version: 66.12
glider: 528
mission: 3
dive: 346
start: 3 25 117 6 23 42
data:
$ID,528
$MISSION,3
$DIVE,346
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,250317,061804,458.9970,5920.6523,26,0.9,28,-2.2,0.0,334.8,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-71.7
$GPS2,250317,062315,459.0362,5920.6372,6,0.9,9,-2.2,0.0,357.3,9,10.0
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,46.0,134178,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,3262,-0.99,-155.7,2962,3705,3366,3852,341.3,-8.2,362,3267,0.00,2.45,0.00,0.000,1030,0.000,0.080,2963,2290,3609,3365,3854,0,0,0,0,0,0,14.68,14.56,14.71
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$GC,9935,-0.99,-155.7,2962,887,3337,3816,898.5,-9.1,845,9939,0.00,2.47,0.00,0.000,1030,0.000,0.073,2963,2302,3576,3337,3816,0,0,0,0,0,0,14.57,14.42,14.62
$GC,10242,-0.99,-155.7,2963,2302,3337,3816,921.8,-7.5,856,10248,0.00,2.58,0.00,0.000,260,0.000,0.122,2964,3709,3576,3337,3815,0,0,0,0,0,0,15.04,14.28,15.07
$GC,10315,-0.99,-155.7,2963,3709,3337,3815,927.5,-7.9,871,10320,0.00,2.45,0.00,0.000,1030,0.000,0.073,2963,2296,3576,3337,3815,0,0,0,0,0,0,14.59,14.45,14.63
$GC,10633,-0.99,-155.7,2962,2296,3337,3813,949.7,-7.2,884,10639,0.00,2.58,0.00,0.000,516,0.000,0.120,2963,887,3575,3337,3813,0,0,0,0,0,0,15.00,14.33,15.02
$GC,10693,-0.99,-155.7,2962,886,3337,3813,954.3,-7.8,896,10699,0.00,2.50,0.00,0.000,1030,0.000,0.075,2964,2308,3575,3337,3813,0,0,0,0,0,0,14.57,14.41,14.62
$GC,11023,-0.99,-155.7,2963,2308,3335,3813,979.2,-7.7,912,11029,0.00,2.58,0.00,0.000,260,0.000,0.122,2963,3709,3573,3335,3812,0,0,0,0,0,0,15.04,14.27,15.06
$GC,11112,-0.99,-155.7,2963,3709,3336,3812,986.6,-8.2,930,11119,0.00,2.45,0.00,0.000,1030,0.000,0.074,2963,2301,3574,3336,3812,0,0,0,0,0,0,14.57,14.42,14.62
$STATE,11170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11170,begin apogee
$GC,11176,-0.19,0.0,2963,2509,3336,3812,991.5,-7.9,937,11315,0.82,0.00,135.77,2.088,10246,0.203,0.000,3211,2509,2966,2840,3092,0,0,0,0,0,0,14.26,13.95,13.14
$STATE,11316,end apogee,CONTROL_FINISHED_OK
$STATE,11316,begin climb
$GC,11318,0.99,155.7,3211,2509,2838,3089,997.1,0.0,941,11474,1.12,2.58,142.10,2.101,10500,0.134,0.123,3589,3824,2325,2274,2376,0,0,0,0,0,0,13.93,13.74,13.00
$GC,11520,0.99,155.7,3588,3824,2273,2371,986.0,9.4,986,11524,0.00,2.42,0.00,0.000,1030,0.000,0.082,3589,2499,2321,2272,2371,0,0,0,0,0,0,14.10,13.97,14.14
$GC,11832,1.10,155.7,3589,2499,2266,2370,960.0,8.2,998,11840,0.12,2.62,0.00,0.000,2564,0.141,0.123,3642,1086,2318,2266,2371,0,0,0,0,0,0,14.38,14.23,14.43
