version: 66.12
glider: 528
mission: 3
dive: 325
start: 3 20 117 4 55 56
data:
$ID,528
$MISSION,3
$DIVE,325
$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,340
$T_MISSION,400
$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,160
$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,3280
$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,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$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
$GPS1,200317,044942,452.1374,5929.4341,28,1.7,37,-2.3,0.0,239.7,7,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-72.7
$GPS2,200317,045529,452.1386,5929.4067,42,0.8,42,-2.3,0.4,188.9,9,4.9
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,55.5,137733,-17.9,-9.706,-23.59,2449
$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
$STATE,13,begin dive
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$GC,3202,-0.99,-155.7,2959,2301,3395,3877,359.2,-8.2,337,3208,0.00,2.53,0.00,0.000,516,0.000,0.113,2960,886,3635,3394,3877,0,0,0,0,0,0,15.06,14.47,15.08
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$GC,5081,-0.99,-155.7,2960,2311,3383,3870,529.3,-8.7,462,5088,0.00,2.50,0.00,0.000,260,0.000,0.109,2960,3716,3626,3382,3870,0,0,0,0,0,0,15.07,14.40,15.09
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$GC,9775,-0.99,-155.7,2960,3717,3336,3845,932.2,-8.5,800,9781,0.00,2.47,0.00,0.000,1030,0.000,0.076,2960,2301,3590,3336,3845,0,0,0,0,0,0,14.62,14.48,14.66
$GC,10105,-0.99,-155.7,2960,2300,3350,3844,960.7,-9.0,816,10111,0.00,2.60,0.00,0.000,516,0.000,0.120,2959,884,3597,3351,3844,0,0,0,0,0,0,15.04,14.37,15.07
$GC,10173,-0.99,-155.7,2959,884,3373,3844,967.5,-9.9,830,10177,0.00,2.50,0.00,0.000,1030,0.000,0.076,2961,2308,3608,3373,3844,0,0,0,0,0,0,14.59,14.44,14.64
$STATE,10428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10428,begin apogee
$GC,10433,-0.19,0.0,2960,2510,3372,3844,990.8,-9.1,841,10580,0.82,0.00,141.57,2.105,10246,0.203,0.000,3212,2509,2963,2845,3082,0,0,0,0,0,0,14.28,13.96,13.17
$STATE,10581,end apogee,CONTROL_FINISHED_OK
$STATE,10581,begin climb
$GC,10583,0.99,155.7,3212,2509,2845,3081,997.9,0.0,846,10736,1.12,2.83,140.93,2.104,10756,0.136,0.116,3590,1098,2327,2275,2380,0,0,0,0,0,0,13.94,13.74,13.04
$GC,10867,1.10,155.7,3589,1098,2266,2378,979.5,8.1,903,10873,0.12,2.53,0.00,0.000,3078,0.148,0.079,3627,2498,2321,2265,2378,0,0,0,0,0,0,14.19,14.18,14.30
$GC,11186,1.10,155.7,3627,2497,2262,2376,948.6,9.9,916,11192,0.00,2.42,0.00,0.000,260,0.000,0.119,3627,3831,2318,2262,2374,0,0,0,0,0,0,14.76,14.32,14.78
$GC,11215,1.10,155.7,3627,3831,2262,2373,945.3,10.5,922,11222,0.00,2.35,0.00,0.000,1030,0.000,0.080,3629,2502,2317,2262,2373,0,0,0,0,0,0,14.52,14.38,14.56
