version: 66.12
glider: 528
mission: 3
dive: 360
start: 3 28 117 17 37 22
data:
$ID,528
$MISSION,3
$DIVE,360
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,280317,172736,501.0881,5914.6919,33,1.4,37,-2.2,0.0,78.3,7,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-71.2
$GPS2,280317,173655,501.0517,5914.6943,32,1.0,32,-2.2,0.0,196.5,9,4.9
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,50.3,137411,-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,10128,-0.99,-155.7,2960,3714,3332,3816,915.0,-9.0,849,10133,0.00,2.45,0.00,0.000,1030,0.000,0.066,2960,2289,3573,3331,3816,0,0,0,0,0,0,14.59,14.47,14.63
$GC,10445,-0.99,-155.7,2960,2289,3327,3816,943.5,-9.2,862,10452,0.00,2.58,0.00,0.000,260,0.000,0.101,2961,3708,3571,3327,3815,0,0,0,0,0,0,15.00,14.28,15.02
$GC,10538,-0.99,-155.7,2961,3708,3326,3815,952.4,-9.5,881,10542,0.00,2.42,0.00,0.000,1030,0.000,0.066,2960,2299,3571,3327,3815,0,0,0,0,0,0,14.58,14.46,14.63
$GC,10860,-0.99,-155.7,2960,2298,3329,3814,980.9,-8.7,895,10865,0.00,2.58,0.00,0.000,260,0.000,0.103,2960,3707,3571,3328,3815,0,0,0,0,0,0,15.00,14.27,15.02
$GC,10935,-0.99,-155.7,2960,3707,3330,3815,987.8,-8.7,910,10940,0.00,2.42,0.00,0.000,1030,0.000,0.066,2960,2297,3571,3329,3814,0,0,0,0,0,0,14.59,14.46,14.62
$STATE,10975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10975,begin apogee
$GC,10981,-0.19,0.0,2961,2504,3330,3814,991.0,-8.1,913,11119,0.85,0.00,135.20,2.100,10246,0.194,0.000,3215,2504,2966,2836,3096,0,0,0,0,0,0,14.26,13.95,13.14
$STATE,11120,end apogee,CONTROL_FINISHED_OK
$STATE,11121,begin climb
$GC,11122,0.99,155.7,3216,2504,2834,3091,996.6,0.0,917,11279,1.12,2.58,141.52,2.099,10500,0.129,0.117,3596,3818,2325,2271,2379,0,0,0,0,0,0,13.94,13.77,13.00
$GC,11299,0.99,155.7,3596,3818,2271,2376,985.0,10.0,957,11304,0.00,2.40,0.00,0.000,1030,0.000,0.076,3597,2503,2323,2270,2376,0,0,0,0,0,0,14.04,13.92,14.07
$GC,11607,0.99,155.7,3597,2504,2263,2375,951.2,11.4,968,11613,0.00,2.62,0.00,0.000,516,0.000,0.129,3597,1095,2318,2262,2375,0,0,0,0,0,0,14.71,14.20,14.73
$GC,11728,0.99,155.7,3596,1095,2261,2375,937.4,11.9,992,11734,0.00,2.47,0.00,0.000,1030,0.000,0.076,3597,2495,2318,2261,2375,0,0,0,0,0,0,14.43,14.37,14.48
$GC,12057,0.99,155.7,3597,2495,2259,2375,900.2,11.0,1008,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2495,2316,2258,2375,0,0,0,0,0,0,14.85,14.88,14.88
$GC,12356,0.99,155.7,3597,2494,2257,2375,868.3,10.4,1018,12363,0.00,2.62,0.00,0.000,516,0.000,0.111,3597,1083,2316,2257,2375,0,0,0,0,0,0,14.90,14.33,14.92
$GC,12386,0.99,155.7,3596,1083,2257,2375,865.1,10.2,1024,12393,0.00,2.53,0.00,0.000,1030,0.000,0.078,3597,2511,2315,2256,2375,0,0,0,0,0,0,14.58,14.45,14.64
$GC,12717,0.99,155.7,3597,2511,2255,2375,830.7,10.3,1040,12718,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2511,2315,2256,2375,0,0,0,0,0,0,14.92,14.95,14.95
$GC,13016,0.99,155.7,3597,2511,2254,2375,799.4,10.2,1050,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2511,2314,2254,2375,0,0,0,0,0,0,14.95,14.97,14.96
$GC,13317,0.99,155.7,3597,2511,2253,2375,769.1,9.9,1060,13318,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2511,2314,2253,2375,0,0,0,0,0,0,14.96,14.98,14.98
$GC,13616,0.99,155.7,3597,2511,2252,2375,740.1,9.6,1070,13623,0.00,2.62,0.00,0.000,516,0.000,0.106,3598,1087,2313,2252,2375,0,0,0,0,0,0,14.97,14.32,14.99
