version: 66.12
glider: 528
mission: 3
dive: 345
start: 3 25 117 0 21 18
data:
$ID,528
$MISSION,3
$DIVE,345
$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,27
$R_STBD_OVSHOOT,19
$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
$GPS1,250317,001407,458.7918,5920.6841,42,1.2,47,-2.2,0.3,18.0,7,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-71.8
$GPS2,250317,002051,458.8289,5920.6914,7,1.1,13,-2.2,0.0,7.3,8,8.9
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,57.1,134448,-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,2604,-0.99,-155.7,2959,3714,3369,3861,286.0,-10.0,316,2611,0.00,2.45,0.00,0.000,1030,0.000,0.083,2960,2295,3615,3369,3862,0,0,0,0,0,0,14.66,14.51,14.70
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$GC,5199,-0.99,-155.7,2959,2291,3346,3848,511.2,-8.4,485,5207,0.00,2.50,0.00,0.000,516,0.000,0.106,2960,888,3597,3347,3847,0,0,0,0,0,0,15.07,14.44,15.09
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$GC,10078,-0.99,-155.7,2959,2301,3336,3820,912.3,-8.6,810,10082,0.00,2.58,0.00,0.000,516,0.000,0.107,2960,895,3578,3337,3819,0,0,0,0,0,0,15.05,14.35,15.07
$GC,10170,-0.99,-155.7,2959,895,3336,3818,920.4,-8.6,828,10176,0.00,2.45,0.00,0.000,1030,0.000,0.076,2960,2298,3577,3336,3819,0,0,0,0,0,0,14.57,14.41,14.62
$GC,10500,-0.99,-155.7,2959,2298,3335,3818,946.7,-7.7,844,10506,0.00,2.60,0.00,0.000,260,0.000,0.121,2959,3712,3576,3334,3818,0,0,0,0,0,0,15.04,14.27,15.07
$GC,10578,-0.99,-155.7,2958,3711,3335,3817,952.9,-7.9,860,10582,0.00,2.45,0.00,0.000,1030,0.000,0.072,2960,2298,3576,3334,3818,0,0,0,0,0,0,14.59,14.45,14.63
$GC,10885,-0.99,-155.7,2959,2298,3335,3818,975.2,-7.3,871,10891,0.00,2.58,0.00,0.000,260,0.000,0.111,2960,3705,3575,3334,3817,0,0,0,0,0,0,15.00,14.23,15.02
$GC,10908,-0.99,-155.7,2959,3705,3335,3817,977.2,-8.8,876,10915,0.00,2.45,0.00,0.000,1030,0.000,0.073,2960,2292,3576,3335,3817,0,0,0,0,0,0,14.61,14.47,14.66
$STATE,11093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11093,begin apogee
$GC,11099,-0.19,0.0,2960,2511,3335,3816,991.5,-7.9,883,11238,0.88,0.00,136.10,2.086,10246,0.202,0.000,3218,2510,2965,2839,3092,0,0,0,0,0,0,14.26,13.96,13.14
$STATE,11239,end apogee,CONTROL_FINISHED_OK
$STATE,11239,begin climb
$GC,11241,0.99,155.7,3219,2510,2837,3089,996.4,0.0,887,11398,1.12,2.58,141.15,2.097,10500,0.132,0.122,3596,3828,2325,2274,2376,0,0,0,0,0,0,13.94,13.74,13.01
$GC,11493,0.99,155.7,3596,3828,2271,2370,978.0,10.4,942,11498,0.00,2.38,0.00,0.000,1030,0.000,0.080,3597,2507,2320,2271,2370,0,0,0,0,0,0,14.21,14.08,14.26