$GC,11545,1.10,155.7,3629,2502,2261,2373,909.8,11.0,938,11553,0.00,2.60,0.00,0.000,516,0.000,0.119,3629,1087,2317,2261,2373,0,0,0,0,0,0,14.85,14.35,14.88
$GC,11683,1.10,155.7,3629,1087,2260,2374,893.2,11.2,966,11688,0.00,2.53,0.00,0.000,1030,0.000,0.079,3628,2511,2316,2260,2373,0,0,0,0,0,0,14.57,14.43,14.62
$GC,11990,1.10,155.7,3628,2510,2258,2373,856.5,12.1,977,11996,0.00,2.62,0.00,0.000,516,0.000,0.102,3629,1077,2315,2258,2373,0,0,0,0,0,0,14.91,14.39,14.92
$GC,12023,1.10,155.7,3629,1077,2258,2373,852.4,12.6,984,12028,0.00,2.53,0.00,0.000,1030,0.000,0.080,3629,2499,2315,2258,2372,0,0,0,0,0,0,14.59,14.44,14.64
$GC,12345,1.10,155.7,3628,2499,2257,2373,814.0,12.1,998,12352,0.00,2.58,0.00,0.000,516,0.000,0.099,3629,1084,2315,2257,2373,0,0,0,0,0,0,14.93,14.40,14.95
$GC,12405,1.10,155.7,3629,1083,2256,2373,806.8,12.2,1010,12412,0.00,2.53,0.00,0.000,1030,0.000,0.079,3629,2505,2314,2256,2373,0,0,0,0,0,0,14.59,14.44,14.64
$GC,12735,1.10,155.7,3628,2505,2255,2372,768.3,11.2,1026,12742,0.00,2.42,0.00,0.000,260,0.000,0.124,3629,3832,2313,2255,2372,0,0,0,0,0,0,14.95,14.33,14.96
$GC,12804,1.10,155.7,3629,3832,2255,2371,760.0,12.5,1040,12808,0.00,2.33,0.00,0.000,1030,0.000,0.072,3629,2486,2313,2255,2371,0,0,0,0,0,0,14.60,14.47,14.65
$GC,13121,1.15,155.7,3629,2487,2255,2371,729.7,9.1,1053,13127,0.00,2.53,0.00,0.000,516,0.000,0.105,3629,1088,2313,2255,2371,0,0,0,0,0,0,14.96,14.38,14.98
$GC,13199,1.19,155.7,3629,1088,2255,2371,722.7,9.0,1069,13204,0.10,2.50,0.00,0.000,3078,0.168,0.077,3668,2501,2313,2255,2371,0,0,0,0,0,0,14.45,14.43,14.61
$GC,13506,1.19,155.7,3668,2501,2254,2371,693.5,9.7,1080,13512,0.00,2.42,0.00,0.000,260,0.000,0.122,3668,3828,2312,2254,2371,0,0,0,0,0,0,14.97,14.32,14.99
$GC,13524,1.19,155.7,3668,3828,2254,2370,691.3,10.9,1084,13529,0.00,2.30,0.00,0.000,1030,0.000,0.073,3670,2501,2312,2254,2370,0,0,0,0,0,0,14.62,14.48,14.66
$GC,13830,1.19,155.7,3670,2501,2254,2370,657.7,11.5,1095,13835,0.00,2.55,0.00,0.000,516,0.000,0.106,3670,1089,2312,2254,2370,0,0,0,0,0,0,14.97,14.37,14.99
$GC,13940,1.19,155.7,3670,1088,2253,2370,644.0,12.4,1117,13945,0.00,2.50,0.00,0.000,1030,0.000,0.076,3670,2505,2312,2254,2370,0,0,0,0,0,0,14.57,14.42,14.64
$GC,14248,1.19,155.7,3670,2505,2253,2370,603.8,13.4,1128,14254,0.00,2.58,0.00,0.000,516,0.000,0.096,3671,1091,2311,2253,2370,0,0,0,0,0,0,15.02,14.37,15.03
$GC,14280,1.19,155.7,3671,1091,2254,2370,599.2,13.2,1135,14285,0.00,2.50,0.00,0.000,1030,0.000,0.076,3670,2507,2311,2253,2370,0,0,0,0,0,0,14.59,14.43,14.65
