version: 66.12
glider: 528
mission: 3
dive: 626
start: 5 31 117 6 1 40
data:
$ID,528
$MISSION,3
$DIVE,626
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,330
$T_MISSION,390
$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,0.0026437801
$HD_B,0.018580301
$HD_C,4.38354e-05
$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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,1000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3830
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,250
$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,0.00211
$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,3
$DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10.5
$MINV_10V,10.5
$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
$GPS1,310517,055504,306.5376,5633.2905,33,0.7,35,-2.4,0.0,306.4,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-69.7
$GPS2,310517,060112,306.5793,5633.3252,6,0.8,11,-2.4,0.5,26.9,10,9.7
$SPEED_LIMITS,0.173,0.174
$TGT_NAME,E2
$TGT_LATLONG,200.000,5612.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,191.2,129468,-22.7,-10.000,-29.95,1983
$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,14,begin dive
$GC,16,-1.15,-146.0,192,2356,1115,1132,0.0,0.0,0,99,0.00,0.00,-79.95,0.000,16386,0.000,0.000,192,2357,3171,3020,3322,0,0,0,0,0,0,14.75,28.83,14.77
$GC,102,-1.15,-146.0,192,2357,3021,3323,3.5,-7.5,14,121,1.73,2.85,-8.62,0.000,18692,0.363,2.071,620,3765,3565,3360,3770,0,0,0,0,0,0,13.76,12.76,14.23
$GC,153,-1.15,-146.0,620,3765,3363,3770,26.0,-45.4,23,160,0.00,2.45,0.00,0.000,1030,0.000,0.067,621,2348,3566,3363,3770,0,0,0,0,0,0,14.47,14.36,14.51
$GC,369,-1.15,-146.0,621,2350,3366,3770,104.5,-31.2,49,374,0.00,2.58,0.00,0.000,516,0.000,0.119,620,939,3568,3367,3769,0,0,0,0,0,0,14.85,14.27,14.87
$GC,535,-1.15,-146.0,620,939,3371,3770,151.4,-24.8,82,542,0.00,2.50,0.00,0.000,1030,0.000,0.080,621,2360,3570,3371,3769,0,0,0,0,0,0,14.50,14.37,14.54
$GC,742,-1.15,-146.0,621,2360,3375,3770,202.7,-25.4,103,751,0.00,2.50,0.00,0.000,260,0.000,0.103,621,3762,3572,3374,3770,0,0,0,0,0,0,14.93,14.33,14.95
$GC,885,-1.15,-146.0,620,3762,3377,3769,239.5,-25.8,131,894,0.00,2.40,0.00,0.000,1030,0.000,0.067,621,2356,3573,3377,3769,0,0,0,0,0,0,14.36,14.28,14.42
$GC,1114,-1.15,-146.0,620,2358,3378,3770,301.6,-27.6,143,1120,0.00,2.60,0.00,0.000,516,0.000,0.122,621,936,3574,3378,3770,0,0,0,0,0,0,14.98,14.29,15.00
$GC,1234,-1.15,-146.0,620,936,3378,3770,336.0,-28.5,167,1240,0.00,2.50,0.00,0.000,1030,0.000,0.083,621,2347,3574,3378,3770,0,0,0,0,0,0,14.53,14.39,14.58
$GC,1444,-1.15,-146.0,620,2347,3378,3769,396.0,-28.3,179,1450,0.00,2.55,0.00,0.000,260,0.000,0.107,621,3767,3573,3378,3769,0,0,0,0,0,0,15.00,14.33,15.01
$GC,1518,-1.15,-146.0,620,3767,3378,3769,416.8,-27.9,194,1522,0.00,2.47,0.00,0.000,1030,0.000,0.070,621,2337,3573,3378,3769,0,0,0,0,0,0,14.56,14.42,14.59
$GC,1740,-1.15,-146.0,621,2338,3378,3769,477.1,-27.1,203,1746,0.00,2.55,0.00,0.000,516,0.000,0.121,621,942,3573,3378,3769,0,0,0,0,0,0,14.96,14.33,14.98
