version: 66.12
glider: 528
mission: 3
dive: 401
start: 4 7 117 13 6 0
data:
$ID,528
$MISSION,3
$DIVE,401
$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,270
$T_MISSION,340
$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,170
$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,0.0024999999
$HD_B,0.029999999
$HD_C,1.8000001e-05
$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,3240
$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,2400
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,070417,125950,501.7705,5827.4121,25,1.2,43,-2.1,0.7,315.6,7,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-72.7
$GPS2,070417,130511,501.8105,5827.3672,6,1.2,11,-2.1,0.0,297.4,7,10.0
$SPEED_LIMITS,0.212,0.222
$TGT_NAME,W
$TGT_LATLONG,500.000,5800.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,265.1,50602,-18.3,-12.222,-28.87,3756
$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
$GC,16,-1.03,-165.5,179,2402,969,1011,0.0,0.0,0,101,0.00,0.00,-83.10,0.000,16386,0.000,0.000,180,2403,3122,2982,3263,0,0,0,0,0,0,14.77,28.83,14.79
$GC,104,-1.03,-165.5,179,2402,2983,3263,3.8,-7.1,14,131,11.32,2.85,-9.30,0.000,18692,0.362,2.105,2898,3804,3644,3406,3883,0,0,0,0,0,0,14.07,13.12,14.45
$GC,259,-1.03,-165.5,2898,3805,3412,3883,44.3,-21.3,43,266,0.00,2.40,0.00,0.000,1030,0.000,0.064,2908,2396,3647,3412,3883,0,0,0,0,0,0,14.53,14.40,14.57
$GC,468,-1.03,-165.5,2901,2396,3413,3883,87.4,-19.0,66,477,0.00,2.50,0.00,0.000,516,0.000,0.107,2899,988,3647,3412,3883,0,0,0,0,0,0,14.88,14.37,14.90
$GC,703,-1.03,-165.5,2901,988,3414,3883,122.9,-13.9,113,710,0.00,2.45,0.00,0.000,1030,0.000,0.085,2900,2390,3649,3416,3883,0,0,0,0,0,0,14.57,14.42,14.62
$GC,909,-1.03,-165.5,2898,2390,3419,3884,148.9,-12.7,134,918,0.00,2.55,0.00,0.000,516,0.000,0.112,2898,984,3651,3419,3884,0,0,0,0,0,0,14.95,14.42,14.97
$GC,1061,-1.03,-165.5,2899,984,3421,3884,170.1,-13.9,164,1065,0.00,2.47,0.00,0.000,1030,0.000,0.087,2899,2401,3652,3421,3884,0,0,0,0,0,0,14.60,14.45,14.64
$GC,1273,-1.03,-165.5,2898,2401,3424,3883,194.0,-10.9,186,1282,0.00,2.55,0.00,0.000,516,0.000,0.112,2898,992,3654,3424,3884,0,0,0,0,0,0,14.97,14.43,15.00
$GC,1355,-1.03,-165.5,2906,992,3424,3886,202.6,-9.8,202,1364,0.00,2.47,0.00,0.000,1030,0.000,0.086,2907,2409,3655,3424,3886,0,0,0,0,0,0,14.63,14.50,14.67
$GC,1566,-1.03,-165.5,2904,2409,3424,3886,226.0,-11.7,224,1571,0.00,2.55,0.00,0.000,516,0.000,0.107,2901,992,3655,3424,3886,0,0,0,0,0,0,14.98,14.43,15.00
$GC,1719,-1.03,-165.5,2906,992,3424,3886,245.3,-13.2,254,1728,0.00,2.47,0.00,0.000,1030,0.000,0.087,2907,2400,3655,3424,3886,0,0,0,0,0,0,14.64,14.50,14.69
