version: 66.12
glider: 528
mission: 3
dive: 344
start: 3 24 117 18 34 30
data:
$ID,528
$MISSION,3
$DIVE,344
$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,23
$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
$GPS1,240317,182902,458.7530,5921.2500,40,0.8,45,-2.2,0.0,17.8,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-71.6
$GPS2,240317,183402,458.7872,5921.2197,6,0.8,13,-2.2,0.0,4.5,10,10.0
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,49.0,133992,-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,3183,-0.99,-155.7,2960,3712,3369,3854,351.5,-9.6,352,3189,0.00,2.40,0.00,0.000,1030,0.000,0.069,2961,2296,3611,3369,3854,0,0,0,0,0,0,14.67,14.56,14.71
$GC,3513,-0.99,-155.7,2960,2296,3367,3854,380.4,-8.3,368,3519,0.00,2.50,0.00,0.000,516,0.000,0.107,2960,897,3610,3366,3854,0,0,0,0,0,0,15.06,14.45,15.08
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$GC,10049,-0.99,-155.7,2960,3712,3339,3817,925.1,-7.9,824,10055,0.00,2.45,0.00,0.000,1030,0.000,0.072,2960,2292,3578,3339,3817,0,0,0,0,0,0,14.60,14.47,14.65
$GC,10379,-0.99,-155.7,2960,2293,3338,3817,946.2,-5.9,840,10385,0.00,2.58,0.00,0.000,260,0.000,0.110,2961,3705,3576,3338,3815,0,0,0,0,0,0,15.04,14.21,15.05
$GC,10417,-0.99,-155.7,2960,3705,3338,3815,948.6,-6.4,848,10421,0.00,2.45,0.00,0.000,1030,0.000,0.072,2961,2290,3576,3338,3814,0,0,0,0,0,0,14.60,14.47,14.64
$GC,10734,-0.99,-155.7,2960,2290,3338,3814,966.8,-5.9,861,10740,0.00,2.60,0.00,0.000,260,0.000,0.109,2961,3708,3575,3338,3813,0,0,0,0,0,0,15.00,14.28,15.02
$GC,10777,-0.99,-155.7,2961,3707,3339,3813,969.9,-6.4,870,10781,0.00,2.45,0.00,0.000,1030,0.000,0.072,2961,2293,3576,3339,3813,0,0,0,0,0,0,14.59,14.46,14.64
$STATE,11087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11087,begin apogee
$GC,11092,-0.19,0.0,2961,2503,3341,3813,990.8,-7.3,882,11232,0.85,0.00,136.50,2.085,10246,0.196,0.000,3216,2503,2966,2841,3091,0,0,0,0,0,0,14.25,13.95,13.14
$STATE,11233,end apogee,CONTROL_FINISHED_OK
$STATE,11233,begin climb
$GC,11235,0.99,155.7,3216,2504,2839,3087,996.7,0.0,886,11391,1.12,2.83,141.70,2.098,10756,0.133,0.119,3594,1095,2326,2273,2380,0,0,0,0,0,0,13.93,13.71,13.01
$GC,11498,1.16,155.7,3593,1095,2266,2378,982.4,7.2,943,11503,0.17,2.58,0.00,0.000,3078,0.136,0.080,3650,2501,2321,2265,2378,0,0,0,0,0,0,14.13,14.12,14.25
$GC,11816,1.24,155.7,3650,2500,2262,2374,954.7,8.6,956,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,3650,2501,2318,2262,2374,0,0,0,0,0,0,14.75,14.77,14.77
$GC,12116,1.36,155.7,3650,2500,2259,2374,929.8,8.1,966,12124,0.17,2.62,0.00,0.000,2564,0.130,0.108,3723,1094,2316,2259,2374,0,0,0,0,0,0,14.44,14.32,14.49
$GC,12189,1.36,155.7,3722,1094,2260,2374,922.0,10.4,981,12194,0.00,2.53,0.00,0.000,1030,0.000,0.082,3722,2506,2317,2260,2374,0,0,0,0,0,0,14.55,14.41,14.60
$GC,12501,1.36,155.7,3722,2506,2260,2372,887.6,11.4,993,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,3722,2506,2316,2259,2373,0,0,0,0,0,0,14.90,14.91,14.91
$GC,12801,1.36,155.7,3722,2506,2259,2372,851.3,12.6,1003,12806,0.00,2.60,0.00,0.000,516,0.000,0.103,3722,1092,2315,2259,2372,0,0,0,0,0,0,14.92,14.37,14.94
