version: 66.12
glider: 528
mission: 3
dive: 350
start: 3 26 117 6 3 31
data:
$ID,528
$MISSION,3
$DIVE,350
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,260317,055723,459.7364,5918.1396,39,0.9,42,-2.2,0.3,0.0,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-72.5
$GPS2,260317,060303,459.7521,5918.1523,6,0.9,12,-2.2,0.0,0.0,10,8.8
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,61.9,135613,-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,-155.7,2960,3707,3363,3860,347.5,-9.0,352,3208,0.00,2.45,0.00,0.000,1030,0.000,0.085,2960,2294,3611,3362,3860,0,0,0,0,0,0,14.66,14.51,14.70
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$GC,9854,-0.99,-155.7,2960,876,3336,3817,913.6,-8.7,831,9858,0.00,2.50,0.00,0.000,1030,0.000,0.074,2960,2301,3577,3337,3817,0,0,0,0,0,0,14.59,14.44,14.64
$GC,10170,-0.99,-155.7,2960,2300,3335,3817,942.5,-9.2,844,10176,0.00,2.60,0.00,0.000,516,0.000,0.110,2960,892,3575,3334,3816,0,0,0,0,0,0,15.00,14.34,15.02
$GC,10260,-0.99,-155.7,2960,891,3334,3815,951.1,-9.1,862,10265,0.00,2.50,0.00,0.000,1030,0.000,0.076,2960,2304,3574,3334,3814,0,0,0,0,0,0,14.56,14.40,14.61
$GC,10592,-0.99,-155.7,2960,2304,3333,3815,979.3,-8.2,878,10597,0.00,2.62,0.00,0.000,516,0.000,0.110,2960,892,3573,3333,3814,0,0,0,0,0,0,15.05,14.33,15.07
$GC,10687,-0.99,-155.7,2960,892,3333,3813,987.3,-7.8,897,10692,0.00,2.50,0.00,0.000,1030,0.000,0.076,2960,2300,3573,3333,3813,0,0,0,0,0,0,14.55,14.39,14.61
$STATE,10737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10738,begin apogee
$GC,10743,-0.19,0.0,2960,2501,3333,3813,991.1,-7.4,902,10882,0.82,0.00,135.20,2.095,10246,0.200,0.000,3212,2500,2966,2839,3093,0,0,0,0,0,0,14.27,13.96,13.14
$STATE,10883,end apogee,CONTROL_FINISHED_OK
$STATE,10883,begin climb
$GC,10885,0.99,155.7,3213,2501,2835,3090,995.3,0.0,906,11041,1.12,2.83,141.62,2.098,10756,0.132,0.119,3591,1103,2325,2273,2378,0,0,0,0,0,0,13.94,13.75,13.01
$GC,11097,0.99,155.7,3591,1103,2268,2377,979.0,10.9,953,11104,0.00,2.58,0.00,0.000,1030,0.000,0.080,3590,2500,2322,2267,2377,0,0,0,0,0,0,14.14,14.03,14.18
$GC,11404,0.99,155.7,3590,2501,2261,2374,946.2,10.8,964,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2500,2317,2261,2374,0,0,0,0,0,0,14.73,14.75,14.75
$GC,11704,0.99,155.7,3590,2501,2259,2374,915.0,10.3,974,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2501,2316,2258,2374,0,0,0,0,0,0,14.83,14.85,14.85
$GC,12004,0.99,155.7,3590,2500,2257,2374,885.0,10.1,984,12010,0.00,2.62,0.00,0.000,516,0.000,0.112,3591,1091,2315,2257,2374,0,0,0,0,0,0,14.88,14.33,14.90
