version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 7
start: 12 8 116 14 16 42
data:
$ID,628
$MISSION,3
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,4
$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,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53567
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.1001
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-123567.55
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3882
$C_PITCH,2840
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3902
$ROLL_DEG,40
$C_ROLL_DIVE,2074
$C_ROLL_CLIMB,2074
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,734
$VBD_MAX,3960
$C_VBD,2988
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.58914
$PRESSURE_SLOPE,0.00014036
$AD7714Ch0Gain,32
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,133
$DEVICE3,147
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$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,0.0044104406
$SEABIRD_T_H,0.00064404617
$SEABIRD_T_I,2.5974168e-05
$SEABIRD_T_J,3.1912264e-06
$SEABIRD_C_G,-9.8867512
$SEABIRD_C_H,1.1496466
$SEABIRD_C_I,-0.00071915763
$SEABIRD_C_J,0.00012581857
$GPS1,081216,140931,2149.004,12104.283,37,0.8,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-61.7
$GPS2,081216,141617,2149.096,12104.415,6,1.1,6,-3.2
$SPEED_LIMITS,0.179,0.299
$TGT_NAME,D1
$TGT_LATLONG,2151.000,12114.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,78.0,16849,-16.1,-10.312,-19.03,2887
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.79,-194.6,127,2071,1174,1126,0.0,0.0,0,76,0.00,0.00,-60.05,0.000,16386,0.000,0.000,126,2071,3154,3171,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.79,-194.6,126,2071,3171,3139,3.4,-7.1,9,108,8.65,2.35,-10.05,0.000,18948,0.494,0.091,2580,670,3784,3738,3831,0,0,0,0,0,0,14.52,14.71,14.98
$GC,125,-0.79,-194.6,1616,670,3735,3830,16.4,-21.8,16,132,0.00,2.30,0.00,0.000,3078,0.000,0.051,2572,2073,3784,3738,3831,0,0,0,0,0,0,28.83,14.78,28.83
$GC,443,-0.79,-194.6,1576,2072,3735,3831,80.3,-20.4,77,451,0.00,2.35,0.00,0.000,2308,0.000,0.069,2561,3477,3784,3737,3832,0,0,0,0,0,0,28.83,14.85,28.83
$GC,682,-0.79,-194.6,2561,3477,3737,3833,121.9,-13.2,123,691,0.05,2.28,0.00,0.000,3078,0.334,0.040,2580,2055,3785,3737,3833,0,0,0,0,0,0,14.76,14.92,28.83
$GC,997,-0.79,-194.6,1608,2054,3734,3834,166.1,-11.2,184,1005,0.00,2.38,0.00,0.000,2308,0.000,0.066,2570,3496,3785,3737,3834,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1098,-0.79,-194.6,1552,3495,3734,3834,176.2,-7.8,203,1105,0.00,2.28,0.00,0.000,3078,0.000,0.039,2571,2071,3786,3738,3835,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1413,-0.79,-194.6,2571,2071,3737,3834,209.1,-12.4,264,1421,0.00,2.28,0.00,0.000,2564,0.000,0.065,2570,684,3786,3738,3835,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1483,-0.79,-194.6,1568,684,3735,3834,217.2,-9.8,277,1492,0.05,2.25,0.00,0.000,3078,0.338,0.047,2584,2085,3785,3737,3834,0,0,0,0,0,0,14.79,14.95,28.83
$GC,1799,-0.79,-194.6,1560,2084,3733,3834,247.0,-7.8,338,1806,0.00,2.30,0.00,0.000,260,0.000,0.067,2575,3478,3785,3736,3835,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1956,-0.79,-194.6,1680,3477,3732,3834,261.4,-9.5,369,1964,0.00,2.25,0.00,0.000,3078,0.000,0.040,2575,2074,3785,3735,3835,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2263,-0.79,-194.6,2575,2074,3734,3835,296.3,-11.5,400,2267,0.00,2.30,0.00,0.000,2308,0.000,0.068,2565,3479,3784,3733,3835,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2353,-0.79,-194.6,2565,3480,3732,3835,306.3,-10.2,418,2361,0.08,2.20,0.00,0.000,3078,0.366,0.040,2584,2069,3783,3732,3835,0,0,0,0,0,0,14.88,15.04,28.83
