version: 66.12
glider: 528
mission: 2
dive: 4
start: 1 5 116 19 12 28
data:
$ID,528
$MISSION,2
$DIVE,4
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$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,50
$T_MISSION,65
$T_ABORT,720
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52155
$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,691.79187
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3970
$C_PITCH,3310
$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,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3830
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2065
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$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,3000
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$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,-57.168339
$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,80
$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
$GPS1,050116,190942,4742.9888,-12223.6631,5,1.2,11,16.3,0.0,10.2,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-71.9
$GPS2,050116,191202,4742.9648,-12223.6553,7,1.2,13,16.3,0.0,0.0,8,8.9
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,297.1,1946,-18.2,-10.000,-20.99,2236
$D_GRID,154
$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,-146.6,165,1995,525,482,0.0,0.0,0,144,0.00,0.00,-126.00,0.000,16386,0.000,0.000,165,1995,3276,3108,3444,0,0,0,0,0,0,14.87,28.83,14.89
$GC,146,-0.79,-146.6,165,1996,3110,3444,3.3,-8.6,22,173,13.73,2.95,-6.18,0.000,18692,0.474,2.277,3044,3417,3599,3373,3825,6,0,0,0,0,0,14.42,13.78,14.69
$GC,200,-0.67,-146.6,3044,3417,3374,3827,20.0,-21.0,31,207,0.17,2.60,0.00,0.000,3078,0.298,0.138,3086,1995,3600,3374,3827,0,0,0,0,0,0,14.49,14.54,14.66
$GC,389,-0.70,-146.6,3086,1993,3374,3828,49.6,-14.5,68,396,0.00,2.62,0.00,0.000,260,0.000,0.155,3085,3410,3600,3374,3827,0,0,0,0,0,0,14.90,14.60,14.91
$GC,558,-0.76,-146.6,3086,3410,3374,3828,74.0,-14.5,101,565,0.00,2.55,0.00,0.000,1030,0.000,0.136,3086,2001,3601,3374,3828,0,0,0,0,0,0,14.78,14.65,14.80
$GC,744,-0.81,-146.6,3086,2000,3374,3828,100.3,-14.3,120,750,0.12,2.60,0.00,0.000,4356,0.199,0.154,3044,3410,3601,3374,3828,0,0,0,0,0,0,14.70,14.67,14.76
$GC,857,-0.81,-146.6,3044,3410,3374,3828,117.6,-15.8,142,866,0.00,2.55,0.00,0.000,1030,0.000,0.139,3044,2000,3601,3374,3828,0,0,0,0,0,0,14.82,14.69,14.85
$STATE,1037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1037,begin apogee
$GC,1041,-0.17,0.0,3044,2071,3374,3828,147.6,-16.4,161,1169,0.70,0.00,118.43,1.304,10246,0.255,0.000,3249,2071,3000,2862,3138,0,0,0,0,1,0,14.66,14.19,13.67
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1170,begin climb
$GC,1171,0.79,146.6,3249,2071,2862,3137,156.1,0.0,174,1309,1.00,2.90,119.20,1.275,10756,0.200,0.183,3555,654,2401,2290,2512,0,0,0,0,1,0,14.10,13.96,13.54
$GC,1341,1.04,278.7,3554,654,2290,2512,157.9,4.0,208,1493,0.28,2.67,139.52,0.968,11270,0.137,0.133,3648,2072,1852,1690,2014,0,0,0,0,0,0,14.20,14.18,13.72
$GC,1671,1.01,278.7,3648,2072,1672,2008,122.3,12.7,256,1676,0.00,2.67,0.00,0.000,260,0.000,0.164,3648,3484,1840,1672,2008,0,0,0,0,0,0,14.69,14.41,14.71
$GC,1903,0.94,278.7,3648,3484,1672,2008,89.7,13.6,302,1913,0.15,2.60,0.00,0.000,5126,0.285,0.138,3615,2062,1840,1672,2008,0,0,0,0,0,0,14.51,14.56,14.68
$GC,2093,0.98,278.7,3615,2062,1672,2008,69.3,10.0,322,2102,0.00,2.65,0.00,0.000,260,0.000,0.157,3615,3482,1840,1672,2008,0,0,0,0,0,0,14.91,14.62,14.93
$GC,2264,0.98,278.7,3615,3482,1671,2008,49.7,11.5,356,2271,0.00,2.58,0.00,0.000,1030,0.000,0.132,3616,2058,1840,1671,2009,0,0,0,0,0,0,14.78,14.66,14.81
$GC,2454,1.07,288.9,3615,2058,1671,2008,31.3,9.5,393,2463,0.12,2.70,2.58,0.456,10500,0.174,0.155,3667,3481,1821,1653,1990,0,0,0,0,0,0,14.71,14.67,14.19
$GC,2620,1.02,288.9,3667,3481,1657,1991,8.6,13.6,425,2627,0.00,2.58,0.00,0.000,1030,0.000,0.139,3667,2059,1825,1659,1991,0,0,0,0,0,0,14.81,14.69,14.83
$STATE,2663,end climb,SURFACE_DEPTH_REACHED
$STATE,2663,begin surface coast
$FINISH,0.2,1.021946
$STATE,2685,end surface coast,CONTROL_FINISHED_OK
$STATE,2685,begin surface
$SM_CCo,2701,157.02,0.093,0,0,498,613.24
$SM_CCo,2861,-0.28,0.000,0,0,501,613.24
$SM_CCo,2864,0.40,0.118,0,0,499,613.24
$SM_GC,0.85,9.90,0.12,0.40,0.151,0.220,0.118,224,1995,499,-9.70,0.51,613.24,0,0,0,0,0,0,14.69,14.69,14.66
$IRIDIUM_FIX,4722.92,-12220.67,050116,190631
$TT8_MAMPS,0.025466,0.116095
$HUMID,47.79
$INTERNAL_PRESSURE,9.16087
$TCM_TEMP,19.50
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,120.7,38.1
$24V_AH,13.54,1.161
$10V_AH,13.04,0.000
$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,26.175,37.525,379.725,157.425,0.000,0.000,0.000,0.000,11.750,0.000,14.509,787.370,836.614,629.408,657.419,25.047,0.000,1033.094,0.000,632.541,0.000,14.577,0.000
$DEVICE_MAMPS,473.535,2276.640,1304.325,117.810,0.000,0.000,0.000,0.000,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312804
$DATA_FILE_SIZE,16821,437
$CAP_FILE_SIZE,64418,0
$CFSIZE,2097872896,2094923776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,0,2,1,0
$CURRENT,0.086,175.11,1
$GPS,050116,200059,4742.987,-12223.950,5,1.3,13,16.3,0.0,164.2,7,10.0