version: 66.12
glider: 528
mission: 3
dive: 214
start: 2 16 117 5 53 34
data:
$ID,528
$MISSION,3
$DIVE,214
$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,490
$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,0.0025991099
$HD_B,0.0146564
$HD_C,5.3920198e-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,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,3270
$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,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,19
$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,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
$GPS1,160217,054735,301.4097,5924.5029,30,0.9,32,-2.8,0.9,286.7,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-70.2
$GPS2,160217,055310,301.4554,5924.3506,6,0.8,8,-2.8,0.6,270.1,9,9.9
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,FOUR
$TGT_LATLONG,400.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,26.7,126861,-17.5,-8.049,-23.67,2217
$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,16,-0.89,-116.8,173,2400,1123,1122,0.0,0.0,0,100,0.00,0.00,-81.35,0.000,16386,0.000,0.000,173,2400,3194,3028,3360,0,0,0,0,0,0,14.73,28.83,14.76
$GC,102,-0.89,-116.8,173,2400,3029,3359,3.8,-6.8,14,129,11.45,2.80,-4.65,0.000,18692,0.367,2.157,2965,3802,3448,3245,3651,0,0,0,0,0,0,14.21,13.36,14.52
$GC,345,-0.89,-116.8,2965,3803,3245,3651,52.1,-12.6,61,351,0.00,2.42,0.00,0.000,1030,0.000,0.076,2966,2397,3448,3245,3651,0,0,0,0,0,0,14.58,14.45,14.62
$GC,652,-0.89,-116.8,2966,2398,3248,3651,90.6,-12.8,92,656,0.00,2.55,0.00,0.000,260,0.000,0.112,2966,3817,3449,3248,3651,0,0,0,0,0,0,14.92,14.48,14.93
$GC,808,-0.89,-116.8,2966,3818,3250,3651,111.6,-13.4,123,815,0.00,2.42,0.00,0.000,1030,0.000,0.077,2966,2400,3450,3250,3651,0,0,0,0,0,0,14.67,14.53,14.71
$GC,1113,-0.89,-116.8,2966,2400,3253,3651,148.3,-11.8,154,1122,0.00,2.50,0.00,0.000,516,0.000,0.108,2966,978,3452,3253,3651,0,0,0,0,0,0,14.98,14.54,15.00
$GC,1234,-0.89,-116.8,2966,978,3253,3651,163.0,-12.0,178,1243,0.00,2.45,0.00,0.000,1030,0.000,0.085,2966,2402,3452,3254,3651,0,0,0,0,0,0,14.72,14.60,14.76
$GC,1544,-0.89,-116.8,2965,2402,3254,3651,196.2,-10.8,210,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2402,3452,3254,3650,0,0,0,0,0,0,15.01,15.03,15.03
$GC,1845,-0.89,-116.8,2965,2402,3258,3652,226.7,-10.5,240,1850,0.00,2.45,0.00,0.000,260,0.000,0.111,2966,3809,3454,3258,3651,0,0,0,0,0,0,15.02,14.56,15.04
$GC,2010,-0.89,-116.8,2965,3809,3260,3651,245.2,-10.7,273,2017,0.00,2.40,0.00,0.000,1030,0.000,0.076,2966,2395,3455,3260,3651,0,0,0,0,0,0,14.75,14.62,14.78
$GC,2337,-0.89,-116.8,2966,2395,3260,3650,279.3,-10.3,288,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2396,3456,3261,3651,0,0,0,0,0,0,15.06,15.08,15.08
$GC,2637,-0.89,-116.8,2966,2396,3260,3651,308.5,-9.5,298,2643,0.00,2.55,0.00,0.000,260,0.000,0.119,2966,3810,3455,3260,3651,0,0,0,0,0,0,15.07,14.59,15.09
$GC,2700,-0.89,-116.8,2966,3810,3259,3651,314.9,-10.1,311,2704,0.00,2.42,0.00,0.000,1030,0.000,0.076,2966,2389,3455,3259,3651,0,0,0,0,0,0,14.78,14.65,14.81
$GC,3027,-0.89,-116.8,2966,2389,3256,3650,345.4,-9.8,326,3033,0.00,2.53,0.00,0.000,260,0.000,0.105,2965,3816,3453,3256,3650,0,0,0,0,0,0,15.08,14.59,15.10
$GC,3130,-0.89,-116.8,2965,3816,3255,3650,356.3,-10.3,347,3134,0.00,2.40,0.00,0.000,1030,0.000,0.068,2966,2392,3452,3255,3650,0,0,0,0,0,0,14.78,14.64,14.81