$GC,11961,1.10,155.7,3641,1086,2265,2371,947.3,9.8,1024,11966,0.00,2.53,0.00,0.000,1030,0.000,0.079,3641,2505,2317,2264,2371,0,0,0,0,0,0,14.51,14.38,14.55
$GC,12278,1.10,155.7,3640,2505,2262,2371,915.6,10.0,1037,12279,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,2505,2316,2262,2371,0,0,0,0,0,0,14.85,14.88,14.87
$GC,12578,1.10,155.7,3640,2505,2261,2371,885.5,9.9,1047,12583,0.00,2.62,0.00,0.000,516,0.000,0.106,3642,1086,2316,2261,2371,0,0,0,0,0,0,14.90,14.35,14.92
$GC,12623,1.10,155.7,3641,1086,2261,2371,880.7,10.2,1056,12628,0.00,2.50,0.00,0.000,1030,0.000,0.079,3641,2498,2316,2261,2371,0,0,0,0,0,0,14.57,14.42,14.63
$GC,12936,1.10,155.7,3640,2497,2259,2371,848.8,10.4,1068,12942,0.00,2.60,0.00,0.000,516,0.000,0.099,3641,1077,2315,2260,2371,0,0,0,0,0,0,14.92,14.38,14.95
$GC,12968,1.10,155.7,3641,1077,2259,2371,845.0,11.1,1075,12973,0.00,2.55,0.00,0.000,1030,0.000,0.081,3641,2506,2315,2259,2371,0,0,0,0,0,0,14.57,14.42,14.64
$GC,13295,1.10,155.7,3641,2506,2258,2371,809.6,10.8,1090,13302,0.00,2.62,0.00,0.000,516,0.000,0.099,3641,1076,2314,2258,2371,0,0,0,0,0,0,14.94,14.37,14.96
$GC,13318,1.10,155.7,3641,1076,2258,2371,806.9,11.0,1095,13326,0.00,2.55,0.00,0.000,1030,0.000,0.082,3641,2503,2314,2258,2371,0,0,0,0,0,0,14.58,14.42,14.64
$GC,13625,1.10,155.7,3641,2503,2257,2371,773.4,10.8,1106,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2503,2314,2257,2371,0,0,0,0,0,0,14.95,14.97,14.97
$GC,13926,1.10,155.7,3641,2503,2257,2370,741.3,10.6,1116,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2503,2313,2256,2370,0,0,0,0,0,0,14.97,14.98,14.98
$GC,14225,1.10,155.7,3641,2503,2256,2370,711.3,9.9,1126,14232,0.00,2.62,0.00,0.000,516,0.000,0.098,3641,1078,2313,2256,2370,0,0,0,0,0,0,15.01,14.35,15.03
$GC,14256,1.10,155.7,3641,1078,2256,2370,708.2,10.0,1132,14262,0.00,2.53,0.00,0.000,1030,0.000,0.080,3641,2499,2313,2256,2370,0,0,0,0,0,0,14.57,14.41,14.64
$GC,14586,1.10,155.7,3641,2499,2255,2369,673.9,10.7,1148,14592,0.00,2.58,0.00,0.000,516,0.000,0.096,3641,1084,2312,2255,2370,0,0,0,0,0,0,14.97,14.31,15.00
$GC,14633,1.10,155.7,3641,1084,2255,2370,668.5,11.2,1158,14638,0.00,2.53,0.00,0.000,1030,0.000,0.078,3641,2503,2312,2255,2370,0,0,0,0,0,0,14.56,14.40,14.63
$GC,14940,1.10,155.7,3641,2503,2254,2370,633.9,11.3,1169,14941,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2503,2312,2254,2370,0,0,0,0,0,0,15.01,15.03,15.03
$GC,15240,1.10,155.7,3641,2503,2254,2370,601.6,10.5,1179,15241,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2503,2312,2254,2370,0,0,0,0,0,0,14.98,15.00,15.00