$GC,13647,1.03,155.7,3598,1087,2252,2375,737.2,9.2,1076,13653,0.00,2.47,0.00,0.000,1030,0.000,0.077,3598,2494,2313,2252,2375,0,0,0,0,0,0,14.46,14.38,14.52
$GC,13977,1.03,155.7,3598,2494,2251,2375,705.8,9.4,1092,13983,0.00,2.60,0.00,0.000,516,0.000,0.100,3598,1076,2313,2251,2375,0,0,0,0,0,0,14.97,14.33,14.99
$GC,14055,1.03,155.7,3597,1075,2251,2375,698.1,9.7,1108,14059,0.00,2.55,0.00,0.000,1030,0.000,0.080,3598,2509,2313,2251,2375,0,0,0,0,0,0,14.55,14.40,14.62
$GC,14362,1.08,155.7,3598,2509,2251,2375,670.3,9.0,1119,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2509,2312,2250,2375,0,0,0,0,0,0,14.97,15.00,15.00
$GC,14662,1.21,155.7,3598,2509,2249,2374,646.1,7.9,1129,14668,0.20,2.60,0.00,0.000,2564,0.112,0.099,3677,1085,2312,2250,2374,0,0,0,0,0,0,14.47,14.28,14.51
$GC,14699,1.21,155.7,3677,1085,2251,2374,642.4,10.4,1137,14704,0.00,2.53,0.00,0.000,1030,0.000,0.080,3677,2507,2312,2250,2374,0,0,0,0,0,0,14.56,14.40,14.62
$GC,15016,1.21,155.7,3677,2507,2250,2373,609.5,10.5,1150,15017,0.00,0.00,0.00,0.000,6,0.000,0.000,3677,2507,2312,2250,2374,0,0,0,0,0,0,15.02,15.04,15.04
$GC,15317,1.21,155.7,3677,2507,2250,2373,577.2,11.0,1160,15323,0.00,2.62,0.00,0.000,516,0.000,0.101,3678,1081,2311,2250,2373,0,0,0,0,0,0,14.98,14.29,15.00
$GC,15355,1.21,155.7,3678,1081,2250,2373,572.7,11.1,1168,15359,0.00,2.55,0.00,0.000,1030,0.000,0.080,3677,2510,2311,2250,2373,0,0,0,0,0,0,14.55,14.39,14.62
$GC,15671,1.21,155.7,3678,2510,2250,2373,538.0,10.7,1181,15678,0.00,2.62,0.00,0.000,516,0.000,0.101,3678,1087,2311,2250,2373,0,0,0,0,0,0,14.98,14.29,15.00
$GC,15685,1.21,155.7,3678,1088,2250,2373,536.6,10.6,1184,15689,0.00,2.53,0.00,0.000,1030,0.000,0.080,3678,2507,2311,2250,2373,0,0,0,0,0,0,14.57,14.41,14.63
$GC,15997,1.21,155.7,3678,2507,2250,2373,503.8,10.5,1196,16003,0.00,2.42,0.00,0.000,260,0.000,0.118,3678,3833,2311,2250,2372,0,0,0,0,0,0,15.02,14.26,15.04
$GC,16035,1.21,155.7,3678,3833,2250,2372,499.2,11.9,1204,16040,0.00,2.33,0.00,0.000,1030,0.000,0.073,3678,2495,2311,2250,2372,0,0,0,0,0,0,14.57,14.42,14.62
$GC,16352,1.21,155.7,3678,2495,2250,2372,464.9,10.9,1217,16359,0.00,2.55,0.00,0.000,516,0.000,0.103,3678,1086,2311,2250,2373,0,0,0,0,0,0,15.02,14.31,15.04
$GC,16455,1.21,155.7,3678,1086,2250,2372,453.9,10.2,1238,16460,0.00,2.53,0.00,0.000,1030,0.000,0.079,3678,2501,2311,2250,2372,0,0,0,0,0,0,14.53,14.38,14.60
$GC,16767,1.21,155.7,3678,2501,2250,2372,423.9,9.4,1250,16774,0.00,2.42,0.00,0.000,260,0.000,0.116,3678,3832,2311,2250,2372,0,0,0,0,0,0,14.97,14.26,15.00
$GC,16805,1.21,155.7,3677,3832,2251,2372,419.9,10.9,1258,16810,0.00,2.33,0.00,0.000,1030,0.000,0.072,3678,2496,2311,2250,2372,0,0,0,0,0,0,14.56,14.42,14.62
$GC,17122,1.21,155.7,3678,2496,2251,2372,388.2,10.4,1271,17127,0.00,2.55,0.00,0.000,516,0.000,0.101,3678,1084,2311,2250,2372,0,0,0,0,0,0,14.97,14.30,15.00
$GC,17232,1.21,155.7,3678,1085,2250,2372,376.7,10.2,1293,17237,0.00,2.55,0.00,0.000,1030,0.000,0.078,3678,2511,2311,2250,2372,0,0,0,0,0,0,14.53,14.37,14.59
$GC,17540,1.21,155.7,3677,2511,2250,2372,344.8,10.8,1304,17546,0.00,2.62,0.00,0.000,516,0.000,0.099,3678,1084,2311,2250,2372,0,0,0,0,0,0,15.02,14.28,15.04
