version: 66.12
glider: 528
mission: 3
dive: 220
start: 2 17 117 18 23 52
data:
$ID,528
$MISSION,3
$DIVE,220
$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,21
$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
$GPS1,170217,181839,308.9979,5929.0718,36,0.8,42,-2.8,1.1,267.7,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-72.3
$GPS2,170217,182325,309.0343,5928.9316,7,0.8,13,-2.8,0.8,303.0,8,8.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,FOUR
$TGT_LATLONG,400.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,40.4,110471,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.89,-116.8,188,2390,1123,1123,0.0,0.0,0,94,0.00,0.00,-76.78,0.000,16386,0.000,0.000,188,2390,3050,2911,3190,0,0,0,0,0,0,14.76,28.83,14.78
$GC,97,-0.89,-116.8,187,2390,2912,3190,3.2,-5.3,13,122,11.43,0.00,-7.68,0.000,18950,0.369,0.000,2966,2390,3445,3241,3650,0,0,0,0,0,0,14.21,13.74,14.49
$GC,430,-0.89,-116.8,2966,2390,3246,3650,65.4,-16.2,68,439,0.00,2.58,0.00,0.000,772,0.000,0.122,2966,3809,3447,3245,3650,0,0,0,0,0,0,14.88,14.42,14.89
$GC,481,-0.89,-116.8,2966,3809,3246,3650,73.5,-14.8,78,491,0.00,2.42,0.00,0.000,1030,0.000,0.078,2966,2398,3448,3246,3650,0,0,0,0,0,0,14.62,14.48,14.64
$GC,791,-0.89,-116.8,2967,2398,3252,3650,114.6,-11.5,110,801,0.00,2.55,0.00,0.000,260,0.000,0.114,2967,3813,3450,3250,3650,0,0,0,0,0,0,14.95,14.48,14.97
$GC,1027,-0.89,-116.8,2966,3813,3253,3650,142.7,-12.4,157,1034,0.00,2.42,0.00,0.000,1030,0.000,0.078,2967,2397,3451,3253,3649,0,0,0,0,0,0,14.68,14.54,14.72
$GC,1334,-0.89,-116.8,2966,2397,3255,3650,172.4,-9.5,188,1343,0.00,2.53,0.00,0.000,516,0.000,0.123,2967,988,3452,3255,3650,0,0,0,0,0,0,15.00,14.54,15.02
$GC,1405,-0.89,-116.8,2967,988,3256,3650,179.9,-10.3,202,1414,0.00,2.45,0.00,0.000,1030,0.000,0.086,2966,2399,3452,3255,3650,0,0,0,0,0,0,14.71,14.57,14.75
$GC,1715,-0.89,-116.8,2966,2399,3256,3650,209.9,-8.8,234,1724,0.00,2.47,0.00,0.000,260,0.000,0.112,2966,3812,3452,3255,3650,0,0,0,0,0,0,15.02,14.55,15.04
$GC,1807,-0.89,-116.8,2966,3812,3255,3650,218.0,-10.3,252,1816,0.00,2.42,0.00,0.000,1030,0.000,0.076,2966,2390,3453,3256,3650,0,0,0,0,0,0,14.73,14.60,14.77
$GC,2116,-0.89,-116.8,2966,2390,3256,3650,250.4,-11.2,284,2123,0.00,2.47,0.00,0.000,516,0.000,0.111,2967,986,3452,3255,3650,0,0,0,0,0,0,15.03,14.55,15.05
$GC,2169,-0.89,-116.8,2967,986,3256,3650,257.2,-12.2,295,2177,0.00,2.47,0.00,0.000,1030,0.000,0.086,2967,2399,3453,3256,3650,0,0,0,0,0,0,14.73,14.59,14.78
$GC,2476,-0.89,-116.8,2966,2399,3256,3650,291.0,-10.5,306,2483,0.00,2.47,0.00,0.000,260,0.000,0.112,2966,3812,3452,3256,3649,0,0,0,0,0,0,15.06,14.57,15.07
