version: 66.12
glider: 528
mission: 3
dive: 223
start: 2 18 117 12 42 19
data:
$ID,528
$MISSION,3
$DIVE,223
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,180217,123631,312.7511,5931.4365,39,0.7,43,-2.8,1.0,290.3,11,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-68.5
$GPS2,180217,124153,312.8116,5931.3267,6,0.7,10,-2.8,1.1,292.5,10,9.6
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,FOUR
$TGT_LATLONG,400.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,35.1,102195,-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,-116.8,175,2374,557,412,0.0,0.0,0,124,0.00,0.00,-106.40,0.000,16386,0.000,0.000,175,2375,3281,3123,3440,0,0,0,0,0,0,14.70,28.83,14.72
$GC,127,-0.89,-116.8,175,2375,3124,3440,4.2,-7.8,18,147,11.38,0.00,-2.90,0.000,18438,0.365,0.000,2973,2375,3446,3251,3642,0,0,0,0,0,0,14.21,13.42,14.51
$GC,454,-0.89,-116.8,2971,2374,3253,3644,69.3,-16.7,70,463,0.00,2.45,0.00,0.000,516,0.000,0.106,2974,996,3448,3253,3644,0,0,0,0,0,0,14.87,14.47,14.88
$GC,685,-0.89,-116.8,2973,996,3254,3644,102.6,-12.8,116,689,0.00,2.42,0.00,0.000,1030,0.000,0.082,2974,2402,3449,3254,3645,0,0,0,0,0,0,14.66,14.54,14.70
$GC,996,-0.89,-116.8,2973,2402,3258,3644,138.8,-12.0,148,1001,0.00,2.45,0.00,0.000,260,0.000,0.106,2973,3814,3451,3258,3645,0,0,0,0,0,0,14.96,14.54,14.98
$GC,1052,-0.89,-116.8,2973,3814,3258,3647,145.6,-11.8,159,1059,0.00,2.38,0.00,0.000,1030,0.000,0.066,2974,2394,3452,3258,3647,0,0,0,0,0,0,14.71,14.60,14.74
$GC,1358,-0.89,-116.8,2973,2394,3258,3648,176.3,-10.4,190,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2394,3453,3259,3648,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1659,-0.89,-116.8,2973,2394,3259,3648,210.4,-10.3,220,1663,0.00,2.45,0.00,0.000,516,0.000,0.106,2973,995,3453,3259,3648,0,0,0,0,0,0,15.02,14.56,15.03
$GC,1693,-0.89,-116.8,2973,995,3259,3648,214.2,-9.9,227,1700,0.00,2.42,0.00,0.000,1030,0.000,0.077,2973,2408,3453,3259,3648,0,0,0,0,0,0,14.74,14.62,14.78
$GC,2000,-0.89,-116.8,2973,2407,3260,3648,242.5,-9.6,258,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2407,3454,3260,3648,0,0,0,0,0,0,15.03,15.05,15.05
$GC,2320,-0.89,-116.8,2973,2408,3260,3648,274.1,-10.1,274,2326,0.00,2.45,0.00,0.000,260,0.000,0.109,2973,3817,3453,3260,3647,0,0,0,0,0,0,15.05,14.58,15.07
$GC,2440,-0.89,-116.8,2973,3817,3260,3648,286.6,-10.9,298,2446,0.00,2.40,0.00,0.000,1030,0.000,0.068,2973,2398,3453,3259,3647,0,0,0,0,0,0,14.76,14.63,14.79
$GC,2770,-0.89,-116.8,2972,2398,3259,3647,321.4,-10.2,314,2776,0.00,2.47,0.00,0.000,516,0.000,0.108,2973,990,3452,3259,3646,0,0,0,0,0,0,15.07,14.57,15.09
