version: 66.12
glider: 528
mission: 3
dive: 361
start: 3 28 117 23 30 11
data:
$ID,528
$MISSION,3
$DIVE,361
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,280317,232405,501.0650,5914.2314,38,0.8,40,-2.2,0.0,0.0,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.4
$GPS2,280317,232944,501.0828,5914.2222,7,0.9,9,-2.2,0.0,0.0,10,9.7
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,56.1,137896,-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,3328,-0.99,-155.7,2958,3711,3365,3860,348.9,-9.4,375,3335,0.00,2.40,0.00,0.000,1030,0.000,0.065,2960,2289,3613,3366,3860,0,0,0,0,0,0,14.67,14.55,14.71
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$GC,9984,-0.99,-155.7,2960,2292,3343,3824,907.0,-9.9,802,9989,0.00,2.60,0.00,0.000,260,0.000,0.101,2958,3714,3583,3342,3824,0,0,0,0,0,0,15.05,14.28,15.07
$GC,10039,-0.99,-155.7,2958,3714,3343,3823,912.9,-10.7,813,10046,0.00,2.45,0.00,0.000,1030,0.000,0.066,2961,2293,3582,3342,3823,0,0,0,0,0,0,14.60,14.48,14.64
$GC,10346,-0.99,-155.7,2960,2293,3342,3823,942.4,-9.4,824,10353,0.00,2.58,0.00,0.000,516,0.000,0.116,2961,886,3581,3342,3821,0,0,0,0,0,0,15.00,14.31,15.02
$GC,10376,-0.99,-155.7,2961,886,3342,3820,945.3,-10.1,830,10381,0.00,2.45,0.00,0.000,1030,0.000,0.069,2959,2305,3581,3342,3821,0,0,0,0,0,0,14.59,14.45,14.64
$GC,10709,-0.99,-155.7,2958,2305,3342,3820,973.5,-8.1,846,10713,0.00,2.55,0.00,0.000,260,0.000,0.113,2959,3709,3580,3342,3819,0,0,0,0,0,0,15.00,14.26,15.02
$GC,10789,-0.99,-155.7,2958,3709,3342,3819,980.1,-7.8,862,10793,0.00,2.45,0.00,0.000,1030,0.000,0.068,2961,2294,3580,3342,3819,0,0,0,0,0,0,14.57,14.45,14.62
$STATE,10949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10949,begin apogee
$GC,10954,-0.19,0.0,2959,2499,3342,3818,991.3,-7.0,869,11095,0.82,0.00,137.38,2.089,10246,0.196,0.000,3212,2499,2965,2841,3090,0,0,0,0,0,0,14.23,13.95,13.12
$STATE,11096,end apogee,CONTROL_FINISHED_OK
$STATE,11096,begin climb
$GC,11098,0.99,155.7,3212,2500,2837,3086,994.9,0.0,873,11245,1.12,0.00,142.70,2.095,10502,0.132,0.000,3590,2499,2331,2280,2383,0,0,0,0,0,0,13.94,13.78,13.00
$GC,11523,0.99,155.7,3590,2500,2264,2373,953.3,11.4,893,11530,0.00,2.65,0.00,0.000,516,0.000,0.123,3591,1104,2318,2264,2373,0,0,0,0,0,0,14.68,14.17,14.70
$GC,11596,0.99,155.7,3591,1104,2263,2373,944.7,10.9,908,11600,0.00,2.50,0.00,0.000,1030,0.000,0.080,3592,2496,2318,2263,2373,0,0,0,0,0,0,14.47,14.34,14.51
$GC,11908,0.99,155.7,3591,2497,2260,2373,910.4,10.6,920,11914,0.00,2.62,0.00,0.000,516,0.000,0.117,3591,1100,2316,2260,2372,0,0,0,0,0,0,14.83,14.31,14.85
