version: 66.12
glider: 528
mission: 3
dive: 332
start: 3 21 117 21 38 1
data:
$ID,528
$MISSION,3
$DIVE,332
$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,27
$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
$GPS1,210317,213206,455.0425,5926.1289,41,0.9,44,-2.2,0.3,0.0,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-72.3
$GPS2,210317,213733,455.0415,5926.1333,6,0.9,12,-2.2,0.0,0.0,10,9.6
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,60.9,135513,-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,10068,-0.99,-155.7,2962,2297,3331,3810,955.4,-6.7,808,10075,0.00,2.58,0.00,0.000,260,0.000,0.123,2962,3709,3569,3330,3809,0,0,0,0,0,0,15.05,14.30,15.07
$GC,10136,-0.99,-155.7,2962,3709,3330,3809,960.3,-7.5,822,10141,0.00,2.45,0.00,0.000,1030,0.000,0.079,2962,2305,3569,3330,3809,0,0,0,0,0,0,14.59,14.45,14.64
$GC,10453,-0.99,-155.7,2961,2305,3323,3808,982.2,-7.2,835,10458,0.00,2.62,0.00,0.000,516,0.000,0.126,2962,888,3565,3323,3807,0,0,0,0,0,0,15.00,14.35,15.02
$STATE,10546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10546,begin apogee
$GC,10554,-0.19,0.0,2962,2511,3324,3807,990.1,-7.9,854,10691,0.88,0.00,133.43,2.091,10246,0.214,0.000,3214,2510,2966,2836,3097,0,0,0,0,0,0,14.28,13.97,13.19
$STATE,10692,end apogee,CONTROL_FINISHED_OK
$STATE,10692,begin climb
$GC,10694,0.99,155.7,3214,2510,2835,3093,994.6,0.0,858,10845,1.12,2.50,141.73,2.094,10500,0.134,0.121,3591,3828,2327,2273,2382,0,0,0,0,0,0,13.95,13.67,13.03
$GC,10856,1.09,155.7,3591,3828,2272,2377,985.8,8.3,890,10862,0.12,2.45,0.00,0.000,3078,0.135,0.083,3628,2494,2324,2272,2377,0,0,0,0,0,0,13.90,13.88,14.00
$GC,11179,1.09,155.7,3628,2494,2262,2376,953.3,10.0,904,11186,0.00,2.62,0.00,0.000,516,0.000,0.132,3629,1092,2319,2263,2376,0,0,0,0,0,0,14.71,14.20,14.72
$GC,11262,1.09,155.7,3628,1092,2262,2376,945.0,9.4,921,11269,0.00,2.53,0.00,0.000,1030,0.000,0.082,3629,2507,2319,2262,2376,0,0,0,0,0,0,14.50,14.36,14.54
$GC,11569,1.09,155.7,3628,2507,2260,2376,915.1,9.7,932,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2508,2318,2260,2376,0,0,0,0,0,0,14.84,14.86,14.86
$GC,11869,1.09,155.7,3628,2507,2258,2376,887.1,9.4,942,11870,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2507,2317,2258,2376,0,0,0,0,0,0,14.89,14.90,14.91
$GC,12170,1.14,155.7,3629,2507,2256,2376,859.8,8.9,952,12176,0.00,2.62,0.00,0.000,516,0.000,0.115,3629,1091,2316,2256,2376,0,0,0,0,0,0,14.92,14.28,14.94
$GC,12202,1.22,155.7,3629,1091,2257,2376,856.6,8.7,959,12207,0.12,2.50,0.00,0.000,3078,0.153,0.083,3675,2502,2315,2255,2376,0,0,0,0,0,0,14.47,14.44,14.62
$GC,12530,1.22,155.7,3675,2501,2253,2375,824.1,9.7,974,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,3675,2502,2314,2253,2375,0,0,0,0,0,0,14.94,14.96,14.96
$GC,12830,1.22,155.7,3675,2501,2251,2374,794.6,9.7,984,12837,0.00,2.62,0.00,0.000,516,0.000,0.107,3677,1080,2312,2251,2374,0,0,0,0,0,0,14.96,14.35,14.97
$GC,12862,1.22,155.7,3676,1080,2251,2374,791.0,10.4,991,12868,0.00,2.53,0.00,0.000,1030,0.000,0.084,3677,2496,2312,2251,2374,0,0,0,0,0,0,14.58,14.42,14.64
$GC,13190,1.22,155.7,3676,2496,2250,2374,756.2,11.1,1006,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,3676,2497,2312,2250,2374,0,0,0,0,0,0,14.96,14.98,14.98