$GC,2824,-0.89,-116.8,2972,990,3259,3645,327.2,-10.4,325,2830,0.00,2.42,0.00,0.000,1030,0.000,0.073,2974,2405,3452,3259,3645,0,0,0,0,0,0,14.77,14.64,14.81
$GC,3130,-0.89,-116.8,2973,2405,3256,3643,358.1,-10.3,336,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2405,3449,3256,3643,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3430,-0.89,-116.8,2973,2405,3255,3641,390.1,-10.7,346,3436,0.00,2.45,0.00,0.000,260,0.000,0.109,2973,3809,3447,3254,3641,0,0,0,0,0,0,15.08,14.58,15.10
$GC,3554,-0.89,-116.8,2973,3809,3254,3640,403.6,-10.3,371,3558,0.00,2.40,0.00,0.000,1030,0.000,0.068,2974,2394,3447,3254,3640,0,0,0,0,0,0,14.77,14.65,14.81
$GC,3876,-0.89,-116.8,2973,2394,3252,3639,433.8,-9.2,385,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2394,3445,3252,3639,0,0,0,0,0,0,15.08,15.10,15.10
$GC,4175,-0.89,-116.8,2973,2394,3250,3636,463.2,-10.1,395,4182,0.00,2.47,0.00,0.000,516,0.000,0.107,2973,993,3442,3250,3634,0,0,0,0,0,0,15.09,14.57,15.11
$GC,4235,-0.89,-116.8,2973,993,3251,3634,469.6,-10.3,407,4242,0.00,2.42,0.00,0.000,1030,0.000,0.073,2973,2402,3442,3251,3634,0,0,0,0,0,0,14.77,14.64,14.81
$GC,4565,-0.89,-116.8,2973,2402,3250,3632,502.7,-10.1,423,4572,0.00,2.47,0.00,0.000,260,0.000,0.109,2973,3813,3440,3250,3631,0,0,0,0,0,0,15.09,14.57,15.11
$GC,4685,-0.89,-116.8,2973,3813,3250,3631,515.0,-10.1,447,4693,0.00,2.40,0.00,0.000,1030,0.000,0.069,2973,2398,3440,3250,3631,0,0,0,0,0,0,14.77,14.64,14.81
$GC,5015,-0.89,-116.8,2973,2399,3248,3630,547.5,-9.9,463,5022,0.00,2.47,0.00,0.000,516,0.000,0.106,2974,995,3438,3248,3629,0,0,0,0,0,0,15.08,14.55,15.10
$GC,5098,-0.89,-116.8,2973,995,3249,3629,556.5,-11.1,480,5106,0.00,2.42,0.00,0.000,1030,0.000,0.072,2974,2403,3438,3248,3629,0,0,0,0,0,0,14.76,14.64,14.80
$GC,5405,-0.89,-116.8,2973,2403,3246,3626,586.9,-9.9,491,5412,0.00,2.47,0.00,0.000,260,0.000,0.109,2973,3813,3435,3246,3625,0,0,0,0,0,0,15.09,14.57,15.10
$GC,5443,-0.89,-116.8,2973,3813,3247,3626,590.8,-9.7,499,5448,0.00,2.40,0.00,0.000,1030,0.000,0.069,2974,2393,3436,3246,3626,0,0,0,0,0,0,14.77,14.65,14.81
$GC,5760,-0.89,-116.8,2973,2393,3245,3625,618.5,-8.2,512,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2393,3435,3245,3625,0,0,0,0,0,0,15.09,15.11,15.10
$GC,6060,-0.89,-116.8,2973,2393,3244,3623,643.6,-8.7,522,6066,0.00,2.47,0.00,0.000,516,0.000,0.106,2973,993,3433,3244,3623,0,0,0,0,0,0,15.09,14.55,15.11
$GC,6134,-0.89,-116.8,2973,992,3244,3622,650.8,-10.1,537,6138,0.00,2.42,0.00,0.000,1030,0.000,0.072,2974,2401,3433,3244,3622,0,0,0,0,0,0,14.76,14.64,14.80