$GC,1940,-1.03,-165.5,2907,2400,3424,3886,275.5,-14.2,265,1946,0.00,2.53,0.00,0.000,516,0.000,0.109,2901,997,3655,3424,3886,0,0,0,0,0,0,15.02,14.38,15.03
$GC,2001,-1.03,-165.5,2898,997,3424,3886,285.0,-13.9,278,2006,0.00,2.45,0.00,0.000,1030,0.000,0.086,2907,2399,3655,3424,3886,0,0,0,0,0,0,14.65,14.51,14.69
$GC,2210,-1.03,-165.5,2906,2399,3424,3886,311.3,-12.3,289,2216,0.00,2.55,0.00,0.000,516,0.000,0.117,2898,997,3654,3424,3885,0,0,0,0,0,0,15.00,14.35,15.02
$GC,2282,-1.03,-165.5,2906,997,3424,3886,320.3,-11.8,304,2287,0.00,2.47,0.00,0.000,1030,0.000,0.086,2906,2400,3655,3424,3886,0,0,0,0,0,0,14.66,14.52,14.70
$GC,2510,-1.03,-165.5,2907,2400,3424,3885,346.4,-11.8,314,2516,0.00,2.55,0.00,0.000,516,0.000,0.108,2901,987,3654,3424,3885,0,0,0,0,0,0,15.03,14.43,15.05
$GC,2540,-1.03,-165.5,2898,987,3423,3885,350.1,-13.0,320,2544,0.00,2.45,0.00,0.000,1030,0.000,0.077,2907,2401,3654,3424,3885,0,0,0,0,0,0,14.66,14.52,14.70
$GC,2752,-1.03,-165.5,2907,2401,3424,3885,376.7,-12.6,332,2757,0.00,2.55,0.00,0.000,516,0.000,0.104,2901,984,3654,3423,3885,0,0,0,0,0,0,15.01,14.42,15.02
$GC,2802,-1.03,-165.5,2905,983,3422,3885,383.3,-12.9,342,2807,0.00,2.47,0.00,0.000,1030,0.000,0.078,2908,2408,3653,3422,3885,0,0,0,0,0,0,14.66,14.52,14.70
$GC,3019,-1.03,-165.5,2906,2408,3420,3885,408.5,-11.5,350,3026,0.00,2.58,0.00,0.000,516,0.000,0.103,2901,985,3652,3420,3885,0,0,0,0,0,0,15.04,14.42,15.06
$GC,3112,-1.03,-165.5,2906,985,3420,3885,419.1,-11.5,369,3117,0.00,2.47,0.00,0.000,1030,0.000,0.077,2907,2400,3652,3420,3885,0,0,0,0,0,0,14.65,14.51,14.70
$GC,3345,-1.03,-165.5,2907,2400,3417,3885,444.3,-11.0,380,3350,0.00,2.55,0.00,0.000,516,0.000,0.103,2901,984,3651,3417,3885,0,0,0,0,0,0,15.04,14.41,15.06
$GC,3440,-1.03,-165.5,2907,984,3416,3885,454.8,-10.8,399,3444,0.00,2.47,0.00,0.000,1030,0.000,0.076,2907,2404,3650,3415,3885,0,0,0,0,0,0,14.65,14.50,14.69
$GC,3672,-1.03,-165.5,2906,2404,3413,3885,478.4,-10.1,410,3679,0.00,2.55,0.00,0.000,516,0.000,0.103,2898,987,3649,3413,3885,0,0,0,0,0,0,15.04,14.40,15.06
$GC,3802,-1.03,-165.5,2907,987,3410,3885,492.9,-11.5,436,3807,0.00,2.47,0.00,0.000,1030,0.000,0.076,2907,2407,3647,3411,3884,0,0,0,0,0,0,14.64,14.50,14.69
$GC,4034,-1.03,-165.5,2906,2407,3409,3882,519.6,-11.7,447,4041,0.00,2.55,0.00,0.000,516,0.000,0.099,2901,988,3645,3409,3882,0,0,0,0,0,0,15.01,14.40,15.03
$GC,4187,-1.03,-165.5,2907,988,3409,3880,538.8,-12.4,478,4192,0.00,2.47,0.00,0.000,1030,0.000,0.076,2907,2408,3644,3409,3879,0,0,0,0,0,0,14.63,14.48,14.67
$GC,4420,-1.03,-165.5,2907,2408,3406,3879,565.2,-11.3,489,4426,0.00,2.53,0.00,0.000,516,0.000,0.099,2898,997,3642,3406,3879,0,0,0,0,0,0,15.04,14.33,15.07