$GC,11820,0.99,155.7,3596,2507,2267,2370,945.8,9.9,957,11828,0.00,2.65,0.00,0.000,516,0.000,0.125,3597,1090,2318,2266,2370,0,0,0,0,0,0,14.75,14.26,14.77
$GC,11971,0.99,155.7,3596,1090,2264,2370,931.1,9.7,987,11977,0.00,2.50,0.00,0.000,1030,0.000,0.076,3598,2503,2317,2264,2370,0,0,0,0,0,0,14.53,14.40,14.57
$GC,12301,0.99,155.7,3597,2503,2262,2370,899.5,9.4,1003,12307,0.00,2.62,0.00,0.000,516,0.000,0.106,3597,1083,2316,2262,2370,0,0,0,0,0,0,14.88,14.34,14.89
$GC,12330,0.99,155.7,3596,1083,2262,2370,896.5,9.7,1009,12337,0.00,2.53,0.00,0.000,1030,0.000,0.078,3597,2509,2315,2261,2370,0,0,0,0,0,0,14.57,14.42,14.62
$GC,12660,0.99,155.7,3597,2508,2260,2370,864.9,9.6,1025,12667,0.00,2.62,0.00,0.000,516,0.000,0.101,3597,1084,2315,2261,2370,0,0,0,0,0,0,14.90,14.38,14.92
$GC,12691,0.99,155.7,3597,1084,2261,2370,861.9,9.3,1031,12697,0.00,2.50,0.00,0.000,1030,0.000,0.078,3597,2507,2315,2260,2370,0,0,0,0,0,0,14.58,14.43,14.64
$GC,13021,1.05,155.7,3596,2507,2259,2370,832.0,8.9,1047,13023,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2507,2314,2259,2370,0,0,0,0,0,0,14.93,14.95,14.95
$GC,13321,1.13,155.7,3596,2507,2258,2370,806.3,8.5,1057,13323,0.15,0.00,0.00,0.000,2054,0.130,0.000,3649,2507,2314,2258,2370,0,0,0,0,0,0,14.55,14.68,14.65
$GC,13621,1.13,155.7,3649,2507,2258,2370,775.4,10.7,1067,13622,0.00,0.00,0.00,0.000,6,0.000,0.000,3650,2507,2314,2258,2370,0,0,0,0,0,0,14.96,14.99,14.98
$GC,13920,1.13,155.7,3649,2507,2257,2370,741.0,11.7,1077,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,3649,2507,2314,2258,2370,0,0,0,0,0,0,14.97,14.99,14.99
$GC,14221,1.13,155.7,3649,2507,2257,2370,705.4,11.9,1087,14227,0.00,2.62,0.00,0.000,516,0.000,0.099,3650,1081,2313,2257,2370,0,0,0,0,0,0,15.01,14.35,15.03
$GC,14250,1.13,155.7,3650,1081,2257,2370,701.7,12.5,1093,14258,0.00,2.50,0.00,0.000,1030,0.000,0.078,3650,2502,2313,2257,2370,0,0,0,0,0,0,14.57,14.41,14.63
$GC,14580,1.13,155.7,3650,2502,2257,2370,661.9,12.0,1109,14587,0.00,2.42,0.00,0.000,260,0.000,0.123,3650,3828,2313,2257,2369,0,0,0,0,0,0,14.97,14.28,15.00
$GC,14613,1.13,155.7,3650,3828,2257,2368,657.5,13.7,1116,14617,0.00,2.33,0.00,0.000,1030,0.000,0.073,3651,2485,2313,2257,2369,0,0,0,0,0,0,14.58,14.44,14.64
$GC,14941,1.13,155.7,3652,2485,2257,2369,620.5,10.7,1131,14947,0.00,2.53,0.00,0.000,516,0.000,0.105,3652,1089,2313,2257,2369,0,0,0,0,0,0,14.98,14.33,15.00
$GC,15070,1.13,155.7,3652,1090,2257,2369,607.3,10.0,1157,15074,0.00,2.50,0.00,0.000,1030,0.000,0.076,3652,2502,2312,2256,2369,0,0,0,0,0,0,14.54,14.38,14.61
