version: 66.12
glider: 528
mission: 3
dive: 349
start: 3 26 117 0 2 0
data:
$ID,528
$MISSION,3
$DIVE,349
$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,28
$R_STBD_OVSHOOT,24
$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
$GPS1,250317,235405,459.3644,5918.5522,34,1.2,37,-2.2,0.0,0.0,7,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-72.2
$GPS2,260317,000133,459.3934,5918.5669,7,1.2,12,-2.2,0.0,0.0,7,9.9
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,67.0,135729,-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,10069,-0.99,-155.7,2962,892,3336,3819,920.5,-7.9,834,10076,0.00,2.47,0.00,0.000,1030,0.000,0.073,2963,2300,3578,3337,3819,0,0,0,0,0,0,14.57,14.42,14.62
$GC,10376,-0.99,-155.7,2963,2300,3335,3819,942.7,-7.3,845,10383,0.00,2.62,0.00,0.000,516,0.000,0.112,2963,884,3577,3335,3819,0,0,0,0,0,0,15.05,14.33,15.07
$GC,10436,-0.99,-155.7,2962,884,3335,3818,947.3,-7.4,857,10442,0.00,2.50,0.00,0.000,1030,0.000,0.073,2963,2301,3576,3335,3818,0,0,0,0,0,0,14.57,14.42,14.62
$GC,10766,-0.99,-155.7,2963,2300,3334,3817,971.0,-7.3,873,10773,0.00,2.58,0.00,0.000,260,0.000,0.119,2963,3710,3575,3333,3818,0,0,0,0,0,0,15.04,14.27,15.06
$GC,10874,-0.99,-155.7,2963,3710,3333,3818,979.3,-7.9,895,10879,0.00,2.45,0.00,0.000,1030,0.000,0.072,2964,2298,3575,3333,3817,0,0,0,0,0,0,14.57,14.42,14.62
$STATE,11034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11034,begin apogee
$GC,11040,-0.19,0.0,2963,2507,3333,3817,990.7,-7.1,902,11180,0.85,0.00,136.45,2.089,10246,0.195,0.000,3217,2506,2965,2838,3093,0,0,0,0,0,0,14.26,13.95,13.14
$STATE,11181,end apogee,CONTROL_FINISHED_OK
$STATE,11181,begin climb
$GC,11183,0.99,155.7,3217,2506,2836,3090,994.9,0.0,906,11331,1.12,0.00,141.75,2.097,10758,0.134,0.000,3592,2506,2331,2278,2385,0,0,0,0,0,0,13.94,13.78,13.01
$GC,11631,0.99,155.7,3592,2507,2262,2376,955.9,10.2,951,11636,0.00,2.42,0.00,0.000,260,0.000,0.119,3592,3825,2319,2262,2376,0,0,0,0,0,0,14.70,14.25,14.72
$GC,11677,0.99,155.7,3592,3825,2262,2373,950.7,10.7,960,11681,0.00,2.35,0.00,0.000,1030,0.000,0.080,3594,2497,2318,2263,2373,0,0,0,0,0,0,14.45,14.31,14.50
$GC,11989,0.99,155.7,3593,2497,2261,2374,919.0,10.1,972,11996,0.00,2.62,0.00,0.000,516,0.000,0.124,3594,1084,2317,2261,2374,0,0,0,0,0,0,14.83,14.30,14.85
$GC,12110,0.99,155.7,3593,1083,2260,2373,907.2,10.3,996,12116,0.00,2.47,0.00,0.000,1030,0.000,0.076,3593,2489,2316,2259,2373,0,0,0,0,0,0,14.45,14.38,14.50
$GC,12439,1.06,155.7,3593,2489,2258,2373,877.3,8.7,1012,12445,0.00,2.45,0.00,0.000,260,0.000,0.117,3593,3831,2315,2257,2373,0,0,0,0,0,0,14.90,14.34,14.91