$GC,11937,0.99,155.7,3591,1100,2260,2373,907.0,10.5,926,11942,0.00,2.50,0.00,0.000,1030,0.000,0.081,3592,2504,2316,2260,2373,0,0,0,0,0,0,14.55,14.42,14.60
$GC,12270,0.99,155.7,3591,2504,2258,2373,874.8,9.4,942,12274,0.00,2.62,0.00,0.000,516,0.000,0.111,3591,1093,2315,2258,2373,0,0,0,0,0,0,14.89,14.33,14.90
$GC,12304,0.99,155.7,3591,1092,2258,2373,871.5,10.1,949,12309,0.00,2.53,0.00,0.000,1030,0.000,0.080,3591,2509,2315,2258,2372,0,0,0,0,0,0,14.57,14.43,14.63
$GC,12632,1.11,155.7,3591,2509,2257,2372,843.7,8.0,964,12639,0.12,2.62,0.00,0.000,2564,0.143,0.105,3645,1093,2314,2257,2372,0,0,0,0,0,0,14.52,14.35,14.57
$GC,12675,1.15,155.7,3645,1093,2257,2372,839.8,9.1,973,12680,0.00,2.50,0.00,0.000,1030,0.000,0.081,3644,2496,2314,2257,2372,0,0,0,0,0,0,14.58,14.43,14.64
$GC,12987,1.25,155.7,3644,2496,2257,2371,813.0,8.3,985,12989,0.12,0.00,0.00,0.000,2054,0.145,0.000,3687,2497,2314,2258,2371,0,0,0,0,0,0,14.57,14.68,14.66
$GC,13287,1.25,155.7,3687,2496,2257,2371,784.9,9.2,995,13293,0.00,2.42,0.00,0.000,260,0.000,0.119,3687,3828,2313,2257,2370,0,0,0,0,0,0,14.95,14.32,14.97
$GC,13347,1.25,155.7,3687,3828,2257,2369,778.6,10.8,1007,13353,0.00,2.33,0.00,0.000,1030,0.000,0.076,3689,2494,2313,2257,2369,0,0,0,0,0,0,14.58,14.44,14.64
$GC,13677,1.25,155.7,3688,2494,2257,2369,744.7,10.9,1023,13684,0.00,2.47,0.00,0.000,260,0.000,0.114,3688,3826,2312,2257,2368,0,0,0,0,0,0,14.96,14.31,14.98
$GC,13830,1.25,155.7,3688,3826,2257,2368,725.2,13.1,1054,13834,0.00,2.33,0.00,0.000,1030,0.000,0.076,3689,2490,2312,2257,2368,0,0,0,0,0,0,14.57,14.42,14.62
$GC,14157,1.25,155.7,3689,2490,2257,2368,684.1,12.9,1069,14164,0.00,2.58,0.00,0.000,516,0.000,0.115,3689,1086,2312,2257,2367,0,0,0,0,0,0,14.96,14.31,14.98
$GC,14247,1.25,155.7,3689,1086,2256,2368,672.5,13.3,1087,14254,0.00,2.55,0.00,0.000,1030,0.000,0.084,3688,2505,2311,2256,2367,0,0,0,0,0,0,14.54,14.38,14.61
$GC,14577,1.25,155.7,3688,2505,2255,2368,632.6,11.7,1103,14583,0.00,2.42,0.00,0.000,260,0.000,0.116,3688,3830,2311,2255,2368,0,0,0,0,0,0,14.97,14.29,14.99
$GC,14609,1.25,155.7,3688,3830,2255,2367,628.2,13.2,1110,14615,0.00,2.35,0.00,0.000,1030,0.000,0.070,3689,2501,2311,2255,2367,0,0,0,0,0,0,14.47,14.39,14.52
$GC,14937,1.25,155.7,3688,2501,2255,2367,591.4,11.0,1125,14944,0.00,2.55,0.00,0.000,516,0.000,0.105,3689,1091,2311,2255,2367,0,0,0,0,0,0,14.97,14.32,14.99
$GC,15063,1.25,155.7,3689,1092,2255,2367,578.0,10.9,1150,15067,0.00,2.50,0.00,0.000,1030,0.000,0.076,3688,2504,2310,2254,2367,0,0,0,0,0,0,14.54,14.39,14.60
$GC,15389,1.25,155.7,3688,2504,2255,2367,541.6,11.4,1165,15396,0.00,2.40,0.00,0.000,260,0.000,0.113,3688,3830,2311,2255,2367,0,0,0,0,0,0,14.97,14.29,14.99
