version: 66.12
glider: 528
mission: 3
dive: 339
start: 3 23 117 13 56 57
data:
$ID,528
$MISSION,3
$DIVE,339
$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,340
$T_MISSION,400
$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,160
$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,3280
$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,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,14
$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
$GPS1,230317,135106,456.5681,5922.3223,33,0.9,35,-2.2,0.6,276.8,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-71.6
$GPS2,230317,135629,456.5901,5922.2822,5,0.9,13,-2.2,0.5,249.7,8,9.9
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,61.5,136445,-17.9,-9.706,-23.59,2449
$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
$STATE,13,begin dive
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$GC,9616,-0.99,-155.7,2957,3718,3347,3816,912.4,-8.3,834,9621,0.00,2.47,0.00,0.000,1030,0.000,0.076,2957,2299,3581,3346,3816,0,0,0,0,0,0,14.59,14.45,14.64
$GC,9928,-0.99,-155.7,2956,2298,3346,3815,934.5,-6.9,846,9934,0.00,2.60,0.00,0.000,516,0.000,0.122,2957,887,3580,3346,3814,0,0,0,0,0,0,15.05,14.35,15.07
$GC,10022,-0.99,-155.7,2957,886,3346,3814,941.8,-7.6,865,10026,0.00,2.50,0.00,0.000,1030,0.000,0.076,2957,2304,3580,3347,3814,0,0,0,0,0,0,14.57,14.41,14.62
$GC,10343,-0.99,-155.7,2957,2304,3346,3813,965.1,-7.4,879,10351,0.00,2.58,0.00,0.000,260,0.000,0.122,2957,3708,3579,3346,3812,0,0,0,0,0,0,15.00,14.28,15.02
$GC,10397,-0.99,-155.7,2957,3709,3346,3812,969.5,-8.2,890,10403,0.00,2.47,0.00,0.000,1030,0.000,0.076,2957,2296,3579,3346,3812,0,0,0,0,0,0,14.59,14.45,14.64
$STATE,10672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10672,begin apogee
$GC,10677,-0.19,0.0,2957,2507,3346,3812,992.5,-8.6,900,10817,0.85,0.00,136.45,2.096,10246,0.206,0.000,3212,2507,2966,2844,3088,0,0,0,0,0,0,14.24,13.96,13.14
$STATE,10818,end apogee,CONTROL_FINISHED_OK
$STATE,10818,begin climb
$GC,10820,0.99,155.7,3211,2507,2842,3084,998.9,0.0,904,10975,1.15,2.58,141.43,2.111,10500,0.138,0.124,3592,3816,2325,2275,2375,0,0,0,0,0,0,13.93,13.75,13.01
$GC,11001,1.08,155.7,3591,3816,2274,2371,992.0,8.4,945,11010,0.10,2.40,0.00,0.000,3078,0.148,0.082,3621,2505,2322,2274,2371,0,0,0,0,0,0,13.96,13.94,14.07
$GC,11308,1.15,155.7,3621,2505,2266,2371,966.2,8.7,956,11315,0.00,2.65,0.00,0.000,516,0.000,0.124,3622,1085,2318,2266,2370,0,0,0,0,0,0,14.72,14.25,14.73
$GC,11451,1.15,155.7,3622,1085,2265,2371,953.1,9.9,985,11459,0.00,2.53,0.00,0.000,1030,0.000,0.079,3621,2495,2317,2264,2371,0,0,0,0,0,0,14.50,14.37,14.54
