version: 66.12
glider: 528
mission: 3
dive: 13
start: 12 21 116 8 28 53
data:
$ID,528
$MISSION,3
$DIVE,13
$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,360
$T_MISSION,410
$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,150
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,1
$NOCOMM_ACTION,161
$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,3320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3830
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$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,0.0012300001
$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
$GPS1,211216,082336,-328.6831,5547.6533,35,0.7,37,-4.6,0.5,75.3,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.3
$GPS2,211216,082828,-328.6965,5547.7104,5,0.7,12,-4.6,0.0,143.2,10,9.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,S
$TGT_LATLONG,-300.000,5600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,46.7,57802,-16.9,-9.167,-19.93,2437
$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,15,-0.74,-146.0,183,2287,1112,1140,0.0,0.0,0,93,0.00,0.00,-75.72,0.000,16386,0.000,0.000,184,2288,2982,2837,3127,0,0,0,0,0,0,14.75,28.83,14.78
$GC,96,-0.74,-146.0,183,2288,2837,3127,3.2,-3.3,13,127,11.70,2.80,-11.48,0.000,18948,0.378,2.226,3079,893,3565,3335,3796,0,0,0,0,0,0,14.37,13.71,14.59
$GC,215,-0.60,-146.0,3079,892,3338,3796,31.6,-17.9,35,223,0.17,2.50,0.00,0.000,3078,0.263,0.105,3127,2303,3567,3338,3797,0,0,0,0,0,0,14.45,14.50,14.59
$GC,530,-0.68,-146.0,3125,2303,3343,3797,75.3,-9.7,77,540,0.00,2.53,0.00,0.000,260,0.000,0.137,3125,3720,3570,3343,3797,0,0,0,0,0,0,14.88,14.59,14.90
$GC,672,-0.82,-146.0,3125,3720,3345,3797,84.6,-4.8,105,683,0.22,2.45,0.00,0.000,5126,0.116,0.100,3044,2298,3570,3345,3796,0,0,0,0,0,0,14.69,14.65,14.76
$GC,982,-0.77,-146.0,3042,2298,3349,3797,121.2,-11.6,137,991,0.00,2.53,0.00,0.000,516,0.000,0.142,3042,892,3573,3350,3797,0,0,0,0,0,0,14.97,14.68,14.99
$GC,1054,-0.73,-146.0,3042,891,3350,3797,128.8,-10.3,151,1064,0.17,2.47,0.00,0.000,3078,0.246,0.103,3085,2308,3573,3350,3797,0,0,0,0,0,0,14.65,14.71,14.79
$GC,1364,-0.80,-146.0,3085,2308,3351,3797,153.6,-9.6,183,1373,0.00,2.58,0.00,0.000,516,0.000,0.141,3085,892,3574,3351,3797,0,0,0,0,0,0,15.00,14.71,15.02
$GC,1408,-0.89,-146.0,3084,892,3351,3797,158.2,-9.7,192,1416,0.17,2.45,0.00,0.000,5126,0.127,0.103,3016,2302,3574,3351,3797,0,0,0,0,0,0,14.78,14.73,14.85
$GC,1715,-0.82,-146.0,3014,2303,3351,3797,197.8,-12.9,223,1725,0.12,2.47,0.00,0.000,2308,0.251,0.129,3050,3717,3574,3351,3797,0,0,0,0,0,0,14.71,14.74,14.81
$GC,1807,-0.82,-146.0,3049,3717,3351,3797,208.4,-11.6,241,1812,0.00,2.42,0.00,0.000,1030,0.000,0.103,3049,2302,3574,3351,3797,0,0,0,0,0,0,14.86,14.76,14.88
$GC,2112,-0.82,-146.0,3048,2301,3351,3796,237.8,-8.3,272,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2301,3574,3351,3797,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2423,-0.82,-146.0,3047,2301,3351,3797,261.1,-7.2,293,2429,0.00,2.55,0.00,0.000,516,0.000,0.147,3048,884,3573,3350,3796,0,0,0,0,0,0,15.07,14.78,15.09
$GC,2461,-0.82,-146.0,3047,884,3350,3796,264.4,-8.2,301,2465,0.00,2.47,0.00,0.000,1030,0.000,0.106,3049,2305,3573,3350,3796,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2777,-0.82,-146.0,3048,2305,3347,3796,293.8,-10.5,314,2782,0.00,2.47,0.00,0.000,260,0.000,0.138,3048,3711,3571,3346,3796,0,0,0,0,0,0,15.09,14.80,15.11
$GC,2882,-0.87,-146.0,3048,3711,3346,3796,305.7,-11.7,335,2887,0.00,2.45,0.00,0.000,1030,0.000,0.110,3048,2294,3571,3346,3796,0,0,0,0,0,0,14.92,14.82,14.94