$GC,12047,0.99,155.7,3591,1091,2257,2374,880.6,10.1,993,12051,0.00,2.53,0.00,0.000,1030,0.000,0.079,3591,2506,2315,2257,2374,0,0,0,0,0,0,14.58,14.44,14.63
$GC,12359,1.07,155.7,3591,2506,2256,2373,852.7,8.6,1005,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,2506,2314,2256,2373,0,0,0,0,0,0,14.92,14.94,14.94
$GC,12659,1.21,155.7,3590,2506,2256,2373,828.5,7.7,1015,12664,0.20,2.60,0.00,0.000,2564,0.114,0.105,3672,1094,2315,2256,2374,0,0,0,0,0,0,14.49,14.35,14.54
$GC,12692,1.21,155.7,3672,1094,2255,2373,825.4,10.7,1021,12698,0.00,2.50,0.00,0.000,1030,0.000,0.080,3672,2501,2314,2255,2374,0,0,0,0,0,0,14.58,14.42,14.64
$GC,13022,1.21,155.7,3671,2501,2255,2372,792.8,10.0,1037,13028,0.00,2.60,0.00,0.000,516,0.000,0.102,3672,1095,2313,2255,2372,0,0,0,0,0,0,14.95,14.37,14.97
$GC,13095,1.21,155.7,3672,1095,2256,2372,785.1,10.5,1052,13100,0.00,2.50,0.00,0.000,1030,0.000,0.081,3672,2501,2313,2255,2372,0,0,0,0,0,0,14.57,14.40,14.63
$GC,13407,1.21,155.7,3672,2501,2255,2371,752.4,10.8,1064,13414,0.00,2.45,0.00,0.000,260,0.000,0.128,3672,3831,2312,2254,2370,0,0,0,0,0,0,15.00,14.29,15.01
$GC,13437,1.21,155.7,3672,3830,2255,2370,748.8,12.5,1070,13444,0.00,2.33,0.00,0.000,1030,0.000,0.077,3673,2497,2312,2255,2370,0,0,0,0,0,0,14.59,14.45,14.64
$GC,13767,1.21,155.7,3673,2497,2254,2370,708.6,12.5,1086,13774,0.00,2.58,0.00,0.000,516,0.000,0.108,3681,1088,2312,2254,2370,0,0,0,0,0,0,15.00,14.35,15.02
$GC,13896,1.21,155.7,3681,1088,2254,2370,692.1,12.6,1112,13901,0.00,2.50,0.00,0.000,1030,0.000,0.080,3681,2504,2312,2254,2370,0,0,0,0,0,0,14.55,14.39,14.62
$GC,14213,1.21,155.7,3681,2504,2252,2370,653.4,12.1,1125,14219,0.00,2.45,0.00,0.000,260,0.000,0.127,3681,3832,2311,2253,2369,0,0,0,0,0,0,14.97,14.28,14.99
$GC,14236,1.21,155.7,3681,3832,2253,2369,650.2,12.3,1130,14243,0.00,2.33,0.00,0.000,1030,0.000,0.076,3681,2501,2311,2253,2369,0,0,0,0,0,0,14.59,14.45,14.64
$GC,14543,1.21,155.7,3681,2500,2253,2369,615.7,10.8,1141,14549,0.00,2.55,0.00,0.000,516,0.000,0.106,3685,1088,2311,2253,2369,0,0,0,0,0,0,14.97,14.33,14.99
$GC,14711,1.25,155.7,3684,1088,2253,2369,598.9,9.1,1175,14716,0.00,2.53,0.00,0.000,1030,0.000,0.080,3685,2505,2311,2253,2369,0,0,0,0,0,0,14.54,14.38,14.61
$GC,15023,1.25,155.7,3684,2505,2252,2369,569.3,9.6,1187,15028,0.00,2.45,0.00,0.000,260,0.000,0.125,3684,3833,2311,2253,2369,0,0,0,0,0,0,14.97,14.26,14.99
$GC,15049,1.25,155.7,3684,3832,2253,2368,566.6,10.2,1192,15055,0.00,2.33,0.00,0.000,1030,0.000,0.076,3685,2499,2310,2253,2368,0,0,0,0,0,0,14.58,14.44,14.64