$GC,13490,1.22,155.7,3677,2496,2251,2374,719.8,12.5,1016,13497,0.00,2.60,0.00,0.000,516,0.000,0.104,3677,1086,2313,2252,2374,0,0,0,0,0,0,14.97,14.35,14.99
$GC,13552,1.22,155.7,3676,1086,2252,2374,711.2,14.2,1029,13557,0.00,2.55,0.00,0.000,1030,0.000,0.085,3677,2501,2312,2251,2374,0,0,0,0,0,0,14.57,14.40,14.64
$GC,13880,1.22,155.7,3676,2501,2252,2374,666.6,14.0,1044,13886,0.00,2.42,0.00,0.000,260,0.000,0.124,3677,3827,2312,2251,2373,0,0,0,0,0,0,15.00,14.31,15.02
$GC,13903,1.22,155.7,3676,3827,2251,2372,662.9,14.2,1049,13910,0.00,2.33,0.00,0.000,1030,0.000,0.077,3678,2493,2311,2251,2372,0,0,0,0,0,0,14.59,14.45,14.65
$GC,14210,1.22,155.7,3678,2493,2252,2372,619.7,14.1,1060,14217,0.00,2.55,0.00,0.000,516,0.000,0.112,3678,1092,2311,2251,2372,0,0,0,0,0,0,14.97,14.33,15.00
$GC,14308,1.22,155.7,3678,1092,2251,2372,605.9,13.7,1080,14313,0.00,2.53,0.00,0.000,1030,0.000,0.084,3678,2504,2311,2251,2372,0,0,0,0,0,0,14.56,14.40,14.63
$GC,14625,1.22,155.7,3677,2504,2251,2372,564.4,13.2,1093,14631,0.00,2.42,0.00,0.000,260,0.000,0.124,3678,3828,2311,2251,2372,0,0,0,0,0,0,14.97,14.30,14.99
$GC,14699,1.22,155.7,3678,3828,2251,2372,554.1,14.0,1108,14703,0.00,2.33,0.00,0.000,1030,0.000,0.075,3678,2493,2312,2252,2372,0,0,0,0,0,0,14.57,14.43,14.64
$GC,15011,1.22,155.7,3678,2493,2251,2371,516.8,11.7,1120,15017,0.00,2.55,0.00,0.000,516,0.000,0.110,3678,1094,2311,2251,2372,0,0,0,0,0,0,14.98,14.32,15.00
$GC,15134,1.22,155.7,3678,1094,2251,2372,502.5,11.4,1145,15138,0.00,2.53,0.00,0.000,1030,0.000,0.083,3677,2508,2311,2251,2371,0,0,0,0,0,0,14.55,14.39,14.62
$GC,15456,1.22,155.7,3678,2508,2251,2372,466.2,11.3,1159,15460,0.00,2.42,0.00,0.000,260,0.000,0.122,3678,3832,2311,2251,2372,0,0,0,0,0,0,14.97,14.29,15.00
$GC,15496,1.22,155.7,3678,3832,2251,2372,461.3,12.6,1167,15500,0.00,2.33,0.00,0.000,1030,0.000,0.075,3678,2496,2311,2251,2372,0,0,0,0,0,0,14.58,14.45,14.64
$GC,15817,1.22,155.7,3678,2496,2251,2372,427.0,10.3,1181,15824,0.00,2.55,0.00,0.000,516,0.000,0.109,3678,1092,2311,2251,2372,0,0,0,0,0,0,14.97,14.32,15.00
$GC,15921,1.22,155.7,3677,1092,2251,2372,416.3,10.1,1202,15925,0.00,2.53,0.00,0.000,1030,0.000,0.083,3678,2509,2311,2251,2372,0,0,0,0,0,0,14.54,14.38,14.62
$GC,16233,1.22,155.7,3678,2509,2251,2372,384.1,10.4,1214,16239,0.00,2.42,0.00,0.000,260,0.000,0.122,3678,3832,2311,2251,2371,0,0,0,0,0,0,14.97,14.29,14.99
$GC,16271,1.22,155.7,3678,3833,2251,2372,379.5,12.0,1222,16275,0.00,2.33,0.00,0.000,1030,0.000,0.075,3678,2495,2311,2251,2372,0,0,0,0,0,0,14.58,14.44,14.64
$GC,16588,1.22,155.7,3677,2495,2251,2372,344.9,11.4,1235,16592,0.00,2.55,0.00,0.000,516,0.000,0.108,3678,1092,2311,2251,2372,0,0,0,0,0,0,15.02,14.31,15.04
$GC,16638,1.22,155.7,3678,1092,2251,2371,339.0,11.3,1245,16642,0.00,2.53,0.00,0.000,1030,0.000,0.082,3678,2508,2311,2251,2372,0,0,0,0,0,0,14.56,14.39,14.62
$GC,16945,1.22,155.7,3678,2508,2251,2371,305.9,10.6,1256,16951,0.00,2.40,0.00,0.000,260,0.000,0.121,3678,3824,2311,2251,2372,0,0,0,0,0,0,15.02,14.31,15.04
$GC,16978,1.22,155.7,3678,3824,2251,2372,302.1,11.3,1263,16983,0.00,2.30,0.00,0.000,1030,0.000,0.073,3678,2501,2311,2251,2371,0,0,0,0,0,0,14.59,14.45,14.65