$GC,4559,-1.03,-165.5,2905,997,3405,3877,581.3,-10.7,517,4568,0.00,2.45,0.00,0.000,1030,0.000,0.074,2907,2403,3641,3405,3877,0,0,0,0,0,0,14.62,14.48,14.67
$GC,4779,-1.03,-165.5,2907,2403,3404,3877,603.7,-9.9,526,4786,0.00,2.58,0.00,0.000,516,0.000,0.099,2898,983,3640,3404,3877,0,0,0,0,0,0,15.04,14.38,15.07
$GC,4909,-1.03,-165.5,2904,982,3403,3876,616.9,-9.8,552,4914,0.00,2.47,0.00,0.000,1030,0.000,0.073,2907,2402,3639,3403,3876,0,0,0,0,0,0,14.62,14.47,14.66
$GC,5141,-1.03,-165.5,2898,2403,3403,3874,639.9,-10.3,563,5148,0.00,2.55,0.00,0.000,516,0.000,0.100,2898,987,3639,3403,3875,0,0,0,0,0,0,15.04,14.37,15.06
$GC,5256,-1.03,-165.5,2898,987,3402,3874,652.5,-10.4,586,5262,0.00,2.47,0.00,0.000,1030,0.000,0.075,2907,2399,3638,3403,3874,0,0,0,0,0,0,14.61,14.46,14.66
$GC,5471,-1.03,-165.5,2907,2400,3401,3874,675.5,-10.9,594,5478,0.00,2.55,0.00,0.000,516,0.000,0.101,2898,984,3637,3401,3874,0,0,0,0,0,0,15.04,14.35,15.06
$GC,5665,-1.03,-165.5,2900,984,3400,3873,698.4,-11.6,633,5670,0.00,2.53,0.00,0.000,1030,0.000,0.086,2907,2400,3636,3400,3873,0,0,0,0,0,0,14.57,14.40,14.62
$GC,5887,-1.03,-165.5,2907,2401,3398,3873,721.8,-10.4,642,5893,0.00,2.58,0.00,0.000,516,0.000,0.109,2901,994,3635,3398,3873,0,0,0,0,0,0,15.00,14.31,15.02
$GC,5961,-1.03,-165.5,2900,994,3398,3872,730.0,-11.0,657,5966,0.00,2.53,0.00,0.000,1030,0.000,0.080,2908,2414,3635,3398,3872,0,0,0,0,0,0,14.59,14.45,14.64
$GC,6183,-1.03,-165.5,2907,2414,3398,3870,752.9,-10.3,666,6189,0.00,2.60,0.00,0.000,516,0.000,0.104,2901,985,3633,3398,3869,0,0,0,0,0,0,15.04,14.35,15.05
$GC,6298,-1.03,-165.5,2898,985,3398,3869,765.3,-11.3,689,6305,0.00,2.50,0.00,0.000,1030,0.000,0.076,2906,2406,3633,3398,3869,0,0,0,0,0,0,14.59,14.44,14.64
$GC,6514,-1.03,-165.5,2905,2406,3398,3867,788.2,-10.7,697,6520,0.00,2.55,0.00,0.000,516,0.000,0.099,2901,991,3632,3398,3866,0,0,0,0,0,0,15.04,14.27,15.05
$GC,6747,-1.03,-165.5,2900,991,3398,3864,814.3,-10.7,744,6754,0.00,2.50,0.00,0.000,1030,0.000,0.076,2908,2410,3631,3398,3864,0,0,0,0,0,0,14.57,14.42,14.62
$GC,6963,-1.03,-165.5,2907,2410,3397,3865,837.0,-10.6,752,6968,0.00,2.58,0.00,0.000,516,0.000,0.099,2901,987,3631,3397,3865,0,0,0,0,0,0,15.03,14.32,15.05
$GC,7124,-1.03,-165.5,2900,987,3396,3863,855.0,-10.9,784,7129,0.00,2.45,0.00,0.000,1030,0.000,0.076,2908,2407,3629,3396,3863,0,0,0,0,0,0,14.54,14.38,14.60
$GC,7357,-1.03,-165.5,2907,2407,3396,3862,878.6,-10.1,795,7364,0.00,2.58,0.00,0.000,516,0.000,0.099,2901,986,3628,3396,3861,0,0,0,0,0,0,15.04,14.31,15.05
$GC,7525,-1.03,-165.5,2901,986,3395,3860,896.6,-10.3,829,7530,0.00,2.50,0.00,0.000,1030,0.000,0.076,2907,2402,3628,3396,3861,0,0,0,0,0,0,14.55,14.40,14.60