$GC,6446,-0.89,-116.8,2973,2401,3242,3621,682.2,-10.8,549,6452,0.00,2.47,0.00,0.000,260,0.000,0.110,2974,3809,3431,3243,3620,0,0,0,0,0,0,15.09,14.56,15.10
$GC,6506,-0.89,-116.8,2973,3809,3242,3620,689.0,-11.6,561,6512,0.00,2.38,0.00,0.000,1030,0.000,0.068,2974,2401,3431,3242,3620,0,0,0,0,0,0,14.77,14.64,14.81
$GC,6836,-0.89,-116.8,2973,2401,3242,3617,724.8,-10.7,577,6842,0.00,2.50,0.00,0.000,516,0.000,0.105,2974,984,3429,3242,3617,0,0,0,0,0,0,15.09,14.54,15.10
$GC,6875,-0.89,-116.8,2973,984,3242,3617,729.2,-10.8,585,6881,0.00,2.45,0.00,0.000,1030,0.000,0.072,2974,2407,3429,3242,3617,0,0,0,0,0,0,14.77,14.64,14.80
$GC,7195,-0.89,-116.8,2973,2407,3240,3617,761.9,-9.9,599,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2407,3429,3241,3617,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7496,-0.89,-116.8,2973,2407,3240,3615,789.0,-8.9,609,7502,0.00,2.47,0.00,0.000,260,0.000,0.109,2973,3813,3428,3240,3616,0,0,0,0,0,0,15.06,14.55,15.08
$GC,7563,-0.89,-116.8,2974,3813,3240,3615,795.2,-9.0,623,7568,0.00,2.38,0.00,0.000,1030,0.000,0.067,2973,2398,3427,3240,3615,0,0,0,0,0,0,14.68,14.61,14.72
$GC,7886,-0.89,-116.8,2973,2398,3240,3614,821.1,-7.9,637,7892,0.00,2.53,0.00,0.000,516,0.000,0.106,2974,983,3426,3240,3613,0,0,0,0,0,0,15.09,14.54,15.10
$GC,7958,-0.89,-116.8,2973,983,3239,3613,827.3,-8.3,652,7963,0.00,2.45,0.00,0.000,1030,0.000,0.071,2973,2400,3426,3240,3613,0,0,0,0,0,0,14.75,14.62,14.79
$GC,8276,-0.89,-116.8,2973,2400,3239,3613,851.8,-7.8,665,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2400,3426,3239,3613,0,0,0,0,0,0,15.08,15.10,15.10
$GC,8575,-0.89,-116.8,2973,2401,3238,3612,875.4,-7.8,675,8582,0.00,2.50,0.00,0.000,260,0.000,0.110,2973,3817,3425,3238,3612,0,0,0,0,0,0,15.09,14.54,15.10
$GC,8613,-0.89,-116.8,2973,3817,3238,3612,878.7,-8.9,683,8618,0.00,2.40,0.00,0.000,1030,0.000,0.068,2973,2399,3424,3238,3611,0,0,0,0,0,0,14.76,14.64,14.80
$GC,8930,-0.89,-116.8,2973,2399,3238,3611,904.3,-8.3,696,8935,0.00,2.50,0.00,0.000,516,0.000,0.107,2973,991,3424,3238,3610,0,0,0,0,0,0,15.09,14.53,15.10
$GC,8985,-0.89,-116.8,2973,990,3238,3610,909.3,-8.4,707,8992,0.00,2.45,0.00,0.000,1030,0.000,0.073,2974,2405,3424,3238,3610,0,0,0,0,0,0,14.75,14.61,14.78
$GC,9292,-0.89,-116.8,2973,2405,3237,3610,934.8,-8.2,718,9298,0.00,2.50,0.00,0.000,260,0.000,0.111,2974,3819,3423,3237,3610,0,0,0,0,0,0,15.08,14.54,15.10
$GC,9382,-0.89,-116.8,2973,3818,3237,3609,942.8,-9.2,736,9386,0.00,2.42,0.00,0.000,1030,0.000,0.070,2974,2391,3423,3237,3610,0,0,0,0,0,0,14.74,14.62,14.78
