version: 66.12
glider: 528
mission: 3
dive: 218
start: 2 17 117 6 13 36
data:
$ID,528
$MISSION,3
$DIVE,218
$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,18
$R_STBD_OVSHOOT,20
$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
$GPS1,170217,060828,306.2901,5927.7983,38,0.8,40,-2.8,1.0,307.2,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-72.4
$GPS2,170217,061310,306.3392,5927.6802,6,0.8,11,-2.8,0.8,294.9,10,9.4
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,FOUR
$TGT_LATLONG,400.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,27.8,115938,-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,-116.8,174,2382,1123,1126,0.0,0.0,0,103,0.00,0.00,-83.90,0.000,16386,0.000,0.000,174,2383,3279,3122,3437,0,0,0,0,0,0,14.74,28.83,14.76
$GC,105,-0.89,-116.8,174,2383,3122,3438,4.0,-7.0,14,125,11.48,2.88,-2.90,0.000,18692,0.369,2.160,2966,3807,3447,3252,3643,0,0,0,0,0,0,14.20,13.35,14.46
$GC,353,-0.89,-116.8,2966,3808,3253,3646,64.7,-21.9,62,362,0.00,2.45,0.00,0.000,1030,0.000,0.078,2967,2400,3449,3253,3646,0,0,0,0,0,0,14.59,14.45,14.62
$GC,663,-0.89,-116.8,2967,2400,3254,3648,102.8,-8.3,94,672,0.00,2.53,0.00,0.000,260,0.000,0.109,2964,3812,3451,3254,3648,0,0,0,0,0,0,14.92,14.41,14.94
$GC,834,-0.89,-116.8,2964,3812,3257,3648,118.4,-10.4,128,838,0.00,2.42,0.00,0.000,1030,0.000,0.080,2967,2400,3452,3257,3648,0,0,0,0,0,0,14.66,14.52,14.70
$GC,1139,-0.89,-116.8,2967,2399,3260,3650,155.6,-13.9,159,1148,0.00,2.50,0.00,0.000,516,0.000,0.113,2967,985,3455,3260,3650,0,0,0,0,0,0,14.98,14.53,15.00
$GC,1190,-0.89,-116.8,2967,985,3260,3650,162.8,-14.4,169,1195,0.00,2.45,0.00,0.000,1030,0.000,0.080,2967,2403,3455,3260,3650,0,0,0,0,0,0,14.71,14.57,14.74
$GC,1502,-0.89,-116.8,2965,2403,3261,3650,190.3,-6.5,201,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2404,3455,3261,3650,0,0,0,0,0,0,15.01,15.03,15.02
$GC,1802,-0.89,-116.8,2966,2404,3261,3650,216.8,-9.9,231,1812,0.00,2.45,0.00,0.000,260,0.000,0.119,2965,3817,3455,3261,3650,0,0,0,0,0,0,15.02,14.54,15.04
$GC,1884,-0.89,-116.8,2965,3817,3262,3650,225.7,-11.5,247,1893,0.00,2.42,0.00,0.000,1030,0.000,0.080,2967,2399,3455,3261,3650,0,0,0,0,0,0,14.72,14.57,14.76
$GC,2214,-0.89,-116.8,2967,2399,3263,3649,264.8,-11.9,273,2219,0.00,2.55,0.00,0.000,516,0.000,0.122,2967,978,3456,3263,3650,0,0,0,0,0,0,15.04,14.54,15.06
$GC,2249,-0.89,-116.8,2967,978,3263,3650,269.3,-12.0,280,2253,0.00,2.45,0.00,0.000,1030,0.000,0.078,2967,2402,3456,3263,3650,0,0,0,0,0,0,14.75,14.62,14.79
$GC,2571,-0.89,-116.8,2966,2402,3262,3650,300.0,-8.8,294,2578,0.00,2.50,0.00,0.000,260,0.000,0.119,2967,3814,3456,3263,3650,0,0,0,0,0,0,15.06,14.56,15.08
