version: 66.12
glider: 528
mission: 3
dive: 335
start: 3 22 117 14 44 40
data:
$ID,528
$MISSION,3
$DIVE,335
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,220317,143844,455.6015,5924.3130,27,1.8,39,-2.2,0.8,68.1,4,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-69.9
$GPS2,220317,144412,455.5907,5924.3228,15,1.2,43,-2.2,0.8,355.4,5,9.6
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,65.2,136188,-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,3253,-0.99,-155.7,2962,881,3357,3858,365.6,-12.2,365,3259,0.00,2.50,0.00,0.000,1030,0.000,0.080,2963,2306,3607,3357,3858,0,0,0,0,0,0,14.66,14.52,14.71
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$GC,5142,-0.99,-155.7,2962,3708,3349,3845,540.1,-8.7,493,5146,0.00,2.40,0.00,0.000,1030,0.000,0.067,2963,2296,3597,3349,3846,0,0,0,0,0,0,14.66,14.54,14.71
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$GC,9897,-0.99,-155.7,2962,2306,3337,3818,941.6,-8.4,793,9903,0.00,2.55,0.00,0.000,260,0.000,0.116,2963,3714,3577,3337,3817,0,0,0,0,0,0,15.05,14.31,15.07
$GC,9971,-0.99,-155.7,2963,3714,3335,3817,948.4,-9.3,808,9975,0.00,2.45,0.00,0.000,1030,0.000,0.071,2962,2295,3576,3335,3817,0,0,0,0,0,0,14.61,14.47,14.65
$GC,10283,-0.99,-155.7,2962,2295,3332,3816,976.0,-9.5,820,10289,0.00,2.60,0.00,0.000,516,0.000,0.125,2962,890,3574,3332,3816,0,0,0,0,0,0,15.04,14.35,15.06
$GC,10381,-0.99,-155.7,2962,889,3331,3816,986.1,-10.2,840,10386,0.00,2.50,0.00,0.000,1030,0.000,0.079,2963,2305,3573,3331,3815,0,0,0,0,0,0,14.57,14.40,14.62
$STATE,10426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10427,begin apogee
$GC,10432,-0.19,0.0,2963,2506,3330,3815,990.4,-9.7,844,10571,0.85,0.00,135.23,2.090,10246,0.206,0.000,3215,2506,2966,2837,3096,0,0,0,0,0,0,14.28,13.96,13.17
$STATE,10572,end apogee,CONTROL_FINISHED_OK
$STATE,10572,begin climb
$GC,10574,0.99,155.7,3215,2506,2834,3092,997.1,0.0,848,10730,1.12,2.78,140.70,2.096,10756,0.133,0.118,3593,1094,2326,2271,2382,0,0,0,0,0,0,13.95,13.66,13.02
$GC,10801,1.08,155.7,3592,1094,2266,2380,985.2,8.5,898,10806,0.00,2.58,0.00,0.000,1030,0.000,0.081,3593,2500,2321,2264,2379,0,0,0,0,0,0,14.18,14.06,14.21
$GC,11118,1.16,155.7,3593,2500,2260,2377,958.8,8.5,911,11120,0.17,0.00,0.00,0.000,2054,0.130,0.000,3652,2500,2318,2260,2377,0,0,0,0,0,0,14.40,14.54,14.52
$GC,11418,1.16,155.7,3652,2500,2259,2376,926.9,10.7,921,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,3652,2500,2317,2259,2376,0,0,0,0,0,0,14.83,14.85,14.85
