version: 66.12
glider: 528
mission: 3
dive: 11
start: 12 20 116 21 18 23
data:
$ID,528
$MISSION,3
$DIVE,11
$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,360
$T_MISSION,410
$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,450
$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,18
$R_STBD_OVSHOOT,13
$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
$GPS1,201216,211259,-333.5527,5544.7778,42,1.1,48,-4.7,0.4,62.3,5,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.4
$GPS2,201216,211758,-333.5332,5544.8032,24,1.6,31,-4.7,0.0,84.7,5,9.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,S
$TGT_LATLONG,-300.000,5600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,43.8,68167,-16.9,-9.167,-19.93,2437
$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,15,-0.74,-146.0,191,2288,1112,1139,0.0,0.0,0,100,0.00,0.00,-82.70,0.000,16386,0.000,0.000,192,2287,3177,3020,3335,0,0,0,0,0,0,14.76,28.83,14.78
$GC,103,-0.74,-146.0,192,2287,3021,3334,3.8,-5.1,14,129,11.93,2.75,-6.75,0.000,18948,0.390,2.213,3076,892,3564,3346,3783,0,0,0,0,0,0,14.33,13.69,14.50
$GC,177,-0.51,-146.0,3076,893,3347,3786,30.0,-27.6,27,185,0.25,2.53,0.00,0.000,3078,0.256,0.108,3147,2310,3566,3346,3786,0,0,0,0,0,0,14.42,14.48,14.57
$GC,487,-0.62,-146.0,3146,2310,3347,3790,65.9,-9.6,70,496,0.00,2.50,0.00,0.000,260,0.000,0.137,3147,3711,3568,3346,3790,0,0,0,0,0,0,14.88,14.58,14.90
$GC,622,-0.78,-146.0,3146,3710,3349,3789,80.8,-10.0,97,629,0.25,2.42,0.00,0.000,5126,0.113,0.097,3056,2299,3569,3349,3790,0,0,0,0,0,0,14.66,14.64,14.74
$GC,927,-0.78,-146.0,3055,2299,3353,3790,115.1,-13.2,128,932,0.00,2.53,0.00,0.000,516,0.000,0.135,3056,890,3571,3353,3790,0,0,0,0,0,0,14.97,14.67,14.99
$GC,983,-0.78,-146.0,3055,890,3354,3790,122.6,-13.4,139,990,0.00,2.45,0.00,0.000,1030,0.000,0.099,3053,2305,3571,3354,3789,0,0,0,0,0,0,14.80,14.69,14.82
$GC,1288,-0.78,-146.0,3052,2305,3356,3790,158.3,-10.0,170,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2305,3573,3356,3790,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1589,-0.78,-146.0,3052,2305,3356,3790,187.9,-9.1,200,1594,0.00,2.47,0.00,0.000,260,0.000,0.135,3053,3711,3573,3356,3790,0,0,0,0,0,0,15.02,14.73,15.05
$GC,1651,-0.83,-146.0,3053,3711,3356,3790,193.4,-9.2,212,1656,0.00,2.42,0.00,0.000,1030,0.000,0.104,3053,2301,3573,3356,3790,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1962,-0.83,-146.0,3053,2301,3355,3790,221.4,-9.6,244,1967,0.00,2.53,0.00,0.000,516,0.000,0.145,3053,893,3573,3356,3790,0,0,0,0,0,0,15.04,14.75,15.07
$GC,2033,-0.83,-146.0,3052,892,3356,3790,228.4,-9.7,258,2038,0.00,2.45,0.00,0.000,1030,0.000,0.107,3053,2300,3572,3355,3790,0,0,0,0,0,0,14.88,14.77,14.90
