version: 66.12
glider: 528
mission: 3
dive: 219
start: 2 17 117 12 18 47
data:
$ID,528
$MISSION,3
$DIVE,219
$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,26
$R_STBD_OVSHOOT,17
$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
$GPS1,170217,121330,307.6868,5928.4287,41,0.8,44,-2.8,0.8,298.1,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-71.8
$GPS2,170217,121821,307.7516,5928.2734,6,0.8,11,-2.8,1.0,306.2,10,8.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,FOUR
$TGT_LATLONG,400.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,35.2,113132,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.89,-116.8,186,2377,1126,1122,0.0,0.0,0,99,0.00,0.00,-81.30,0.000,16386,0.000,0.000,186,2378,3186,3026,3347,0,0,0,0,0,0,14.78,28.83,14.80
$GC,102,-0.89,-116.8,186,2378,3027,3347,3.6,-6.0,14,128,11.30,2.85,-4.80,0.000,18692,0.363,2.152,2973,3805,3447,3246,3648,0,0,0,0,0,0,14.23,13.39,14.54
$GC,190,-0.89,-116.8,2972,3805,3249,3648,27.0,-19.7,30,197,0.00,2.42,0.00,0.000,1030,0.000,0.077,2973,2403,3448,3248,3649,0,0,0,0,0,0,14.54,14.41,14.57
$GC,504,-0.89,-116.8,2973,2402,3251,3648,74.5,-13.7,74,513,0.00,2.47,0.00,0.000,260,0.000,0.111,2973,3810,3449,3251,3648,0,0,0,0,0,0,14.90,14.46,14.92
$GC,740,-0.89,-116.8,2972,3811,3254,3648,107.1,-13.7,121,747,0.00,2.42,0.00,0.000,1030,0.000,0.076,2973,2389,3451,3254,3648,0,0,0,0,0,0,14.67,14.53,14.71
$GC,1045,-0.89,-116.8,2973,2389,3258,3648,142.4,-10.1,152,1050,0.00,2.55,0.00,0.000,260,0.000,0.112,2973,3817,3453,3258,3648,0,0,0,0,0,0,14.98,14.53,15.00
$GC,1167,-0.89,-116.8,2972,3817,3259,3648,156.1,-12.0,176,1171,0.00,2.42,0.00,0.000,1030,0.000,0.078,2973,2392,3453,3259,3648,0,0,0,0,0,0,14.71,14.57,14.75
$GC,1478,-0.89,-116.8,2973,2392,3261,3648,190.1,-9.5,208,1483,0.00,2.47,0.00,0.000,516,0.000,0.112,2974,985,3454,3261,3648,0,0,0,0,0,0,15.02,14.56,15.04
$GC,1540,-0.89,-116.8,2973,985,3261,3648,196.0,-9.7,220,1544,0.00,2.47,0.00,0.000,1030,0.000,0.086,2973,2405,3454,3261,3648,0,0,0,0,0,0,14.73,14.59,14.77
$GC,1851,-0.89,-116.8,2973,2404,3261,3648,224.0,-10.7,252,1856,0.00,2.58,0.00,0.000,516,0.000,0.119,2973,984,3455,3261,3649,0,0,0,0,0,0,15.03,14.54,15.05
$GC,1873,-0.89,-116.8,2973,984,3261,3648,226.4,-11.1,256,1878,0.00,2.47,0.00,0.000,1030,0.000,0.084,2973,2408,3454,3261,3648,0,0,0,0,0,0,14.75,14.62,14.79
$GC,2206,-0.89,-116.8,2973,2407,3261,3648,263.7,-10.8,282,2212,0.00,2.45,0.00,0.000,260,0.000,0.111,2974,3813,3454,3261,3648,0,0,0,0,0,0,15.05,14.58,15.07