$GC,15540,1.10,155.7,3641,2503,2253,2370,572.4,9.5,1189,15547,0.00,2.62,0.00,0.000,516,0.000,0.097,3641,1079,2312,2254,2370,0,0,0,0,0,0,14.98,14.32,15.00
$GC,15589,1.15,155.7,3641,1078,2253,2370,567.8,9.0,1199,15593,0.00,2.55,0.00,0.000,1030,0.000,0.079,3641,2509,2311,2253,2370,0,0,0,0,0,0,14.55,14.39,14.62
$GC,15901,1.21,155.7,3641,2508,2253,2370,539.8,8.8,1211,15906,0.00,2.62,0.00,0.000,516,0.000,0.098,3641,1077,2311,2253,2370,0,0,0,0,0,0,14.98,14.32,15.00
$GC,15917,1.28,155.7,3641,1077,2254,2370,538.3,8.8,1214,15922,0.17,2.55,0.00,0.000,3078,0.123,0.079,3702,2503,2311,2253,2370,0,0,0,0,0,0,14.50,14.41,14.62
$GC,16229,1.28,155.7,3702,2503,2253,2370,503.8,11.6,1226,16236,0.00,2.60,0.00,0.000,516,0.000,0.096,3709,1082,2311,2253,2370,0,0,0,0,0,0,14.98,14.33,15.00
$GC,16247,1.28,155.7,3708,1082,2253,2370,501.5,12.0,1230,16252,0.00,2.53,0.00,0.000,1030,0.000,0.079,3709,2500,2311,2253,2369,0,0,0,0,0,0,14.57,14.40,14.64
$GC,16554,1.28,155.7,3709,2500,2253,2370,463.0,12.6,1241,16560,0.00,2.42,0.00,0.000,260,0.000,0.124,3709,3825,2311,2253,2370,0,0,0,0,0,0,14.98,14.28,15.00
$GC,16608,1.28,155.7,3710,3825,2253,2370,455.7,13.3,1252,16614,0.00,2.33,0.00,0.000,1030,0.000,0.073,3711,2489,2311,2253,2370,0,0,0,0,0,0,14.57,14.44,14.64
$GC,16914,1.28,155.7,3711,2489,2253,2370,418.6,12.1,1263,16919,0.00,2.55,0.00,0.000,516,0.000,0.104,3711,1082,2311,2253,2370,0,0,0,0,0,0,14.98,14.32,15.00
$GC,17030,1.28,155.7,3711,1082,2253,2370,404.7,11.7,1286,17037,0.00,2.53,0.00,0.000,1030,0.000,0.078,3710,2501,2311,2253,2370,0,0,0,0,0,0,14.54,14.38,14.61
$GC,17336,1.28,155.7,3710,2501,2253,2370,371.4,10.5,1297,17337,0.00,0.00,0.00,0.000,6,0.000,0.000,3710,2501,2311,2253,2370,0,0,0,0,0,0,14.97,15.00,15.00
$GC,17636,1.28,155.7,3710,2501,2253,2370,338.5,11.9,1307,17641,0.00,2.45,0.00,0.000,260,0.000,0.122,3711,3833,2311,2253,2370,0,0,0,0,0,0,14.98,14.26,15.00
$GC,17671,1.28,155.7,3710,3832,2253,2370,333.6,13.5,1314,17675,0.00,2.33,0.00,0.000,1030,0.000,0.073,3718,2492,2311,2253,2370,0,0,0,0,0,0,14.57,14.43,14.64
$GC,17994,1.28,155.7,3717,2492,2253,2370,290.1,13.5,1328,18000,0.00,2.53,0.00,0.000,516,0.000,0.102,3725,1091,2311,2253,2370,0,0,0,0,0,0,14.98,14.31,15.00
$GC,18076,1.28,155.7,3724,1091,2253,2369,278.7,13.6,1345,18084,0.15,2.53,0.00,0.000,5126,0.304,0.078,3695,2505,2311,2253,2370,0,0,0,0,0,0,14.03,14.38,14.42
$GC,18383,1.35,155.7,3695,2505,2253,2370,245.9,8.7,1358,18385,0.00,0.00,0.00,0.000,6,0.000,0.000,3695,2505,2311,2253,2370,0,0,0,0,0,0,14.98,15.00,15.00
$GC,18685,1.35,155.7,3695,2505,2253,2370,219.1,9.8,1388,18693,0.00,2.40,0.00,0.000,260,0.000,0.121,3695,3826,2311,2253,2370,0,0,0,0,0,0,14.97,14.16,14.99