$GC,11718,1.16,155.7,3652,2500,2258,2375,893.9,11.2,931,11723,0.00,2.62,0.00,0.000,516,0.000,0.110,3654,1089,2316,2257,2375,0,0,0,0,0,0,14.89,14.34,14.90
$GC,11764,1.16,155.7,3654,1089,2257,2374,888.5,11.8,940,11768,0.00,2.53,0.00,0.000,1030,0.000,0.083,3654,2506,2316,2258,2375,0,0,0,0,0,0,14.57,14.42,14.63
$GC,12076,1.16,155.7,3654,2506,2256,2374,851.8,12.1,952,12082,0.00,2.42,0.00,0.000,260,0.000,0.127,3654,3829,2314,2256,2373,0,0,0,0,0,0,14.92,14.34,14.94
$GC,12095,1.16,155.7,3654,3829,2256,2372,849.2,13.2,956,12099,0.00,2.33,0.00,0.000,1030,0.000,0.078,3656,2496,2314,2256,2372,0,0,0,0,0,0,14.60,14.46,14.65
$GC,12401,1.16,155.7,3655,2496,2257,2372,809.8,12.9,967,12405,0.00,2.55,0.00,0.000,516,0.000,0.110,3655,1091,2314,2257,2372,0,0,0,0,0,0,14.94,14.38,14.96
$GC,12523,1.16,155.7,3655,1090,2256,2372,793.5,13.1,991,12528,0.00,2.53,0.00,0.000,1030,0.000,0.083,3655,2507,2314,2256,2372,0,0,0,0,0,0,14.57,14.41,14.64
$GC,12855,1.16,155.7,3655,2507,2255,2372,749.2,13.2,1007,12860,0.00,2.60,0.00,0.000,516,0.000,0.101,3655,1090,2313,2255,2372,0,0,0,0,0,0,14.95,14.37,14.97
$GC,12888,1.16,155.7,3655,1089,2255,2372,745.0,12.7,1013,12894,0.00,2.50,0.00,0.000,1030,0.000,0.083,3655,2500,2313,2255,2372,0,0,0,0,0,0,14.45,14.36,14.52
$GC,13217,1.16,155.7,3655,2500,2254,2372,703.6,12.1,1029,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,3655,2500,2313,2254,2372,0,0,0,0,0,0,14.96,14.97,14.98
$GC,13517,1.16,155.7,3655,2500,2253,2372,669.8,11.1,1039,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,3655,2500,2313,2254,2372,0,0,0,0,0,0,15.01,15.03,15.03
$GC,13817,1.16,155.7,3655,2500,2253,2372,636.1,11.1,1049,13824,0.00,2.60,0.00,0.000,516,0.000,0.099,3655,1086,2312,2253,2372,0,0,0,0,0,0,14.97,14.35,15.00
$GC,13851,1.16,155.7,3655,1086,2253,2372,632.3,11.5,1056,13855,0.00,2.55,0.00,0.000,1030,0.000,0.082,3655,2507,2312,2253,2372,0,0,0,0,0,0,14.57,14.41,14.64
$GC,14172,1.16,155.7,3655,2507,2252,2372,597.2,10.7,1070,14179,0.00,2.42,0.00,0.000,260,0.000,0.127,3655,3824,2311,2252,2371,0,0,0,0,0,0,15.02,14.30,15.04
$GC,14232,1.16,155.7,3655,3824,2253,2371,590.1,12.7,1082,14239,0.00,2.33,0.00,0.000,1030,0.000,0.074,3655,2491,2311,2252,2371,0,0,0,0,0,0,14.59,14.45,14.64
$GC,14562,1.16,155.7,3655,2491,2252,2371,554.6,10.9,1098,14569,0.00,2.55,0.00,0.000,516,0.000,0.106,3655,1084,2311,2252,2371,0,0,0,0,0,0,14.97,14.33,15.00
$GC,14636,1.16,155.7,3655,1084,2252,2371,546.3,10.6,1113,14640,0.00,2.53,0.00,0.000,1030,0.000,0.080,3655,2504,2312,2253,2372,0,0,0,0,0,0,14.56,14.39,14.62
$GC,14948,1.16,155.7,3655,2504,2252,2371,512.0,11.0,1125,14954,0.00,2.60,0.00,0.000,516,0.000,0.098,3655,1085,2311,2252,2371,0,0,0,0,0,0,14.97,14.34,15.00