$GC,12472,1.11,155.7,3593,3830,2257,2373,874.1,9.1,1019,12478,0.15,2.35,0.00,0.000,3078,0.123,0.075,3646,2490,2315,2258,2372,0,0,0,0,0,0,14.48,14.44,14.60
$GC,12800,1.11,155.7,3646,2490,2258,2372,842.4,9.7,1034,12807,0.00,2.55,0.00,0.000,516,0.000,0.112,3647,1090,2314,2257,2372,0,0,0,0,0,0,14.96,14.35,14.97
$GC,12898,1.11,155.7,3647,1089,2257,2372,832.5,10.3,1054,12903,0.00,2.53,0.00,0.000,1030,0.000,0.080,3647,2506,2314,2256,2372,0,0,0,0,0,0,14.57,14.41,14.62
$GC,13215,1.11,155.7,3647,2506,2256,2372,802.1,9.6,1067,13220,0.00,2.60,0.00,0.000,516,0.000,0.100,3648,1088,2314,2256,2372,0,0,0,0,0,0,14.94,14.36,14.96
$GC,13255,1.11,155.7,3647,1088,2256,2372,797.9,9.9,1075,13260,0.00,2.53,0.00,0.000,1030,0.000,0.080,3647,2506,2314,2256,2372,0,0,0,0,0,0,14.57,14.41,14.63
$GC,13577,1.11,155.7,3647,2506,2255,2372,765.5,10.3,1089,13583,0.00,2.62,0.00,0.000,516,0.000,0.100,3648,1085,2313,2255,2372,0,0,0,0,0,0,14.95,14.35,14.97
$GC,13607,1.11,155.7,3648,1085,2255,2372,762.4,9.9,1095,13612,0.00,2.53,0.00,0.000,1030,0.000,0.079,3648,2509,2313,2255,2372,0,0,0,0,0,0,14.57,14.42,14.63
$GC,13939,1.11,155.7,3647,2509,2254,2372,726.4,10.8,1111,13943,0.00,2.42,0.00,0.000,260,0.000,0.124,3647,3830,2313,2254,2372,0,0,0,0,0,0,14.96,14.29,14.97
$GC,13994,1.11,155.7,3647,3830,2254,2371,719.8,12.4,1122,14001,0.00,2.33,0.00,0.000,1030,0.000,0.073,3648,2491,2312,2254,2371,0,0,0,0,0,0,14.58,14.44,14.64
$GC,14301,1.11,155.7,3648,2491,2254,2371,687.6,10.6,1133,14307,0.00,2.55,0.00,0.000,516,0.000,0.106,3648,1085,2312,2254,2371,0,0,0,0,0,0,14.96,14.34,14.98
$GC,14451,1.11,155.7,3648,1084,2253,2371,672.3,10.4,1163,14455,0.00,2.53,0.00,0.000,1030,0.000,0.078,3648,2505,2312,2253,2371,0,0,0,0,0,0,14.54,14.38,14.61
$GC,14782,1.11,155.7,3648,2506,2253,2370,638.7,10.2,1179,14787,0.00,2.42,0.00,0.000,260,0.000,0.123,3647,3825,2312,2253,2371,0,0,0,0,0,0,15.00,14.27,15.02
$GC,14828,1.11,155.7,3648,3825,2253,2370,633.6,11.1,1188,14832,0.00,2.30,0.00,0.000,1030,0.000,0.073,3648,2502,2311,2253,2370,0,0,0,0,0,0,14.57,14.44,14.63
$GC,15140,1.11,155.7,3648,2502,2253,2370,599.9,11.0,1200,15146,0.00,2.58,0.00,0.000,516,0.000,0.105,3648,1082,2311,2253,2370,0,0,0,0,0,0,14.97,14.32,14.99
$GC,15272,1.11,155.7,3648,1082,2252,2369,584.9,11.2,1227,15277,0.00,2.53,0.00,0.000,1030,0.000,0.077,3647,2502,2311,2252,2370,0,0,0,0,0,0,14.54,14.38,14.60
$GC,15590,1.11,155.7,3648,2502,2252,2370,547.2,12.1,1240,15591,0.00,0.00,0.00,0.000,6,0.000,0.000,3647,2502,2311,2253,2370,0,0,0,0,0,0,14.97,14.99,14.99
