version: 66.12
glider: 528
mission: 3
dive: 12
start: 12 21 116 2 57 17
data:
$ID,528
$MISSION,3
$DIVE,12
$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,14
$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
$GPS1,211216,025231,-331.0622,5546.0625,41,0.8,45,-4.6,0.5,66.3,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.0
$GPS2,211216,025652,-331.0548,5546.1089,5,0.8,9,-4.6,0.0,0.0,10,10.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,S
$TGT_LATLONG,-300.000,5600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,48.9,62991,-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,13,begin dive
$GC,15,-0.74,-146.0,227,2293,1114,1138,0.0,0.0,0,98,0.00,0.00,-80.05,0.000,16386,0.000,0.000,227,2293,3098,2950,3246,0,0,0,0,0,0,14.76,28.83,14.78
$GC,100,-0.74,-146.0,227,2293,2950,3247,3.5,-4.5,14,127,11.80,2.88,-8.62,0.000,18948,0.385,2.225,3077,888,3565,3338,3793,0,0,0,0,0,0,14.36,13.70,14.59
$GC,194,-0.57,-146.0,3076,887,3341,3793,30.5,-21.4,31,202,0.20,2.53,0.00,0.000,3078,0.265,0.105,3132,2312,3567,3341,3794,0,0,0,0,0,0,14.45,14.51,14.59
$GC,509,-0.65,-146.0,3131,2312,3345,3794,67.2,-10.8,77,518,0.00,2.45,0.00,0.000,260,0.000,0.125,3131,3713,3570,3346,3794,0,0,0,0,0,0,14.88,14.60,14.90
$GC,644,-0.78,-146.0,3130,3713,3348,3794,77.6,-6.3,104,652,0.20,2.42,0.00,0.000,5126,0.125,0.094,3051,2294,3571,3348,3794,0,0,0,0,0,0,14.66,14.65,14.74
$GC,950,-0.78,-146.0,3051,2294,3352,3794,109.6,-9.8,135,955,0.00,2.47,0.00,0.000,516,0.000,0.130,3051,893,3573,3351,3795,0,0,0,0,0,0,14.96,14.68,14.98
$GC,1131,-0.78,-146.0,3051,893,3353,3794,130.1,-12.2,171,1135,0.00,2.45,0.00,0.000,1030,0.000,0.103,3050,2302,3573,3352,3795,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1442,-0.78,-146.0,3050,2303,3353,3795,161.2,-9.6,203,1446,0.00,2.47,0.00,0.000,260,0.000,0.129,3050,3718,3574,3353,3795,0,0,0,0,0,0,15.01,14.72,15.03
$GC,1548,-0.82,-146.0,3050,3718,3353,3794,172.1,-10.1,224,1554,0.00,2.42,0.00,0.000,1030,0.000,0.099,3050,2299,3574,3353,3795,0,0,0,0,0,0,14.85,14.75,14.87
$GC,1853,-0.82,-146.0,3050,2299,3353,3795,206.6,-10.6,255,1857,0.00,2.53,0.00,0.000,260,0.000,0.133,3051,3718,3574,3353,3795,0,0,0,0,0,0,15.03,14.74,15.05
$GC,1884,-0.86,-146.0,3050,3718,3353,3795,209.7,-10.2,261,1894,0.00,2.42,0.00,0.000,1030,0.000,0.103,3050,2303,3574,3353,3795,0,0,0,0,0,0,14.87,14.77,14.88
$GC,2194,-0.86,-146.0,3050,2303,3353,3794,239.2,-9.2,293,2198,0.00,2.53,0.00,0.000,260,0.000,0.133,3051,3720,3574,3353,3795,0,0,0,0,0,0,15.05,14.76,15.07
$GC,2221,-0.90,-146.0,3050,3720,3353,3794,241.6,-9.0,298,2231,0.00,2.42,0.00,0.000,1030,0.000,0.101,3050,2299,3574,3353,3795,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2551,-0.93,-146.0,3050,2299,3352,3794,271.7,-8.8,316,2557,0.00,2.53,0.00,0.000,516,0.000,0.142,3051,888,3572,3351,3794,0,0,0,0,0,0,15.07,14.78,15.09
$GC,2599,-0.98,-146.0,3050,888,3351,3794,276.5,-9.9,326,2604,0.17,2.45,0.00,0.000,5126,0.124,0.106,2989,2303,3572,3351,3794,0,0,0,0,0,0,14.84,14.79,14.90
$GC,2905,-0.89,-146.0,2989,2302,3348,3794,312.6,-12.2,337,2912,0.15,2.47,0.00,0.000,2308,0.248,0.137,3022,3707,3571,3348,3794,0,0,0,0,0,0,14.76,14.79,14.86
$GC,3039,-0.89,-146.0,3021,3708,3348,3794,327.3,-11.1,364,3043,0.00,2.45,0.00,0.000,1030,0.000,0.112,3022,2298,3571,3348,3794,0,0,0,0,0,0,14.91,14.81,14.93