$GC,11758,1.15,155.7,3621,2495,2262,2371,924.0,9.8,996,11765,0.00,2.60,0.00,0.000,516,0.000,0.106,3623,1087,2316,2262,2371,0,0,0,0,0,0,14.85,14.35,14.87
$GC,11788,1.15,155.7,3623,1087,2262,2371,920.9,9.9,1002,11794,0.00,2.53,0.00,0.000,1030,0.000,0.081,3622,2500,2316,2261,2371,0,0,0,0,0,0,14.56,14.40,14.61
$GC,12118,1.15,155.7,3622,2500,2260,2371,886.2,10.7,1018,12125,0.00,2.60,0.00,0.000,516,0.000,0.102,3623,1075,2315,2260,2371,0,0,0,0,0,0,14.90,14.38,14.92
$GC,12136,1.15,155.7,3623,1075,2260,2370,884.1,10.2,1022,12141,0.00,2.55,0.00,0.000,1030,0.000,0.082,3622,2504,2315,2259,2371,0,0,0,0,0,0,14.57,14.42,14.63
$GC,12443,1.15,155.7,3622,2504,2258,2370,850.9,10.7,1033,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,2504,2314,2258,2371,0,0,0,0,0,0,14.92,14.95,14.94
$GC,12743,1.15,155.7,3622,2504,2257,2370,817.2,11.3,1043,12749,0.00,2.42,0.00,0.000,260,0.000,0.125,3622,3826,2313,2257,2370,0,0,0,0,0,0,14.97,14.33,15.00
$GC,12776,1.15,155.7,3622,3826,2257,2369,813.1,11.9,1050,12780,0.00,2.33,0.00,0.000,1030,0.000,0.074,3623,2488,2313,2257,2369,0,0,0,0,0,0,14.59,14.45,14.65
$GC,13098,1.15,155.7,3623,2488,2257,2369,775.5,11.8,1064,13105,0.00,2.53,0.00,0.000,516,0.000,0.106,3623,1091,2312,2256,2369,0,0,0,0,0,0,14.95,14.37,14.97
$GC,13219,1.15,155.7,3623,1091,2256,2369,760.8,12.6,1088,13226,0.00,2.50,0.00,0.000,1030,0.000,0.078,3622,2498,2312,2256,2368,0,0,0,0,0,0,14.45,14.35,14.52
$GC,13548,1.15,155.7,3623,2498,2255,2369,718.6,12.9,1104,13555,0.00,2.58,0.00,0.000,516,0.000,0.097,3623,1089,2312,2255,2369,0,0,0,0,0,0,14.96,14.35,14.97
$GC,13581,1.15,155.7,3623,1089,2255,2369,713.9,13.1,1111,13586,0.00,2.53,0.00,0.000,1030,0.000,0.079,3622,2510,2312,2255,2369,0,0,0,0,0,0,14.57,14.41,14.64
$GC,13903,1.15,155.7,3622,2510,2255,2369,674.2,12.4,1125,13907,0.00,2.42,0.00,0.000,260,0.000,0.124,3622,3832,2312,2255,2369,0,0,0,0,0,0,15.01,14.30,15.02
$GC,13935,1.15,155.7,3622,3832,2255,2368,670.3,13.3,1131,13941,0.00,2.33,0.00,0.000,1030,0.000,0.073,3623,2497,2311,2255,2368,0,0,0,0,0,0,14.59,14.45,14.64
$GC,14265,1.15,155.7,3623,2498,2254,2369,632.3,10.9,1147,14271,0.00,2.55,0.00,0.000,516,0.000,0.105,3623,1090,2311,2254,2368,0,0,0,0,0,0,14.96,14.34,14.99
$GC,14403,1.15,155.7,3622,1090,2254,2368,618.2,9.7,1175,14407,0.00,2.50,0.00,0.000,1030,0.000,0.077,3623,2499,2311,2255,2368,0,0,0,0,0,0,14.55,14.39,14.62
$GC,14711,1.20,155.7,3622,2500,2254,2368,589.8,9.0,1186,14713,0.12,0.00,0.00,0.000,2054,0.144,0.000,3670,2500,2311,2254,2368,0,0,0,0,0,0,14.57,14.68,14.65