$GC,2660,-0.79,-194.6,2584,2069,3730,3835,334.8,-8.3,449,2664,0.00,2.30,0.00,0.000,260,0.000,0.068,2577,3478,3782,3730,3835,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2729,-0.79,-194.6,2577,3478,3730,3835,340.7,-8.1,463,2737,0.00,2.20,0.00,0.000,3078,0.000,0.042,2577,2076,3782,3730,3834,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3036,-0.79,-194.6,2577,2076,3726,3835,372.4,-11.4,494,3037,0.00,0.00,0.00,0.000,2054,0.000,0.000,2576,2076,3780,3726,3835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3337,-0.79,-194.6,2577,2076,3724,3834,402.6,-7.5,524,3346,0.00,2.28,0.00,0.000,2308,0.000,0.071,2567,3471,3778,3723,3834,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3411,-0.79,-194.6,2567,3471,3723,3834,407.9,-6.8,539,3419,0.08,2.20,0.00,0.000,3078,0.371,0.042,2587,2066,3778,3723,3834,0,0,0,0,0,0,14.92,15.08,28.83
$GC,3718,-0.79,-194.6,2587,2066,3720,3834,429.0,-7.9,570,3722,0.00,2.22,0.00,0.000,516,0.000,0.070,2588,676,3777,3720,3834,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3739,-0.79,-194.6,2588,675,3719,3834,430.8,-8.7,574,3748,0.00,2.20,0.00,0.000,3078,0.000,0.049,2581,2080,3776,3719,3834,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4049,-0.79,-194.6,2581,2080,3717,3832,457.9,-8.0,606,4053,0.00,2.28,0.00,0.000,2308,0.000,0.073,2571,3478,3775,3718,3832,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4148,-0.79,-194.6,2571,3478,3716,3832,466.2,-8.7,626,4155,0.00,2.20,0.00,0.000,3078,0.000,0.043,2571,2077,3774,3717,3831,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4455,-0.79,-194.6,2571,2077,3716,3830,493.2,-7.7,657,4459,0.00,2.30,0.00,0.000,2308,0.000,0.073,2564,3477,3773,3716,3830,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4564,-0.79,-194.6,2564,3477,3715,3830,501.7,-7.2,679,4572,0.08,2.22,0.00,0.000,3078,0.375,0.044,2584,2063,3772,3715,3830,0,0,0,0,0,0,14.92,15.09,28.83
$GC,4871,-0.79,-194.6,2584,2063,3714,3828,520.6,-6.9,710,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2063,3770,3713,3828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5171,-0.79,-194.6,2584,2063,3711,3826,542.2,-6.8,740,5180,0.00,2.33,0.00,0.000,260,0.000,0.073,2579,3475,3768,3711,3826,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5255,-0.79,-194.6,2579,3475,3709,3826,547.7,-5.8,757,5262,0.00,2.22,0.00,0.000,3078,0.000,0.045,2579,2072,3768,3710,3826,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5562,-0.79,-194.6,2579,2071,3710,3824,563.8,-5.0,788,5563,0.00,0.00,0.00,0.000,2054,0.000,0.000,2579,2071,3767,3710,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5862,-0.79,-194.6,2579,2071,3707,3823,577.1,-3.7,818,5872,0.00,2.33,0.00,0.000,2308,0.000,0.075,2573,3479,3765,3707,3823,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5997,-0.79,-194.6,2573,3479,3706,3823,582.4,-4.5,844,6005,0.00,2.22,0.00,0.000,3078,0.000,0.046,2572,2066,3764,3706,3823,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6305,-0.79,-194.6,2573,2066,3705,3822,602.1,-7.5,875,6309,0.00,2.33,0.00,0.000,2308,0.000,0.075,2564,3474,3764,3706,3822,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6361,-0.79,-194.6,2564,3474,3705,3821,606.7,-8.3,886,6366,0.08,2.22,0.00,0.000,3078,0.376,0.046,2584,2067,3764,3705,3823,0,0,0,0,0,0,14.92,15.09,28.83