$GC,3350,-0.89,-146.0,3022,2298,3345,3793,359.6,-10.5,376,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2298,3569,3345,3793,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3650,-0.89,-146.0,3022,2298,3345,3789,389.1,-9.4,386,3654,0.00,2.55,0.00,0.000,516,0.000,0.151,3022,886,3567,3346,3788,0,0,0,0,0,0,15.11,14.81,15.13
$GC,3729,-0.89,-146.0,3022,885,3345,3787,397.2,-10.5,402,3736,0.00,2.50,0.00,0.000,1030,0.000,0.116,3022,2304,3566,3345,3788,0,0,0,0,0,0,14.93,14.83,14.95
$GC,4036,-0.89,-146.0,3022,2304,3344,3786,426.1,-9.4,413,4040,0.00,2.50,0.00,0.000,260,0.000,0.142,3021,3718,3565,3345,3786,0,0,0,0,0,0,15.11,14.81,15.14
$GC,4093,-0.89,-146.0,3022,3718,3345,3786,431.3,-9.0,424,4099,0.00,2.45,0.00,0.000,1030,0.000,0.112,3022,2301,3565,3344,3786,0,0,0,0,0,0,14.94,14.84,14.96
$GC,4422,-0.89,-146.0,3022,2300,3344,3783,464.2,-10.0,440,4428,0.00,2.55,0.00,0.000,260,0.000,0.143,3022,3717,3563,3344,3783,0,0,0,0,0,0,15.11,14.82,15.14
$GC,4483,-0.92,-146.0,3022,3717,3344,3782,470.3,-10.2,452,4489,0.00,2.47,0.00,0.000,1030,0.000,0.110,3022,2291,3563,3344,3782,0,0,0,0,0,0,14.95,14.84,14.96
$GC,4813,-0.92,-146.0,3022,2291,3342,3781,500.4,-9.0,468,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2291,3561,3342,3780,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5112,-0.92,-146.0,3022,2291,3342,3778,527.7,-9.3,478,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2291,3560,3342,3778,0,0,0,0,0,0,15.13,15.15,15.15
$GC,5412,-0.92,-146.0,3022,2291,3339,3777,557.4,-10.3,488,5419,0.00,2.58,0.00,0.000,260,0.000,0.145,3022,3718,3558,3339,3777,0,0,0,0,0,0,15.13,14.83,15.16
$GC,5460,-0.95,-146.0,3022,3718,3339,3776,562.6,-10.2,498,5465,0.00,2.47,0.00,0.000,1030,0.000,0.116,3022,2298,3558,3339,3777,0,0,0,0,0,0,14.96,14.85,14.97
$GC,5767,-0.95,-146.0,3022,2298,3339,3774,592.7,-9.7,509,5771,0.00,2.55,0.00,0.000,516,0.000,0.156,3022,893,3556,3339,3773,0,0,0,0,0,0,15.13,14.83,15.15
$GC,5801,-0.95,-146.0,3022,892,3339,3773,596.4,-10.1,516,5806,0.00,2.50,0.00,0.000,1030,0.000,0.122,3022,2301,3555,3338,3773,0,0,0,0,0,0,14.95,14.84,14.97
$GC,6118,-0.95,-146.0,3022,2301,3337,3773,626.1,-9.5,529,6122,0.00,2.53,0.00,0.000,260,0.000,0.149,3022,3718,3555,3337,3773,0,0,0,0,0,0,15.13,14.83,15.15
$GC,6223,-0.99,-146.0,3022,3718,3337,3772,636.0,-9.1,550,6228,0.00,2.47,0.00,0.000,1030,0.000,0.118,3022,2301,3554,3337,3772,0,0,0,0,0,0,14.95,14.85,14.97
$GC,6529,-0.99,-146.0,3022,2301,3337,3771,662.8,-8.9,561,6535,0.00,2.58,0.00,0.000,516,0.000,0.157,3023,885,3553,3337,3770,0,0,0,0,0,0,15.13,14.83,15.15
$GC,6552,-0.99,-146.0,3022,884,3337,3770,665.1,-9.9,566,6559,0.00,2.50,0.00,0.000,1030,0.000,0.117,3022,2301,3553,3337,3770,0,0,0,0,0,0,14.95,14.84,14.97
$GC,6859,-0.99,-146.0,3022,2301,3335,3771,691.7,-8.7,577,6865,0.00,2.50,0.00,0.000,260,0.000,0.147,3022,3710,3553,3336,3770,0,0,0,0,0,0,15.13,14.83,15.14
$GC,7053,-1.03,-146.0,3023,3711,3335,3769,708.9,-9.3,616,7057,0.00,2.47,0.00,0.000,1030,0.000,0.117,3022,2295,3552,3336,3769,0,0,0,0,0,0,14.95,14.84,14.96
$GC,7365,-1.06,-146.0,3022,2295,3336,3767,737.7,-9.7,628,7372,0.15,2.58,0.00,0.000,4356,0.159,0.145,2979,3718,3550,3335,3766,0,0,0,0,0,0,14.85,14.81,14.91
$GC,7397,-0.99,-146.0,2979,3718,3335,3766,741.7,-11.8,635,7402,0.00,2.47,0.00,0.000,1030,0.000,0.118,2979,2301,3551,3336,3766,0,0,0,0,0,0,14.95,14.83,14.97
