version: 66.12
glider: 528
mission: 3
dive: 357
start: 3 27 117 23 46 38
data:
$ID,528
$MISSION,3
$DIVE,357
$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,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
$GPS1,270317,234035,501.1592,5915.3623,41,0.9,43,-2.2,0.4,359.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.6
$GPS2,270317,234611,501.1793,5915.3774,18,1.0,18,-2.2,0.0,22.9,9,6.2
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,57.3,136462,-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
$STATE,14,begin dive
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$GC,10095,-0.99,-155.7,2961,2301,3334,3810,920.1,-6.9,827,10099,0.00,2.58,0.00,0.000,260,0.000,0.103,2959,3714,3572,3334,3810,0,0,0,0,0,0,15.01,14.28,15.02
$GC,10150,-0.99,-155.7,2959,3714,3334,3809,924.2,-7.7,838,10156,0.00,2.45,0.00,0.000,1030,0.000,0.068,2962,2300,3571,3333,3809,0,0,0,0,0,0,14.60,14.47,14.64
$GC,10457,-0.99,-155.7,2961,2300,3332,3808,946.4,-7.5,849,10463,0.00,2.58,0.00,0.000,260,0.000,0.103,2959,3713,3570,3332,3808,0,0,0,0,0,0,15.04,14.28,15.06
$GC,10490,-0.99,-155.7,2959,3713,3331,3808,949.2,-9.1,856,10494,0.00,2.45,0.00,0.000,1030,0.000,0.068,2959,2290,3569,3331,3808,0,0,0,0,0,0,14.60,14.47,14.64
$GC,10812,-0.99,-155.7,2961,2290,3329,3807,975.7,-8.6,870,10819,0.00,2.60,0.00,0.000,260,0.000,0.103,2959,3716,3567,3329,3806,0,0,0,0,0,0,15.04,14.28,15.07
$GC,10872,-0.99,-155.7,2959,3716,3328,3806,981.4,-9.1,882,10879,0.00,2.45,0.00,0.000,1030,0.000,0.070,2962,2296,3567,3328,3806,0,0,0,0,0,0,14.59,14.45,14.63
$STATE,10990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10990,begin apogee
$GC,10995,-0.19,0.0,2959,2509,3327,3805,992.2,-9.0,891,11133,0.85,0.00,134.38,2.093,10246,0.200,0.000,3213,2508,2966,2838,3094,0,0,0,0,0,0,14.24,13.95,13.12
$STATE,11134,end apogee,CONTROL_FINISHED_OK
$STATE,11134,begin climb
$GC,11136,0.99,155.7,3213,2509,2835,3090,998.6,0.0,895,11288,1.15,2.53,141.40,2.111,10500,0.132,0.122,3597,3826,2327,2272,2382,0,0,0,0,0,0,13.94,13.64,12.97
$GC,11364,1.05,155.7,3597,3826,2270,2373,986.4,8.9,945,11369,0.00,2.40,0.00,0.000,1030,0.000,0.083,3598,2506,2321,2270,2373,0,0,0,0,0,0,14.17,14.04,14.21
$GC,11677,1.14,155.7,3597,2506,2264,2373,960.7,8.3,957,11683,0.12,2.62,0.00,0.000,2564,0.141,0.129,3646,1093,2318,2264,2373,0,0,0,0,0,0,14.39,14.20,14.45
$GC,11766,1.14,155.7,3646,1093,2263,2373,951.7,10.3,975,11773,0.00,2.53,0.00,0.000,1030,0.000,0.083,3645,2503,2318,2263,2373,0,0,0,0,0,0,14.51,14.38,14.56
$GC,12096,1.14,155.7,3645,2503,2261,2373,916.7,11.1,991,12103,0.00,2.42,0.00,0.000,260,0.000,0.121,3645,3825,2317,2261,2373,0,0,0,0,0,0,14.85,14.35,14.88