$GC,15889,1.11,155.7,3648,2502,2252,2370,511.9,11.6,1250,15891,0.00,0.00,0.00,0.000,6,0.000,0.000,3648,2502,2311,2252,2370,0,0,0,0,0,0,14.97,15.00,15.00
$GC,16190,1.11,155.7,3648,2502,2252,2370,479.0,10.7,1260,16196,0.00,2.42,0.00,0.000,260,0.000,0.122,3647,3823,2311,2252,2370,0,0,0,0,0,0,14.98,14.26,15.00
$GC,16234,1.11,155.7,3647,3823,2252,2370,474.0,11.3,1269,16238,0.00,2.30,0.00,0.000,1030,0.000,0.071,3648,2496,2311,2252,2370,0,0,0,0,0,0,14.57,14.43,14.62
$GC,16546,1.18,155.7,3648,2496,2252,2370,444.6,8.7,1281,16552,0.00,2.55,0.00,0.000,516,0.000,0.102,3648,1084,2311,2252,2370,0,0,0,0,0,0,14.98,14.31,15.00
$GC,16669,1.18,155.7,3648,1084,2252,2370,433.8,9.3,1306,16674,0.00,2.55,0.00,0.000,1030,0.000,0.076,3648,2511,2311,2252,2370,0,0,0,0,0,0,14.53,14.37,14.59
$GC,16992,1.18,155.7,3648,2510,2252,2370,404.3,9.4,1320,16993,0.00,0.00,0.00,0.000,6,0.000,0.000,3648,2510,2311,2252,2370,0,0,0,0,0,0,14.98,15.00,15.00
$GC,17291,1.18,155.7,3648,2510,2252,2370,375.5,10.0,1330,17292,0.00,0.00,0.00,0.000,6,0.000,0.000,3648,2510,2311,2252,2370,0,0,0,0,0,0,14.98,15.00,15.00
$GC,17592,1.18,155.7,3648,2510,2252,2370,340.4,12.0,1340,17598,0.00,2.60,0.00,0.000,516,0.000,0.096,3648,1090,2311,2252,2370,0,0,0,0,0,0,14.99,14.30,15.01
$GC,17624,1.18,155.7,3648,1090,2252,2370,336.3,12.3,1347,17629,0.00,2.50,0.00,0.000,1030,0.000,0.076,3647,2500,2311,2252,2370,0,0,0,0,0,0,14.54,14.38,14.61
$GC,17951,1.18,155.7,3647,2501,2252,2370,299.2,11.3,1362,17958,0.00,2.42,0.00,0.000,260,0.000,0.120,3647,3823,2311,2252,2370,0,0,0,0,0,0,15.03,14.26,15.05
$GC,18011,1.18,155.7,3647,3823,2252,2370,292.2,12.3,1374,18018,0.00,2.30,0.00,0.000,1030,0.000,0.070,3648,2491,2311,2252,2370,0,0,0,0,0,0,14.56,14.43,14.62
$GC,18341,1.22,155.7,3648,2491,2252,2370,258.5,9.1,1390,18349,0.00,2.53,0.00,0.000,516,0.000,0.100,3648,1090,2311,2252,2370,0,0,0,0,0,0,14.98,14.31,15.00
$GC,18434,1.37,155.7,3648,1090,2252,2370,251.3,7.6,1409,18439,0.20,2.53,0.00,0.000,3078,0.116,0.075,3723,2503,2311,2252,2370,0,0,0,0,0,0,14.46,14.38,14.59
$GC,18747,1.37,155.7,3723,2504,2252,2370,219.3,11.5,1442,18756,0.00,2.58,0.00,0.000,516,0.000,0.093,3725,1089,2311,2252,2370,0,0,0,0,0,0,15.01,14.32,15.02
$GC,18772,1.37,155.7,3725,1090,2252,2370,216.5,11.3,1447,18779,0.00,2.50,0.00,0.000,1030,0.000,0.076,3725,2502,2311,2252,2370,0,0,0,0,0,0,14.55,14.40,14.62
$GC,19079,1.56,155.7,3725,2502,2252,2370,188.4,6.9,1478,19089,0.15,2.40,0.00,0.000,2308,0.132,0.116,3787,3822,2311,2252,2370,0,0,0,0,0,0,14.48,14.28,14.52