$GC,17305,1.22,155.7,3678,2500,2251,2372,268.1,10.4,1278,17312,0.00,2.58,0.00,0.000,516,0.000,0.107,3678,1081,2311,2251,2372,0,0,0,0,0,0,15.02,14.33,15.04
$GC,17495,1.22,155.7,3678,1081,2251,2372,246.2,11.9,1316,17504,0.00,2.53,0.00,0.000,1030,0.000,0.081,3678,2501,2311,2251,2372,0,0,0,0,0,0,14.54,14.38,14.61
$GC,17806,1.40,155.7,3678,2501,2251,2372,218.5,7.1,1348,17815,0.12,2.35,0.00,0.000,2308,0.139,0.117,3732,3827,2311,2251,2372,0,0,0,0,0,0,14.55,14.28,14.57
$GC,17848,1.40,155.7,3732,3828,2251,2372,214.7,9.4,1356,17857,0.00,2.30,0.00,0.000,1030,0.000,0.071,3742,2497,2311,2251,2372,0,0,0,0,0,0,14.57,14.44,14.63
$GC,18158,1.40,155.7,3741,2497,2251,2372,181.3,12.3,1388,18167,0.00,2.55,0.00,0.000,516,0.000,0.104,3750,1085,2311,2251,2372,0,0,0,0,0,0,15.00,14.33,15.01
$GC,18212,1.40,155.7,3750,1085,2251,2372,174.1,13.2,1399,18220,0.00,2.53,0.00,0.000,1030,0.000,0.079,3750,2503,2311,2251,2372,0,0,0,0,0,0,14.54,14.39,14.62
$GC,18520,1.58,155.7,3750,2504,2251,2372,144.4,7.1,1430,18531,0.12,2.40,0.00,0.000,2308,0.142,0.113,3806,3834,2311,2251,2372,0,0,0,0,0,0,14.52,14.30,14.54
$GC,18757,1.64,155.7,3806,3833,2251,2372,123.3,8.9,1477,18763,0.00,2.33,0.00,0.000,1030,0.000,0.072,3818,2496,2311,2251,2372,0,0,0,0,0,0,14.54,14.40,14.60
$GC,19064,1.86,264.0,3817,2496,2252,2372,103.9,5.2,1508,19157,0.15,2.47,84.78,0.950,10500,0.125,0.106,3883,3827,1883,1824,1943,0,0,0,0,0,0,14.50,14.32,13.87
$GC,19209,1.86,264.0,3883,3827,1824,1936,87.4,15.7,1537,19216,0.00,2.33,0.00,0.000,1030,0.000,0.067,3889,2488,1880,1824,1936,0,0,0,0,0,0,14.41,14.31,14.45
$GC,19516,1.86,264.0,3888,2488,1817,1936,52.7,9.7,1568,19524,0.00,2.45,0.00,0.000,516,0.000,0.083,3900,1091,1876,1816,1936,0,0,0,0,0,0,14.82,14.33,14.84
$GC,19642,1.86,264.0,3900,1091,1820,1936,38.2,11.3,1593,19649,0.00,2.45,0.00,0.000,1030,0.000,0.063,3899,2508,1878,1820,1936,0,0,0,0,0,0,14.50,14.38,14.54
$GC,19952,1.86,264.0,3900,2509,1821,1936,7.0,11.8,1654,19958,0.00,2.35,0.00,0.000,260,0.000,0.106,3900,3832,1878,1821,1936,0,0,0,0,0,0,14.87,14.31,14.89
$STATE,19988,end climb,SURFACE_DEPTH_REACHED
$STATE,19988,begin surface coast
$FINISH,-0.1,1.022169
$STATE,20015,end surface coast,CONTROL_FINISHED_OK
$STATE,20015,begin surface
$SM_CCo,20035,82.95,0.078,0,0,1131,450.12
$SM_GC,0.54,9.65,2.67,82.95,0.056,0.060,0.078,179,2285,1131,-9.58,0.48,450.12,0,0,0,0,0,0,14.51,14.47,14.44
$IRIDIUM_FIX,451.50,5929.65,210317,153834
$TT8_MAMPS,0.024717,0.15729
$HUMID,48.70
$INTERNAL_PRESSURE,9.68823
$TCM_TEMP,25.60
$XPDR_PINGS,352
$24V_AH,13.03,88.091
$10V_AH,13.30,0.000
$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,23.725,238.975,359.925,82.950,0.000,0.000,0.000,231.675,88.000,0.000,13.539,2984.977,13905.835,705.146,2650.566,196.478,0.000,2292.937,0.000,2367.972,0.000,0.541,0.000
$DEVICE_MAMPS,361.845,2123.640,2093.805,78.030,0.000,0.000,0.000,172.890,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311140
$DATA_FILE_SIZE,73205,1666
$CAP_FILE_SIZE,186354,0
$CFSIZE,2097872896,2051735552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.133,258.48,1
$GPS,220317,031435,455.245,5925.621,37,0.8,39,-2.2,0.2,74.1,9,8.8