$GC,7724,-0.92,-146.0,2978,2301,3335,3765,781.5,-12.1,650,7732,0.15,2.60,0.00,0.000,2564,0.281,0.158,3017,883,3549,3334,3764,0,0,0,0,0,0,14.78,14.81,14.88
$GC,7756,-0.92,-146.0,3017,883,3334,3764,785.1,-11.4,656,7762,0.00,2.50,0.00,0.000,1030,0.000,0.122,3017,2301,3549,3334,3764,0,0,0,0,0,0,14.89,14.82,14.94
$GC,8085,-0.92,-146.0,3016,2301,3333,3764,817.3,-9.5,672,8091,0.00,2.55,0.00,0.000,260,0.000,0.155,3017,3719,3549,3333,3765,0,0,0,0,0,0,15.12,14.81,15.14
$GC,8223,-0.95,-146.0,3016,3719,3333,3764,830.4,-9.3,700,8228,0.00,2.50,0.00,0.000,1030,0.000,0.122,3017,2299,3548,3333,3764,0,0,0,0,0,0,14.93,14.82,14.96
$GC,8529,-0.95,-146.0,3016,2299,3333,3763,858.1,-9.4,711,8534,0.00,2.58,0.00,0.000,260,0.000,0.153,3016,3713,3547,3333,3762,0,0,0,0,0,0,15.11,14.80,15.14
$GC,8563,-0.95,-146.0,3016,3713,3333,3762,861.5,-9.2,718,8568,0.00,2.50,0.00,0.000,1030,0.000,0.123,3017,2302,3547,3333,3762,0,0,0,0,0,0,14.94,14.83,14.96
$GC,8891,-0.95,-146.0,3016,2301,3332,3762,891.8,-9.1,733,8897,0.00,2.58,0.00,0.000,260,0.000,0.153,3016,3713,3547,3332,3762,0,0,0,0,0,0,15.11,14.80,15.14
$GC,8925,-0.98,-146.0,3016,3713,3332,3762,895.2,-9.5,740,8929,0.00,2.50,0.00,0.000,1030,0.000,0.124,3017,2297,3546,3332,3761,0,0,0,0,0,0,14.93,14.82,14.96
$GC,9246,-0.98,-146.0,3016,2296,3331,3762,924.6,-9.3,754,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2296,3546,3331,3761,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9546,-0.98,-146.0,3016,2296,3330,3760,954.1,-10.2,764,9552,0.00,2.60,0.00,0.000,260,0.000,0.155,3016,3717,3545,3331,3760,0,0,0,0,0,0,15.12,14.81,15.14
$GC,9609,-1.02,-146.0,3016,3717,3330,3759,960.7,-10.5,777,9613,0.00,2.50,0.00,0.000,1030,0.000,0.124,3016,2299,3545,3331,3759,0,0,0,0,0,0,14.94,14.83,14.96
$STATE,9935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9935,begin apogee
$GC,9939,-0.17,0.0,3016,2401,3330,3758,992.5,-9.7,792,10086,0.82,0.00,138.60,1.999,10246,0.231,0.000,3269,2402,2962,2858,3066,0,0,0,0,0,0,14.78,13.93,13.24
$STATE,10087,end apogee,CONTROL_FINISHED_OK
$STATE,10087,begin climb
$GC,10088,0.74,146.0,3270,2402,2857,3065,996.9,0.0,797,10241,0.88,2.85,142.65,1.983,10500,0.158,0.160,3550,3809,2363,2306,2420,0,0,0,0,0,0,13.93,13.78,13.18
$GC,10271,0.63,146.0,3550,3809,2304,2413,984.2,12.0,834,10276,0.00,2.65,0.00,0.000,1030,0.000,0.121,3551,2402,2359,2305,2414,0,0,0,0,0,0,14.13,14.01,14.15
$GC,10599,0.54,146.0,3551,2402,2295,2413,945.0,12.0,849,10606,0.20,2.67,0.00,0.000,4612,0.301,0.158,3501,987,2354,2295,2413,0,0,0,0,0,0,14.39,14.44,14.51
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$STATE,19403,end climb,SURFACE_DEPTH_REACHED
$STATE,19404,begin surface coast
$FINISH,0.3,1.022375
$STATE,19432,end surface coast,CONTROL_FINISHED_OK
$STATE,19432,begin surface
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$TT8_MAMPS,0.025466,0.158788
$HUMID,46.92
$INTERNAL_PRESSURE,9.60034
$TCM_TEMP,24.20
$XPDR_PINGS,269
$24V_AH,13.18,4.174
$10V_AH,12.94,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311216
$DATA_FILE_SIZE,66659,1548
$CAP_FILE_SIZE,181519,0
$CFSIZE,2097872896,2093842432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094,322.56,1
$GPS,211216,082336,-328.683,5547.653,35,0.7,37,-4.6,0.5,75.3,10,8.9