$GC,2705,-0.89,-116.8,2966,3814,3263,3650,311.6,-8.7,321,2709,0.00,2.42,0.00,0.000,1030,0.000,0.080,2967,2400,3456,3263,3650,0,0,0,0,0,0,14.74,14.59,14.78
$GC,3022,-0.89,-116.8,2967,2399,3262,3649,341.0,-10.3,334,3028,0.00,2.53,0.00,0.000,516,0.000,0.120,2967,989,3455,3262,3649,0,0,0,0,0,0,15.07,14.55,15.09
$GC,3060,-0.89,-116.8,2967,989,3261,3649,345.5,-11.3,342,3064,0.00,2.45,0.00,0.000,1030,0.000,0.078,2967,2404,3455,3261,3649,0,0,0,0,0,0,14.77,14.64,14.81
$GC,3376,-0.89,-116.8,2967,2404,3259,3649,383.0,-12.2,355,3382,0.00,2.50,0.00,0.000,260,0.000,0.119,2967,3816,3453,3258,3649,0,0,0,0,0,0,15.05,14.56,15.07
$GC,3419,-0.89,-116.8,2967,3816,3258,3649,388.7,-12.2,364,3424,0.00,2.42,0.00,0.000,1030,0.000,0.081,2967,2400,3453,3258,3649,0,0,0,0,0,0,14.76,14.62,14.81
$GC,3731,-0.89,-116.8,2967,2399,3256,3647,425.3,-11.3,376,3738,0.00,2.53,0.00,0.000,516,0.000,0.122,2967,990,3451,3256,3647,0,0,0,0,0,0,15.08,14.56,15.10
$GC,3769,-0.89,-116.8,2967,990,3256,3646,430.1,-11.6,384,3774,0.00,2.45,0.00,0.000,1030,0.000,0.078,2967,2403,3451,3256,3646,0,0,0,0,0,0,14.78,14.64,14.81
$GC,4086,-0.89,-116.8,2966,2403,3256,3643,462.1,-9.6,397,4091,0.00,2.50,0.00,0.000,260,0.000,0.119,2967,3812,3449,3256,3643,0,0,0,0,0,0,15.09,14.56,15.10
$GC,4161,-0.89,-116.8,2967,3812,3256,3642,469.8,-10.9,412,4165,0.00,2.45,0.00,0.000,1030,0.000,0.083,2967,2395,3449,3256,3642,0,0,0,0,0,0,14.76,14.60,14.80
$GC,4473,-0.89,-116.8,2966,2395,3253,3642,499.4,-9.4,424,4480,0.00,2.55,0.00,0.000,516,0.000,0.126,2967,983,3447,3253,3642,0,0,0,0,0,0,15.09,14.56,15.11
$GC,4546,-0.89,-116.8,2967,983,3253,3641,506.9,-10.1,439,4550,0.00,2.47,0.00,0.000,1030,0.000,0.080,2967,2406,3447,3253,3641,0,0,0,0,0,0,14.77,14.63,14.81
$GC,4858,-0.89,-116.8,2967,2406,3251,3641,536.4,-9.5,451,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2406,3445,3251,3640,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5158,-0.89,-116.8,2967,2406,3250,3640,565.9,-9.9,461,5162,0.00,2.53,0.00,0.000,260,0.000,0.121,2967,3810,3445,3250,3640,0,0,0,0,0,0,15.09,14.54,15.11
$GC,5258,-0.89,-116.8,2967,3810,3249,3639,576.2,-9.9,481,5262,0.00,2.45,0.00,0.000,1030,0.000,0.082,2966,2396,3444,3250,3639,0,0,0,0,0,0,14.75,14.59,14.80
$GC,5579,-0.89,-116.8,2967,2395,3250,3636,606.2,-9.2,495,5586,0.00,2.53,0.00,0.000,516,0.000,0.113,2966,975,3441,3249,3634,0,0,0,0,0,0,15.09,14.58,15.11
$GC,5623,-0.89,-116.8,2967,975,3249,3634,610.5,-9.5,504,5627,0.00,2.45,0.00,0.000,1030,0.000,0.072,2967,2401,3441,3249,3634,0,0,0,0,0,0,14.77,14.63,14.81