$GC,15015,1.16,155.7,3655,1084,2252,2371,504.3,10.9,1139,15020,0.00,2.53,0.00,0.000,1030,0.000,0.080,3655,2500,2311,2252,2371,0,0,0,0,0,0,14.56,14.40,14.62
$GC,15337,1.16,155.7,3655,2500,2252,2371,468.9,10.8,1153,15343,0.00,2.45,0.00,0.000,260,0.000,0.126,3655,3828,2311,2252,2371,0,0,0,0,0,0,14.97,14.28,15.00
$GC,15376,1.16,155.7,3654,3828,2252,2371,464.2,12.0,1161,15380,0.00,2.33,0.00,0.000,1030,0.000,0.074,3655,2489,2311,2251,2371,0,0,0,0,0,0,14.59,14.45,14.64
$GC,15692,1.16,155.7,3655,2489,2252,2371,430.7,10.2,1174,15699,0.00,2.53,0.00,0.000,516,0.000,0.105,3655,1091,2312,2253,2371,0,0,0,0,0,0,14.97,14.33,15.00
$GC,15806,1.16,155.7,3655,1091,2252,2371,419.5,9.8,1197,15813,0.00,2.53,0.00,0.000,1030,0.000,0.080,3654,2507,2311,2252,2371,0,0,0,0,0,0,14.55,14.38,14.62
$GC,16113,1.23,155.7,3655,2507,2252,2371,392.0,8.7,1208,16119,0.00,2.58,0.00,0.000,516,0.000,0.098,3655,1091,2311,2252,2371,0,0,0,0,0,0,14.98,14.27,15.00
$GC,16131,1.33,155.7,3655,1091,2252,2371,390.3,8.3,1212,16136,0.15,2.50,0.00,0.000,3078,0.139,0.080,3709,2500,2311,2252,2371,0,0,0,0,0,0,14.47,14.41,14.62
$GC,16438,1.38,155.7,3709,2500,2252,2371,362.5,9.0,1223,16442,0.00,2.42,0.00,0.000,260,0.000,0.126,3709,3824,2312,2253,2371,0,0,0,0,0,0,15.02,14.29,15.04
$GC,16469,1.38,155.7,3709,3824,2252,2371,358.8,12.2,1229,16475,0.00,2.30,0.00,0.000,1030,0.000,0.074,3712,2498,2311,2252,2371,0,0,0,0,0,0,14.59,14.46,14.65
$GC,16799,1.38,155.7,3712,2497,2252,2371,322.6,11.4,1245,16806,0.00,2.55,0.00,0.000,516,0.000,0.104,3712,1087,2311,2252,2371,0,0,0,0,0,0,14.98,14.33,15.00
$GC,16893,1.38,155.7,3712,1087,2252,2371,311.8,11.7,1264,16897,0.00,2.53,0.00,0.000,1030,0.000,0.080,3711,2505,2311,2252,2371,0,0,0,0,0,0,14.54,14.38,14.62
$GC,17215,1.38,155.7,3712,2505,2252,2371,275.7,11.7,1278,17222,0.00,2.45,0.00,0.000,260,0.000,0.125,3712,3830,2311,2252,2371,0,0,0,0,0,0,15.02,14.28,15.04
$GC,17258,1.38,155.7,3711,3829,2252,2371,270.4,12.3,1287,17263,0.00,2.33,0.00,0.000,1030,0.000,0.073,3713,2491,2311,2252,2371,0,0,0,0,0,0,14.59,14.45,14.64
$GC,17565,1.38,155.7,3713,2491,2252,2371,234.7,11.6,1307,17570,0.00,2.53,0.00,0.000,516,0.000,0.103,3713,1091,2311,2252,2371,0,0,0,0,0,0,15.01,14.34,15.03
$GC,17680,1.38,155.7,3713,1091,2253,2371,222.4,10.1,1330,17687,0.00,2.53,0.00,0.000,1030,0.000,0.080,3713,2508,2311,2252,2371,0,0,0,0,0,0,14.54,14.38,14.62
$GC,17987,1.47,155.7,3713,2508,2252,2371,193.0,8.4,1361,17997,0.12,2.38,0.00,0.000,2308,0.142,0.109,3768,3832,2311,2252,2371,0,0,0,0,0,0,14.52,14.31,14.52