$GC,15355,1.25,155.7,3685,2499,2253,2368,533.2,11.6,1203,15360,0.00,2.53,0.00,0.000,516,0.000,0.106,3685,1094,2310,2253,2368,0,0,0,0,0,0,14.97,14.26,15.00
$GC,15417,1.25,155.7,3685,1094,2253,2368,525.3,13.0,1215,15422,0.00,2.50,0.00,0.000,1030,0.000,0.079,3685,2503,2311,2253,2369,0,0,0,0,0,0,14.55,14.39,14.62
$GC,15749,1.25,155.7,3685,2503,2252,2368,482.6,12.8,1231,15754,0.00,2.45,0.00,0.000,260,0.000,0.124,3685,3832,2310,2252,2368,0,0,0,0,0,0,14.97,14.26,15.00
$GC,15799,1.25,155.7,3684,3832,2253,2368,475.8,13.4,1241,15803,0.00,2.33,0.00,0.000,1030,0.000,0.073,3685,2494,2311,2253,2369,0,0,0,0,0,0,14.57,14.43,14.63
$GC,16106,1.25,155.7,3685,2494,2253,2368,439.0,11.8,1252,16112,0.00,2.55,0.00,0.000,516,0.000,0.105,3685,1087,2310,2253,2368,0,0,0,0,0,0,14.98,14.33,15.00
$GC,16220,1.25,155.7,3685,1087,2252,2368,424.9,12.8,1275,16228,0.00,2.53,0.00,0.000,1030,0.000,0.077,3685,2500,2310,2252,2368,0,0,0,0,0,0,14.54,14.39,14.61
$GC,16526,1.25,155.7,3685,2500,2252,2368,386.3,12.5,1286,16533,0.00,2.42,0.00,0.000,260,0.000,0.123,3685,3825,2310,2252,2368,0,0,0,0,0,0,14.97,14.27,15.00
$GC,16549,1.25,155.7,3685,3825,2252,2368,383.2,13.5,1291,16557,0.00,2.33,0.00,0.000,1030,0.000,0.073,3685,2493,2310,2253,2368,0,0,0,0,0,0,14.58,14.45,14.64
$GC,16856,1.25,155.7,3685,2493,2253,2369,349.4,10.5,1302,16863,0.00,2.55,0.00,0.000,516,0.000,0.103,3685,1082,2310,2253,2368,0,0,0,0,0,0,14.97,14.32,15.00
$GC,16991,1.30,155.7,3685,1082,2252,2368,336.0,9.0,1329,16997,0.00,2.53,0.00,0.000,1030,0.000,0.077,3685,2503,2310,2252,2368,0,0,0,0,0,0,14.54,14.38,14.60
$GC,17306,1.45,155.7,3685,2503,2252,2368,309.6,7.5,1342,17314,0.15,2.40,0.00,0.000,2308,0.138,0.112,3744,3829,2310,2252,2368,0,0,0,0,0,0,14.47,14.28,14.50
$GC,17337,1.45,155.7,3744,3829,2252,2369,306.7,9.8,1348,17343,0.00,2.30,0.00,0.000,1030,0.000,0.068,3746,2494,2310,2253,2368,0,0,0,0,0,0,14.58,14.45,14.64
$GC,17667,1.45,155.7,3746,2495,2252,2368,266.0,14.0,1364,17668,0.00,0.00,0.00,0.000,6,0.000,0.000,3746,2495,2310,2252,2368,0,0,0,0,0,0,15.02,15.04,15.04
$GC,17967,1.45,155.7,3745,2495,2253,2369,232.0,9.8,1384,17976,0.00,2.53,0.00,0.000,516,0.000,0.096,3757,1084,2310,2252,2368,0,0,0,0,0,0,15.01,14.33,15.03
$GC,18031,1.45,155.7,3757,1084,2252,2368,225.2,10.7,1397,18038,0.00,2.53,0.00,0.000,1030,0.000,0.074,3757,2511,2311,2253,2369,0,0,0,0,0,0,14.55,14.40,14.62
$GC,18338,1.45,155.7,3757,2510,2252,2368,190.9,9.5,1428,18347,0.00,2.38,0.00,0.000,260,0.000,0.108,3757,3831,2310,2251,2369,0,0,0,0,0,0,15.01,14.29,15.02
$GC,18423,1.52,155.7,3756,3831,2252,2369,182.9,8.7,1445,18429,0.00,2.30,0.00,0.000,1030,0.000,0.064,3765,2495,2311,2253,2369,0,0,0,0,0,0,14.57,14.45,14.62