$GC,2360,-0.83,-146.0,3052,2300,3355,3790,259.8,-9.9,285,2366,0.00,2.47,0.00,0.000,260,0.000,0.142,3053,3703,3572,3355,3790,0,0,0,0,0,0,15.07,14.76,15.09
$GC,2457,-0.88,-146.0,3052,3703,3355,3789,269.4,-9.8,305,2462,0.00,2.42,0.00,0.000,1030,0.000,0.109,3053,2302,3572,3355,3789,0,0,0,0,0,0,14.90,14.78,14.91
$GC,2774,-0.88,-146.0,3052,2301,3352,3789,296.3,-8.0,318,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2301,3570,3352,3789,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3074,-0.92,-146.0,3052,2301,3351,3789,320.3,-8.2,328,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2301,3570,3351,3789,0,0,0,0,0,0,15.10,15.12,15.12
$GC,3374,-0.95,-146.0,3053,2301,3351,3786,343.5,-7.3,338,3376,0.12,0.00,0.00,0.000,4102,0.157,0.000,2995,2302,3568,3351,3786,0,0,0,0,0,0,14.88,14.97,14.95
$GC,3674,-0.89,-146.0,2995,2301,3351,3782,373.3,-10.8,348,3679,0.12,2.55,0.00,0.000,2308,0.268,0.145,3036,3714,3566,3351,3782,0,0,0,0,0,0,14.79,14.81,14.88
$GC,3767,-0.93,-146.0,3035,3714,3351,3780,382.6,-9.0,366,3773,0.00,2.47,0.00,0.000,1030,0.000,0.114,3036,2292,3565,3350,3781,0,0,0,0,0,0,14.95,14.84,14.97
$GC,4096,-0.93,-146.0,3035,2292,3348,3780,415.2,-9.8,382,4100,0.00,2.55,0.00,0.000,516,0.000,0.154,3037,887,3563,3348,3779,0,0,0,0,0,0,15.12,14.82,15.14
$GC,4154,-0.93,-146.0,3036,887,3347,3778,421.5,-10.4,394,4160,0.00,2.53,0.00,0.000,1030,0.000,0.118,3036,2294,3562,3347,3778,0,0,0,0,0,0,14.92,14.82,14.92
$GC,4482,-0.93,-146.0,3035,2294,3347,3776,454.0,-9.8,409,4489,0.00,2.55,0.00,0.000,260,0.000,0.151,3035,3718,3561,3347,3776,0,0,0,0,0,0,15.12,14.81,15.14
$GC,4656,-0.97,-146.0,3035,3718,3346,3774,470.9,-9.1,444,4663,0.00,2.47,0.00,0.000,1030,0.000,0.116,3036,2298,3560,3347,3774,0,0,0,0,0,0,14.94,14.83,14.96
$GC,4962,-0.97,-146.0,3036,2298,3345,3773,497.5,-8.5,455,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2298,3559,3345,3773,0,0,0,0,0,0,15.12,15.14,15.14
$GC,5263,-0.97,-146.0,3036,2298,3345,3771,523.1,-8.5,465,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2298,3558,3345,3772,0,0,0,0,0,0,15.13,15.15,15.15
$GC,5562,-0.97,-146.0,3035,2298,3344,3770,549.7,-8.9,475,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2298,3557,3344,3770,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5863,-0.97,-146.0,3036,2298,3343,3769,576.8,-9.1,485,5869,0.00,2.55,0.00,0.000,260,0.000,0.148,3035,3711,3555,3342,3768,0,0,0,0,0,0,15.14,14.83,15.16
$GC,5906,-1.03,-146.0,3035,3711,3343,3767,580.9,-9.3,494,5911,0.15,2.47,0.00,0.000,5126,0.148,0.121,2989,2302,3555,3343,3768,0,0,0,0,0,0,14.89,14.85,14.97