$GC,2258,-0.89,-116.8,2973,3813,3261,3648,268.9,-8.6,293,2265,0.00,2.42,0.00,0.000,1030,0.000,0.079,2973,2387,3454,3261,3648,0,0,0,0,0,0,14.76,14.63,14.80
$GC,2565,-0.89,-116.8,2973,2386,3261,3648,295.9,-9.3,304,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2387,3454,3261,3648,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2865,-0.89,-116.8,2974,2386,3259,3648,325.6,-10.1,314,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2386,3453,3259,3648,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3165,-0.89,-116.8,2973,2386,3256,3647,358.3,-10.9,324,3169,0.00,2.47,0.00,0.000,516,0.000,0.112,2973,983,3451,3255,3647,0,0,0,0,0,0,15.09,14.59,15.11
$GC,3204,-0.89,-116.8,2973,983,3255,3647,362.9,-11.0,332,3209,0.00,2.45,0.00,0.000,1030,0.000,0.083,2973,2400,3451,3255,3647,0,0,0,0,0,0,14.78,14.64,14.82
$GC,3526,-0.89,-116.8,2973,2400,3252,3646,393.9,-8.6,346,3532,0.00,2.50,0.00,0.000,260,0.000,0.112,2973,3818,3449,3252,3647,0,0,0,0,0,0,15.09,14.59,15.11
$GC,3634,-0.89,-116.8,2973,3818,3253,3645,403.2,-8.7,368,3639,0.00,2.42,0.00,0.000,1030,0.000,0.074,2973,2389,3449,3253,3645,0,0,0,0,0,0,14.78,14.65,14.82
$GC,3946,-0.89,-116.8,2972,2389,3253,3641,428.9,-8.2,380,3951,0.00,2.47,0.00,0.000,516,0.000,0.112,2973,987,3446,3252,3641,0,0,0,0,0,0,15.09,14.58,15.11
$GC,3981,-0.89,-116.8,2973,988,3252,3640,431.9,-8.6,387,3985,0.00,2.45,0.00,0.000,1030,0.000,0.083,2973,2401,3446,3253,3639,0,0,0,0,0,0,14.78,14.64,14.82
$GC,4303,-0.89,-116.8,2973,2401,3250,3640,459.8,-9.3,401,4310,0.00,2.47,0.00,0.000,260,0.000,0.112,2972,3812,3445,3250,3640,0,0,0,0,0,0,15.09,14.58,15.11
$GC,4393,-0.89,-116.8,2973,3812,3250,3639,468.7,-9.5,419,4400,0.00,2.40,0.00,0.000,1030,0.000,0.078,2973,2401,3445,3250,3640,0,0,0,0,0,0,14.78,14.65,14.82
$GC,4723,-0.89,-116.8,2973,2401,3247,3639,501.5,-10.3,435,4730,0.00,2.50,0.00,0.000,516,0.000,0.110,2973,986,3442,3246,3638,0,0,0,0,0,0,15.09,14.57,15.11
$GC,4772,-0.89,-116.8,2973,986,3246,3638,506.9,-10.6,445,4776,0.00,2.47,0.00,0.000,1030,0.000,0.083,2973,2409,3441,3246,3637,0,0,0,0,0,0,14.78,14.63,14.81
$GC,5078,-0.89,-116.8,2972,2409,3244,3635,538.0,-10.0,456,5082,0.00,2.47,0.00,0.000,260,0.000,0.113,2972,3816,3440,3244,3636,0,0,0,0,0,0,15.09,14.57,15.11
$GC,5103,-0.89,-116.8,2973,3815,3244,3635,540.7,-10.1,461,5110,0.00,2.42,0.00,0.000,1030,0.000,0.080,2973,2401,3439,3244,3635,0,0,0,0,0,0,14.78,14.63,14.82
$GC,5409,-0.89,-116.8,2972,2400,3244,3632,569.4,-9.1,472,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2400,3438,3244,3633,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5709,-0.89,-116.8,2973,2400,3243,3630,595.7,-8.6,482,5716,0.00,2.50,0.00,0.000,516,0.000,0.110,2973,985,3436,3242,3631,0,0,0,0,0,0,15.10,14.57,15.11