$GC,15420,1.25,155.7,3687,3830,2255,2367,537.9,12.3,1171,15426,0.00,2.30,0.00,0.000,1030,0.000,0.069,3689,2495,2311,2256,2367,0,0,0,0,0,0,14.57,14.45,14.64
$GC,15750,1.25,155.7,3689,2495,2255,2367,497.3,12.5,1187,15756,0.00,2.53,0.00,0.000,516,0.000,0.103,3689,1094,2310,2254,2367,0,0,0,0,0,0,14.97,14.31,15.00
$GC,15839,1.25,155.7,3689,1094,2254,2367,486.3,12.2,1205,15847,0.00,2.50,0.00,0.000,1030,0.000,0.076,3688,2500,2310,2254,2367,0,0,0,0,0,0,14.54,14.39,14.60
$GC,16169,1.25,155.7,3688,2500,2254,2367,449.3,10.9,1221,16176,0.00,2.40,0.00,0.000,260,0.000,0.112,3688,3828,2310,2254,2367,0,0,0,0,0,0,14.97,14.28,14.99
$GC,16193,1.25,155.7,3688,3828,2254,2366,446.5,11.2,1226,16200,0.00,2.30,0.00,0.000,1030,0.000,0.067,3689,2495,2310,2254,2367,0,0,0,0,0,0,14.58,14.45,14.63
$GC,16499,1.25,155.7,3689,2495,2254,2367,414.0,10.4,1237,16506,0.00,2.53,0.00,0.000,516,0.000,0.101,3689,1094,2310,2254,2367,0,0,0,0,0,0,14.97,14.31,15.00
$GC,16657,1.25,155.7,3688,1093,2254,2366,397.9,10.1,1269,16662,0.00,2.50,0.00,0.000,1030,0.000,0.074,3688,2506,2310,2254,2367,0,0,0,0,0,0,14.52,14.38,14.59
$GC,16974,1.25,155.7,3688,2506,2254,2367,366.4,10.1,1282,16979,0.00,2.40,0.00,0.000,260,0.000,0.112,3688,3829,2310,2254,2367,0,0,0,0,0,0,14.97,14.28,14.99
$GC,16994,1.25,155.7,3688,3829,2254,2367,363.9,11.0,1286,16999,0.00,2.30,0.00,0.000,1030,0.000,0.067,3689,2499,2310,2254,2367,0,0,0,0,0,0,14.58,14.45,14.63
$GC,17307,1.25,155.7,3689,2499,2254,2367,328.1,12.2,1298,17311,0.00,2.53,0.00,0.000,516,0.000,0.099,3689,1094,2310,2254,2367,0,0,0,0,0,0,14.97,14.31,14.99
$GC,17461,1.25,155.7,3689,1093,2254,2367,308.5,12.1,1329,17466,0.00,2.50,0.00,0.000,1030,0.000,0.073,3688,2509,2310,2254,2367,0,0,0,0,0,0,14.53,14.38,14.59
$GC,17784,1.25,155.7,3688,2509,2254,2367,270.8,11.3,1343,17790,0.00,2.62,0.00,0.000,516,0.000,0.101,3689,1085,2310,2254,2367,0,0,0,0,0,0,15.02,14.28,15.04
$GC,17816,1.25,155.7,3689,1085,2254,2366,267.2,10.2,1350,17821,0.00,2.53,0.00,0.000,1030,0.000,0.081,3688,2500,2310,2254,2367,0,0,0,0,0,0,14.54,14.38,14.61
$GC,18125,1.43,155.7,3688,2500,2254,2366,240.0,7.1,1373,18135,0.12,2.38,0.00,0.000,2308,0.148,0.107,3740,3827,2310,2254,2367,0,0,0,0,0,0,14.52,14.19,14.54
$GC,18168,1.47,155.7,3739,3827,2254,2367,236.1,9.1,1381,18178,0.00,2.28,0.00,0.000,1030,0.000,0.067,3741,2503,2310,2254,2367,0,0,0,0,0,0,14.57,14.45,14.63
$GC,18478,1.47,155.7,3741,2503,2254,2367,207.7,10.5,1413,18487,0.00,2.53,0.00,0.000,516,0.000,0.096,3749,1090,2310,2254,2367,0,0,0,0,0,0,15.00,14.32,15.02