$GC,5934,-0.89,-116.8,2967,2400,3247,3634,639.4,-9.5,516,5941,0.00,2.50,0.00,0.000,260,0.000,0.116,2967,3812,3440,3247,3633,0,0,0,0,0,0,15.09,14.56,15.11
$GC,6025,-0.89,-116.8,2967,3812,3247,3633,648.5,-10.0,534,6031,0.00,2.45,0.00,0.000,1030,0.000,0.077,2967,2384,3440,3247,3633,0,0,0,0,0,0,14.77,14.64,14.81
$GC,6355,-0.89,-116.8,2967,2383,3247,3631,679.5,-9.3,550,6361,0.00,2.50,0.00,0.000,516,0.000,0.108,2967,980,3438,3247,3630,0,0,0,0,0,0,15.08,14.57,15.10
$GC,6384,-0.89,-116.8,2967,980,3247,3630,682.1,-9.2,556,6392,0.00,2.47,0.00,0.000,1030,0.000,0.081,2967,2403,3438,3247,3630,0,0,0,0,0,0,14.76,14.62,14.81
$GC,6714,-0.89,-116.8,2967,2403,3245,3631,711.5,-8.9,572,6721,0.00,2.50,0.00,0.000,260,0.000,0.116,2967,3812,3438,3245,3631,0,0,0,0,0,0,15.09,14.54,15.10
$GC,6758,-0.89,-116.8,2967,3812,3245,3630,715.5,-9.1,581,6763,0.00,2.42,0.00,0.000,1030,0.000,0.078,2967,2403,3437,3245,3630,0,0,0,0,0,0,14.76,14.62,14.80
$GC,7075,-0.89,-116.8,2967,2399,3244,3629,743.2,-8.8,594,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2399,3436,3244,3629,0,0,0,0,0,0,15.08,15.10,15.10
$GC,7375,-0.89,-116.8,2967,2399,3244,3629,768.4,-8.2,604,7382,0.00,2.55,0.00,0.000,516,0.000,0.119,2967,983,3436,3244,3628,0,0,0,0,0,0,15.09,14.52,15.11
$GC,7413,-0.89,-116.8,2967,983,3244,3628,771.7,-8.9,612,7417,0.00,2.47,0.00,0.000,1030,0.000,0.076,2967,2407,3436,3244,3628,0,0,0,0,0,0,14.77,14.64,14.81
$GC,7730,-0.89,-116.8,2967,2407,3243,3628,797.1,-8.2,625,7734,0.00,2.53,0.00,0.000,260,0.000,0.124,2967,3813,3434,3242,3627,0,0,0,0,0,0,15.09,14.52,15.10
$GC,7829,-0.89,-116.8,2967,3813,3242,3626,806.1,-8.9,645,7834,0.00,2.45,0.00,0.000,1030,0.000,0.082,2967,2395,3434,3242,3626,0,0,0,0,0,0,14.73,14.58,14.78
$GC,8151,-0.89,-116.8,2967,2394,3242,3625,836.6,-9.8,659,8157,0.00,2.55,0.00,0.000,516,0.000,0.119,2967,977,3433,3242,3624,0,0,0,0,0,0,15.09,14.54,15.10
$GC,8205,-0.89,-116.8,2967,976,3242,3624,842.5,-10.9,670,8212,0.00,2.50,0.00,0.000,1030,0.000,0.083,2967,2399,3433,3243,3624,0,0,0,0,0,0,14.74,14.59,14.78
$GC,8511,-0.89,-116.8,2967,2399,3242,3624,874.1,-10.0,681,8516,0.00,2.53,0.00,0.000,260,0.000,0.119,2967,3813,3433,3242,3624,0,0,0,0,0,0,15.08,14.52,15.10
$GC,8591,-0.89,-116.8,2967,3813,3241,3624,882.3,-10.0,697,8596,0.00,2.42,0.00,0.000,1030,0.000,0.074,2967,2396,3432,3241,3624,0,0,0,0,0,0,14.74,14.59,14.78
$GC,8903,-0.89,-116.8,2967,2396,3242,3623,909.4,-8.3,709,8908,0.00,2.55,0.00,0.000,516,0.000,0.125,2967,991,3431,3241,3622,0,0,0,0,0,0,15.08,14.52,15.10
