3711,3570,3349,3792,0,0,0,0,0,0,15.13,14.83,15.15
$GC,2749,-1.00,-146.0,3021,3711,3349,3790,325.5,-9.6,298,2754,0.00,2.42,0.00,0.000,1030,0.000,0.107,3021,2300,3569,3348,3790,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3075,-1.00,-146.0,3021,2299,3349,3787,358.8,-10.5,313,3080,0.00,2.53,0.00,0.000,260,0.000,0.142,3021,3707,3567,3348,3787,0,0,0,0,0,0,15.14,14.83,15.16
$STATE,3088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3088,begin apogee
$GC,3094,-0.17,0.0,3022,2400,3348,3787,360.4,-10.6,316,3214,0.75,0.00,116.38,1.260,10246,0.207,0.000,3262,2399,2966,2853,3080,0,0,0,0,0,0,14.81,14.28,13.78
$STATE,3215,end apogee,CONTROL_FINISHED_OK
$STATE,3215,begin climb
$GC,3216,0.79,146.0,3261,2400,2849,3075,363.5,0.0,320,3340,0.93,2.70,113.82,1.243,10756,0.132,0.142,3574,982,2363,2295,2432,0,0,0,0,0,0,14.26,14.02,13.63
$GC,3362,0.74,146.0,3573,981,2292,2432,354.2,10.8,340,3368,0.00,2.60,0.00,0.000,1030,0.000,0.111,3574,2396,2361,2290,2432,0,0,0,0,0,0,14.31,14.21,14.34
$GC,3692,0.68,146.0,3573,2396,2284,2430,315.5,12.0,356,3699,0.12,2.58,0.00,0.000,4356,0.288,0.148,3543,3811,2356,2284,2429,0,0,0,0,0,0,14.53,14.57,14.64
$GC,3790,0.64,146.0,3542,3811,2284,2427,303.5,12.2,376,3795,0.00,2.50,0.00,0.000,1030,0.000,0.119,3543,2402,2355,2284,2427,0,0,0,0,0,0,14.73,14.63,14.76
$GC,4107,0.68,175.6,3542,2402,2281,2427,274.3,8.6,389,4139,0.00,2.60,23.85,1.118,8708,0.000,0.145,3543,983,2247,2172,2322,0,0,0,0,0,0,15.00,14.53,14.15
$GC,4160,0.76,211.5,3542,982,2170,2322,269.6,8.3,399,4201,0.00,2.53,30.60,1.133,9222,0.000,0.113,3543,2400,2099,2020,2179,0,0,0,0,0,0,14.69,14.59,14.00
$GC,4501,0.76,211.5,3542,2400,2011,2176,231.8,12.0,427,4510,0.00,2.55,0.00,0.000,260,0.000,0.148,3543,3811,2092,2010,2175,0,0,0,0,0,0,14.91,14.61,14.93
$GC,4524,0.76,211.5,3542,3811,2010,2174,228.5,13.0,432,4532,0.00,2.55,0.00,0.000,1030,0.000,0.117,3543,2402,2092,2011,2174,0,0,0,0,0,0,14.69,14.61,14.72
$GC,4832,0.76,211.5,3542,2402,2009,2174,193.8,10.5,463,4841,0.00,2.58,0.00,0.000,516,0.000,0.144,3543,983,2091,2008,2174,0,0,0,0,0,0,14.98,14.69,15.00
$GC,4913,0.83,220.5,3542,983,2008,2173,185.7,9.6,479,4927,0.15,2.53,6.95,1.018,11270,0.132,0.117,3599,2404,2067,1983,2151,0,0,0,0,0,0,14.76,14.71,14.26
$GC,5234,0.76,220.5,3598,2404,1976,2148,142.0,15.1,513,5244,0.12,2.53,0.00,0.000,4356,0.273,0.145,3567,3811,2061,1976,2147,0,0,0,0,0,0,14.66,14.70,14.77
$GC,5259,0.71,220.5,3567,3811,1976,2146,138.1,14.7,518,5268,0.00,2.50,0.00,0.000,1030,0.000,0.114,3567,2389,2061,1977,2146,0,0,0,0,0,0,14.83,14.73,14.85
$GC,5566,0.71,220.5,3567,2389,1975,2146,100.5,13.2,549,5570,0.00,2.55,0.00,0.000,516,0.000,0.145,3567,981,2060,1975,2146,0,0,0,0,0,0,15.04,14.73,15.06
$GC,5706,0.73,233.9,3566,981,1975,2146,84.8,9.4,577,5723,0.00,2.53,12.02,0.944,9222,0.000,0.115,3567,2408,2010,1922,2098,0,0,0,0,0,0,14.86,14.76,14.31
$GC,6022,0.79,243.8,3567,2408,1913,2096,53.6,9.5,610,6036,0.00,2.53,8.75,0.900,8452,0.000,0.143,3567,3815,1969,1877,2062,0,0,0,0,0,0,15.02,14.66,14.33
$GC,6093,0.80,252.4,3566,3815,1874,2060,46.7,9.6,624,6106,0.00,2.47,8.20,0.890,9222,0.000,0.110,3567,2395,1937,1840,2035,0,0,0,0,0,0,14.82,14.71,14.30
$GC,6409,1.06,333.2,3566,2395,1829,2030,29.1,6.3,686,6487,0.25,2.62,65.85,0.840,10756,0.102,0.131,3678,987,1601,1514,1688,0,0,0,0,0,0,14.75,14.42,14.12
$GC,6519,1.06,333.2,3678,987,1515,1686,15.9,13.7,705,6526,0.00,2.53,0.00,0.000,1030,0.000,0.109,3678,2399,1599,1513,1686,0,0,0,0,0,0,14.59,14.49,14.62
$STATE,6617,end climb,SURFACE_DEPTH_REACHED
$STATE,6617,begin surface coast
$FINISH,-0.0,1.022635
$STATE,6638,end surface coast,CONTROL_FINISHED_OK
$STATE,6638,begin surface
$SM_CCo,6654,71.85,0.078,0,0,927,500.16
$SM_GC,0.92,9.27,0.22,71.85,0.087,0.138,0.078,189,2298,927,-9.73,0.57,500.16,0,0,0,0,0,0,14.59,14.57,14.59
$IRIDIUM_FIX,-335.81,5545.63,201216,113110
$TT8_MAMPS,0.025466,0.155043
$HUMID,50.94
$INTERNAL_PRESSURE,9.61987
$TCM_TEMP,23.80
$XPDR_PINGS,107
$24V_AH,13.63,3.251
$10V_AH,13.36,0.000
$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,23.975,80.875,386.425,71.850,0.000,0.000,0.000,138.725,26.750,0.000,27.209,1497.717,3609.083,583.928,1217.852,47.541,0.000,1329.788,0.000,1044.334,0.000,0.539,0.000
$DEVICE_MAMPS,383.265,2204.730,1259.955,78.030,0.000,0.000,0.000,159.120,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311172
$DATA_FILE_SIZE,30105,728
$CAP_FILE_SIZE,82124,0
$CFSIZE,2097872896,2094366720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034,350.71,1
$GPS,201216,152706,-336.274,5543.750,39,0.8,42,-4.7,0.2,143.9,9,9.1