$GC,19155,1.56,155.7,3786,3822,2252,2370,180.6,10.5,1493,19162,0.00,2.30,0.00,0.000,1030,0.000,0.070,3789,2500,2311,2252,2370,0,0,0,0,0,0,14.54,14.40,14.60
$GC,19463,1.56,155.7,3788,2500,2252,2370,149.0,10.1,1524,19472,0.00,2.53,0.00,0.000,516,0.000,0.096,3802,1088,2311,2253,2370,0,0,0,0,0,0,15.00,14.32,15.01
$GC,19665,1.66,155.7,3801,1088,2252,2370,133.1,8.4,1564,19674,0.00,2.47,0.00,0.000,1030,0.000,0.075,3802,2498,2311,2252,2370,0,0,0,0,0,0,14.33,14.28,14.39
$GC,19975,1.83,236.1,3801,2498,2253,2370,110.9,6.3,1596,20046,0.17,2.38,62.97,0.961,10500,0.119,0.110,3875,3830,2000,1939,2061,0,0,0,0,0,0,14.45,14.31,13.90
$GC,20191,1.83,236.1,3875,3829,1937,2054,84.7,11.4,1639,20199,0.00,2.30,0.00,0.000,1030,0.000,0.067,3884,2498,1995,1937,2054,0,0,0,0,0,0,14.45,14.34,14.50
$GC,20498,1.90,236.1,3885,2498,1935,2054,55.4,8.7,1670,20508,0.00,2.50,0.00,0.000,516,0.000,0.094,3892,1092,1993,1933,2054,0,0,0,0,0,0,14.86,14.31,14.88
$GC,20611,1.90,236.1,3892,1092,1934,2054,45.1,9.3,1692,20618,0.00,2.47,0.00,0.000,1030,0.000,0.071,3892,2514,1994,1934,2054,0,0,0,0,0,0,14.50,14.35,14.54
$GC,20921,1.99,236.1,3892,2513,1934,2054,20.0,8.3,1753,20928,0.00,2.38,0.00,0.000,260,0.000,0.115,3892,3828,1994,1934,2055,0,0,0,0,0,0,14.88,14.31,14.90
$GC,21030,1.99,236.1,3892,3828,1934,2054,9.3,9.8,1774,21037,0.00,2.30,0.00,0.000,1030,0.000,0.074,3901,2503,1993,1933,2054,0,0,0,0,0,0,14.51,14.38,14.57
$STATE,21099,end climb,SURFACE_DEPTH_REACHED
$STATE,21099,begin surface coast
$FINISH,-0.2,1.022183
$STATE,21130,end surface coast,CONTROL_FINISHED_OK
$STATE,21130,begin surface
$SM_CCo,21149,95.10,0.077,0,0,1131,450.12
$SM_GC,0.67,9.82,0.38,95.10,0.070,0.082,0.077,176,2277,1131,-9.60,0.28,450.12,0,0,0,0,0,0,14.52,14.51,14.45
$IRIDIUM_FIX,457.99,5909.23,250317,235548
$TT8_MAMPS,0.024717,0.155043
$HUMID,47.20
$INTERNAL_PRESSURE,9.68823
$TCM_TEMP,25.80
$XPDR_PINGS,389
$24V_AH,13.01,93.063
$10V_AH,12.69,0.000
$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,23.950,238.750,341.175,95.100,0.000,0.000,0.000,287.600,97.250,0.000,13.524,3202.431,14688.886,692.671,2890.683,212.418,0.000,2429.055,0.000,2546.773,0.000,0.542,0.000
$DEVICE_MAMPS,361.845,2096.865,2096.865,77.265,0.000,0.000,0.000,177.480,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311120
$DATA_FILE_SIZE,79856,1793
$CAP_FILE_SIZE,197176,0
$CFSIZE,2097872896,2049474560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,270.98,1
$GPS,260317,055723,459.736,5918.140,39,0.9,42,-2.2,0.3,0.0,9,8.8