$GC,15010,1.20,155.7,3670,2500,2254,2368,559.2,10.2,1196,15011,0.00,0.00,0.00,0.000,6,0.000,0.000,3670,2500,2311,2254,2368,0,0,0,0,0,0,14.97,15.00,15.00
$GC,15310,1.20,155.7,3670,2500,2254,2368,527.5,10.6,1206,15316,0.00,2.42,0.00,0.000,260,0.000,0.123,3670,3825,2311,2254,2368,0,0,0,0,0,0,15.02,14.28,15.04
$GC,15353,1.20,155.7,3670,3825,2254,2368,522.2,11.8,1215,15357,0.00,2.33,0.00,0.000,1030,0.000,0.073,3672,2490,2311,2255,2368,0,0,0,0,0,0,14.57,14.44,14.64
$GC,15665,1.20,155.7,3671,2489,2254,2368,487.6,11.1,1227,15671,0.00,2.53,0.00,0.000,516,0.000,0.104,3674,1093,2311,2255,2368,0,0,0,0,0,0,14.97,14.33,15.00
$GC,15743,1.20,155.7,3673,1093,2254,2368,478.6,11.5,1243,15747,0.00,2.50,0.00,0.000,1030,0.000,0.078,3674,2500,2311,2254,2368,0,0,0,0,0,0,14.54,14.39,14.62
$GC,16050,1.20,155.7,3674,2500,2254,2368,444.9,11.0,1254,16056,0.00,2.58,0.00,0.000,516,0.000,0.096,3674,1086,2311,2254,2368,0,0,0,0,0,0,14.98,14.33,15.00
$GC,16082,1.20,155.7,3673,1086,2254,2368,440.9,11.3,1261,16087,0.00,2.53,0.00,0.000,1030,0.000,0.078,3674,2509,2310,2254,2367,0,0,0,0,0,0,14.56,14.40,14.63
$GC,16410,1.20,155.7,3673,2508,2254,2368,402.0,12.2,1276,16411,0.00,0.00,0.00,0.000,6,0.000,0.000,3674,2508,2310,2254,2367,0,0,0,0,0,0,14.98,15.00,15.00
$GC,16710,1.20,155.7,3674,2508,2254,2367,365.9,11.8,1286,16716,0.00,2.60,0.00,0.000,516,0.000,0.096,3674,1087,2311,2254,2368,0,0,0,0,0,0,14.98,14.33,15.00
$GC,16758,1.20,155.7,3673,1088,2254,2366,359.9,11.9,1296,16762,0.00,2.53,0.00,0.000,1030,0.000,0.077,3674,2506,2311,2254,2368,0,0,0,0,0,0,14.55,14.39,14.62
$GC,17065,1.20,155.7,3673,2506,2255,2368,324.8,11.5,1307,17066,0.00,0.00,0.00,0.000,6,0.000,0.000,3673,2506,2310,2254,2367,0,0,0,0,0,0,15.03,15.04,15.04
$GC,17365,1.20,155.7,3673,2506,2254,2368,291.3,11.1,1317,17369,0.00,2.60,0.00,0.000,516,0.000,0.097,3673,1087,2311,2254,2368,0,0,0,0,0,0,14.99,14.33,15.00
$GC,17426,1.20,155.7,3674,1086,2254,2368,284.5,11.2,1329,17431,0.00,2.53,0.00,0.000,1030,0.000,0.078,3674,2510,2311,2254,2368,0,0,0,0,0,0,14.55,14.39,14.62
$GC,17758,1.20,155.7,3673,2510,2254,2368,251.5,9.7,1345,17763,0.00,2.42,0.00,0.000,260,0.000,0.123,3674,3829,2311,2254,2368,0,0,0,0,0,0,14.99,14.27,15.01
$GC,17812,1.20,155.7,3674,3830,2254,2368,246.0,9.9,1356,17820,0.00,2.33,0.00,0.000,1030,0.000,0.070,3674,2489,2311,2254,2368,0,0,0,0,0,0,14.57,14.44,14.64
$GC,18120,1.30,155.7,3674,2488,2254,2368,218.0,8.3,1387,18129,0.00,2.53,0.00,0.000,516,0.000,0.100,3674,1085,2311,2254,2368,0,0,0,0,0,0,15.00,14.33,15.02