$GC,12836,1.36,155.7,3722,1092,2259,2372,846.3,13.7,1010,12841,0.00,2.53,0.00,0.000,1030,0.000,0.083,3722,2503,2315,2259,2372,0,0,0,0,0,0,14.57,14.42,14.63
$GC,13159,1.36,155.7,3722,2503,2258,2372,803.9,13.5,1024,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,3723,2503,2315,2258,2372,0,0,0,0,0,0,14.94,14.96,14.96
$GC,13458,1.36,155.7,3722,2503,2258,2371,763.7,13.7,1034,13459,0.00,0.00,0.00,0.000,6,0.000,0.000,3722,2503,2314,2258,2371,0,0,0,0,0,0,14.95,14.97,14.97
$GC,13759,1.36,155.7,3722,2503,2258,2370,723.3,13.5,1044,13765,0.00,2.60,0.00,0.000,516,0.000,0.099,3730,1084,2314,2258,2370,0,0,0,0,0,0,14.97,14.35,14.98
$GC,13781,1.36,155.7,3730,1084,2257,2370,720.0,12.6,1049,13788,0.00,2.55,0.00,0.000,1030,0.000,0.082,3730,2506,2313,2257,2370,0,0,0,0,0,0,14.57,14.42,14.64
$GC,14089,1.36,155.7,3729,2506,2257,2370,678.8,13.4,1060,14095,0.00,2.60,0.00,0.000,516,0.000,0.098,3739,1087,2313,2257,2370,0,0,0,0,0,0,14.97,14.35,14.99
$GC,14107,1.36,155.7,3739,1087,2257,2370,676.2,12.8,1064,14111,0.00,2.53,0.00,0.000,1030,0.000,0.082,3739,2504,2313,2257,2370,0,0,0,0,0,0,14.58,14.42,14.64
$GC,14413,1.36,155.7,3739,2504,2257,2370,635.6,12.8,1075,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,3739,2504,2313,2257,2370,0,0,0,0,0,0,14.97,14.99,14.99
$GC,14713,1.36,155.7,3738,2504,2256,2370,599.2,11.7,1085,14719,0.00,2.60,0.00,0.000,516,0.000,0.097,3748,1084,2313,2256,2370,0,0,0,0,0,0,14.97,14.34,15.00
$GC,14747,1.36,155.7,3748,1084,2256,2370,595.2,12.2,1092,14752,0.15,2.50,0.00,0.000,5126,0.311,0.080,3720,2500,2313,2256,2370,0,0,0,0,0,0,14.04,14.41,14.45
$GC,15069,1.36,155.7,3719,2500,2256,2370,561.4,9.9,1106,15076,0.00,2.58,0.00,0.000,516,0.000,0.099,3725,1088,2313,2256,2370,0,0,0,0,0,0,14.97,14.33,15.00
$GC,15102,1.36,155.7,3724,1088,2256,2370,558.0,10.4,1113,15106,0.00,2.50,0.00,0.000,1030,0.000,0.080,3725,2500,2313,2256,2370,0,0,0,0,0,0,14.57,14.41,14.63
$GC,15430,1.36,155.7,3724,2500,2256,2370,524.0,10.9,1128,15436,0.00,2.40,0.00,0.000,260,0.000,0.120,3725,3822,2312,2256,2369,0,0,0,0,0,0,14.98,14.29,15.00
$GC,15478,1.36,155.7,3724,3822,2255,2369,517.9,12.3,1138,15482,0.00,2.30,0.00,0.000,1030,0.000,0.071,3733,2491,2312,2256,2368,0,0,0,0,0,0,14.58,14.45,14.64
$GC,15784,1.36,155.7,3733,2491,2255,2369,476.9,13.8,1149,15790,0.00,2.53,0.00,0.000,516,0.000,0.103,3745,1094,2312,2255,2369,0,0,0,0,0,0,15.02,14.33,15.04
$GC,15913,1.36,155.7,3744,1093,2255,2369,458.6,14.3,1175,15918,0.00,2.50,0.00,0.000,1030,0.000,0.080,3744,2499,2312,2256,2368,0,0,0,0,0,0,14.54,14.39,14.61
$GC,16235,1.36,155.7,3744,2499,2256,2369,414.8,13.4,1189,16236,0.00,0.00,0.00,0.000,6,0.000,0.000,3744,2498,2312,2256,2369,0,0,0,0,0,0,14.97,15.00,15.00
$GC,16535,1.36,155.7,3743,2499,2256,2369,378.0,12.0,1199,16536,0.00,0.00,0.00,0.000,6,0.000,0.000,3744,2498,2312,2255,2369,0,0,0,0,0,0,14.98,15.00,15.00
$GC,16835,1.36,155.7,3744,2499,2255,2369,346.1,10.7,1209,16836,0.00,0.00,0.00,0.000,6,0.000,0.000,3744,2498,2311,2255,2368,0,0,0,0,0,0,15.03,15.05,15.05
$GC,17135,1.36,155.7,3744,2499,2255,2368,311.1,12.3,1219,17140,0.00,2.42,0.00,0.000,260,0.000,0.118,3744,3833,2312,2255,2369,0,0,0,0,0,0,14.99,14.27,15.00