$GC,6218,-0.96,-146.0,2989,2303,3343,3765,616.3,-11.5,506,6224,0.00,2.60,0.00,0.000,516,0.000,0.164,2989,885,3553,3343,3764,0,0,0,0,0,0,15.14,14.83,15.16
$GC,6266,-0.88,-146.0,2989,885,3343,3764,622.3,-12.6,516,6272,0.17,2.53,0.00,0.000,3078,0.258,0.125,3022,2301,3553,3343,3764,0,0,0,0,0,0,14.79,14.83,14.94
$GC,6578,-0.88,-146.0,3021,2302,3340,3764,654.2,-10.8,528,6583,0.00,2.53,0.00,0.000,260,0.000,0.151,3022,3717,3552,3340,3764,0,0,0,0,0,0,15.14,14.82,15.16
$GC,6678,-0.92,-146.0,3021,3717,3341,3764,664.8,-9.7,548,6683,0.00,2.47,0.00,0.000,1030,0.000,0.118,3022,2299,3552,3340,3764,0,0,0,0,0,0,14.95,14.84,14.97
$GC,6999,-0.92,-146.0,3021,2299,3340,3762,696.0,-9.6,562,7004,0.00,2.58,0.00,0.000,260,0.000,0.148,3022,3719,3551,3340,3762,0,0,0,0,0,0,15.14,14.81,15.16
$GC,7026,-0.96,-146.0,3021,3719,3340,3762,698.5,-9.1,567,7033,0.00,2.50,0.00,0.000,1030,0.000,0.119,3021,2294,3551,3340,3762,0,0,0,0,0,0,14.95,14.85,14.97
$GC,7355,-0.96,-146.0,3022,2294,3338,3761,730.2,-9.8,583,7360,0.00,2.58,0.00,0.000,260,0.000,0.148,3022,3715,3549,3338,3761,0,0,0,0,0,0,15.11,14.81,15.14
$GC,7395,-1.01,-146.0,3021,3715,3338,3761,734.5,-10.7,591,7399,0.00,2.47,0.00,0.000,1030,0.000,0.119,3022,2299,3549,3338,3761,0,0,0,0,0,0,14.95,14.84,14.97
$GC,7707,-1.04,-146.0,3022,2299,3338,3759,764.7,-9.5,603,7715,0.15,2.58,0.00,0.000,4356,0.168,0.148,2978,3717,3548,3338,3758,0,0,0,0,0,0,14.85,14.81,14.91
$GC,7745,-0.97,-146.0,2977,3717,3338,3758,769.2,-12.0,611,7750,0.00,2.50,0.00,0.000,1030,0.000,0.120,2978,2290,3548,3338,3758,0,0,0,0,0,0,14.95,14.83,14.97
$GC,8062,-0.90,-146.0,2977,2291,3338,3757,805.0,-11.3,624,8064,0.17,0.00,0.00,0.000,2054,0.275,0.000,3021,2291,3547,3338,3756,0,0,0,0,0,0,14.78,14.97,14.94
$GC,8362,-0.90,-146.0,3019,2291,3337,3756,833.8,-9.4,634,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2291,3546,3337,3756,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8662,-0.90,-146.0,3020,2291,3336,3756,862.1,-9.5,644,8666,0.00,2.60,0.00,0.000,260,0.000,0.152,3020,3719,3546,3336,3756,0,0,0,0,0,0,15.14,14.81,15.16
$GC,8701,-0.93,-146.0,3020,3720,3335,3755,866.2,-10.0,652,8706,0.00,2.50,0.00,0.000,1030,0.000,0.122,3020,2298,3546,3336,3756,0,0,0,0,0,0,14.95,14.83,14.97
$GC,9023,-0.93,-146.0,3019,2298,3336,3754,897.1,-10.1,666,9027,0.00,2.58,0.00,0.000,260,0.000,0.153,3020,3711,3545,3336,3754,0,0,0,0,0,0,15.13,14.81,15.16
$GC,9058,-0.97,-146.0,3019,3711,3336,3754,900.8,-10.5,673,9062,0.00,2.47,0.00,0.000,1030,0.000,0.122,3020,2301,3544,3336,3753,0,0,0,0,0,0,14.95,14.83,14.97
$GC,9374,-0.97,-146.0,3019,2301,3335,3752,933.1,-10.2,686,9378,0.00,2.58,0.00,0.000,260,0.000,0.154,3019,3712,3544,3335,3753,0,0,0,0,0,0,15.11,14.81,15.13