$GC,2589,-0.89,-116.8,2966,3812,3256,3649,303.0,-10.3,329,2596,0.00,2.42,0.00,0.000,1030,0.000,0.080,2966,2402,3452,3255,3650,0,0,0,0,0,0,14.74,14.59,14.78
$GC,2897,-0.89,-116.8,2966,2402,3255,3649,332.6,-9.7,340,2903,0.00,2.50,0.00,0.000,516,0.000,0.110,2967,986,3451,3254,3649,0,0,0,0,0,0,15.07,14.57,15.09
$GC,2959,-0.89,-116.8,2966,985,3253,3649,339.4,-10.0,353,2963,0.00,2.53,0.00,0.000,1030,0.000,0.086,2967,2400,3451,3253,3649,0,0,0,0,0,0,14.67,14.58,14.71
$GC,3287,-0.89,-116.8,2966,2400,3252,3649,372.7,-10.3,368,3293,0.00,2.47,0.00,0.000,260,0.000,0.112,2966,3811,3450,3252,3649,0,0,0,0,0,0,15.07,14.57,15.09
$GC,3354,-0.89,-116.8,2966,3811,3251,3649,380.5,-11.3,382,3359,0.00,2.40,0.00,0.000,1030,0.000,0.078,2966,2398,3450,3251,3649,0,0,0,0,0,0,14.70,14.63,14.73
$GC,3677,-0.89,-116.8,2966,2397,3251,3645,412.6,-9.8,396,3683,0.00,2.53,0.00,0.000,516,0.000,0.110,2966,981,3447,3250,3645,0,0,0,0,0,0,15.08,14.57,15.10
$GC,3744,-0.89,-116.8,2966,981,3251,3644,419.5,-10.3,410,3749,0.00,2.45,0.00,0.000,1030,0.000,0.083,2966,2400,3447,3251,3644,0,0,0,0,0,0,14.76,14.62,14.80
$GC,4061,-0.89,-116.8,2966,2400,3249,3642,449.9,-10.0,423,4066,0.00,2.47,0.00,0.000,260,0.000,0.112,2967,3812,3446,3250,3642,0,0,0,0,0,0,15.09,14.57,15.10
$GC,4161,-0.89,-116.8,2966,3812,3250,3642,460.7,-10.7,443,4166,0.00,2.42,0.00,0.000,1030,0.000,0.076,2966,2385,3446,3250,3642,0,0,0,0,0,0,14.77,14.65,14.81
$GC,4483,-0.89,-116.8,2966,2385,3246,3642,492.2,-9.5,457,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2385,3443,3246,3641,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4783,-0.89,-116.8,2966,2385,3244,3641,520.3,-9.3,467,4787,0.00,2.47,0.00,0.000,516,0.000,0.109,2966,984,3442,3244,3640,0,0,0,0,0,0,15.09,14.57,15.11
$GC,4808,-0.89,-116.8,2966,984,3244,3639,523.0,-10.4,472,4815,0.00,2.47,0.00,0.000,1030,0.000,0.082,2966,2405,3441,3244,3639,0,0,0,0,0,0,14.78,14.64,14.81
$GC,5114,-0.89,-116.8,2966,2405,3244,3636,552.4,-9.7,483,5119,0.00,2.47,0.00,0.000,260,0.000,0.113,2966,3812,3440,3244,3637,0,0,0,0,0,0,15.09,14.57,15.11
$GC,5199,-0.89,-116.8,2966,3812,3244,3636,561.1,-10.1,500,5206,0.00,2.42,0.00,0.000,1030,0.000,0.075,2966,2393,3440,3244,3636,0,0,0,0,0,0,14.77,14.62,14.81
$GC,5506,-0.89,-116.8,2965,2393,3242,3634,591.9,-10.4,511,5511,0.00,2.50,0.00,0.000,516,0.000,0.109,2966,979,3438,3242,3635,0,0,0,0,0,0,15.09,14.57,15.11
$GC,5567,-0.89,-116.8,2966,979,3242,3633,598.5,-10.6,523,5572,0.00,2.47,0.00,0.000,1030,0.000,0.080,2967,2403,3437,3242,3633,0,0,0,0,0,0,14.77,14.62,14.81
