version: 66.12
glider: 528
mission: 3
dive: 217
start: 2 17 117 0 24 9
data:
$ID,528
$MISSION,3
$DIVE,217
$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,18
$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
$GPS1,170217,001855,305.1252,5926.7617,37,0.9,41,-2.8,0.9,323.9,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-70.9
$GPS2,170217,002344,305.1810,5926.6250,6,1.0,13,-2.8,1.3,286.5,7,7.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,FOUR
$TGT_LATLONG,400.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,31.6,118782,-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,-116.8,183,2380,1123,1123,0.0,0.0,0,99,0.00,0.00,-80.20,0.000,16386,0.000,0.000,183,2380,3158,2999,3318,0,0,0,0,0,0,14.78,28.83,14.81
$GC,101,-0.89,-116.8,183,2380,3001,3318,3.6,-6.6,14,127,11.30,2.88,-5.45,0.000,18692,0.363,2.154,2966,3809,3446,3244,3649,0,0,0,0,0,0,14.23,13.39,14.55
$GC,194,-0.89,-116.8,2966,3809,3246,3650,27.3,-20.0,31,201,0.00,2.42,0.00,0.000,1030,0.000,0.076,2966,2404,3447,3245,3650,0,0,0,0,0,0,14.55,14.42,14.59
$GC,508,-0.89,-116.8,2966,2404,3247,3650,72.9,-10.1,78,517,0.00,2.55,0.00,0.000,260,0.000,0.116,2964,3814,3448,3247,3650,0,0,0,0,0,0,14.90,14.45,14.92
$GC,742,-0.89,-116.8,2964,3814,3250,3650,106.0,-13.2,125,749,0.00,2.42,0.00,0.000,1030,0.000,0.076,2967,2395,3450,3250,3650,0,0,0,0,0,0,14.67,14.54,14.71
$GC,1050,-0.89,-116.8,2966,2395,3254,3650,142.1,-13.2,156,1054,0.00,2.55,0.00,0.000,260,0.000,0.116,2966,3811,3452,3254,3650,0,0,0,0,0,0,14.99,14.51,15.01
$GC,1081,-0.89,-116.8,2966,3811,3254,3649,146.3,-13.7,162,1090,0.00,2.42,0.00,0.000,1030,0.000,0.078,2966,2392,3451,3253,3650,0,0,0,0,0,0,14.71,14.57,14.75
$GC,1391,-0.89,-116.8,2966,2391,3255,3649,181.3,-10.9,194,1400,0.00,2.47,0.00,0.000,516,0.000,0.112,2966,984,3453,3256,3650,0,0,0,0,0,0,15.02,14.56,15.04
$GC,1486,-0.89,-116.8,2966,984,3256,3650,191.4,-10.3,213,1492,0.00,2.47,0.00,0.000,1030,0.000,0.087,2966,2406,3452,3256,3649,0,0,0,0,0,0,14.73,14.59,14.77
$GC,1792,-0.89,-116.8,2966,2406,3257,3649,221.1,-10.9,244,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2406,3453,3257,3649,0,0,0,0,0,0,15.04,15.06,15.06
$GC,2113,-0.89,-116.8,2966,2406,3258,3650,257.8,-11.2,272,2118,0.00,2.47,0.00,0.000,260,0.000,0.116,2966,3816,3454,3258,3650,0,0,0,0,0,0,15.05,14.57,15.07
$GC,2324,-0.89,-116.8,2966,3816,3257,3650,279.6,-8.5,314,2329,0.00,2.42,0.00,0.000,1030,0.000,0.079,2967,2399,3453,3258,3649,0,0,0,0,0,0,14.75,14.60,14.79
$GC,2651,-0.89,-116.8,2966,2398,3258,3649,308.2,-9.2,329,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2398,3453,3258,3649,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2951,-0.89,-116.8,2966,2399,3254,3649,337.1,-9.8,339,2958,0.00,2.53,0.00,0.000,260,0.000,0.113,2966,3809,3451,3254,3649,0,0,0,0,0,0,15.09,14.57,15.11
$GC,3004,-0.89,-116.8,2966,3809,3254,3649,342.7,-9.7,350,3011,0.00,2.42,0.00,0.000,1030,0.000,0.075,2966,2391,3451,3254,3649,0,0,0,0,0,0,14.78,14.64,14.81
$GC,3311,-0.89,-116.8,2966,2391,3251,3649,372.0,-9.5,361,3317,0.00,2.50,0.00,0.000,516,0.000,0.114,2967,980,3450,3251,3649,0,0,0,0,0,0,15.09,14.59,15.11
$GC,3364,-0.89,-116.8,2966,980,3251,3648,377.8,-10.3,372,3372,0.00,2.47,0.00,0.000,1030,0.000,0.082,2966,2407,3449,3251,3648,0,0,0,0,0,0,14.78,14.64,14.82
$GC,3671,-0.89,-116.8,2966,2407,3252,3644,405.4,-8.8,383,3678,0.00,2.47,0.00,0.000,260,0.000,0.115,2966,3813,3448,3252,3644,0,0,0,0,0,0,15.09,14.59,15.11