$GC,14607,1.19,155.7,3670,2507,2253,2370,558.0,12.3,1150,14614,0.00,2.60,0.00,0.000,516,0.000,0.097,3671,1084,2311,2253,2370,0,0,0,0,0,0,14.97,14.35,15.00
$GC,14645,1.19,155.7,3670,1084,2253,2370,553.1,11.8,1158,14650,0.00,2.53,0.00,0.000,1030,0.000,0.077,3671,2503,2311,2253,2370,0,0,0,0,0,0,14.59,14.43,14.65
$GC,14962,1.19,155.7,3670,2502,2253,2370,516.0,11.6,1171,14967,0.00,2.42,0.00,0.000,260,0.000,0.122,3672,3830,2311,2253,2370,0,0,0,0,0,0,14.98,14.31,15.00
$GC,14988,1.19,155.7,3670,3830,2253,2369,512.8,11.9,1176,14995,0.00,2.33,0.00,0.000,1030,0.000,0.073,3671,2487,2311,2253,2369,0,0,0,0,0,0,14.61,14.47,14.66
$GC,15294,1.19,155.7,3671,2487,2253,2369,479.8,10.2,1187,15299,0.00,2.53,0.00,0.000,516,0.000,0.103,3674,1085,2311,2253,2369,0,0,0,0,0,0,14.98,14.36,15.00
$GC,15410,1.19,155.7,3674,1085,2253,2369,468.0,10.7,1210,15417,0.00,2.50,0.00,0.000,1030,0.000,0.076,3674,2500,2310,2252,2369,0,0,0,0,0,0,14.57,14.42,14.64
$GC,15716,1.19,155.7,3673,2499,2253,2369,435.6,11.1,1221,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,3674,2500,2311,2253,2369,0,0,0,0,0,0,14.98,15.00,15.00
$GC,16016,1.19,155.7,3673,2499,2253,2369,401.5,11.2,1231,16020,0.00,2.40,0.00,0.000,260,0.000,0.115,3673,3833,2311,2253,2369,0,0,0,0,0,0,15.02,14.32,15.04
$GC,16042,1.19,155.7,3673,3833,2253,2369,398.4,11.9,1236,16048,0.00,2.30,0.00,0.000,1030,0.000,0.067,3674,2496,2311,2253,2369,0,0,0,0,0,0,14.62,14.50,14.66
$GC,16348,1.19,155.7,3674,2496,2253,2369,363.5,11.4,1247,16352,0.00,2.53,0.00,0.000,516,0.000,0.099,3674,1088,2310,2252,2369,0,0,0,0,0,0,14.99,14.35,15.00
$GC,16409,1.19,155.7,3673,1088,2253,2369,356.4,12.3,1259,16414,0.00,2.50,0.00,0.000,1030,0.000,0.074,3674,2510,2310,2253,2368,0,0,0,0,0,0,14.58,14.43,14.64
$GC,16741,1.19,155.7,3674,2510,2253,2369,317.3,11.6,1275,16746,0.00,2.60,0.00,0.000,516,0.000,0.093,3674,1090,2311,2253,2369,0,0,0,0,0,0,15.03,14.35,15.04
$GC,16816,1.19,155.7,3673,1090,2253,2369,308.6,11.6,1290,16820,0.00,2.50,0.00,0.000,1030,0.000,0.074,3674,2508,2310,2252,2369,0,0,0,0,0,0,14.57,14.42,14.64
$GC,17128,1.29,155.7,3673,2509,2253,2369,279.1,8.3,1302,17135,0.00,2.38,0.00,0.000,260,0.000,0.114,3674,3824,2311,2253,2369,0,0,0,0,0,0,15.03,14.33,15.04
$GC,17151,1.36,155.7,3674,3824,2252,2369,277.0,8.7,1307,17160,0.12,2.28,0.00,0.000,3078,0.138,0.067,3720,2495,2311,2253,2369,0,0,0,0,0,0,14.50,14.50,14.63
$GC,17458,1.36,155.7,3720,2496,2253,2369,248.3,10.0,1318,17468,0.00,2.50,0.00,0.000,516,0.000,0.098,3722,1094,2310,2252,2369,0,0,0,0,0,0,15.03,14.35,15.05
$GC,17480,1.36,155.7,3722,1094,2253,2369,245.9,11.0,1322,17490,0.00,2.47,0.00,0.000,1030,0.000,0.076,3722,2502,2311,2253,2369,0,0,0,0,0,0,14.60,14.46,14.66