$GC,15386,1.13,155.7,3652,2501,2257,2369,576.1,9.8,1170,15387,0.00,0.00,0.00,0.000,6,0.000,0.000,3652,2501,2312,2256,2369,0,0,0,0,0,0,14.97,15.00,14.99
$GC,15687,1.17,155.7,3652,2502,2256,2369,548.6,9.1,1180,15688,0.00,0.00,0.00,0.000,6,0.000,0.000,3652,2501,2312,2256,2369,0,0,0,0,0,0,14.98,15.00,15.00
$GC,15986,1.17,155.7,3652,2502,2256,2369,519.8,9.8,1190,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,3652,2502,2312,2257,2368,0,0,0,0,0,0,14.99,15.00,15.00
$GC,16286,1.17,155.7,3652,2501,2256,2369,488.9,10.7,1200,16293,0.00,2.42,0.00,0.000,260,0.000,0.122,3652,3823,2312,2256,2368,0,0,0,0,0,0,14.99,14.26,15.00
$GC,16309,1.17,155.7,3652,3823,2256,2369,486.1,11.3,1205,16316,0.00,2.30,0.00,0.000,1030,0.000,0.073,3652,2500,2312,2256,2369,0,0,0,0,0,0,14.57,14.43,14.64
$GC,16616,1.17,155.7,3652,2500,2256,2369,452.1,11.1,1216,16623,0.00,2.55,0.00,0.000,516,0.000,0.104,3652,1082,2312,2256,2369,0,0,0,0,0,0,14.98,14.31,15.00
$GC,16710,1.17,155.7,3652,1082,2256,2369,442.0,10.7,1235,16714,0.00,2.53,0.00,0.000,1030,0.000,0.076,3652,2507,2312,2256,2368,0,0,0,0,0,0,14.54,14.38,14.61
$GC,17032,1.17,155.7,3652,2507,2256,2369,409.2,10.0,1249,17033,0.00,0.00,0.00,0.000,6,0.000,0.000,3652,2507,2312,2256,2369,0,0,0,0,0,0,14.98,15.00,15.00
$GC,17332,1.17,155.7,3652,2507,2256,2369,379.2,9.9,1259,17338,0.00,2.60,0.00,0.000,516,0.000,0.097,3652,1089,2312,2256,2368,0,0,0,0,0,0,14.99,14.31,15.00
$GC,17362,1.17,155.7,3652,1089,2256,2369,376.3,9.7,1265,17369,0.00,2.50,0.00,0.000,1030,0.000,0.077,3652,2502,2312,2256,2369,0,0,0,0,0,0,14.55,14.39,14.62
$GC,17692,1.17,155.7,3652,2502,2256,2369,342.9,9.9,1281,17699,0.00,2.42,0.00,0.000,260,0.000,0.122,3652,3823,2312,2256,2368,0,0,0,0,0,0,14.98,14.27,15.00
$GC,17724,1.17,155.7,3652,3823,2256,2369,339.1,11.2,1288,17728,0.00,2.30,0.00,0.000,1030,0.000,0.071,3652,2498,2312,2256,2369,0,0,0,0,0,0,14.57,14.42,14.63
$GC,18052,1.17,155.7,3652,2498,2256,2369,303.1,11.2,1303,18058,0.00,2.55,0.00,0.000,516,0.000,0.102,3651,1092,2312,2256,2369,0,0,0,0,0,0,14.98,14.31,15.00
$GC,18215,1.17,155.7,3652,1092,2256,2369,286.6,9.6,1336,18219,0.00,2.50,0.00,0.000,1030,0.000,0.075,3652,2499,2312,2256,2368,0,0,0,0,0,0,14.52,14.38,14.59
$GC,18527,1.17,155.7,3652,2499,2256,2369,256.3,10.2,1348,18528,0.00,0.00,0.00,0.000,6,0.000,0.000,3652,2499,2312,2256,2369,0,0,0,0,0,0,14.98,15.00,15.00
$GC,18828,1.36,155.7,3652,2499,2256,2369,231.7,7.1,1372,18838,0.15,2.55,0.00,0.000,2564,0.126,0.090,3719,1090,2312,2256,2369,0,0,0,0,0,0,14.52,14.19,14.52