$GC,3734,-0.89,-116.8,2966,3813,3252,3644,411.2,-8.9,396,3739,0.00,2.42,0.00,0.000,1030,0.000,0.075,2966,2401,3447,3251,3644,0,0,0,0,0,0,14.78,14.63,14.82
$GC,4061,-0.89,-116.8,2965,2401,3251,3642,440.2,-8.9,411,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2401,3446,3250,3642,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4361,-0.89,-116.8,2966,2401,3248,3641,468.8,-9.7,421,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2401,3444,3248,3641,0,0,0,0,0,0,15.10,15.12,15.11
$GC,4661,-0.89,-116.8,2966,2401,3244,3640,497.8,-9.8,431,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2401,3442,3244,3640,0,0,0,0,0,0,15.11,15.13,15.12
$GC,4961,-0.89,-116.8,2966,2401,3243,3638,528.1,-10.3,441,4967,0.00,2.50,0.00,0.000,516,0.000,0.112,2966,991,3439,3243,3636,0,0,0,0,0,0,15.11,14.57,15.12
$GC,4994,-0.89,-116.8,2966,991,3243,3636,532.0,-11.4,448,4999,0.00,2.45,0.00,0.000,1030,0.000,0.081,2967,2401,3439,3243,3636,0,0,0,0,0,0,14.78,14.64,14.83
$GC,5321,-0.89,-116.8,2966,2401,3242,3633,567.0,-10.8,463,5328,0.00,2.50,0.00,0.000,260,0.000,0.116,2966,3814,3437,3242,3632,0,0,0,0,0,0,15.11,14.57,15.12
$GC,5494,-0.89,-116.8,2966,3814,3242,3632,585.5,-10.2,498,5501,0.00,2.42,0.00,0.000,1030,0.000,0.075,2966,2394,3436,3241,3632,0,0,0,0,0,0,14.77,14.62,14.81
$GC,5801,-0.89,-116.8,2966,2394,3240,3631,614.3,-9.2,509,5807,0.00,2.55,0.00,0.000,260,0.000,0.112,2966,3812,3435,3240,3630,0,0,0,0,0,0,15.07,14.55,15.09
$GC,5831,-0.89,-116.8,2966,3812,3240,3630,617.0,-9.2,515,5838,0.00,2.42,0.00,0.000,1030,0.000,0.074,2966,2389,3435,3240,3630,0,0,0,0,0,0,14.78,14.63,14.81
$GC,6161,-0.89,-116.8,2966,2389,3241,3629,646.2,-8.6,531,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2389,3434,3240,3629,0,0,0,0,0,0,15.10,15.11,15.11
$GC,6462,-0.89,-116.8,2966,2389,3239,3628,673.7,-9.3,541,6468,0.00,2.50,0.00,0.000,516,0.000,0.114,2966,984,3432,3238,3626,0,0,0,0,0,0,15.09,14.56,15.11
$GC,6499,-0.89,-116.8,2966,984,3238,3626,677.8,-10.0,549,6504,0.00,2.47,0.00,0.000,1030,0.000,0.081,2966,2405,3432,3238,3626,0,0,0,0,0,0,14.77,14.63,14.81
$GC,6816,-0.89,-116.8,2966,2405,3238,3624,706.7,-9.1,562,6822,0.00,2.50,0.00,0.000,260,0.000,0.116,2966,3814,3431,3238,3624,0,0,0,0,0,0,15.10,14.56,15.11
$GC,6936,-0.89,-116.8,2966,3816,3238,3625,717.8,-8.9,586,6942,0.00,2.45,0.00,0.000,1030,0.000,0.073,2966,2387,3431,3238,3624,0,0,0,0,0,0,14.76,14.62,14.80
$GC,7266,-0.89,-116.8,2966,2387,3238,3625,747.2,-9.1,602,7272,0.00,2.50,0.00,0.000,516,0.000,0.118,2966,992,3430,3237,3624,0,0,0,0,0,0,15.09,14.54,15.11
$GC,7304,-0.89,-116.8,2966,992,3237,3624,751.1,-9.6,610,7308,0.00,2.45,0.00,0.000,1030,0.000,0.074,2967,2407,3430,3237,3624,0,0,0,0,0,0,14.77,14.64,14.81
$GC,7621,-0.89,-116.8,2966,2408,3236,3624,781.5,-9.8,623,7628,0.00,2.47,0.00,0.000,260,0.000,0.112,2966,3810,3429,3236,3623,0,0,0,0,0,0,15.09,14.55,15.11
$GC,7699,-0.89,-116.8,2966,3810,3236,3623,789.7,-10.5,639,7703,0.00,2.42,0.00,0.000,1030,0.000,0.073,2966,2392,3429,3236,3623,0,0,0,0,0,0,14.76,14.61,14.80
$GC,8006,-0.89,-116.8,2966,2391,3236,3621,818.9,-9.5,650,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2392,3428,3236,3621,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8306,-0.89,-116.8,2966,2392,3237,3620,844.6,-8.5,660,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2392,3428,3236,3620,0,0,0,0,0,0,15.06,15.08,15.08