$GC,9025,-0.89,-116.8,2967,990,3241,3621,920.1,-8.5,733,9029,0.00,2.50,0.00,0.000,1030,0.000,0.085,2967,2411,3431,3241,3621,0,0,0,0,0,0,14.73,14.58,14.77
$GC,9356,-0.89,-116.8,2967,2411,3240,3621,946.2,-7.8,749,9361,0.00,2.53,0.00,0.000,260,0.000,0.125,2967,3813,3430,3240,3621,0,0,0,0,0,0,15.08,14.51,15.09
$GC,9401,-0.89,-116.8,2967,3813,3240,3621,949.8,-7.8,758,9406,0.00,2.45,0.00,0.000,1030,0.000,0.080,2967,2393,3430,3240,3621,0,0,0,0,0,0,14.73,14.57,14.78
$GC,9713,-0.89,-116.8,2967,2393,3240,3620,972.5,-7.3,770,9720,0.00,2.58,0.00,0.000,516,0.000,0.125,2967,978,3429,3240,3618,0,0,0,0,0,0,15.07,14.51,15.09
$GC,9752,-0.89,-116.8,2968,978,3240,3619,975.6,-8.2,778,9756,0.00,2.50,0.00,0.000,1030,0.000,0.083,2967,2403,3429,3240,3618,0,0,0,0,0,0,14.63,14.54,14.69
$STATE,9981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9981,begin apogee
$GC,9985,-0.19,0.0,2967,2403,3239,3618,991.7,-7.1,789,10092,0.77,0.00,102.75,2.070,10246,0.222,0.000,3201,2403,2966,2832,3101,0,0,0,0,0,0,14.45,14.09,13.35
$STATE,10093,end apogee,CONTROL_FINISHED_OK
$STATE,10093,begin climb
$GC,10094,0.89,116.8,3201,2403,2830,3097,993.1,0.0,792,10209,1.05,2.75,105.25,2.079,10756,0.151,0.123,3550,992,2485,2417,2553,0,0,0,0,0,0,14.03,13.81,13.22
$GC,10251,0.89,116.8,3549,992,2413,2549,982.1,9.4,827,10257,0.00,2.58,0.00,0.000,1030,0.000,0.082,3550,2407,2480,2413,2548,0,0,0,0,0,0,14.21,14.11,14.23
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$STATE,21371,end climb,SURFACE_DEPTH_REACHED
$STATE,21371,begin surface coast
$FINISH,0.3,1.022440
$STATE,21396,end surface coast,CONTROL_FINISHED_OK
$STATE,21396,begin surface
$SM_CCo,21413,101.22,0.080,0,0,1131,450.12
$SM_GC,0.72,9.62,0.00,101.22,0.067,0.000,0.080,187,2393,1131,-9.57,-0.23,450.12,0,0,0,0,0,0,14.55,14.91,14.51
$IRIDIUM_FIX,305.56,5927.36,170217,002029
$TT8_MAMPS,0.025466,0.154294
$HUMID,46.22
$INTERNAL_PRESSURE,9.65893
$TCM_TEMP,25.20
$XPDR_PINGS,260
$24V_AH,13.22,58.419
$10V_AH,13.02,0.000
$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,23.600,241.150,286.575,101.225,0.000,0.000,0.000,194.525,65.000,0.000,12.266,3222.046,14974.570,640.459,2785.865,172.628,0.000,2259.236,0.000,2532.495,0.000,0.540,0.000
$DEVICE_MAMPS,369.495,2159.595,2078.505,80.325,0.000,0.000,0.000,176.715,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,762.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311116
$DATA_FILE_SIZE,76586,1783
$CAP_FILE_SIZE,194828,0
$CFSIZE,2097872896,2066841600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.020,223.17,1
$GPS,170217,121330,307.687,5928.429,41,0.8,44,-2.8,0.8,298.1,9,8.9