$GC,9713,-0.89,-116.8,2973,2390,3235,3609,970.0,-8.1,752,9718,0.00,2.55,0.00,0.000,260,0.000,0.105,2974,3815,3423,3236,3610,0,0,0,0,0,0,15.08,14.52,15.09
$GC,9748,-0.89,-116.8,2973,3814,3236,3609,973.1,-9.1,759,9753,0.00,2.42,0.00,0.000,1030,0.000,0.070,2973,2392,3422,3236,3609,0,0,0,0,0,0,14.75,14.62,14.78
$STATE,9984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9984,begin apogee
$GC,9988,-0.19,0.0,2973,2392,3235,3609,991.6,-7.8,771,10092,0.77,0.00,100.43,2.102,10246,0.212,0.000,3200,2392,2966,2831,3102,0,0,0,0,0,0,14.45,14.09,13.33
$STATE,10093,end apogee,CONTROL_FINISHED_OK
$STATE,10093,begin climb
$GC,10094,0.89,116.8,3201,2392,2830,3100,993.9,0.0,774,10205,1.08,0.00,107.18,2.101,10246,0.145,0.000,3552,2392,2489,2420,2559,0,0,0,0,0,0,14.04,13.93,13.21
$GC,10495,0.89,116.8,3552,2392,2407,2552,961.1,9.1,788,10500,0.00,2.62,0.00,0.000,260,0.000,0.110,3552,3816,2479,2407,2552,0,0,0,0,0,0,14.72,14.33,14.74
$GC,10521,0.89,116.8,3552,3816,2407,2549,958.3,10.0,793,10528,0.00,2.47,0.00,0.000,1030,0.000,0.077,3555,2406,2478,2407,2549,0,0,0,0,0,0,14.50,14.38,14.53
$GC,10827,0.89,116.8,3554,2406,2405,2549,931.4,8.5,804,10832,0.00,2.62,0.00,0.000,516,0.000,0.127,3555,985,2476,2405,2548,0,0,0,0,0,0,14.84,14.40,14.85
$GC,10872,0.89,116.8,3555,985,2404,2549,927.5,8.8,813,10877,0.00,2.50,0.00,0.000,1030,0.000,0.080,3555,2397,2476,2404,2549,0,0,0,0,0,0,14.60,14.48,14.64
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$STATE,21078,end climb,SURFACE_DEPTH_REACHED
$STATE,21079,begin surface coast
$FINISH,0.3,1.022522
$STATE,21101,end surface coast,CONTROL_FINISHED_OK
$STATE,21101,begin surface
$SM_CCo,21118,79.28,0.082,0,0,1131,450.12
$SM_GC,0.58,9.75,0.00,79.28,0.067,0.000,0.082,187,2383,1131,-9.57,-0.51,450.12,0,0,0,0,0,0,14.47,14.83,14.45
$IRIDIUM_FIX,307.72,6016.65,180217,062951
$TT8_MAMPS,0.025466,0.153545
$HUMID,48.97
$INTERNAL_PRESSURE,9.6394
$TCM_TEMP,24.10
$XPDR_PINGS,279
$24V_AH,13.21,59.770
$10V_AH,13.10,0.000
$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,23.725,217.575,325.100,79.275,0.000,0.000,0.000,233.475,69.750,0.000,12.181,3117.677,14809.847,683.029,2736.410,169.018,0.000,2291.592,0.000,2449.078,0.000,0.542,0.000
$DEVICE_MAMPS,364.905,126.990,2102.220,81.855,0.000,0.000,0.000,170.595,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,742.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311152
$DATA_FILE_SIZE,73276,1724
$CAP_FILE_SIZE,187263,0
$CFSIZE,2097872896,2066186240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,286.89,1
$GPS,180217,183657,314.356,5931.661,39,1.0,45,-2.8,1.0,314.2,7,9.8