$GC,17578,1.21,155.7,3678,1084,2250,2372,340.2,12.1,1312,17582,0.00,2.53,0.00,0.000,1030,0.000,0.078,3678,2506,2311,2250,2372,0,0,0,0,0,0,14.54,14.38,14.60
$GC,17895,1.21,155.7,3678,2506,2250,2372,302.8,11.7,1325,17896,0.00,0.00,0.00,0.000,6,0.000,0.000,3678,2506,2311,2250,2372,0,0,0,0,0,0,15.02,15.04,15.04
$GC,18195,1.21,155.7,3678,2506,2250,2372,269.4,11.1,1335,18199,0.00,2.60,0.00,0.000,516,0.000,0.096,3678,1088,2311,2250,2372,0,0,0,0,0,0,15.02,14.29,15.04
$GC,18311,1.21,155.7,3678,1088,2250,2372,256.4,11.8,1358,18318,0.00,2.55,0.00,0.000,1030,0.000,0.078,3678,2509,2311,2250,2372,0,0,0,0,0,0,14.52,14.37,14.59
$GC,18618,1.31,155.7,3678,2508,2250,2372,227.1,8.2,1385,18627,0.00,2.38,0.00,0.000,260,0.000,0.111,3678,3829,2311,2250,2372,0,0,0,0,0,0,15.00,14.16,15.02
$GC,18642,1.31,155.7,3678,3829,2250,2373,224.5,9.4,1390,18649,0.00,2.33,0.00,0.000,1030,0.000,0.069,3678,2487,2311,2250,2372,0,0,0,0,0,0,14.57,14.43,14.62
$GC,18949,1.48,155.7,3678,2487,2250,2372,199.0,7.3,1421,18952,0.22,0.00,0.00,0.000,2054,0.107,0.000,3763,2486,2311,2250,2372,0,0,0,0,0,0,14.49,14.63,14.59
$GC,19249,1.54,155.7,3763,2487,2250,2372,175.4,8.8,1451,19254,0.00,2.50,0.00,0.000,516,0.000,0.095,3766,1089,2311,2250,2372,0,0,0,0,0,0,15.00,14.31,15.02
$GC,19352,1.54,155.7,3765,1089,2250,2372,164.5,10.7,1471,19357,0.00,2.47,0.00,0.000,1030,0.000,0.069,3765,2503,2311,2250,2372,0,0,0,0,0,0,14.53,14.39,14.59
$GC,19664,1.88,316.5,3765,2503,2250,2372,136.5,3.0,1503,19806,0.30,2.40,130.50,0.989,10500,0.099,0.106,3885,3826,1669,1623,1715,0,0,0,0,0,0,14.39,14.17,13.70
$GC,19901,1.88,316.5,3884,3826,1621,1708,105.1,19.1,1550,19908,0.00,2.30,0.00,0.000,1030,0.000,0.063,3890,2498,1664,1620,1708,0,0,0,0,0,0,14.35,14.26,14.39
$GC,20208,1.88,316.5,3890,2498,1614,1708,52.7,13.1,1581,20209,0.00,0.00,0.00,0.000,6,0.000,0.000,3890,2498,1661,1615,1707,0,0,0,0,0,0,14.80,14.82,14.82
$GC,20509,1.88,316.5,3890,2498,1611,1708,16.9,11.5,1639,20517,0.00,2.50,0.00,0.000,516,0.000,0.088,3898,1083,1659,1611,1708,0,0,0,0,0,0,14.84,14.31,14.86
$GC,20574,1.88,316.5,3897,1083,1614,1708,8.7,11.5,1651,20582,0.00,2.47,0.00,0.000,1030,0.000,0.066,3898,2506,1660,1614,1707,0,0,0,0,0,0,14.50,14.37,14.55
$STATE,20626,end climb,SURFACE_DEPTH_REACHED
$STATE,20626,begin surface coast
$FINISH,-0.2,1.022159
$STATE,20648,end surface coast,CONTROL_FINISHED_OK
$STATE,20648,begin surface
$SM_CCo,20666,59.67,0.079,0,0,1131,450.12
$SM_GC,0.48,9.68,0.40,59.67,0.057,0.071,0.079,182,2296,1131,-9.58,0.76,450.12,0,0,0,0,0,0,14.49,14.48,14.41
$IRIDIUM_FIX,455.83,5809.08,280317,113109
$TT8_MAMPS,0.025466,0.154294
$HUMID,50.90
$INTERNAL_PRESSURE,9.6687
$TCM_TEMP,24.90
$XPDR_PINGS,362
$24V_AH,13.00,96.316
$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,23.900,226.775,407.225,59.675,0.000,0.000,0.000,318.150,90.500,0.000,33.648,3024.577,14619.156,675.212,2751.454,209.952,0.000,2355.854,0.000,2366.184,0.000,0.542,0.000
$DEVICE_MAMPS,361.845,2115.990,2099.925,78.795,0.000,0.000,0.000,179.010,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,713.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311112
$DATA_FILE_SIZE,73281,1665
$CAP_FILE_SIZE,188819,0
$CFSIZE,2097872896,2048065536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$CURRENT,0.118,249.23,1
$GPS,280317,232405,501.065,5914.231,38,0.8,40,-2.2,0.0,0.0,10,9.5