$GC,12127,1.14,155.7,3645,3825,2261,2372,913.1,12.8,997,12133,0.00,2.35,0.00,0.000,1030,0.000,0.080,3646,2485,2316,2261,2372,0,0,0,0,0,0,14.57,14.42,14.62
$GC,12456,1.14,155.7,3645,2486,2260,2372,874.2,11.9,1013,12463,0.00,2.58,0.00,0.000,516,0.000,0.122,3646,1091,2316,2260,2372,0,0,0,0,0,0,14.90,14.33,14.92
$GC,12549,1.14,155.7,3645,1091,2259,2372,863.0,11.7,1032,12554,0.00,2.53,0.00,0.000,1030,0.000,0.083,3646,2507,2315,2259,2372,0,0,0,0,0,0,14.57,14.40,14.63
$GC,12876,1.14,155.7,3645,2506,2258,2372,825.9,11.1,1047,12880,0.00,2.38,0.00,0.000,260,0.000,0.120,3646,3820,2315,2258,2372,0,0,0,0,0,0,14.93,14.28,14.95
$GC,12908,1.14,155.7,3646,3820,2258,2371,822.2,12.4,1053,12914,0.00,2.30,0.00,0.000,1030,0.000,0.076,3646,2494,2314,2257,2371,0,0,0,0,0,0,14.59,14.45,14.64
$GC,13238,1.14,155.7,3646,2494,2257,2371,785.7,11.0,1069,13244,0.00,2.58,0.00,0.000,516,0.000,0.109,3646,1087,2314,2258,2371,0,0,0,0,0,0,14.95,14.35,14.97
$GC,13389,1.14,155.7,3646,1087,2256,2371,769.0,11.2,1099,13396,0.00,2.50,0.00,0.000,1030,0.000,0.083,3646,2494,2314,2257,2371,0,0,0,0,0,0,14.42,14.34,14.50
$GC,13718,1.14,155.7,3645,2494,2256,2371,730.1,12.0,1115,13725,0.00,2.58,0.00,0.000,516,0.000,0.100,3646,1092,2313,2256,2371,0,0,0,0,0,0,14.95,14.35,14.97
$GC,13771,1.14,155.7,3646,1091,2256,2371,723.2,12.3,1126,13778,0.00,2.53,0.00,0.000,1030,0.000,0.083,3646,2503,2313,2256,2371,0,0,0,0,0,0,14.56,14.39,14.62
$GC,14078,1.14,155.7,3645,2503,2256,2371,686.3,11.9,1137,14084,0.00,2.42,0.00,0.000,260,0.000,0.120,3646,3830,2313,2256,2371,0,0,0,0,0,0,15.00,14.31,15.02
$GC,14117,1.14,155.7,3645,3830,2256,2371,681.2,13.5,1145,14121,0.00,2.30,0.00,0.000,1030,0.000,0.071,3646,2501,2313,2256,2371,0,0,0,0,0,0,14.58,14.45,14.64
$GC,14433,1.14,155.7,3646,2502,2256,2370,645.5,11.0,1158,14440,0.00,2.55,0.00,0.000,516,0.000,0.103,3646,1089,2312,2255,2370,0,0,0,0,0,0,14.97,14.34,14.99
$GC,14568,1.14,155.7,3645,1089,2255,2370,631.0,10.5,1185,14574,0.00,2.53,0.00,0.000,1030,0.000,0.082,3645,2501,2313,2255,2371,0,0,0,0,0,0,14.54,14.38,14.61
$GC,14883,1.14,155.7,3646,2501,2255,2370,600.1,9.4,1198,14889,0.00,2.45,0.00,0.000,260,0.000,0.126,3646,3830,2313,2255,2371,0,0,0,0,0,0,14.97,14.26,14.99
$GC,14906,1.14,155.7,3645,3829,2255,2370,597.4,10.4,1203,14913,0.00,2.30,0.00,0.000,1030,0.000,0.072,3646,2501,2312,2255,2370,0,0,0,0,0,0,14.58,14.45,14.64
$GC,15213,1.14,155.7,3645,2501,2255,2370,567.7,9.8,1214,15219,0.00,2.55,0.00,0.000,516,0.000,0.106,3646,1092,2312,2255,2370,0,0,0,0,0,0,14.97,14.32,14.99