$GC,18730,1.52,155.7,3765,2495,2253,2368,153.9,11.6,1476,18739,0.00,2.42,0.00,0.000,260,0.000,0.103,3765,3824,2310,2252,2369,0,0,0,0,0,0,15.00,14.29,15.02
$GC,18894,1.72,155.7,3765,3824,2253,2369,138.9,6.9,1509,18902,0.17,2.28,0.00,0.000,3078,0.123,0.064,3839,2498,2310,2252,2369,0,0,0,0,0,0,14.43,14.44,14.57
$GC,19202,1.72,155.7,3838,2498,2253,2368,113.2,9.8,1540,19211,0.00,2.50,0.00,0.000,516,0.000,0.092,3850,1090,2310,2253,2368,0,0,0,0,0,0,14.99,14.33,15.01
$GC,19273,1.89,155.7,3850,1090,2253,2369,107.4,7.3,1554,19284,0.12,2.47,0.00,0.000,3078,0.146,0.073,3897,2512,2311,2253,2369,0,0,0,0,0,0,14.42,14.40,14.57
$GC,19583,2.08,246.2,3897,2512,2254,2369,89.7,5.9,1586,19664,0.12,2.40,69.05,0.930,10500,0.137,0.125,3958,3824,1957,1898,2016,0,0,0,0,0,0,14.57,14.31,13.91
$GC,19709,2.08,246.2,3957,3824,1897,2012,77.0,14.0,1611,19717,0.00,2.30,0.00,0.000,1030,0.000,0.067,3958,2500,1954,1896,2012,0,0,0,0,0,0,14.45,14.34,14.48
$GC,20017,2.08,246.2,3957,2501,1893,2012,47.5,11.4,1644,20023,0.00,2.53,0.00,0.000,516,0.000,0.094,3958,1082,1952,1892,2012,0,0,0,0,0,0,14.83,14.31,14.85
$GC,20095,2.08,246.2,3957,1083,1893,2012,38.8,10.3,1659,20103,0.00,2.50,0.00,0.000,1030,0.000,0.076,3957,2496,1952,1893,2012,0,0,0,0,0,0,14.49,14.35,14.54
$GC,20406,2.08,246.2,3957,2496,1892,2012,9.2,10.0,1720,20413,0.00,2.42,0.00,0.000,260,0.000,0.118,3958,3831,1952,1892,2012,0,0,0,0,0,0,14.88,14.27,14.90
$STATE,20469,end climb,SURFACE_DEPTH_REACHED
$STATE,20469,begin surface coast
$FINISH,0.3,1.021913
$STATE,20494,end surface coast,CONTROL_FINISHED_OK
$STATE,20495,begin surface
$SM_CCo,20516,90.50,0.078,0,0,1131,450.12
$SM_GC,0.55,9.95,2.67,90.50,0.067,0.061,0.078,182,2289,1131,-9.59,0.57,450.12,0,0,0,0,0,0,14.50,14.45,14.44
$IRIDIUM_FIX,455.83,5917.03,260317,000104
$TT8_MAMPS,0.024717,0.154294
$HUMID,47.32
$INTERNAL_PRESSURE,9.68823
$TCM_TEMP,25.80
$XPDR_PINGS,368
$24V_AH,13.01,93.352
$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,24.200,249.500,345.875,90.500,0.000,0.000,0.000,237.400,92.000,0.000,13.740,3093.938,14153.412,721.752,2761.929,210.446,0.000,2380.948,0.000,2468.004,0.000,0.542,0.000
$DEVICE_MAMPS,361.845,2123.640,2098.395,78.030,0.000,0.000,0.000,179.010,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311080
$DATA_FILE_SIZE,76742,1737
$CAP_FILE_SIZE,194091,0
$CFSIZE,2097872896,2049376256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142,268.28,1
$GPS,260317,114806,459.913,5917.362,30,0.8,32,-2.2,0.3,307.4,10,8.5