$GC,18500,1.47,155.7,3749,1090,2254,2367,205.3,10.3,1417,18510,0.00,2.47,0.00,0.000,1030,0.000,0.070,3749,2504,2310,2254,2367,0,0,0,0,0,0,14.56,14.42,14.62
$GC,18810,1.62,155.7,3748,2504,2254,2367,177.2,7.6,1449,18821,0.12,2.55,0.00,0.000,2564,0.146,0.086,3812,1087,2310,2254,2367,0,0,0,0,0,0,14.51,14.33,14.54
$GC,18996,1.77,155.7,3812,1087,2254,2367,162.4,7.6,1486,19004,0.12,2.50,0.00,0.000,3078,0.148,0.070,3856,2503,2310,2254,2367,0,0,0,0,0,0,14.40,14.38,14.54
$GC,19303,1.81,155.7,3855,2503,2254,2367,134.3,9.1,1517,19313,0.00,2.38,0.00,0.000,260,0.000,0.103,3855,3832,2310,2254,2367,0,0,0,0,0,0,14.98,14.29,15.00
$GC,19538,2.07,281.1,3855,3832,2254,2367,118.2,4.4,1564,19647,0.25,2.30,98.88,0.965,11270,0.093,0.062,3957,2490,1816,1767,1865,0,0,0,0,0,0,14.49,14.43,13.78
$GC,19946,2.07,281.1,3957,2489,1758,1858,60.2,10.8,1615,19955,0.00,2.47,0.00,0.000,516,0.000,0.097,3957,1099,1807,1758,1857,0,0,0,0,0,0,14.78,14.16,14.81
$GC,20028,2.07,281.1,3957,1098,1758,1857,51.5,11.3,1631,20037,0.00,2.50,0.00,0.000,1030,0.000,0.079,3957,2503,1807,1756,1858,0,0,0,0,0,0,14.45,14.31,14.51
$GC,20337,2.07,281.1,3957,2503,1753,1857,15.2,11.0,1692,20344,0.00,2.42,0.00,0.000,260,0.000,0.119,3958,3831,1804,1752,1856,0,0,0,0,0,0,14.85,14.23,14.86
$GC,20406,2.07,281.1,3957,3831,1753,1855,6.7,12.5,1705,20413,0.00,2.28,0.00,0.000,1030,0.000,0.068,3958,2504,1803,1753,1854,0,0,0,0,0,0,14.52,14.39,14.57
$STATE,20439,end climb,SURFACE_DEPTH_REACHED
$STATE,20439,begin surface coast
$FINISH,0.1,1.022177
$STATE,20461,end surface coast,CONTROL_FINISHED_OK
$STATE,20461,begin surface
$SM_CCo,20480,75.38,0.080,0,0,1131,450.12
$SM_GC,0.61,9.98,0.35,75.38,0.066,0.086,0.080,177,2290,1131,-9.60,0.76,450.12,0,0,0,0,0,0,14.47,14.49,14.42
$IRIDIUM_FIX,457.99,5918.89,280317,173245
$TT8_MAMPS,0.024717,0.153545
$HUMID,51.06
$INTERNAL_PRESSURE,9.65893
$TCM_TEMP,24.80
$XPDR_PINGS,380
$24V_AH,13.00,96.614
$10V_AH,12.66,0.000
$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,24.375,248.100,378.950,75.375,0.000,0.000,0.000,244.500,95.000,0.000,10.973,3053.049,14124.897,771.747,2733.466,207.393,0.000,2403.494,0.000,2436.827,0.000,0.541,0.000
$DEVICE_MAMPS,364.905,2101.455,2095.335,79.560,0.000,0.000,0.000,172.125,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,713.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311128
$DATA_FILE_SIZE,76668,1715
$CAP_FILE_SIZE,192653,0
$CFSIZE,2097872896,2047934464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.100,255.70,1
$GPS,290317,051405,501.092,5914.071,40,0.8,42,-2.2,0.3,350.8,9,9.3