version: 66.12
glider: 528
mission: 3
dive: 215
start: 2 16 117 11 53 10
data:
$ID,528
$MISSION,3
$DIVE,215
$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,410
$T_MISSION,490
$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,120
$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,3270
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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
$GPS1,160217,114754,302.7392,5925.3140,39,1.0,42,-2.8,0.8,274.9,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-70.1
$GPS2,160217,115245,302.7914,5925.1567,6,0.9,9,-2.8,1.0,291.3,9,9.9
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,FOUR
$TGT_LATLONG,400.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,27.2,123973,-17.5,-8.049,-23.67,2217
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.89,-116.8,195,2375,1119,1127,0.0,0.0,0,96,0.00,0.00,-77.55,0.000,16386,0.000,0.000,195,2375,3046,2908,3184,0,0,0,0,0,0,14.74,28.83,14.76
$GC,99,-0.89,-116.8,195,2375,2908,3185,3.0,-4.6,13,124,11.38,0.00,-7.88,0.000,18438,0.369,0.000,2966,2375,3444,3239,3650,0,0,0,0,0,0,14.20,13.69,14.52
$GC,432,-0.89,-116.8,2966,2375,3245,3650,64.6,-12.3,67,441,0.00,2.53,0.00,0.000,260,0.000,0.105,2966,3807,3447,3245,3650,0,0,0,0,0,0,14.87,14.46,14.89
$GC,667,-0.89,-116.8,2966,3807,3246,3650,92.7,-12.4,114,675,0.00,2.38,0.00,0.000,1030,0.000,0.067,2966,2397,3448,3246,3650,0,0,0,0,0,0,14.66,14.54,14.69
$GC,973,-0.89,-116.8,2966,2397,3249,3650,129.9,-11.9,145,983,0.00,2.47,0.00,0.000,260,0.000,0.097,2966,3811,3450,3250,3650,0,0,0,0,0,0,14.97,14.54,14.99
$GC,1119,-0.89,-116.8,2965,3812,3251,3650,148.5,-11.8,174,1126,0.00,2.38,0.00,0.000,1030,0.000,0.067,2967,2395,3450,3251,3650,0,0,0,0,0,0,14.71,14.59,14.74
$GC,1425,-0.89,-116.8,2966,2395,3252,3650,182.6,-9.6,205,1435,0.00,2.47,0.00,0.000,516,0.000,0.107,2966,983,3451,3253,3650,0,0,0,0,0,0,15.01,14.55,15.02
$GC,1466,-0.89,-116.8,2966,983,3253,3650,186.4,-9.3,213,1477,0.00,2.42,0.00,0.000,1030,0.000,0.077,2966,2402,3451,3253,3650,0,0,0,0,0,0,14.73,14.62,14.77
$GC,1776,-0.89,-116.8,2966,2403,3255,3650,215.1,-8.9,245,1781,0.00,2.45,0.00,0.000,260,0.000,0.105,2966,3815,3452,3255,3650,0,0,0,0,0,0,15.02,14.57,15.04
$GC,1803,-0.89,-116.8,2966,3816,3255,3650,217.2,-8.2,250,1807,0.00,2.38,0.00,0.000,1030,0.000,0.067,2966,2395,3452,3254,3650,0,0,0,0,0,0,14.75,14.63,14.78
$GC,2114,-0.89,-116.8,2966,2395,3257,3649,248.6,-11.0,282,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2396,3453,3257,3650,0,0,0,0,0,0,15.04,15.06,15.05
$GC,2434,-0.89,-116.8,2965,2396,3257,3649,283.3,-10.4,294,2439,0.00,2.47,0.00,0.000,516,0.000,0.109,2966,988,3453,3257,3649,0,0,0,0,0,0,15.06,14.57,15.08
$GC,2496,-0.89,-116.8,2966,988,3257,3649,289.7,-10.2,306,2501,0.00,2.40,0.00,0.000,1030,0.000,0.073,2966,2397,3453,3257,3649,0,0,0,0,0,0,14.69,14.62,14.73
$GC,2828,-0.89,-116.8,2966,2397,3255,3650,322.4,-9.9,322,2833,0.00,2.47,0.00,0.000,260,0.000,0.107,2966,3823,3452,3255,3649,0,0,0,0,0,0,15.07,14.59,15.09
$GC,2950,-0.89,-116.8,2966,3823,3254,3649,335.1,-10.2,346,2954,0.00,2.40,0.00,0.000,1030,0.000,0.069,2966,2390,3451,3254,3649,0,0,0,0,0,0,14.78,14.65,14.81
$GC,3281,-0.89,-116.8,2966,2389,3252,3649,368.2,-9.8,362,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2390,3450,3252,3649,0,0,0,0,0,0,15.08,15.10,15.10
$GC,3581,-0.89,-116.8,2966,2390,3251,3646,395.6,-8.8,372,3588,0.00,2.53,0.00,0.000,260,0.000,0.101,2966,3823,3448,3250,3646,0,0,0,0,0,0,15.06,14.59,15.08