$GC,8606,-0.89,-116.8,2966,2391,3234,3619,869.3,-8.3,670,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2391,3426,3234,3619,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8906,-0.89,-116.8,2966,2391,3234,3618,894.2,-8.5,680,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2391,3426,3234,3618,0,0,0,0,0,0,15.09,15.11,15.11
$GC,9206,-0.89,-116.8,2966,2391,3234,3616,920.0,-8.8,690,9212,0.00,2.53,0.00,0.000,516,0.000,0.114,2966,980,3425,3234,3616,0,0,0,0,0,0,15.10,14.53,15.11
$GC,9239,-0.89,-116.8,2966,979,3234,3616,923.4,-9.8,697,9244,0.00,2.50,0.00,0.000,1030,0.000,0.082,2966,2408,3425,3234,3616,0,0,0,0,0,0,14.76,14.62,14.80
$GC,9561,-0.89,-116.8,2966,2408,3233,3616,952.7,-9.1,711,9568,0.00,2.53,0.00,0.000,260,0.000,0.122,2966,3813,3424,3233,3615,0,0,0,0,0,0,15.09,14.52,15.11
$GC,9674,-0.89,-116.8,2966,3813,3234,3615,963.5,-9.2,734,9681,0.00,2.42,0.00,0.000,1030,0.000,0.073,2966,2399,3424,3233,3615,0,0,0,0,0,0,14.74,14.59,14.78
$STATE,9980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9980,begin apogee
$GC,9984,-0.19,0.0,2966,2399,3233,3615,991.8,-9.3,745,10089,0.77,0.00,101.78,2.075,10246,0.217,0.000,3210,2399,2966,2831,3102,0,0,0,0,0,0,14.45,14.09,13.35
$STATE,10090,end apogee,CONTROL_FINISHED_OK
$STATE,10090,begin climb
$GC,10092,0.89,116.8,3210,2399,2829,3099,995.2,0.0,748,10202,1.05,0.00,105.50,2.089,10502,0.150,0.000,3549,2400,2489,2421,2557,0,0,0,0,0,0,14.04,13.93,13.22
$GC,10491,0.89,116.8,3549,2399,2408,2548,967.5,8.3,782,10497,0.00,2.65,0.00,0.000,516,0.000,0.133,3550,989,2477,2407,2548,0,0,0,0,0,0,14.73,14.30,14.74
$GC,10584,0.89,116.8,3550,989,2407,2547,959.1,8.8,801,10589,0.00,2.53,0.00,0.000,1030,0.000,0.080,3550,2407,2476,2406,2547,0,0,0,0,0,0,14.53,14.41,14.57
$GC,10911,0.89,116.8,3550,2408,2404,2546,930.2,9.1,816,10918,0.00,2.55,0.00,0.000,260,0.000,0.116,3550,3812,2475,2404,2546,0,0,0,0,0,0,14.86,14.43,14.88
$GC,10949,0.89,116.8,3550,3811,2404,2545,926.1,10.6,824,10954,0.00,2.47,0.00,0.000,1030,0.000,0.078,3551,2391,2474,2404,2545,0,0,0,0,0,0,14.62,14.51,14.67
$GC,11266,0.89,116.8,3550,2391,2404,2546,896.0,9.7,837,11271,0.00,2.58,0.00,0.000,516,0.000,0.122,3551,982,2474,2403,2546,0,0,0,0,0,0,14.92,14.47,14.94
$GC,11366,0.89,116.8,3551,981,2403,2545,886.2,9.8,857,11371,0.00,2.50,0.00,0.000,1030,0.000,0.078,3551,2405,2474,2403,2545,0,0,0,0,0,0,14.66,14.54,14.71
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$STATE,20493,end climb,SURFACE_DEPTH_REACHED
$STATE,20493,begin surface coast
$FINISH,-0.2,1.022569
$STATE,20510,end surface coast,CONTROL_FINISHED_OK
$STATE,20510,begin surface
$SM_CCo,20527,56.55,0.083,0,0,1131,450.12
$SM_GC,0.70,9.60,0.00,56.55,0.059,0.000,0.083,176,2397,1131,-9.57,-0.11,450.12,0,0,0,0,0,0,14.48,14.77,14.42
$IRIDIUM_FIX,303.40,5926.26,160217,175847
$TT8_MAMPS,0.025466,0.152796
$HUMID,51.26
$INTERNAL_PRESSURE,9.6394
$TCM_TEMP,24.00
$XPDR_PINGS,258
$24V_AH,13.22,58.176
$10V_AH,13.02,0.000
$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
$DEVICE_SECS,23.450,189.675,369.875,56.550,0.000,0.000,0.000,195.750,64.500,0.000,15.183,2883.431,14689.791,642.002,2498.935,154.652,0.000,2115.412,0.000,2251.510,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311136
$DATA_FILE_SIZE,66652,1584
$CAP_FILE_SIZE,173498,0
$CFSIZE,2097872896,2066972672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,159.92,1
$GPS,170217,060828,306.290,5927.798,38,0.8,40,-2.8,1.0,307.2,9,9.5