$GC,9413,-1.01,-146.0,3019,3712,3335,3752,937.5,-11.0,694,9418,0.00,2.50,0.00,0.000,1030,0.000,0.124,3019,2297,3543,3335,3752,0,0,0,0,0,0,14.95,14.83,14.97
$GC,9725,-1.01,-146.0,3019,2296,3334,3752,966.9,-9.2,706,9729,0.00,2.60,0.00,0.000,260,0.000,0.155,3019,3718,3543,3334,3752,0,0,0,0,0,0,15.13,14.80,15.15
$GC,9744,-1.01,-146.0,3019,3718,3334,3752,968.8,-9.4,710,9751,0.00,2.50,0.00,0.000,1030,0.000,0.123,3019,2299,3543,3334,3752,0,0,0,0,0,0,14.95,14.83,14.97
$STATE,9990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9990,begin apogee
$GC,9994,-0.17,0.0,3019,2399,3334,3751,990.2,-8.5,719,10136,0.77,0.00,138.60,1.984,10246,0.236,0.000,3249,2399,2966,2863,3069,0,0,0,0,0,0,14.77,13.93,13.26
$STATE,10137,end apogee,CONTROL_FINISHED_OK
$STATE,10137,begin climb
$GC,10138,0.74,146.0,3249,2399,2859,3062,992.5,0.0,723,10293,0.95,2.88,142.02,1.969,10756,0.171,0.159,3554,996,2362,2304,2420,0,0,1,0,0,0,13.89,13.79,13.19
$GC,10355,0.68,146.0,3554,996,2298,2418,974.7,12.0,771,10363,0.00,2.67,0.00,0.000,1030,0.000,0.131,3554,2403,2357,2296,2418,0,0,0,0,0,0,14.24,14.13,14.26
$GC,10685,0.60,146.0,3553,2403,2290,2417,933.6,12.3,787,10693,0.15,2.62,0.00,0.000,4356,0.301,0.159,3519,3811,2353,2290,2416,0,0,0,0,0,0,14.40,14.46,14.55
$GC,10745,0.56,146.0,3518,3812,2289,2414,926.3,12.0,799,10753,0.00,2.58,0.00,0.000,1030,0.000,0.130,3519,2399,2351,2289,2414,0,0,0,0,0,0,14.62,14.50,14.64
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$STATE,19863,end climb,SURFACE_DEPTH_REACHED
$STATE,19864,begin surface coast
$FINISH,0.3,1.010057
$STATE,19901,end surface coast,CONTROL_FINISHED_OK
$STATE,19901,begin surface
$SM_CCo,19916,51.47,0.082,0,0,1131,450.12
$SM_GC,1.00,8.95,0.17,51.47,0.080,0.150,0.082,234,2304,1131,-9.71,0.65,450.12,0,0,0,0,0,0,14.64,14.62,14.62
$IRIDIUM_FIX,-335.81,5545.63,201216,152812
$TT8_MAMPS,0.025466,0.155792
$HUMID,48.58
$INTERNAL_PRESSURE,9.60034
$TCM_TEMP,24.00
$XPDR_PINGS,279
$24V_AH,13.19,3.865
$10V_AH,12.92,0.000
$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,25.125,173.450,444.150,51.475,0.000,0.000,0.000,198.575,69.750,0.000,32.575,2949.259,14189.964,649.679,2383.315,92.774,0.000,2053.077,0.000,2117.528,0.000,0.540,0.000
$DEVICE_MAMPS,390.150,2213.145,1984.410,81.855,0.000,0.000,0.000,175.185,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311200
$DATA_FILE_SIZE,63362,1489
$CAP_FILE_SIZE,175958,0
$CFSIZE,2097872896,2094006272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.092,312.69,1
$GPS,211216,025231,-331.062,5546.062,41,0.8,45,-4.6,0.5,66.3,8,10.0