version: 66.12
glider: 528
mission: 3
dive: 22
start: 12 23 116 19 1 16
data:
$ID,528
$MISSION,3
$DIVE,22
$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,410
$T_MISSION,440
$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,120
$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,3300
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3830
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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,0.0012300001
$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,3
$DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$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
$GPS1,231216,185605,-302.9311,5559.8940,41,1.0,43,-4.5,0.8,102.5,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.9
$GPS2,231216,190044,-302.9376,5559.9937,5,1.0,13,-4.5,0.6,77.8,9,8.7
$SPEED_LIMITS,0.139,0.219
$TGT_NAME,S
$TGT_LATLONG,-300.000,5600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,346.5,5440,-20.4,-8.049,-23.32,1567
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.78,-82.3,180,2288,1111,1141,0.0,0.0,0,95,0.00,0.00,-77.03,0.000,16386,0.000,0.000,180,2287,3019,2881,3157,0,0,0,0,0,0,14.77,28.83,14.79
$GC,97,-0.82,-116.8,181,2287,2882,3157,3.3,-3.0,13,123,11.43,0.00,-8.45,0.000,18438,0.376,0.000,3023,2287,3446,3246,3646,0,0,0,0,0,0,14.38,13.78,14.61
$GC,430,-0.82,-116.8,3022,2287,3254,3646,65.3,-14.0,67,434,0.00,2.47,0.00,0.000,516,0.000,0.120,3024,892,3450,3254,3647,0,0,0,0,0,0,14.88,14.60,14.90
$GC,531,-0.82,-116.8,3023,892,3255,3646,75.9,-10.5,87,535,0.00,2.42,0.00,0.000,1030,0.000,0.090,3023,2304,3450,3254,3646,0,0,0,0,0,0,14.73,14.64,14.75
$GC,842,-0.82,-116.8,3022,2304,3262,3646,107.6,-13.0,119,846,0.00,2.45,0.00,0.000,260,0.000,0.125,3022,3708,3454,3262,3646,0,0,0,0,0,0,14.96,14.68,14.98
$GC,987,-0.82,-116.8,3022,3708,3264,3646,127.8,-13.5,148,994,0.00,2.38,0.00,0.000,1030,0.000,0.087,3022,2302,3455,3264,3647,0,0,0,0,0,0,14.82,14.73,14.83
$GC,1293,-0.82,-116.8,3022,2302,3264,3647,163.7,-9.0,179,1297,0.00,2.47,0.00,0.000,516,0.000,0.124,3023,890,3455,3264,3647,0,0,0,0,0,0,15.01,14.73,15.03
$GC,1417,-0.82,-116.8,3022,890,3265,3646,174.8,-8.9,204,1424,0.00,2.42,0.00,0.000,1030,0.000,0.093,3022,2308,3456,3265,3647,0,0,0,0,0,0,14.85,14.76,14.87
$GC,1724,-0.82,-116.8,3022,2308,3264,3647,198.0,-7.9,235,1728,0.00,2.45,0.00,0.000,260,0.000,0.128,3022,3716,3455,3264,3646,0,0,0,0,0,0,15.04,14.75,15.05
$GC,1835,-0.82,-116.8,3022,3714,3264,3646,207.6,-8.5,257,1839,0.00,2.40,0.00,0.000,1030,0.000,0.092,3022,2297,3455,3265,3646,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2140,-0.82,-116.8,3022,2297,3264,3646,237.8,-9.7,288,2149,0.00,2.47,0.00,0.000,516,0.000,0.129,3022,891,3455,3265,3646,0,0,0,0,0,0,15.05,14.78,15.07
$GC,2211,-0.82,-116.8,3023,891,3265,3646,245.1,-9.7,302,2215,0.00,2.42,0.00,0.000,1030,0.000,0.099,3022,2300,3455,3264,3646,0,0,0,0,0,0,14.89,14.79,14.90
$GC,2536,-0.82,-116.8,3022,2300,3262,3646,273.6,-8.8,317,2540,0.00,2.47,0.00,0.000,260,0.000,0.131,3022,3717,3454,3262,3646,0,0,0,0,0,0,15.08,14.79,15.09
$GC,2645,-0.82,-116.8,3022,3717,3262,3646,283.9,-9.6,339,2653,0.00,2.42,0.00,0.000,1030,0.000,0.095,3022,2293,3453,3261,3646,0,0,0,0,0,0,14.91,14.82,14.93
$GC,2952,-0.82,-116.8,3022,2292,3258,3646,313.0,-9.6,350,2956,0.00,2.47,0.00,0.000,516,0.000,0.132,3023,891,3452,3258,3646,0,0,0,0,0,0,15.09,14.81,15.11
$GC,3016,-0.82,-116.8,3023,891,3257,3645,319.7,-10.4,363,3021,0.00,2.45,0.00,0.000,1030,0.000,0.100,3022,2308,3451,3257,3645,0,0,0,0,0,0,14.92,14.82,14.95
$GC,3338,-0.82,-116.8,3022,2309,3254,3645,350.0,-9.3,377,3342,0.00,2.45,0.00,0.000,260,0.000,0.132,3022,3712,3449,3254,3645,0,0,0,0,0,0,15.11,14.82,15.12