$GC,3194,-0.87,-146.0,3047,2293,3344,3795,338.3,-10.0,347,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2293,3569,3344,3795,0,0,0,0,0,0,15.10,15.12,15.11
$GC,3494,-0.90,-146.0,3047,2293,3344,3792,365.7,-9.2,357,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2293,3568,3344,3792,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3794,-0.94,-146.0,3047,2293,3344,3789,393.3,-9.7,367,3801,0.00,2.50,0.00,0.000,516,0.000,0.144,3047,890,3565,3343,3788,0,0,0,0,0,0,15.12,14.83,15.14
$GC,3867,-0.98,-146.0,3046,890,3343,3787,400.6,-9.3,382,3873,0.15,2.45,0.00,0.000,5126,0.135,0.108,2993,2300,3565,3343,3787,0,0,0,0,0,0,14.89,14.85,14.95
$GC,4185,-0.90,-146.0,2992,2300,3341,3786,434.9,-10.7,395,4192,0.12,2.50,0.00,0.000,2308,0.260,0.141,3028,3714,3563,3340,3786,0,0,0,0,0,0,14.78,14.83,14.90
$GC,4343,-0.90,-146.0,3027,3714,3340,3785,448.7,-8.1,427,4348,0.00,2.45,0.00,0.000,1030,0.000,0.112,3028,2300,3562,3340,3785,0,0,0,0,0,0,14.95,14.85,14.97
$GC,4660,-0.90,-146.0,3027,2300,3340,3781,472.4,-7.4,440,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2300,3561,3341,3781,0,0,0,0,0,0,15.12,15.14,15.14
$GC,4960,-0.90,-146.0,3027,2300,3338,3780,494.3,-7.4,450,4964,0.00,2.53,0.00,0.000,516,0.000,0.144,3027,886,3559,3338,3781,0,0,0,0,0,0,15.13,14.84,15.15
$GC,4985,-0.90,-146.0,3026,886,3338,3780,496.6,-8.9,455,4992,0.00,2.47,0.00,0.000,1030,0.000,0.112,3028,2307,3558,3337,3780,0,0,0,0,0,0,14.96,14.85,14.98
$GC,5291,-0.90,-146.0,3027,2307,3336,3779,521.6,-8.7,466,5296,0.00,2.50,0.00,0.000,260,0.000,0.145,3027,3717,3557,3336,3779,0,0,0,0,0,0,15.14,14.83,15.15
$GC,5391,-0.90,-146.0,3027,3717,3336,3778,531.3,-9.9,486,5396,0.00,2.47,0.00,0.000,1030,0.000,0.113,3027,2294,3557,3336,3778,0,0,0,0,0,0,14.96,14.85,14.97
$GC,5713,-0.90,-146.0,3027,2293,3336,3776,563.0,-10.2,500,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2293,3556,3336,3776,0,0,0,0,0,0,15.13,15.16,15.15
$GC,6013,-0.90,-146.0,3026,2293,3336,3773,594.6,-10.3,510,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2293,3554,3336,3773,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6313,-0.90,-146.0,3027,2293,3334,3773,624.1,-9.7,520,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2293,3553,3334,3773,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6613,-0.90,-146.0,3027,2293,3333,3771,655.1,-10.5,530,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2293,3552,3333,3771,0,0,0,0,0,0,15.14,15.17,15.16
$GC,6913,-0.90,-146.0,3026,2293,3333,3770,685.0,-9.8,540,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2293,3551,3333,3770,0,0,0,0,0,0,15.15,15.17,15.17
$GC,7213,-0.90,-146.0,3027,2292,3331,3770,710.8,-7.8,550,7218,0.00,2.55,0.00,0.000,260,0.000,0.145,3027,3709,3549,3331,3768,0,0,0,0,0,0,15.15,14.85,15.17
$GC,7259,-0.94,-146.0,3026,3709,3332,3768,714.3,-7.6,559,7263,0.00,2.45,0.00,0.000,1030,0.000,0.115,3027,2300,3549,3331,3768,0,0,0,0,0,0,14.97,14.87,15.00
$GC,7571,-0.94,-146.0,3026,2299,3331,3767,736.9,-7.4,571,7577,0.00,2.53,0.00,0.000,516,0.000,0.147,3026,890,3548,3331,3766,0,0,0,0,0,0,15.14,14.84,15.16
$GC,7593,-0.94,-146.0,3026,889,3331,3766,738.9,-8.4,576,7600,0.00,2.47,0.00,0.000,1030,0.000,0.112,3027,2304,3548,3331,3766,0,0,0,0,0,0,14.97,14.87,14.99
$GC,7901,-0.94,-146.0,3026,2304,3330,3765,763.2,-8.1,587,7907,0.00,2.50,0.00,0.000,260,0.000,0.149,3027,3710,3547,3330,3765,0,0,0,0,0,0,15.14,14.83,15.16
$GC,8009,-0.99,-146.0,3026,3710,3330,3765,772.7,-8.5,609,8013,0.00,2.47,0.00,0.000,1030,0.000,0.120,3027,2297,3547,3330,3765,0,0,0,0,0,0,14.96,14.85,14.98