$GC,5899,-0.89,-116.8,2966,2403,3241,3631,633.5,-10.6,539,5904,0.00,2.50,0.00,0.000,260,0.000,0.113,2967,3820,3436,3241,3631,0,0,0,0,0,0,15.09,14.56,15.11
$GC,5979,-0.89,-116.8,2966,3819,3241,3631,642.5,-10.9,555,5984,0.00,2.42,0.00,0.000,1030,0.000,0.074,2966,2398,3436,3241,3631,0,0,0,0,0,0,14.76,14.62,14.80
$GC,6291,-0.89,-116.8,2966,2397,3240,3630,674.0,-9.7,567,6296,0.00,2.50,0.00,0.000,516,0.000,0.108,2967,983,3435,3240,3630,0,0,0,0,0,0,15.09,14.57,15.11
$GC,6331,-0.89,-116.8,2966,982,3239,3629,678.1,-10.1,575,6336,0.00,2.47,0.00,0.000,1030,0.000,0.080,2967,2406,3434,3240,3629,0,0,0,0,0,0,14.77,14.64,14.81
$GC,6653,-0.89,-116.8,2966,2406,3239,3628,706.1,-8.3,589,6659,0.00,2.47,0.00,0.000,260,0.000,0.113,2967,3809,3433,3239,3628,0,0,0,0,0,0,15.09,14.55,15.11
$GC,6743,-0.89,-116.8,2966,3809,3239,3627,713.8,-8.8,607,6747,0.00,2.40,0.00,0.000,1030,0.000,0.070,2967,2390,3433,3238,3628,0,0,0,0,0,0,14.76,14.63,14.80
$GC,7074,-0.89,-116.8,2966,2391,3237,3626,743.1,-9.4,623,7079,0.00,2.50,0.00,0.000,516,0.000,0.107,2967,988,3431,3238,3625,0,0,0,0,0,0,15.09,14.56,15.10
$GC,7149,-0.89,-116.8,2966,987,3238,3624,750.7,-10.3,638,7154,0.00,2.45,0.00,0.000,1030,0.000,0.078,2966,2398,3430,3237,3624,0,0,0,0,0,0,14.75,14.61,14.79
$GC,7461,-0.89,-116.8,2966,2399,3237,3624,779.4,-9.2,650,7468,0.00,2.50,0.00,0.000,260,0.000,0.115,2966,3811,3430,3237,3624,0,0,0,0,0,0,15.09,14.54,15.10
$GC,7544,-0.89,-116.8,2966,3810,3237,3623,787.5,-9.4,667,7552,0.00,2.42,0.00,0.000,1030,0.000,0.073,2965,2393,3430,3237,3623,0,0,0,0,0,0,14.75,14.61,14.79
$GC,7851,-0.89,-116.8,2966,2394,3236,3622,814.3,-8.7,678,7858,0.00,2.53,0.00,0.000,516,0.000,0.114,2966,981,3429,3236,3622,0,0,0,0,0,0,15.09,14.54,15.10
$GC,7911,-0.89,-116.8,2966,981,3236,3620,819.7,-9.2,690,7918,0.00,2.47,0.00,0.000,1030,0.000,0.073,2967,2407,3428,3236,3621,0,0,0,0,0,0,14.76,14.62,14.79
$GC,8241,-0.89,-116.8,2966,2412,3236,3622,848.2,-8.5,706,8248,0.00,2.47,0.00,0.000,260,0.000,0.112,2967,3810,3428,3235,3622,0,0,0,0,0,0,15.08,14.54,15.10
$GC,8334,-0.89,-116.8,2966,3810,3236,3622,856.4,-7.7,725,8338,0.00,2.45,0.00,0.000,1030,0.000,0.070,2967,2369,3429,3236,3622,0,0,0,0,0,0,14.74,14.60,14.78
$GC,8662,-0.89,-116.8,2967,2369,3235,3622,882.1,-7.7,740,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2369,3428,3235,3622,0,0,0,0,0,0,15.08,15.10,15.09
$GC,8961,-0.89,-116.8,2967,2369,3234,3621,906.3,-8.6,750,8968,0.00,2.47,0.00,0.000,516,0.000,0.112,2967,983,3427,3234,3620,0,0,0,0,0,0,15.05,14.53,15.07