$GC,5740,-0.89,-116.8,2973,985,3242,3630,598.4,-9.4,488,5744,0.00,2.45,0.00,0.000,1030,0.000,0.082,2973,2400,3436,3242,3630,0,0,0,0,0,0,14.78,14.64,14.82
$GC,6071,-0.89,-116.8,2973,2401,3242,3629,627.4,-9.0,504,6076,0.00,2.50,0.00,0.000,260,0.000,0.114,2973,3818,3435,3242,3629,0,0,0,0,0,0,15.10,14.57,15.11
$GC,6186,-0.89,-116.8,2972,3818,3242,3628,638.6,-9.3,527,6193,0.00,2.45,0.00,0.000,1030,0.000,0.079,2973,2395,3435,3242,3628,0,0,0,0,0,0,14.76,14.61,14.81
$GC,6493,-0.89,-116.8,2972,2395,3241,3626,668.1,-10.1,538,6499,0.00,2.50,0.00,0.000,516,0.000,0.110,2973,981,3433,3240,3626,0,0,0,0,0,0,15.07,14.57,15.08
$GC,6553,-0.89,-116.8,2973,981,3240,3625,674.5,-10.8,550,6559,0.00,2.47,0.00,0.000,1030,0.000,0.080,2973,2406,3432,3240,3625,0,0,0,0,0,0,14.77,14.62,14.81
$GC,6883,-0.89,-116.8,2973,2407,3238,3625,709.9,-11.0,566,6889,0.00,2.50,0.00,0.000,260,0.000,0.114,2973,3812,3431,3238,3625,0,0,0,0,0,0,15.09,14.55,15.11
$GC,6961,-0.89,-116.8,2972,3812,3238,3624,719.1,-11.5,582,6965,0.00,2.42,0.00,0.000,1030,0.000,0.076,2973,2398,3431,3238,3624,0,0,0,0,0,0,14.76,14.60,14.80
$GC,7268,-0.89,-116.8,2972,2397,3238,3623,751.7,-10.3,593,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2398,3430,3238,3623,0,0,0,0,0,0,15.09,15.11,15.10
$GC,7568,-0.89,-116.8,2972,2394,3238,3622,779.2,-8.7,603,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2394,3430,3238,3622,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7868,-0.89,-116.8,2973,2394,3237,3621,802.8,-7.8,613,7874,0.00,2.55,0.00,0.000,516,0.000,0.116,2974,984,3429,3238,3620,0,0,0,0,0,0,15.09,14.54,15.11
$GC,7901,-0.89,-116.8,2973,984,3237,3620,805.8,-8.1,620,7906,0.00,2.47,0.00,0.000,1030,0.000,0.076,2973,2402,3428,3237,3620,0,0,0,0,0,0,14.77,14.64,14.81
$GC,8228,-0.89,-116.8,2972,2401,3237,3619,830.4,-7.4,635,8235,0.00,2.53,0.00,0.000,260,0.000,0.122,2973,3813,3427,3237,3618,0,0,0,0,0,0,15.09,14.54,15.11
$GC,8326,-0.89,-116.8,2973,3813,3237,3618,838.1,-7.6,655,8331,0.00,2.42,0.00,0.000,1030,0.000,0.076,2973,2399,3427,3237,3618,0,0,0,0,0,0,14.74,14.59,14.78
$GC,8643,-0.89,-116.8,2973,2399,3237,3617,862.1,-7.8,668,8648,0.00,2.58,0.00,0.000,516,0.000,0.125,2973,981,3426,3236,3617,0,0,0,0,0,0,15.09,14.52,15.10
$GC,8675,-0.89,-116.8,2973,981,3236,3616,864.8,-8.6,674,8681,0.00,2.47,0.00,0.000,1030,0.000,0.083,2973,2397,3426,3236,3617,0,0,0,0,0,0,14.76,14.61,14.79
$GC,9005,-0.89,-116.8,2973,2397,3235,3616,892.6,-8.6,690,9011,0.00,2.58,0.00,0.000,260,0.000,0.126,2973,3814,3425,3235,3616,0,0,0,0,0,0,15.09,14.52,15.11