$GC,3630,-0.89,-116.8,2966,3822,3250,3645,400.2,-9.8,382,3634,0.00,2.40,0.00,0.000,1030,0.000,0.067,2966,2399,3447,3250,3645,0,0,0,0,0,0,14.78,14.66,14.83
$GC,3941,-0.89,-116.8,2966,2399,3250,3643,428.3,-9.1,394,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2399,3446,3250,3643,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4241,-0.89,-116.8,2966,2399,3249,3641,456.1,-9.5,404,4248,0.00,2.50,0.00,0.000,516,0.000,0.109,2966,983,3445,3248,3642,0,0,0,0,0,0,15.07,14.58,15.08
$GC,4285,-0.89,-116.8,2966,983,3247,3641,460.8,-10.3,413,4289,0.00,2.45,0.00,0.000,1030,0.000,0.072,2966,2410,3444,3247,3641,0,0,0,0,0,0,14.79,14.66,14.83
$GC,4596,-0.89,-116.8,2966,2410,3244,3641,490.8,-9.7,425,4603,0.00,2.45,0.00,0.000,260,0.000,0.109,2966,3811,3442,3244,3640,0,0,0,0,0,0,15.09,14.59,15.11
$GC,4735,-0.89,-116.8,2966,3811,3244,3639,504.6,-9.6,453,4740,0.00,2.40,0.00,0.000,1030,0.000,0.071,2966,2392,3441,3244,3639,0,0,0,0,0,0,14.78,14.64,14.81
$GC,5041,-0.89,-116.8,2966,2392,3244,3636,533.4,-9.4,464,5048,0.00,2.47,0.00,0.000,516,0.000,0.110,2966,994,3439,3244,3635,0,0,0,0,0,0,15.09,14.57,15.11
$GC,5075,-0.89,-116.8,2966,994,3243,3635,536.9,-10.8,471,5079,0.00,2.42,0.00,0.000,1030,0.000,0.073,2966,2405,3439,3243,3635,0,0,0,0,0,0,14.78,14.66,14.83
$GC,5396,-0.89,-116.8,2966,2405,3242,3635,568.4,-9.9,485,5403,0.00,2.47,0.00,0.000,260,0.000,0.109,2966,3816,3437,3241,3634,0,0,0,0,0,0,15.09,14.57,15.11
$GC,5526,-0.89,-116.8,2966,3817,3241,3633,581.9,-10.8,511,5530,0.00,2.40,0.00,0.000,1030,0.000,0.070,2966,2398,3437,3241,3634,0,0,0,0,0,0,14.77,14.64,14.81
$GC,5842,-0.89,-116.8,2966,2398,3241,3631,614.7,-10.6,524,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2398,3436,3241,3631,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6142,-0.89,-116.8,2966,2395,3240,3631,646.1,-10.4,534,6147,0.00,2.50,0.00,0.000,260,0.000,0.103,2966,3808,3435,3240,3631,0,0,0,0,0,0,15.09,14.57,15.11
$GC,6192,-0.89,-116.8,2966,3809,3240,3631,651.4,-10.2,544,6196,0.00,2.40,0.00,0.000,1030,0.000,0.070,2966,2394,3435,3240,3631,0,0,0,0,0,0,14.78,14.65,14.81
$GC,6499,-0.89,-116.8,2966,2394,3239,3631,681.4,-9.9,555,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2394,3435,3239,3631,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6799,-0.89,-116.8,2966,2394,3238,3630,709.1,-9.1,565,6806,0.00,2.53,0.00,0.000,260,0.000,0.104,2966,3814,3433,3238,3629,0,0,0,0,0,0,15.09,14.57,15.11
$GC,6822,-0.89,-116.8,2966,3814,3238,3629,711.4,-9.3,570,6830,0.00,2.40,0.00,0.000,1030,0.000,0.070,2967,2400,3434,3238,3630,0,0,0,0,0,0,14.78,14.66,14.82
$GC,7129,-0.89,-116.8,2966,2401,3238,3627,737.8,-8.5,581,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2400,3432,3238,3627,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7429,-0.89,-116.8,2966,2401,3238,3625,761.8,-7.9,591,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2401,3431,3238,3625,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7729,-0.89,-116.8,2966,2401,3238,3624,783.8,-7.3,601,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2401,3431,3238,3624,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8029,-0.89,-116.8,2966,2401,3236,3624,807.4,-8.3,611,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2401,3430,3236,3624,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8329,-0.89,-116.8,2966,2400,3236,3623,833.5,-8.8,621,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2401,3429,3236,3623,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8629,-0.89,-116.8,2966,2401,3236,3621,859.5,-8.8,631,8635,0.00,2.55,0.00,0.000,260,0.000,0.105,2966,3817,3428,3236,3620,0,0,0,0,0,0,15.10,14.55,15.11