$GC,1920,-1.15,-146.0,620,942,3378,3769,526.2,-27.0,239,1926,0.00,2.53,0.00,0.000,1030,0.000,0.086,620,2354,3573,3378,3768,0,0,0,0,0,0,14.53,14.38,14.57
$GC,2130,-1.15,-146.0,621,2355,3375,3768,585.2,-28.4,251,2136,0.00,2.55,0.00,0.000,260,0.000,0.109,621,3765,3571,3375,3768,0,0,0,0,0,0,15.01,14.31,15.02
$GC,2364,-1.15,-146.0,620,3765,3373,3766,654.1,-30.0,298,2371,0.00,2.47,0.00,0.000,1030,0.000,0.071,621,2354,3569,3373,3766,0,0,0,0,0,0,14.54,14.40,14.58
$GC,2580,-1.15,-146.0,620,2354,3374,3763,718.3,-30.0,306,2586,0.00,2.55,0.00,0.000,516,0.000,0.111,621,936,3568,3373,3763,0,0,0,0,0,0,15.00,14.26,15.02
$GC,2813,-1.15,-146.0,621,935,3372,3762,790.9,-30.0,353,2821,0.00,2.50,0.00,0.000,1030,0.000,0.074,621,2357,3566,3372,3761,0,0,0,0,0,0,14.52,14.38,14.57
$GC,3030,-1.15,-146.0,620,2357,3371,3761,853.9,-28.9,361,3035,0.00,2.53,0.00,0.000,260,0.000,0.100,621,3768,3566,3371,3761,0,0,0,0,0,0,15.00,14.33,15.02
$GC,3261,-1.15,-146.0,620,3769,3368,3759,920.8,-28.5,407,3265,0.00,2.53,0.00,0.000,1030,0.000,0.077,621,2339,3563,3368,3759,0,0,0,0,0,0,14.51,14.38,14.55
$GC,3478,-1.15,-146.0,620,2339,3367,3757,980.7,-27.7,415,3484,0.00,2.53,0.00,0.000,516,0.000,0.108,621,941,3561,3366,3757,0,0,0,0,0,0,15.01,14.28,15.02
$STATE,3509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3509,begin apogee
$GC,3518,-0.19,0.0,621,2356,3367,3757,990.4,-27.8,422,3651,1.42,0.00,128.93,2.127,10246,0.387,0.000,931,2356,2966,2884,3049,0,0,0,0,0,0,13.64,13.97,12.91
$STATE,3652,end apogee,CONTROL_FINISHED_OK
$STATE,3652,begin climb
$GC,3654,1.15,146.0,931,2356,2882,3046,1016.7,0.0,426,3797,1.85,2.65,131.80,2.127,10500,0.376,0.117,1361,3758,2368,2342,2394,0,0,0,0,0,0,13.78,13.93,12.92
$GC,3898,1.15,146.0,1361,3758,2341,2376,970.5,27.5,479,3905,0.00,2.58,0.00,0.000,1030,0.000,0.098,1361,2342,2359,2340,2379,0,0,0,0,0,0,14.42,14.33,14.45
$GC,4115,1.15,146.0,1361,2342,2335,2374,912.3,27.1,487,4121,0.00,2.53,0.00,0.000,516,0.000,0.106,1361,943,2355,2335,2376,0,0,0,0,0,0,14.80,14.36,14.81
$GC,4348,1.15,146.0,1361,943,2332,2372,850.2,25.3,534,4355,0.00,2.50,0.00,0.000,1030,0.000,0.080,1361,2354,2353,2332,2375,0,0,0,0,0,0,14.56,14.44,14.61
$GC,4565,1.15,146.0,1361,2354,2330,2371,795.8,25.1,542,4571,0.00,2.53,0.00,0.000,516,0.000,0.095,1361,947,2351,2330,2372,0,0,0,0,0,0,14.90,14.35,14.92
$GC,4798,1.15,146.0,1361,948,2328,2369,738.3,24.5,589,4805,0.00,2.50,0.00,0.000,1030,0.000,0.083,1361,2353,2350,2329,2371,0,0,0,0,0,0,14.57,14.44,14.62
$GC,5015,1.15,146.0,1361,2354,2327,2370,686.5,24.3,597,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,2354,2348,2327,2369,0,0,0,0,0,0,14.92,14.95,14.95
$GC,5225,1.15,146.0,1361,2355,2325,2367,636.6,23.6,604,5232,0.00,2.55,0.00,0.000,260,0.000,0.109,1361,3760,2347,2325,2370,0,0,0,0,0,0,14.97,14.31,15.00
$GC,5418,1.15,146.0,1361,3761,2324,2365,589.0,23.4,643,5422,0.00,2.58,0.00,0.000,1030,0.000,0.109,1362,2359,2345,2324,2367,0,0,0,0,0,0,14.51,14.33,14.57
$GC,5640,1.15,146.0,1362,2359,2322,2366,535.5,24.2,652,5647,0.00,2.60,0.00,0.000,516,0.000,0.119,1362,936,2344,2322,2366,0,0,0,0,0,0,14.94,14.31,14.96