$GC,8315,-0.99,-146.0,3026,2297,3330,3764,800.7,-9.4,620,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2297,3547,3330,3764,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8615,-0.99,-146.0,3026,2297,3330,3763,827.7,-8.8,630,8620,0.00,2.55,0.00,0.000,516,0.000,0.155,3027,890,3546,3329,3763,0,0,0,0,0,0,15.14,14.83,15.16
$GC,8649,-0.99,-146.0,3026,890,3328,3763,831.0,-8.8,637,8654,0.00,2.50,0.00,0.000,1030,0.000,0.117,3026,2308,3545,3328,3763,0,0,0,0,0,0,14.96,14.85,14.98
$GC,8977,-0.99,-146.0,3026,2308,3328,3763,859.0,-8.7,652,8983,0.00,2.53,0.00,0.000,260,0.000,0.154,3026,3716,3545,3328,3763,0,0,0,0,0,0,15.14,14.83,15.16
$GC,9105,-1.04,-146.0,3026,3717,3328,3763,870.7,-8.9,678,9111,0.12,2.47,0.00,0.000,5126,0.165,0.119,2993,2299,3545,3328,3762,0,0,0,0,0,0,14.87,14.85,14.95
$GC,9428,-0.99,-146.0,2990,2299,3328,3761,903.8,-10.3,692,9434,0.00,2.58,0.00,0.000,516,0.000,0.159,2991,886,3544,3328,3761,0,0,0,0,0,0,15.13,14.82,15.15
$GC,9461,-0.93,-146.0,2990,887,3328,3760,907.6,-11.1,699,9467,0.15,2.50,0.00,0.000,3078,0.271,0.120,3025,2301,3544,3328,3760,0,0,0,0,0,0,14.78,14.84,14.94
$GC,9784,-0.93,-146.0,3024,2301,3328,3760,932.1,-7.3,713,9791,0.00,2.55,0.00,0.000,260,0.000,0.151,3024,3717,3543,3328,3759,0,0,0,0,0,0,15.13,14.82,15.15
$GC,9893,-0.98,-146.0,3024,3717,3328,3759,940.1,-7.5,735,9898,0.00,2.50,0.00,0.000,1030,0.000,0.122,3024,2295,3543,3328,3759,0,0,0,0,0,0,14.95,14.83,14.97
$GC,10199,-0.98,-146.0,3023,2295,3328,3758,961.6,-7.3,746,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2295,3543,3328,3758,0,0,0,0,0,0,15.12,15.15,15.14
$GC,10499,-0.98,-146.0,3023,2295,3328,3757,981.5,-6.2,756,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2295,3542,3328,3757,0,0,0,0,0,0,15.13,15.15,15.14
$STATE,10647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10647,begin apogee
$GC,10651,-0.17,0.0,3024,2409,3327,3757,990.0,-5.6,761,10792,0.80,0.00,137.12,1.992,10246,0.230,0.000,3268,2409,2965,2859,3072,0,0,0,0,0,0,14.80,13.94,13.27
$STATE,10793,end apogee,CONTROL_FINISHED_OK
$STATE,10793,begin climb
$GC,10794,0.74,146.0,3268,2408,2857,3068,989.8,0.0,765,10950,0.88,2.78,141.62,1.958,10500,0.158,0.155,3548,3816,2363,2308,2418,0,0,0,0,0,0,13.90,13.72,13.19
$GC,10970,0.64,146.0,3548,3817,2306,2414,972.7,13.6,800,10975,0.00,2.67,0.00,0.000,1030,0.000,0.122,3550,2399,2360,2306,2415,0,0,0,0,0,0,14.10,14.00,14.13
$GC,11277,0.56,146.0,3549,2399,2298,2414,933.7,12.2,811,11284,0.17,2.65,0.00,0.000,4612,0.298,0.154,3507,987,2356,2298,2414,0,0,0,0,0,0,14.38,14.43,14.50
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$STATE,18755,end climb,SURFACE_DEPTH_REACHED
$STATE,18755,begin surface coast
$FINISH,0.4,1.022428
$STATE,18791,end surface coast,CONTROL_FINISHED_OK
$STATE,18791,begin surface
$SM_CCo,18807,57.95,0.083,0,0,1131,450.12
$SM_GC,1.12,8.90,0.20,57.95,0.080,0.154,0.083,237,2288,1131,-9.71,0.34,450.12,0,0,0,0,0,0,14.78,14.78,14.75
$IRIDIUM_FIX,-325.01,5543.84,211216,025355
$TT8_MAMPS,0.024717,0.161784
$HUMID,49.17
$INTERNAL_PRESSURE,9.59057
$TCM_TEMP,23.60
$XPDR_PINGS,194
$24V_AH,13.19,4.487
$10V_AH,13.41,0.000
$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,25.025,183.625,430.100,57.950,0.000,0.000,0.000,212.225,48.500,0.000,13.388,2748.846,13371.238,672.270,2274.427,88.842,0.000,2043.593,0.000,2014.750,0.000,0.539,0.000
$DEVICE_MAMPS,377.910,2226.150,1992.060,83.385,0.000,0.000,0.000,169.065,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,665.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311180
$DATA_FILE_SIZE,60026,1416
$CAP_FILE_SIZE,170417,0
$CFSIZE,2097872896,2093744128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.086,329.19,1
$GPS,211216,134436,-326.238,5549.237,42,0.9,44,-4.6,0.3,109.7,9,9.7