$GC,9053,-0.89,-116.8,2973,3814,3236,3615,897.0,-8.9,700,9058,0.00,2.45,0.00,0.000,1030,0.000,0.079,2973,2395,3425,3235,3616,0,0,0,0,0,0,14.74,14.59,14.78
$GC,9365,-0.89,-116.8,2973,2394,3236,3615,923.7,-8.8,712,9366,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2394,3425,3235,3615,0,0,0,0,0,0,15.09,15.11,15.11
$GC,9665,-0.89,-116.8,2973,2395,3236,3614,951.1,-9.2,722,9671,0.00,2.58,0.00,0.000,516,0.000,0.125,2974,978,3424,3235,3614,0,0,0,0,0,0,15.09,14.52,15.11
$GC,9688,-0.89,-116.8,2973,978,3236,3614,953.3,-9.3,727,9695,0.00,2.50,0.00,0.000,1030,0.000,0.082,2973,2405,3424,3235,3614,0,0,0,0,0,0,14.76,14.61,14.80
$GC,9995,-0.89,-116.8,2973,2405,3234,3613,980.0,-8.5,738,10001,0.00,2.55,0.00,0.000,260,0.000,0.126,2973,3818,3423,3234,3613,0,0,0,0,0,0,15.05,14.52,15.07
$STATE,10114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10114,begin apogee
$GC,10121,-0.19,0.0,2973,2399,3234,3613,990.1,-7.6,762,10226,0.75,0.00,101.57,2.069,10246,0.213,0.000,3210,2398,2966,2832,3101,0,0,0,0,0,0,14.45,14.09,13.35
$STATE,10227,end apogee,CONTROL_FINISHED_OK
$STATE,10227,begin climb
$GC,10229,0.89,116.8,3210,2398,2830,3098,993.0,0.0,765,10339,1.05,0.00,105.82,2.082,10502,0.148,0.000,3547,2398,2489,2421,2558,0,0,0,0,0,0,14.04,13.93,13.22
$GC,10625,0.89,116.8,3547,2398,2408,2548,963.7,8.4,789,10631,0.00,2.65,0.00,0.000,516,0.000,0.134,3548,988,2478,2408,2548,0,0,0,0,0,0,14.71,14.30,14.72
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$STATE,21392,end climb,SURFACE_DEPTH_REACHED
$STATE,21393,begin surface coast
$FINISH,0.3,1.022552
$STATE,21414,end surface coast,CONTROL_FINISHED_OK
$STATE,21415,begin surface
$SM_CCo,21431,83.28,0.080,0,0,1131,450.12
$SM_GC,0.71,9.30,0.00,83.28,0.058,0.000,0.080,188,2404,1131,-9.57,0.11,450.12,0,0,0,0,0,0,14.49,14.83,14.47
$IRIDIUM_FIX,301.25,5929.22,170217,060959
$TT8_MAMPS,0.025466,0.152796
$HUMID,48.89
$INTERNAL_PRESSURE,9.6394
$TCM_TEMP,24.40
$XPDR_PINGS,263
$24V_AH,13.22,58.668
$10V_AH,13.49,0.000
$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
$DEVICE_SECS,22.850,215.525,321.700,83.275,0.000,0.000,0.000,199.450,65.750,0.000,12.285,3071.963,15333.732,662.790,2567.319,165.047,0.000,2176.984,0.000,2318.070,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311092
$DATA_FILE_SIZE,70005,1631
$CAP_FILE_SIZE,183023,0
$CFSIZE,2097872896,2066710528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,249.98,1
$GPS,170217,181839,308.998,5929.072,36,0.8,42,-2.8,1.1,267.7,8,9.9