$GC,15287,1.14,155.7,3645,1092,2255,2370,560.4,9.9,1229,15291,0.00,2.53,0.00,0.000,1030,0.000,0.081,3646,2506,2312,2254,2370,0,0,0,0,0,0,14.54,14.38,14.61
$GC,15599,1.14,155.7,3645,2506,2254,2370,528.1,10.7,1241,15605,0.00,2.45,0.00,0.000,260,0.000,0.125,3646,3834,2312,2255,2370,0,0,0,0,0,0,14.97,14.26,15.00
$GC,15666,1.14,155.7,3645,3834,2254,2370,519.7,12.6,1255,15670,0.00,2.33,0.00,0.000,1030,0.000,0.072,3646,2501,2312,2254,2370,0,0,0,0,0,0,14.57,14.43,14.62
$GC,15989,1.14,155.7,3645,2501,2254,2370,482.1,12.1,1269,15995,0.00,2.53,0.00,0.000,516,0.000,0.105,3646,1094,2312,2254,2370,0,0,0,0,0,0,14.97,14.25,15.00
$GC,16112,1.14,155.7,3645,1094,2254,2370,466.7,12.1,1294,16116,0.00,2.53,0.00,0.000,1030,0.000,0.080,3646,2503,2312,2254,2370,0,0,0,0,0,0,14.53,14.36,14.60
$GC,16434,1.14,155.7,3645,2503,2254,2370,428.8,11.3,1308,16438,0.00,2.45,0.00,0.000,260,0.000,0.124,3646,3831,2312,2254,2370,0,0,0,0,0,0,14.97,14.25,14.99
$GC,16459,1.14,155.7,3645,3831,2253,2370,425.6,11.4,1313,16466,0.00,2.33,0.00,0.000,1030,0.000,0.071,3646,2490,2312,2254,2370,0,0,0,0,0,0,14.57,14.43,14.63
$GC,16766,1.21,155.7,3645,2489,2254,2370,396.7,8.8,1324,16771,0.00,2.53,0.00,0.000,516,0.000,0.104,3646,1094,2312,2254,2370,0,0,0,0,0,0,14.97,14.31,15.00
$GC,16873,1.30,155.7,3645,1094,2254,2370,387.4,8.5,1345,16880,0.15,2.53,0.00,0.000,3078,0.137,0.080,3700,2509,2312,2254,2370,0,0,0,0,0,0,14.42,14.36,14.57
$GC,17188,1.30,155.7,3700,2509,2254,2370,357.4,9.2,1358,17189,0.00,0.00,0.00,0.000,6,0.000,0.000,3700,2509,2312,2254,2370,0,0,0,0,0,0,14.97,15.00,15.00
$GC,17488,1.30,155.7,3700,2509,2254,2370,328.2,10.0,1368,17493,0.00,2.60,0.00,0.000,516,0.000,0.097,3700,1091,2312,2254,2370,0,0,0,0,0,0,14.98,14.30,15.00
$GC,17522,1.30,155.7,3700,1090,2254,2370,324.4,10.5,1375,17527,0.00,2.53,0.00,0.000,1030,0.000,0.081,3700,2506,2312,2254,2370,0,0,0,0,0,0,14.54,14.38,14.61
$GC,17850,1.30,155.7,3700,2506,2254,2370,287.4,11.9,1390,17856,0.00,2.40,0.00,0.000,260,0.000,0.116,3700,3825,2312,2254,2370,0,0,0,0,0,0,14.97,14.28,15.00
$GC,17880,1.30,155.7,3700,3825,2254,2370,283.6,13.3,1396,17885,0.00,2.30,0.00,0.000,1030,0.000,0.070,3702,2494,2312,2254,2370,0,0,0,0,0,0,14.57,14.44,14.63
$GC,18192,1.30,155.7,3701,2494,2254,2370,245.5,12.5,1412,18196,0.00,2.53,0.00,0.000,516,0.000,0.097,3702,1086,2312,2254,2370,0,0,0,0,0,0,14.98,14.32,15.00
$GC,18315,1.30,155.7,3701,1086,2254,2370,230.5,11.2,1436,18320,0.00,2.50,0.00,0.000,1030,0.000,0.071,3702,2507,2312,2254,2370,0,0,0,0,0,0,14.54,14.39,14.60
$GC,18627,1.48,155.7,3701,2507,2254,2370,203.2,7.1,1468,18632,0.12,2.35,0.00,0.000,2308,0.143,0.104,3757,3821,2312,2254,2370,0,0,0,0,0,0,14.52,14.31,14.54