$GC,17790,1.36,155.7,3721,2503,2253,2369,211.7,11.6,1354,17800,0.00,2.38,0.00,0.000,260,0.000,0.107,3722,3833,2311,2253,2369,0,0,0,0,0,0,15.02,14.35,15.03
$GC,17885,1.36,155.7,3721,3832,2253,2369,198.9,12.5,1373,17892,0.00,2.30,0.00,0.000,1030,0.000,0.065,3730,2494,2311,2253,2369,0,0,0,0,0,0,14.60,14.49,14.65
$GC,18192,1.36,155.7,3730,2493,2252,2369,162.9,10.6,1404,18202,0.00,2.47,0.00,0.000,516,0.000,0.091,3740,1094,2311,2253,2369,0,0,0,0,0,0,15.00,14.37,15.02
$GC,18274,1.36,155.7,3740,1093,2253,2369,154.5,9.6,1420,18278,0.00,2.47,0.00,0.000,1030,0.000,0.070,3740,2510,2310,2252,2369,0,0,0,0,0,0,14.45,14.36,14.50
$GC,18586,1.44,155.7,3740,2510,2253,2369,128.0,8.6,1452,18595,0.00,2.55,0.00,0.000,516,0.000,0.090,3745,1095,2311,2253,2369,0,0,0,0,0,0,15.00,14.29,15.02
$GC,18809,1.66,257.4,3745,1095,2251,2370,109.8,5.4,1496,18899,0.15,2.45,81.32,0.967,11270,0.093,0.066,3814,2510,1913,1850,1977,0,0,0,0,0,0,14.32,14.43,13.88
$GC,19198,1.66,257.4,3814,2510,1838,1972,66.1,9.7,1544,19207,0.00,2.55,0.00,0.000,516,0.000,0.083,3820,1090,1904,1837,1972,0,0,0,0,0,0,14.78,14.30,14.80
$GC,19213,1.72,257.4,3820,1091,1838,1972,64.7,8.9,1547,19220,0.00,2.47,0.00,0.000,1030,0.000,0.065,3817,2509,1905,1838,1972,0,0,0,0,0,0,14.49,14.37,14.53
$GC,19520,1.85,257.4,3816,2508,1835,1970,42.2,7.8,1589,19526,0.15,0.00,0.00,0.000,2054,0.122,0.000,3886,2509,1902,1835,1970,0,0,0,0,0,0,14.42,14.43,14.45
$GC,19828,1.85,257.4,3886,2509,1833,1970,9.0,11.1,1650,19835,0.00,2.33,0.00,0.000,260,0.000,0.098,3886,3827,1901,1834,1968,0,0,0,0,0,0,14.88,14.33,14.90
$STATE,19885,end climb,SURFACE_DEPTH_REACHED
$STATE,19885,begin surface coast
$FINISH,0.1,1.022008
$STATE,19911,end surface coast,CONTROL_FINISHED_OK
$STATE,19911,begin surface
$SM_CCo,19932,85.25,0.080,0,0,1131,450.12
$SM_GC,0.56,9.80,2.65,85.25,0.070,0.059,0.080,179,2297,1131,-9.61,0.71,450.12,0,0,0,0,0,0,14.49,14.42,14.45
$IRIDIUM_FIX,449.34,5929.65,190317,231040
$TT8_MAMPS,0.024717,0.152796
$HUMID,48.89
$INTERNAL_PRESSURE,9.67846
$TCM_TEMP,25.30
$XPDR_PINGS,368
$24V_AH,13.04,86.056
$10V_AH,12.74,0.000
$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,23.875,249.200,363.825,85.250,0.000,0.000,0.000,220.350,92.000,0.000,43.811,2961.504,13793.477,736.808,2671.996,197.150,0.000,2326.685,0.000,2367.594,0.000,0.542,0.000
$DEVICE_MAMPS,364.140,2130.525,2105.280,79.560,0.000,0.000,0.000,178.245,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311132
$DATA_FILE_SIZE,73373,1666
$CAP_FILE_SIZE,188937,0
$CFSIZE,2097872896,2052653056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$CURRENT,0.112,269.34,1
$GPS,200317,103052,452.664,5929.178,40,0.8,42,-2.3,0.0,317.9,9,9.7