$GC,3457,-0.82,-116.8,3022,3712,3254,3643,360.9,-8.1,401,3462,0.00,2.45,0.00,0.000,1030,0.000,0.095,3022,2300,3449,3255,3644,0,0,0,0,0,0,14.90,14.83,14.93
$GC,3785,-0.82,-116.8,3022,2299,3254,3640,388.2,-8.4,416,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2299,3447,3254,3640,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4084,-0.82,-116.8,3022,2299,3254,3636,415.7,-9.4,426,4088,0.00,2.53,0.00,0.000,260,0.000,0.133,3022,3718,3444,3254,3635,0,0,0,0,0,0,15.12,14.83,15.14
$GC,4113,-0.82,-116.8,3022,3718,3254,3635,418.7,-9.9,432,4118,0.00,2.42,0.00,0.000,1030,0.000,0.096,3023,2296,3444,3254,3635,0,0,0,0,0,0,14.95,14.87,14.97
$GC,4440,-0.82,-116.8,3022,2295,3252,3634,448.4,-8.7,447,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2295,3443,3252,3634,0,0,0,0,0,0,15.13,15.15,15.14
$GC,4740,-0.82,-116.8,3022,2295,3251,3632,473.1,-8.2,457,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2295,3442,3252,3632,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5040,-0.82,-116.8,3022,2295,3249,3631,498.0,-8.2,467,5044,0.00,2.55,0.00,0.000,260,0.000,0.136,3022,3721,3440,3249,3631,0,0,0,0,0,0,15.14,14.85,15.16
$GC,5074,-0.82,-116.8,3022,3721,3249,3631,501.0,-9.0,474,5078,0.00,2.47,0.00,0.000,1030,0.000,0.101,3023,2304,3440,3249,3631,0,0,0,0,0,0,14.92,14.85,14.95
$GC,5401,-0.82,-116.8,3022,2304,3248,3628,528.9,-9.0,489,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2304,3438,3249,3628,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5701,-0.82,-116.8,3022,2304,3246,3627,557.0,-9.6,499,5706,0.00,2.53,0.00,0.000,260,0.000,0.136,3022,3717,3436,3246,3627,0,0,0,0,0,0,15.14,14.85,15.16
$GC,5726,-0.82,-116.8,3022,3717,3246,3626,559.6,-10.1,504,5733,0.00,2.45,0.00,0.000,1030,0.000,0.104,3022,2297,3436,3247,3626,0,0,0,0,0,0,14.97,14.88,15.00
$GC,6032,-0.82,-116.8,3022,2296,3246,3625,590.1,-10.3,515,6037,0.00,2.55,0.00,0.000,260,0.000,0.137,3022,3720,3435,3246,3625,0,0,0,0,0,0,15.14,14.85,15.16
$GC,6052,-0.82,-116.8,3022,3720,3246,3624,592.3,-10.7,519,6057,0.00,2.45,0.00,0.000,1030,0.000,0.105,3023,2301,3435,3246,3625,0,0,0,0,0,0,14.97,14.88,14.99
$GC,6364,-0.82,-116.8,3022,2301,3245,3624,624.6,-10.3,531,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2301,3434,3245,3624,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6664,-0.82,-116.8,3022,2301,3245,3621,654.5,-9.9,541,6670,0.00,2.53,0.00,0.000,260,0.000,0.138,3022,3711,3433,3245,3621,0,0,0,0,0,0,15.14,14.85,15.16
$GC,6697,-0.82,-116.8,3022,3711,3245,3621,658.1,-9.7,548,6702,0.00,2.45,0.00,0.000,1030,0.000,0.106,3022,2295,3432,3244,3621,0,0,0,0,0,0,14.97,14.88,15.00
$GC,7019,-0.82,-116.8,3022,2295,3243,3620,690.2,-10.2,562,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2295,3431,3243,3620,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7319,-0.82,-116.8,3022,2295,3243,3618,721.5,-10.3,572,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2295,3430,3242,3619,0,0,0,0,0,0,15.14,15.17,15.16
$GC,7619,-0.82,-116.8,3022,2295,3243,3616,748.9,-8.9,582,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2295,3429,3242,3617,0,0,0,0,0,0,15.15,15.17,15.16
$GC,7919,-0.82,-116.8,3022,2295,3241,3616,772.5,-7.5,592,7925,0.00,2.53,0.00,0.000,516,0.000,0.146,3023,888,3428,3241,3616,0,0,0,0,0,0,15.15,14.85,15.17
$GC,7972,-0.82,-116.8,3023,888,3241,3616,776.8,-7.0,603,7980,0.00,2.45,0.00,0.000,1030,0.000,0.106,3022,2305,3428,3241,3616,0,0,0,0,0,0,14.97,14.88,15.00
$GC,8279,-0.82,-116.8,3022,2305,3241,3615,797.6,-6.5,614,8283,0.00,2.47,0.00,0.000,260,0.000,0.138,3022,3707,3427,3240,3615,0,0,0,0,0,0,15.14,14.85,15.16