$GC,18673,1.48,155.7,3756,3821,2254,2370,198.8,10.3,1477,18680,0.00,2.30,0.00,0.000,1030,0.000,0.066,3766,2486,2312,2254,2370,0,0,0,0,0,0,14.57,14.45,14.62
$GC,18980,1.59,155.7,3765,2486,2254,2371,168.5,8.0,1508,18985,0.00,2.47,0.00,0.000,516,0.000,0.092,3773,1095,2312,2254,2370,0,0,0,0,0,0,15.00,14.33,15.02
$GC,19113,1.78,155.7,3773,1094,2254,2370,159.7,7.1,1534,19123,0.20,2.45,0.00,0.000,3078,0.081,0.070,3857,2496,2312,2254,2370,0,0,0,0,0,0,14.33,14.26,14.39
$GC,19422,1.78,155.7,3856,2496,2254,2371,129.3,10.7,1566,19431,0.00,2.38,0.00,0.000,260,0.000,0.102,3857,3828,2312,2254,2370,0,0,0,0,0,0,15.00,14.31,15.01
$GC,19657,1.93,155.7,3857,3827,2254,2370,109.1,7.5,1613,19664,0.00,2.28,0.00,0.000,1030,0.000,0.063,3866,2499,2312,2254,2370,0,0,0,0,0,0,14.55,14.44,14.60
$GC,19963,2.09,230.3,3866,2499,2256,2370,87.2,6.6,1644,20028,0.20,2.47,57.72,0.930,10756,0.103,0.094,3956,1093,2024,1963,2085,0,0,0,0,0,0,14.48,14.34,13.95
$GC,20150,2.15,230.3,3956,1093,1957,2083,66.2,8.8,1681,20156,0.00,2.53,0.00,0.000,1030,0.000,0.079,3956,2507,2019,1955,2083,0,0,0,0,0,0,14.45,14.31,14.51
$GC,20456,2.15,230.3,3956,2507,1953,2081,43.1,10.9,1718,20462,0.00,2.55,0.00,0.000,516,0.000,0.088,3956,1092,2017,1953,2082,0,0,0,0,0,0,14.85,14.32,14.86
$GC,20690,2.27,230.3,3956,1093,1955,2081,17.6,7.9,1764,20698,0.00,2.50,0.00,0.000,3078,0.000,0.076,3956,2507,2018,1955,2081,0,0,0,0,0,0,14.52,14.35,14.57
$STATE,20863,end climb,SURFACE_DEPTH_REACHED
$STATE,20863,begin surface coast
$FINISH,-0.3,1.022211
$STATE,20900,end surface coast,CONTROL_FINISHED_OK
$STATE,20901,begin surface
$SM_CCo,20919,97.70,0.078,0,0,1130,450.12
$SM_GC,0.65,9.93,0.40,97.70,0.067,0.072,0.078,182,2297,1130,-9.58,0.79,450.12,0,0,0,0,0,0,14.52,14.50,14.44
$IRIDIUM_FIX,500.16,5915.17,270317,174809
$TT8_MAMPS,0.024717,0.155792
$HUMID,47.99
$INTERNAL_PRESSURE,9.68823
$TCM_TEMP,25.70
$XPDR_PINGS,381
$24V_AH,12.97,95.413
$10V_AH,12.67,0.000
$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,24.075,253.425,333.500,97.700,0.000,0.000,0.000,228.000,95.250,0.000,19.896,3186.170,14405.334,682.421,2856.106,217.843,0.000,2371.558,0.000,2563.443,0.000,0.542,0.000
$DEVICE_MAMPS,355.725,2096.865,2110.635,78.030,0.000,0.000,0.000,179.010,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.357,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311088
$DATA_FILE_SIZE,79917,1805
$CAP_FILE_SIZE,199260,0
$CFSIZE,2097872896,2048425984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.068,259.93,1
$GPS,280317,053804,501.196,5915.438,30,0.9,32,-2.2,0.0,0.0,9,9.2