$GC,7742,-1.03,-165.5,2906,2402,3394,3861,916.6,-9.2,837,7748,0.00,2.55,0.00,0.000,516,0.000,0.101,2901,992,3627,3394,3861,0,0,0,0,0,0,15.03,14.21,15.04
$GC,7891,-1.03,-165.5,2901,991,3394,3859,930.2,-8.4,867,7899,0.00,2.47,0.00,0.000,1030,0.000,0.077,2901,2399,3626,3394,3859,0,0,0,0,0,0,14.54,14.40,14.60
$GC,8102,-1.03,-165.5,2899,2399,3394,3859,947.7,-8.2,879,8109,0.00,2.58,0.00,0.000,516,0.000,0.102,2901,986,3626,3394,3859,0,0,0,0,0,0,15.03,14.28,15.04
$GC,8211,-1.03,-165.5,2901,985,3394,3858,957.6,-9.0,901,8215,0.00,2.50,0.00,0.000,1030,0.000,0.078,2899,2402,3626,3394,3858,0,0,0,0,0,0,14.54,14.38,14.59
$GC,8428,-1.03,-165.5,2898,2402,3393,3857,977.0,-9.3,909,8434,0.00,2.55,0.00,0.000,516,0.000,0.100,2901,996,3625,3394,3857,0,0,0,0,0,0,15.02,14.20,15.04
$STATE,8554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8554,begin apogee
$GC,8561,-0.19,0.0,2899,2257,3394,3856,990.1,-10.3,935,8709,0.93,0.00,144.25,2.116,10246,0.211,0.000,3177,2257,2966,2853,3080,0,0,0,0,0,0,14.18,13.94,13.08
$STATE,8710,end apogee,CONTROL_FINISHED_OK
$STATE,8710,begin climb
$GC,8712,1.03,165.5,3176,2257,2852,3077,995.9,0.0,940,8872,1.17,2.70,149.02,2.112,10500,0.148,0.122,3555,3661,2288,2234,2343,0,0,0,0,0,0,13.90,13.75,12.96
$GC,9022,1.27,281.1,3555,3661,2228,2334,973.0,9.1,1003,9132,0.28,2.53,102.12,2.045,11270,0.104,0.083,3652,2250,1819,1761,1878,0,0,0,0,0,0,14.26,14.24,13.09
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$STATE,15735,end climb,SURFACE_DEPTH_REACHED
$STATE,15735,begin surface coast
$FINISH,0.2,1.021980
$STATE,15756,end surface coast,CONTROL_FINISHED_OK
$STATE,15756,begin surface
$SM_CCo,15775,2.80,0.086,0,0,1131,450.12
$SM_GC,1.19,9.35,0.28,2.80,0.057,0.102,0.086,190,2418,1131,-9.46,-0.40,450.12,0,0,0,0,0,0,14.46,14.47,14.42
$IRIDIUM_FIX,457.99,5828.37,070417,081556
$TT8_MAMPS,0.024717,0.154294
$HUMID,54.80
$INTERNAL_PRESSURE,9.65893
$TCM_TEMP,24.90
$XPDR_PINGS,296
$24V_AH,12.96,110.138
$10V_AH,12.41,0.000
$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,23.300,237.275,532.100,2.800,0.000,0.000,0.000,220.775,74.000,0.000,12.899,2611.070,9921.060,734.386,2630.164,218.695,0.000,2329.833,0.000,2354.448,0.000,0.539,0.000
$DEVICE_MAMPS,361.845,2105.280,2115.990,85.680,0.000,0.000,0.000,175.185,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,310628
$DATA_FILE_SIZE,70043,1656
$CAP_FILE_SIZE,186307,0
$CFSIZE,2097872896,2042691584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142,268.85,1
$GPS,070417,173005,500.894,5824.886,27,1.0,30,-2.1,0.6,11.2,8,9.0