$GC,8682,-0.89,-116.8,2966,3817,3236,3620,864.5,-8.7,642,8690,0.00,2.42,0.00,0.000,1030,0.000,0.071,2967,2395,3428,3236,3620,0,0,0,0,0,0,14.77,14.64,14.81
$GC,8989,-0.89,-116.8,2966,2395,3236,3619,891.4,-8.9,653,8995,0.00,2.50,0.00,0.000,516,0.000,0.114,2966,995,3427,3236,3618,0,0,0,0,0,0,15.09,14.53,15.11
$GC,9027,-0.89,-116.8,2966,995,3236,3617,895.1,-9.4,661,9031,0.00,2.45,0.00,0.000,1030,0.000,0.075,2966,2406,3426,3235,3618,0,0,0,0,0,0,14.76,14.63,14.80
$GC,9344,-0.89,-116.8,2966,2406,3234,3617,923.4,-9.1,674,9348,0.00,2.50,0.00,0.000,260,0.000,0.112,2966,3820,3425,3234,3617,0,0,0,0,0,0,15.06,14.54,15.07
$GC,9409,-0.89,-116.8,2966,3820,3234,3617,929.9,-10.1,687,9413,0.00,2.42,0.00,0.000,1030,0.000,0.073,2966,2395,3425,3234,3617,0,0,0,0,0,0,14.75,14.62,14.79
$GC,9730,-0.89,-116.8,2966,2396,3234,3617,961.3,-9.4,701,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2396,3425,3234,3617,0,0,0,0,0,0,15.05,15.07,15.07
$GC,10031,-0.89,-116.8,2966,2396,3233,3616,988.0,-8.5,711,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2396,3424,3233,3616,0,0,0,0,0,0,15.09,15.11,15.10
$STATE,10059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10059,begin apogee
$GC,10063,-0.19,0.0,2966,2396,3232,3616,990.3,-8.4,712,10169,0.77,0.00,102.30,2.068,10246,0.217,0.000,3210,2396,2966,2832,3101,0,0,0,0,0,0,14.47,14.09,13.35
$STATE,10170,end apogee,CONTROL_FINISHED_OK
$STATE,10170,begin climb
$GC,10171,0.89,116.8,3210,2395,2829,3097,992.4,0.0,715,10286,1.08,2.72,106.72,2.080,10756,0.152,0.132,3551,989,2485,2418,2553,0,0,0,0,0,0,14.04,13.82,13.23
$GC,10306,0.89,116.8,3550,989,2415,2548,983.6,9.1,726,10311,0.00,2.60,0.00,0.000,1030,0.000,0.080,3551,2406,2482,2415,2549,0,0,0,0,0,0,14.15,14.06,14.17
$GC,10628,0.89,116.8,3550,2406,2408,2546,952.6,9.8,740,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2407,2477,2408,2546,0,0,0,0,0,0,14.76,14.78,14.78
$GC,10928,0.89,116.8,3550,2407,2406,2545,923.4,9.6,750,10933,0.00,2.53,0.00,0.000,260,0.000,0.113,3550,3814,2475,2406,2545,0,0,0,0,0,0,14.85,14.43,14.87
$GC,10960,0.89,116.8,3550,3814,2406,2544,920.2,10.2,756,10966,0.00,2.45,0.00,0.000,1030,0.000,0.076,3551,2399,2475,2406,2544,0,0,0,0,0,0,14.62,14.51,14.66
$GC,11290,0.89,116.8,3551,2399,2404,2544,889.1,9.0,772,11296,0.00,2.53,0.00,0.000,516,0.000,0.115,3551,978,2473,2404,2543,0,0,0,0,0,0,14.91,14.46,14.93
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$STATE,21688,end climb,SURFACE_DEPTH_REACHED
$STATE,21688,begin surface coast
$FINISH,0.2,1.022568
$STATE,21700,end surface coast,CONTROL_FINISHED_OK
$STATE,21700,begin surface
$SM_CCo,21720,41.38,0.081,0,0,1132,450.12
$SM_GC,0.69,9.77,2.47,41.38,0.065,0.063,0.081,190,2401,1132,-9.56,0.71,450.12,0,0,0,0,0,0,14.40,14.38,14.38
$IRIDIUM_FIX,256.93,5927.36,160217,054918
$TT8_MAMPS,0.025466,0.114597
$HUMID,50.43
$INTERNAL_PRESSURE,9.6394
$TCM_TEMP,24.10
$XPDR_PINGS,282
$24V_AH,13.23,57.677
$10V_AH,12.99,0.000
$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,23.775,203.200,394.300,41.375,0.000,0.000,0.000,205.175,70.500,0.000,11.150,3084.158,15556.092,677.309,2566.905,165.434,0.000,2185.236,0.000,2317.005,0.000,0.542,0.000
$DEVICE_MAMPS,368.730,131.580,2080.035,81.090,0.000,0.000,0.000,173.655,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311120
$DATA_FILE_SIZE,69946,1630
$CAP_FILE_SIZE,182060,0
$CFSIZE,2097872896,2067234816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.027,251.28,1
$GPS,160217,175708,304.186,5925.780,36,1.0,41,-2.8,0.4,277.5,7,9.1