$GC,18019,1.47,155.7,3768,3833,2252,2371,189.9,9.9,1367,18024,0.00,2.28,0.00,0.000,1030,0.000,0.066,3777,2500,2311,2252,2371,0,0,0,0,0,0,14.59,14.47,14.64
$GC,18331,1.47,155.7,3777,2500,2252,2371,158.1,10.9,1399,18336,0.00,2.53,0.00,0.000,516,0.000,0.098,3788,1089,2311,2252,2371,0,0,0,0,0,0,15.00,14.35,15.02
$GC,18377,1.47,155.7,3787,1089,2252,2371,153.3,10.9,1408,18384,0.17,2.50,0.00,0.000,5126,0.309,0.077,3753,2501,2311,2252,2371,0,0,0,0,0,0,14.03,14.41,14.43
$GC,18683,1.63,231.6,3753,2501,2252,2371,129.1,6.5,1439,18754,0.15,2.55,60.95,0.989,10756,0.121,0.093,3826,1088,2018,1955,2081,0,0,0,0,0,0,14.52,14.41,13.93
$GC,18877,1.63,231.6,3825,1088,1951,2078,113.4,9.8,1477,18886,0.00,2.53,0.00,0.000,1030,0.000,0.078,3821,2505,2013,1950,2077,0,0,0,0,0,0,14.45,14.30,14.49
$GC,19187,1.63,231.6,3821,2506,1948,2076,78.6,12.9,1509,19196,0.00,2.38,0.00,0.000,260,0.000,0.106,3821,3833,2010,1947,2073,0,0,0,0,0,0,14.85,14.28,14.88
$GC,19422,1.78,231.6,3821,3833,1947,2071,61.0,7.5,1556,19429,0.00,2.30,0.00,0.000,1030,0.000,0.063,3830,2484,2009,1947,2072,0,0,0,0,0,0,14.52,14.41,14.57
$GC,19729,1.82,231.6,3830,2484,1950,2072,34.5,9.1,1603,19737,0.10,2.45,0.00,0.000,2564,0.153,0.090,3886,1091,2011,1950,2072,0,0,0,0,0,0,14.56,14.35,14.58
$GC,19815,1.86,231.6,3886,1092,1949,2072,26.3,9.2,1619,19822,0.00,2.50,0.00,0.000,1030,0.000,0.079,3886,2507,2010,1950,2071,0,0,0,0,0,0,14.52,14.37,14.58
$STATE,20064,end climb,SURFACE_DEPTH_REACHED
$STATE,20064,begin surface coast
$FINISH,-0.4,1.022241
$STATE,20100,end surface coast,CONTROL_FINISHED_OK
$STATE,20100,begin surface
$SM_CCo,20118,96.85,0.077,0,0,1131,450.12
$SM_GC,0.66,9.68,0.40,96.85,0.063,0.074,0.077,187,2297,1131,-9.58,0.76,450.12,0,0,0,0,0,0,14.52,14.52,14.46
$IRIDIUM_FIX,451.50,5924.82,220317,085447
$TT8_MAMPS,0.025466,0.154294
$HUMID,47.00
$INTERNAL_PRESSURE,9.68823
$TCM_TEMP,25.90
$XPDR_PINGS,322
$24V_AH,13.02,88.962
$10V_AH,12.73,0.000
$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,24.000,240.200,336.875,96.850,0.000,0.000,0.000,198.975,80.500,0.000,45.759,3056.589,13947.154,673.445,2662.522,199.717,0.000,2240.708,0.000,2380.433,0.000,0.541,0.000
$DEVICE_MAMPS,362.610,2119.050,2096.100,77.265,0.000,0.000,0.000,181.305,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311076
$DATA_FILE_SIZE,73327,1675
$CAP_FILE_SIZE,188769,0
$CFSIZE,2097872896,2051342336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.161,265.09,1
$GPS,220317,202255,455.705,5923.533,39,0.9,44,-2.2,0.4,260.8,8,9.0