$GC,8994,-0.89,-116.8,2967,984,3234,3620,909.4,-9.2,757,8998,0.00,2.50,0.00,0.000,1030,0.000,0.083,2967,2409,3427,3234,3620,0,0,0,0,0,0,14.75,14.59,14.78
$GC,9321,-0.89,-116.8,2966,2409,3233,3619,939.9,-9.5,772,9328,0.00,2.53,0.00,0.000,260,0.000,0.124,2966,3810,3425,3233,3618,0,0,0,0,0,0,15.08,14.51,15.10
$GC,9360,-0.89,-116.8,2966,3810,3234,3618,943.9,-10.1,780,9364,0.00,2.45,0.00,0.000,1030,0.000,0.077,2967,2396,3426,3234,3618,0,0,0,0,0,0,14.74,14.59,14.78
$GC,9676,-0.89,-116.8,2967,2395,3234,3617,973.4,-9.1,793,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2396,3426,3234,3618,0,0,0,0,0,0,15.08,15.10,15.10
$STATE,9885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9885,begin apogee
$GC,9889,-0.19,0.0,2967,2396,3234,3617,991.4,-8.4,800,9994,0.77,0.00,101.43,2.080,10246,0.217,0.000,3210,2395,2966,2831,3102,0,0,0,0,0,0,14.45,14.09,13.36
$STATE,9995,end apogee,CONTROL_FINISHED_OK
$STATE,9995,begin climb
$GC,9997,0.89,116.8,3210,2395,2828,3099,994.1,0.0,803,10111,1.05,2.75,105.12,2.085,10756,0.150,0.135,3552,986,2485,2417,2554,0,0,0,0,0,0,14.04,13.89,13.23
$GC,10153,0.89,116.8,3551,985,2413,2549,983.6,9.5,838,10160,0.00,2.58,0.00,0.000,1030,0.000,0.080,3551,2401,2481,2413,2549,0,0,0,0,0,0,14.21,14.12,14.24
$GC,10484,0.89,116.8,3551,2401,2407,2546,952.2,9.4,854,10490,0.00,2.60,0.00,0.000,260,0.000,0.119,3550,3820,2476,2407,2546,0,0,0,0,0,0,14.77,14.36,14.79
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$STATE,21511,end climb,SURFACE_DEPTH_REACHED
$STATE,21511,begin surface coast
$FINISH,0.0,1.022575
$STATE,21530,end surface coast,CONTROL_FINISHED_OK
$STATE,21530,begin surface
$SM_CCo,21549,62.95,0.081,0,0,1131,450.12
$SM_GC,0.68,9.57,2.47,62.95,0.061,0.064,0.081,187,2384,1131,-9.55,0.40,450.12,0,0,0,0,0,0,14.52,14.49,14.47
$IRIDIUM_FIX,305.56,5927.36,170217,121504
$TT8_MAMPS,0.025466,0.154294
$HUMID,49.72
$INTERNAL_PRESSURE,9.64917
$TCM_TEMP,24.50
$XPDR_PINGS,281
$24V_AH,13.23,58.927
$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,23.525,234.475,355.475,62.950,0.000,0.000,0.000,195.100,70.250,0.000,14.783,3129.367,15185.067,659.178,2754.768,169.208,0.000,2275.531,0.000,2498.907,0.000,0.540,0.000
$DEVICE_MAMPS,369.495,134.640,2085.390,81.090,0.000,0.000,0.000,176.715,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,742.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311204
$DATA_FILE_SIZE,76651,1759
$CAP_FILE_SIZE,192596,0
$CFSIZE,2097872896,2066579456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.013,243.27,1
$GPS,180217,002523,310.090,5929.991,41,0.9,43,-2.8,1.2,289.2,9,8.8