$GC,8373,-0.82,-116.8,3022,3707,3240,3615,804.2,-6.3,633,8377,0.00,2.45,0.00,0.000,1030,0.000,0.107,3023,2288,3427,3240,3615,0,0,0,0,0,0,14.97,14.88,14.99
$GC,8695,-0.82,-116.8,3022,2288,3239,3614,826.7,-7.1,647,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2288,3426,3239,3614,0,0,0,0,0,0,15.12,15.14,15.14
$GC,8995,-0.82,-116.8,3022,2288,3238,3613,847.7,-6.9,657,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2288,3425,3238,3613,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9294,-0.82,-116.8,3022,2288,3238,3612,867.8,-6.9,667,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2288,3425,3238,3612,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9595,-0.82,-116.8,3022,2288,3237,3611,887.9,-6.6,677,9599,0.00,2.55,0.00,0.000,260,0.000,0.138,3022,3708,3424,3237,3611,0,0,0,0,0,0,15.14,14.85,15.16
$GC,9624,-0.82,-116.8,3022,3708,3237,3611,890.1,-7.0,683,9629,0.00,2.42,0.00,0.000,1030,0.000,0.107,3023,2301,3424,3237,3611,0,0,0,0,0,0,14.97,14.88,15.00
$GC,9951,-0.82,-116.8,3022,2301,3236,3611,913.8,-7.8,698,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2301,3423,3236,3611,0,0,0,0,0,0,15.14,15.16,15.16
$GC,10251,-0.82,-116.8,3022,2301,3236,3610,941.7,-9.6,708,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2301,3423,3237,3610,0,0,0,0,0,0,15.14,15.16,15.16
$GC,10551,-0.82,-116.8,3022,2301,3236,3610,969.9,-9.3,718,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2301,3423,3236,3610,0,0,0,0,0,0,15.15,15.16,15.16
$STATE,10789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10789,begin apogee
$GC,10793,-0.17,0.0,3023,2351,3236,3609,990.0,-8.1,726,10912,0.73,0.00,110.32,1.971,10246,0.233,0.000,3244,2351,2960,2840,3081,0,0,0,0,0,0,14.81,13.93,13.39
$STATE,10913,end apogee,CONTROL_FINISHED_OK
$STATE,10913,begin climb
$GC,10914,0.82,116.8,3244,2351,2840,3080,992.0,0.0,730,11040,0.98,2.78,114.38,1.965,10756,0.163,0.138,3557,946,2482,2417,2548,0,0,0,0,0,0,14.03,13.76,13.22
$GC,11080,0.82,116.8,3557,945,2413,2545,979.3,11.0,764,11085,0.00,2.62,0.00,0.000,1030,0.000,0.112,3553,2348,2479,2412,2546,0,0,0,0,0,0,14.19,14.09,14.22
$GC,11387,0.82,116.8,3557,2348,2407,2543,944.3,11.5,775,11392,0.00,2.62,0.00,0.000,260,0.000,0.151,3557,3760,2475,2407,2543,0,0,0,0,0,0,14.73,14.45,14.76
$GC,11441,0.82,116.8,3557,3761,2407,2541,937.0,13.3,786,11449,0.00,2.53,0.00,0.000,1030,0.000,0.113,3557,2352,2474,2407,2542,0,0,0,0,0,0,14.60,14.50,14.62
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$STATE,20969,end climb,SURFACE_DEPTH_REACHED
$STATE,20969,begin surface coast
$FINISH,0.5,1.007733
$STATE,20994,end surface coast,CONTROL_FINISHED_OK
$STATE,20995,begin surface
$SM_CCo,21010,83.15,0.077,0,0,1131,450.12
$SM_GC,1.48,9.07,0.15,83.15,0.075,0.137,0.077,188,2290,1131,-9.66,0.48,450.12,0,0,0,0,0,0,14.63,14.64,14.62
$IRIDIUM_FIX,-305.56,5559.42,231216,123204
$TT8_MAMPS,0.025466,0.152796
$HUMID,43.50
$INTERNAL_PRESSURE,9.61987
$TCM_TEMP,25.10
$XPDR_PINGS,230
$24V_AH,13.22,6.810
$10V_AH,13.06,0.000
$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,22.425,200.000,339.825,83.150,0.000,0.000,0.000,195.425,57.500,0.000,14.890,3157.679,14911.768,628.869,2576.780,100.707,0.000,2119.975,0.000,2326.614,0.000,0.540,0.000
$DEVICE_MAMPS,376.380,175.950,1970.640,77.265,0.000,0.000,0.000,178.245,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.445,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311208
$DATA_FILE_SIZE,69980,1637
$CAP_FILE_SIZE,181114,0
$CFSIZE,2097872896,2092531712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.103,59.44,1
$GPS,241216,005405,-300.095,5600.457,39,0.9,41,-4.5,0.8,79.2,9,9.3