$GC,17167,1.36,155.7,3743,3832,2255,2369,307.0,14.0,1225,17174,0.15,2.30,0.00,0.000,5126,0.330,0.070,3720,2500,2312,2256,2369,0,0,0,0,0,0,14.02,14.45,14.42
$GC,17497,1.36,155.7,3720,2500,2256,2369,269.6,11.0,1241,17503,0.00,2.53,0.00,0.000,516,0.000,0.103,3727,1094,2312,2255,2369,0,0,0,0,0,0,15.03,14.32,15.05
$GC,17650,1.36,155.7,3727,1094,2256,2369,251.8,11.5,1272,17655,0.00,2.50,0.00,0.000,1030,0.000,0.079,3727,2500,2312,2255,2369,0,0,0,0,0,0,14.54,14.38,14.60
$GC,17962,1.36,155.7,3727,2500,2255,2368,220.1,10.7,1305,17971,0.00,2.40,0.00,0.000,260,0.000,0.116,3727,3826,2312,2255,2369,0,0,0,0,0,0,15.01,14.28,15.03
$GC,18023,1.36,155.7,3727,3826,2255,2368,212.9,11.6,1317,18032,0.00,2.30,0.00,0.000,1030,0.000,0.068,3737,2489,2312,2255,2369,0,0,0,0,0,0,14.56,14.43,14.62
$GC,18333,1.36,155.7,3737,2489,2255,2369,177.6,11.3,1349,18342,0.00,2.53,0.00,0.000,516,0.000,0.099,3747,1086,2312,2255,2369,0,0,0,0,0,0,15.00,14.31,15.02
$GC,18549,1.45,155.7,3746,1086,2254,2369,156.3,8.3,1392,18555,0.00,2.53,0.00,0.000,1030,0.000,0.077,3747,2505,2312,2255,2369,0,0,0,0,0,0,14.52,14.36,14.58
$GC,18854,1.45,155.7,3746,2506,2255,2369,130.1,11.0,1423,18859,0.00,2.58,0.00,0.000,516,0.000,0.093,3748,1091,2312,2256,2369,0,0,0,0,0,0,14.99,14.30,15.01
$GC,18910,1.56,155.7,3748,1091,2255,2369,125.2,8.2,1434,18916,0.00,2.50,0.00,0.000,1030,0.000,0.076,3748,2503,2312,2255,2369,0,0,0,0,0,0,14.53,14.40,14.60
$GC,19216,1.79,267.5,3748,2502,2256,2369,111.0,5.0,1465,19311,0.28,2.35,87.60,0.955,10500,0.095,0.103,3860,3824,1872,1815,1929,0,0,0,0,0,0,14.42,14.23,13.83
$GC,19500,1.79,267.5,3859,3824,1811,1918,70.8,15.3,1521,19509,0.00,2.28,0.00,0.000,1030,0.000,0.063,3869,2499,1865,1811,1919,0,0,0,0,0,0,14.44,14.33,14.48
$GC,19809,1.79,267.5,3869,2498,1807,1918,40.0,10.1,1563,19816,0.00,2.50,0.00,0.000,516,0.000,0.090,3880,1087,1862,1807,1918,0,0,0,0,0,0,14.82,14.30,14.84
$GC,19903,1.79,267.5,3880,1087,1808,1918,30.0,9.5,1581,19910,0.00,2.50,0.00,0.000,1030,0.000,0.076,3880,2500,1863,1808,1918,0,0,0,0,0,0,14.48,14.33,14.54
$STATE,20161,end climb,SURFACE_DEPTH_REACHED
$STATE,20162,begin surface coast
$FINISH,-0.1,1.022176
$STATE,20194,end surface coast,CONTROL_FINISHED_OK
$STATE,20194,begin surface
$SM_CCo,20212,81.38,0.080,0,0,1131,450.12
$SM_GC,0.50,9.73,0.40,81.38,0.065,0.073,0.080,190,2293,1131,-9.58,0.62,450.12,0,0,0,0,0,0,14.48,14.49,14.42
$IRIDIUM_FIX,453.67,5922.96,240317,124914
$TT8_MAMPS,0.024717,0.152796
$HUMID,48.54
$INTERNAL_PRESSURE,9.67846
$TCM_TEMP,25.40
$XPDR_PINGS,343
$24V_AH,13.01,91.584
$10V_AH,12.70,0.000
$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,24.075,215.175,365.800,81.375,0.000,0.000,0.000,201.325,85.750,0.000,15.614,3001.369,14152.704,659.526,2580.368,196.160,0.000,2192.184,0.000,2328.153,0.000,0.541,0.000
$DEVICE_MAMPS,361.080,122.400,2097.630,79.560,0.000,0.000,0.000,180.540,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311112
$DATA_FILE_SIZE,69973,1638
$CAP_FILE_SIZE,181770,0
$CFSIZE,2097872896,2050162688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.127,254.37,1
$GPS,250317,001407,458.792,5920.684,42,1.2,47,-2.2,0.3,18.0,7,10.0