$GC,5873,1.15,146.0,1361,936,2322,2365,477.8,24.3,699,5880,0.00,2.50,0.00,0.000,1030,0.000,0.075,1361,2353,2343,2322,2365,0,0,0,0,0,0,14.52,14.38,14.59
$GC,6090,1.15,146.0,1361,2353,2321,2364,424.9,24.6,707,6096,0.00,2.60,0.00,0.000,516,0.000,0.102,1361,936,2342,2321,2364,0,0,0,0,0,0,14.95,14.28,14.96
$GC,6324,1.15,146.0,1361,936,2321,2364,367.2,23.4,754,6330,0.00,2.50,0.00,0.000,1030,0.000,0.073,1361,2353,2342,2321,2364,0,0,0,0,0,0,14.52,14.38,14.58
$GC,6541,1.15,146.0,1361,2354,2321,2364,316.6,23.4,762,6546,0.00,2.50,0.00,0.000,260,0.000,0.093,1361,3767,2341,2320,2363,0,0,0,0,0,0,14.98,14.30,15.00
$GC,6704,1.15,146.0,1361,3768,2320,2363,278.9,22.1,795,6708,0.00,2.62,0.00,0.000,1030,0.000,0.103,1362,2339,2341,2320,2363,0,0,0,0,0,0,14.47,14.31,14.54
$GC,6916,1.15,146.0,1361,2339,2320,2362,231.1,22.7,809,6920,0.00,2.50,0.00,0.000,516,0.000,0.094,1361,933,2341,2320,2362,0,0,0,0,0,0,14.94,14.35,14.95
$GC,7149,1.15,146.0,1361,933,2320,2362,180.5,20.1,855,7158,0.00,2.53,0.00,0.000,1030,0.000,0.079,1361,2355,2340,2319,2362,0,0,0,0,0,0,14.48,14.34,14.54
$GC,7359,1.15,146.0,1361,2354,2319,2362,140.8,17.2,877,7364,0.00,2.55,0.00,0.000,260,0.000,0.099,1361,3768,2340,2319,2362,0,0,0,0,0,0,14.96,14.27,14.98
$GC,7515,1.15,146.0,1361,3768,2319,2362,115.0,12.9,908,7521,0.00,2.62,0.00,0.000,1030,0.000,0.101,1362,2340,2340,2319,2362,0,0,0,0,0,0,14.44,14.28,14.51
$GC,7722,1.15,146.0,1361,2340,2318,2362,89.2,12.1,929,7726,0.00,2.53,0.00,0.000,516,0.000,0.103,1362,933,2340,2318,2362,0,0,0,0,0,0,14.92,14.21,14.94
$GC,7954,1.43,277.9,1361,933,2318,2362,72.8,3.2,975,8065,0.38,2.53,103.78,0.921,11270,0.377,0.071,1445,2373,1834,1822,1846,0,0,0,0,0,0,13.49,14.26,13.56
$GC,8265,1.43,277.9,1444,2373,1802,1837,33.7,16.9,1028,8272,0.00,2.65,0.00,0.000,516,0.000,0.100,1445,934,1819,1802,1837,0,0,0,0,0,0,14.74,14.23,14.76
$GC,8402,1.43,277.9,1445,934,1801,1836,9.9,18.0,1054,8408,0.00,2.53,0.00,0.000,1030,0.000,0.077,1445,2358,1818,1800,1836,0,0,0,0,0,0,14.44,14.30,14.49
$STATE,8439,end climb,SURFACE_DEPTH_REACHED
$STATE,8439,begin surface coast
$FINISH,0.2,1.022186
$STATE,8455,end surface coast,CONTROL_FINISHED_OK
$STATE,8455,begin surface
$SM_CCo,8468,78.20,0.076,0,0,1132,450.12
$SM_GC,0.41,3.30,0.00,78.20,0.069,0.000,0.076,182,2360,1132,-2.47,0.28,450.12,0,0,0,0,0,0,14.37,14.83,14.33
$IRIDIUM_FIX,301.25,5633.57,310517,003637
$TT8_MAMPS,0.025466,0.116095
$HUMID,62.83
$INTERNAL_PRESSURE,9.64917
$TCM_TEMP,21.00
$XPDR_PINGS,163
$24V_AH,12.76,179.409
$10V_AH,13.09,0.000
$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,8.675,106.875,364.500,78.200,0.000,0.000,0.000,249.925,40.750,0.000,11.556,1521.818,4860.330,546.134,1794.688,180.928,0.000,1645.085,0.000,1523.791,0.000,0.540,0.000
$DEVICE_MAMPS,387.090,2070.855,2127.465,76.500,0.000,0.000,0.000,179.775,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,310300
$DATA_FILE_SIZE,46667,1064
$CAP_FILE_SIZE,102447,0
$CFSIZE,2097872896,2011594752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.102,38.72,1
$GPS,310517,082529,306.926,5633.558,41,1.0,44,-2.4,0.9,91.2,7,8.9