$GC,18863,1.44,155.7,3718,1090,2256,2368,228.7,8.5,1379,18870,0.00,2.50,0.00,0.000,1030,0.000,0.075,3719,2503,2312,2256,2369,0,0,0,0,0,0,14.54,14.39,14.61
$GC,19170,1.44,155.7,3719,2503,2256,2369,196.4,13.3,1410,19174,0.00,2.40,0.00,0.000,260,0.000,0.110,3719,3832,2312,2256,2369,0,0,0,0,0,0,15.00,14.29,15.02
$GC,19282,1.44,155.7,3719,3832,2256,2369,181.5,12.1,1432,19291,0.00,2.30,0.00,0.000,1030,0.000,0.067,3728,2494,2312,2256,2369,0,0,0,0,0,0,14.55,14.42,14.60
$GC,19592,1.55,155.7,3727,2494,2256,2369,157.4,8.1,1464,19602,0.12,2.47,0.00,0.000,2564,0.142,0.089,3789,1095,2312,2256,2368,0,0,0,0,0,0,14.53,14.31,14.54
$GC,19828,1.74,155.7,3787,1095,2256,2369,138.0,6.9,1511,19835,0.17,2.50,0.00,0.000,3078,0.119,0.075,3853,2504,2312,2256,2368,0,0,0,0,0,0,14.42,14.36,14.56
$GC,20134,1.93,243.2,3853,2504,2257,2369,118.1,6.0,1542,20215,0.12,2.42,69.40,0.976,10500,0.142,0.106,3906,3831,1970,1912,2028,0,0,0,0,0,0,14.52,14.36,13.88
$GC,20397,1.93,243.2,3905,3831,1908,2022,81.7,13.2,1594,20402,0.00,2.30,0.00,0.000,1030,0.000,0.063,3910,2491,1965,1908,2022,0,0,0,0,0,0,14.45,14.35,14.50
$GC,20709,1.93,243.2,3910,2490,1903,2022,51.6,9.8,1626,20714,0.00,2.50,0.00,0.000,516,0.000,0.093,3922,1089,1962,1903,2022,0,0,0,0,0,0,14.86,14.30,14.88
$GC,20767,1.93,243.2,3922,1089,1903,2022,45.9,9.6,1637,20774,0.00,2.53,0.00,0.000,1030,0.000,0.080,3922,2506,1962,1903,2022,0,0,0,0,0,0,14.47,14.32,14.53
$GC,21076,2.01,243.2,3922,2506,1904,2022,17.0,8.6,1698,21084,0.00,2.40,0.00,0.000,260,0.000,0.113,3922,3834,1963,1904,2022,0,0,0,0,0,0,14.87,14.28,14.89
$STATE,21217,end climb,SURFACE_DEPTH_REACHED
$STATE,21217,begin surface coast
$FINISH,1.1,1.022159
$STATE,21228,end surface coast,CONTROL_FINISHED_OK
$STATE,21229,begin surface
$SM_CCo,21249,92.05,0.078,0,0,1131,450.12
$SM_GC,0.74,10.05,2.70,92.05,0.082,0.067,0.078,181,2290,1131,-9.59,0.59,450.12,0,0,0,0,0,0,14.52,14.44,14.44
$IRIDIUM_FIX,457.99,5921.86,240317,183039
$TT8_MAMPS,0.025466,0.154294
$HUMID,48.66
$INTERNAL_PRESSURE,9.67846
$TCM_TEMP,25.60
$XPDR_PINGS,363
$24V_AH,13.01,91.872
$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,24.325,230.450,346.650,92.050,0.000,0.000,0.000,245.325,90.750,0.000,14.633,3135.891,14954.958,690.104,2756.107,204.768,0.000,2339.819,0.000,2453.916,0.000,0.541,0.000
$DEVICE_MAMPS,367.200,2124.405,2096.865,78.030,0.000,0.000,0.000,178.245,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76629,1727
$CAP_FILE_SIZE,191650,0
$CFSIZE,2097872896,2050031616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,245.10,1
$GPS,250317,061804,458.997,5920.652,26,0.9,28,-2.2,0.0,334.8,9,9.7