$GC,18736,1.35,155.7,3695,3826,2253,2370,213.1,11.7,1398,18745,0.00,2.30,0.00,0.000,1030,0.000,0.072,3699,2498,2311,2253,2370,0,0,0,0,0,0,14.56,14.42,14.62
$GC,19046,1.44,155.7,3699,2498,2253,2370,183.1,8.3,1430,19056,0.12,2.53,0.00,0.000,2564,0.135,0.097,3763,1088,2311,2253,2370,0,0,0,0,0,0,14.54,14.32,14.55
$GC,19191,1.44,155.7,3763,1088,2253,2370,167.8,10.6,1459,19199,0.00,2.53,0.00,0.000,1030,0.000,0.076,3764,2510,2311,2253,2370,0,0,0,0,0,0,14.52,14.37,14.59
$GC,19499,1.60,227.3,3763,2510,2253,2370,138.7,6.7,1490,19563,0.00,2.33,58.35,1.011,8964,0.000,0.106,3763,3825,2035,1972,2099,0,0,0,0,0,0,14.99,14.31,13.88
$GC,19569,1.60,227.3,3762,3826,1972,2095,133.1,9.6,1504,19575,0.00,2.28,0.00,0.000,1030,0.000,0.065,3771,2494,2033,1972,2095,0,0,0,0,0,0,14.52,14.43,14.54
$GC,19875,1.60,227.3,3771,2494,1965,2093,96.0,10.0,1535,19880,0.00,2.42,0.00,0.000,260,0.000,0.098,3771,3827,2028,1965,2092,0,0,0,0,0,0,14.83,14.27,14.85
$GC,20077,1.82,333.4,3771,3827,1965,2090,81.2,5.3,1575,20169,0.25,2.28,83.97,0.918,11270,0.096,0.064,3872,2498,1604,1559,1650,0,0,0,0,0,0,14.43,14.40,13.81
$GC,20468,1.82,333.4,3872,2498,1549,1643,31.4,14.0,1635,20476,0.00,2.53,0.00,0.000,516,0.000,0.097,3882,1088,1596,1549,1643,0,0,0,0,0,0,14.76,14.28,14.78
$GC,20499,1.82,333.4,3881,1088,1549,1643,27.1,14.1,1640,20505,0.00,2.50,0.00,0.000,1030,0.000,0.073,3882,2506,1596,1549,1643,0,0,0,0,0,0,14.46,14.33,14.51
$STATE,20691,end climb,SURFACE_DEPTH_REACHED
$STATE,20691,begin surface coast
$FINISH,0.1,1.022024
$STATE,20712,end surface coast,CONTROL_FINISHED_OK
$STATE,20712,begin surface
$SM_CCo,20730,52.38,0.080,0,0,1131,450.12
$SM_GC,0.50,9.65,0.40,52.38,0.060,0.073,0.080,173,2297,1131,-9.61,0.79,450.12,0,0,0,0,0,0,14.47,14.47,14.41
$IRIDIUM_FIX,453.67,5921.86,250317,001729
$TT8_MAMPS,0.025466,0.153545
$HUMID,50.70
$INTERNAL_PRESSURE,9.67846
$TCM_TEMP,25.10
$XPDR_PINGS,386
$24V_AH,13.00,92.177
$10V_AH,12.68,0.000
$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,23.900,240.600,420.200,52.375,0.000,0.000,0.000,213.900,96.500,0.000,11.137,3005.578,14508.188,714.271,2653.799,207.272,0.000,2322.474,0.000,2389.898,0.000,0.541,0.000
$DEVICE_MAMPS,361.080,2125.170,2100.690,80.325,0.000,0.000,0.000,176.715,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.789,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311120
$DATA_FILE_SIZE,73212,1682
$CAP_FILE_SIZE,191097,0
$CFSIZE,2097872896,2049900544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.148,259.84,1
$GPS,250317,121122,459.246,5919.648,38,0.8,40,-2.2,0.0,308.4,10,9.0