$GC,18253,1.41,155.7,3673,1086,2254,2368,207.7,8.0,1413,18258,0.17,2.50,0.00,0.000,3078,0.119,0.076,3739,2500,2311,2254,2368,0,0,0,0,0,0,14.46,14.38,14.59
$GC,18565,1.41,155.7,3738,2500,2254,2368,173.3,10.6,1445,18570,0.00,2.55,0.00,0.000,516,0.000,0.093,3748,1092,2311,2255,2368,0,0,0,0,0,0,15.00,14.33,15.02
$GC,18597,1.41,155.7,3747,1092,2254,2368,169.8,10.5,1451,18606,0.00,2.50,0.00,0.000,1030,0.000,0.077,3747,2506,2310,2254,2367,0,0,0,0,0,0,14.55,14.40,14.61
$GC,18908,1.64,265.8,3747,2506,2254,2368,148.8,5.1,1483,19008,0.15,2.38,89.95,1.014,11012,0.128,0.118,3813,3822,1876,1821,1932,0,0,0,0,0,0,14.50,14.21,13.78
$GC,19144,1.64,265.8,3813,3822,1817,1923,119.4,16.8,1527,19151,0.00,2.33,0.00,0.000,1030,0.000,0.071,3821,2499,1870,1817,1923,0,0,0,0,0,0,14.40,14.28,14.45
$GC,19452,1.64,265.8,3821,2499,1812,1923,75.2,10.4,1558,19461,0.00,2.53,0.00,0.000,516,0.000,0.096,3833,1089,1867,1812,1923,0,0,0,0,0,0,14.80,14.27,14.82
$GC,19627,1.78,265.8,3832,1089,1812,1923,59.7,7.8,1593,19634,0.00,2.50,0.00,0.000,1030,0.000,0.074,3829,2502,1866,1810,1923,0,0,0,0,0,0,14.47,14.33,14.52
$GC,19934,1.78,265.8,3829,2502,1810,1923,27.8,11.8,1643,19940,0.00,2.55,0.00,0.000,516,0.000,0.090,3839,1091,1866,1809,1923,0,0,0,0,0,0,14.87,14.32,14.89
$GC,19962,1.78,265.8,3838,1091,1808,1923,24.5,11.1,1648,19969,0.00,2.50,0.00,0.000,1030,0.000,0.074,3839,2510,1866,1809,1923,0,0,0,0,0,0,14.51,14.37,14.57
$STATE,20179,end climb,SURFACE_DEPTH_REACHED
$STATE,20179,begin surface coast
$FINISH,0.2,1.022187
$STATE,20206,end surface coast,CONTROL_FINISHED_OK
$STATE,20206,begin surface
$SM_CCo,20224,81.72,0.079,0,0,1132,450.12
$SM_GC,0.51,9.60,0.43,81.72,0.065,0.070,0.079,187,2288,1132,-9.60,0.48,450.12,0,0,0,0,0,0,14.47,14.50,14.44
$IRIDIUM_FIX,453.67,5927.79,230317,080340
$TT8_MAMPS,0.024717,0.155043
$HUMID,48.70
$INTERNAL_PRESSURE,9.6687
$TCM_TEMP,25.40
$XPDR_PINGS,411
$24V_AH,13.01,90.124
$10V_AH,12.72,0.000
$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,23.650,236.075,367.825,81.725,0.000,0.000,0.000,224.025,102.750,0.000,15.485,2989.628,14029.437,716.698,2690.284,199.060,0.000,2323.833,0.000,2410.443,0.000,0.542,0.000
$DEVICE_MAMPS,364.905,2108.340,2111.400,78.795,0.000,0.000,0.000,174.420,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311140
$DATA_FILE_SIZE,73371,1696
$CAP_FILE_SIZE,187583,0
$CFSIZE,2097872896,2050818048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10674.21,0x213808,2,24
$CURRENT,0.091,281.86,1
$GPS,230317,193635,457.130,5922.111,33,0.9,35,-2.2,0.5,269.7,9,9.5