$GC,3447,-0.89,-116.8,2966,2392,3252,3650,386.5,-9.3,360,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2392,3451,3252,3650,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3747,-0.89,-116.8,2966,2392,3251,3647,415.6,-10.2,370,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2392,3449,3251,3647,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4047,-0.89,-116.8,2966,2392,3250,3645,446.9,-10.6,380,4051,0.00,2.53,0.00,0.000,260,0.000,0.104,2966,3816,3447,3250,3645,0,0,0,0,0,0,15.07,14.59,15.09
$GC,4101,-0.89,-116.8,2965,3816,3248,3644,452.9,-10.5,391,4108,0.00,2.40,0.00,0.000,1030,0.000,0.068,2967,2398,3446,3248,3644,0,0,0,0,0,0,14.78,14.66,14.82
$GC,4408,-0.89,-116.8,2966,2397,3248,3643,483.8,-9.7,402,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2398,3445,3247,3644,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4708,-0.89,-116.8,2966,2397,3247,3642,511.1,-8.8,412,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2397,3444,3247,3642,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5008,-0.89,-116.8,2966,2397,3247,3640,537.3,-8.8,422,5014,0.00,2.50,0.00,0.000,260,0.000,0.104,2966,3808,3443,3247,3640,0,0,0,0,0,0,15.10,14.57,15.12
$GC,5062,-0.89,-116.8,2965,3808,3247,3640,542.2,-8.8,433,5068,0.00,2.40,0.00,0.000,1030,0.000,0.069,2966,2389,3443,3247,3640,0,0,0,0,0,0,14.78,14.66,14.82
$GC,5368,-0.89,-116.8,2966,2388,3246,3637,570.1,-9.3,444,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2388,3441,3246,3636,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5668,-0.89,-116.8,2966,2388,3243,3636,599.4,-10.0,454,5674,0.00,2.53,0.00,0.000,260,0.000,0.105,2966,3809,3439,3243,3635,0,0,0,0,0,0,15.10,14.57,15.12
$GC,5716,-0.89,-116.8,2966,3809,3243,3635,604.5,-10.6,464,5721,0.00,2.40,0.00,0.000,1030,0.000,0.069,2966,2391,3439,3243,3635,0,0,0,0,0,0,14.78,14.66,14.82
$GC,6028,-0.89,-116.8,2966,2391,3243,3633,633.4,-8.6,476,6033,0.00,2.47,0.00,0.000,516,0.000,0.112,2966,996,3438,3243,3633,0,0,0,0,0,0,15.09,14.54,15.11
$GC,6159,-0.89,-116.8,2966,996,3243,3632,645.5,-8.9,502,6163,0.00,2.42,0.00,0.000,1030,0.000,0.074,2965,2409,3437,3243,3631,0,0,0,0,0,0,14.77,14.64,14.80
$GC,6475,-0.89,-116.8,2966,2411,3244,3631,676.3,-10.1,515,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2410,3437,3244,3631,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6776,-0.89,-116.8,2966,2410,3243,3631,708.4,-11.1,525,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2410,3437,3243,3631,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7075,-0.89,-116.8,2966,2410,3242,3630,741.7,-11.0,535,7082,0.00,2.55,0.00,0.000,516,0.000,0.106,2966,994,3435,3242,3629,0,0,0,0,0,0,15.09,14.54,15.11
$GC,7124,-0.89,-116.8,2966,993,3242,3629,747.2,-11.6,545,7128,0.00,2.42,0.00,0.000,1030,0.000,0.072,2966,2404,3435,3242,3629,0,0,0,0,0,0,14.77,14.64,14.81
$GC,7430,-0.89,-116.8,2966,2405,3242,3628,776.4,-9.0,556,7435,0.00,2.47,0.00,0.000,260,0.000,0.112,2966,3807,3434,3242,3627,0,0,0,0,0,0,15.09,14.55,15.11
$GC,7470,-0.89,-116.8,2965,3807,3242,3626,780.1,-8.7,564,7475,0.00,2.40,0.00,0.000,1030,0.000,0.070,2967,2394,3434,3242,3627,0,0,0,0,0,0,14.77,14.64,14.81
$GC,7792,-0.89,-116.8,2966,2394,3242,3626,804.2,-7.3,578,7798,0.00,2.50,0.00,0.000,516,0.000,0.113,2966,995,3433,3241,3626,0,0,0,0,0,0,15.06,14.53,15.08
$GC,7852,-0.89,-116.8,2966,995,3241,3626,808.9,-7.4,590,7858,0.00,2.42,0.00,0.000,1030,0.000,0.072,2967,2403,3433,3241,3626,0,0,0,0,0,0,14.76,14.63,14.80
$GC,8182,-0.89,-116.8,2966,2403,3240,3626,835.5,-8.5,606,8188,0.00,2.50,0.00,0.000,260,0.000,0.112,2966,3817,3432,3239,3625,0,0,0,0,0,0,15.09,14.54,15.11
$GC,8256,-0.89,-116.8,2966,3817,3239,3625,842.5,-9.7,621,8260,0.00,2.40,0.00,0.000,1030,0.000,0.070,2966,2402,3432,3239,3625,0,0,0,0,0,0,14.76,14.62,14.80
$GC,8568,-0.89,-116.8,2966,2402,3239,3624,870.6,-9.0,633,8574,0.00,2.53,0.00,0.000,260,0.000,0.106,2966,3813,3432,3240,3624,0,0,0,0,0,0,15.08,14.54,15.10
$GC,8606,-0.89,-116.8,2966,3813,3239,3624,874.2,-9.4,641,8610,0.00,2.42,0.00,0.000,1030,0.000,0.072,2966,2390,3431,3239,3624,0,0,0,0,0,0,14.76,14.62,14.80
$GC,8922,-0.89,-116.8,2966,2390,3239,3622,901.3,-8.5,654,8928,0.00,2.50,0.00,0.000,516,0.000,0.116,2966,995,3430,3239,3622,0,0,0,0,0,0,15.09,14.52,15.10
$GC,9005,-0.89,-116.8,2966,995,3239,3621,909.0,-8.8,671,9012,0.00,2.42,0.00,0.000,1030,0.000,0.073,2966,2403,3430,3239,3621,0,0,0,0,0,0,14.75,14.62,14.79
$GC,9312,-0.89,-116.8,2966,2403,3238,3621,934.1,-8.1,682,9318,0.00,2.50,0.00,0.000,260,0.000,0.114,2966,3813,3429,3238,3621,0,0,0,0,0,0,15.08,14.53,15.10
$GC,9360,-0.89,-116.8,2966,3813,3238,3621,938.3,-8.5,692,9365,0.00,2.42,0.00,0.000,1030,0.000,0.071,2966,2393,3429,3238,3621,0,0,0,0,0,0,14.75,14.62,14.78
$GC,9672,-0.89,-116.8,2966,2393,3237,3620,963.5,-8.2,704,9677,0.00,2.53,0.00,0.000,516,0.000,0.116,2966,986,3428,3237,3620,0,0,0,0,0,0,15.08,14.52,15.09
$GC,9742,-0.89,-116.8,2966,985,3237,3619,969.7,-8.5,718,9746,0.00,2.45,0.00,0.000,1030,0.000,0.073,2966,2401,3428,3237,3619,0,0,0,0,0,0,14.74,14.61,14.78
$STATE,9998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9998,begin apogee
$GC,10002,-0.19,0.0,2966,2401,3237,3619,991.2,-8.6,729,10108,0.77,0.00,102.93,2.076,10246,0.220,0.000,3201,2401,2966,2832,3101,0,0,0,0,0,0,14.45,14.08,13.33
$STATE,10109,end apogee,CONTROL_FINISHED_OK
$STATE,10109,begin climb
$GC,10111,0.89,116.8,3201,2402,2830,3098,994.1,0.0,732,10228,1.05,2.85,105.57,2.088,10756,0.150,0.131,3549,995,2485,2418,2552,0,0,0,0,0,0,14.03,13.88,13.21
$GC,10259,0.89,116.8,3549,994,2414,2548,986.6,7.9,766,10263,0.00,2.58,0.00,0.000,1030,0.000,0.080,3550,2405,2480,2414,2547,0,0,0,0,0,0,14.19,14.09,14.21
$GC,10565,0.89,116.8,3549,2405,2408,2546,961.4,8.3,777,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2405,2477,2408,2546,0,0,0,0,0,0,14.75,14.77,14.77
$GC,10865,0.89,116.8,3549,2405,2406,2546,934.5,9.2,787,10866,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2405,2475,2406,2545,0,0,0,0,0,0,14.85,14.87,14.86
$GC,11165,0.89,116.8,3549,2405,2404,2545,906.0,9.5,797,11170,0.00,2.58,0.00,0.000,260,0.000,0.119,3550,3822,2475,2405,2545,0,0,0,0,0,0,14.90,14.46,14.92
$GC,11185,0.89,116.8,3549,3821,2404,2544,903.7,10.3,801,11190,0.00,2.47,0.00,0.000,1030,0.000,0.078,3549,2396,2474,2404,2544,0,0,0,0,0,0,14.66,14.53,14.70
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$STATE,21091,end climb,SURFACE_DEPTH_REACHED
$STATE,21091,begin surface coast
$FINISH,-0.1,1.022484
$STATE,21108,end surface coast,CONTROL_FINISHED_OK
$STATE,21108,begin surface
$SM_CCo,21128,54.53,0.080,0,0,1130,450.12
$SM_GC,0.55,9.50,2.47,54.53,0.061,0.063,0.080,240,2389,1130,-9.55,0.71,450.12,0,0,0,0,0,0,14.45,14.46,14.43
$IRIDIUM_FIX,259.09,5924.40,150217,223944
$TT8_MAMPS,0.024717,0.153545
$HUMID,48.85
$INTERNAL_PRESSURE,9.65893
$TCM_TEMP,24.40
$XPDR_PINGS,267
$24V_AH,13.21,57.414
$10V_AH,13.00,0.000
$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
$DEVICE_SECS,23.400,209.725,371.850,54.525,0.000,0.000,0.000,238.825,66.750,0.000,9.136,2988.040,15149.499,645.985,2558.941,162.279,0.000,2183.458,0.000,2277.536,0.000,0.540,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.637,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311148
$DATA_FILE_SIZE,69996,1602
$CAP_FILE_SIZE,179581,0
$CFSIZE,2097872896,2067365888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,167.29,1
$GPS,160217,114754,302.739,5925.314,39,1.0,42,-2.8,0.8,274.9,9,9.5