$GC,6678,-0.79,-194.6,2584,2066,3701,3821,629.7,-7.1,904,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2067,3763,3704,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6978,-0.79,-194.6,2584,2067,3702,3821,652.5,-7.3,919,6984,0.00,2.33,0.00,0.000,260,0.000,0.076,2579,3474,3761,3702,3821,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7020,-0.79,-194.6,1696,3473,3697,3819,655.6,-6.8,928,7025,0.00,2.28,0.00,0.000,3078,0.000,0.045,2579,2066,3761,3702,3821,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7338,-0.79,-194.6,2579,2066,3701,3818,681.1,-8.2,946,7339,0.00,0.00,0.00,0.000,2054,0.000,0.000,2579,2066,3760,3701,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7638,-0.79,-194.6,2579,2065,3700,3816,702.3,-6.6,961,7644,0.00,2.33,0.00,0.000,2308,0.000,0.077,2576,3471,3758,3700,3816,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7701,-0.79,-194.6,1648,3470,3695,3814,707.9,-7.8,974,7706,0.00,2.22,0.00,0.000,3078,0.000,0.046,2575,2066,3758,3700,3816,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8013,-0.79,-194.6,2575,2065,3698,3815,735.5,-9.4,991,8019,0.00,2.28,0.00,0.000,2564,0.000,0.076,2576,667,3757,3698,3816,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8041,-0.79,-194.6,2575,667,3698,3815,738.4,-9.9,997,8045,0.00,2.25,0.00,0.000,3078,0.000,0.055,2575,2069,3756,3698,3815,0,0,0,0,0,0,28.83,15.09,28.83
$GC,8353,-0.79,-194.6,2575,2069,3696,3814,762.9,-7.4,1014,8359,0.00,2.30,0.00,0.000,2308,0.000,0.077,2569,3474,3755,3696,3815,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8421,-0.79,-194.6,2568,3474,3695,3815,768.2,-6.7,1028,8426,0.05,2.22,0.00,0.000,3078,0.422,0.053,2583,2078,3754,3695,3814,0,0,0,0,0,0,14.92,15.08,28.83
$STATE,8572,end dive,NO_VERTICAL_VELOCITY
$STATE,8572,begin apogee
$GC,8575,-0.17,0.0,2583,2077,3695,3814,768.2,0.0,1037,8833,0.52,0.00,246.50,1.629,10246,0.220,0.000,2784,2077,2989,3023,2956,0,0,0,0,1,0,14.59,28.83,13.25
$STATE,8834,end apogee,CONTROL_FINISHED_OK
$STATE,8834,begin climb
$GC,8836,0.79,194.6,2783,2077,3026,2960,768.1,0.0,1050,9028,0.82,2.50,178.50,2.726,10500,0.180,0.072,3095,3476,2194,2224,2165,0,0,0,0,1,0,14.18,14.01,13.14
$GC,9070,0.79,194.6,3095,3476,2230,2172,746.4,16.8,1091,9076,0.00,2.40,0.00,0.000,1030,0.000,0.052,3096,2067,2200,2229,2172,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9390,0.79,194.6,3096,2067,2230,2166,698.2,15.1,1110,9394,0.00,2.38,0.00,0.000,516,0.000,0.082,3105,664,2197,2229,2166,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9435,0.79,194.6,2176,664,2183,2158,690.9,16.4,1119,9439,0.00,2.30,0.00,0.000,5126,0.000,0.054,3106,2071,2197,2228,2166,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9746,0.79,194.6,3106,2073,2228,2164,640.5,16.2,1136,9750,0.00,2.35,0.00,0.000,4612,0.000,0.082,3115,670,2196,2228,2164,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9910,0.79,194.6,3115,668,2226,2163,612.2,17.1,1169,9915,0.10,2.35,0.00,0.000,5126,0.411,0.060,3091,2104,2194,2225,2163,0,0,0,0,0,0,14.73,14.90,28.83
$GC,10222,0.79,194.6,3091,2106,2226,2162,570.9,12.4,1197,10226,0.00,2.40,0.00,0.000,516,0.000,0.079,3100,661,2194,2226,2162,0,0,0,0,0,0,28.83,14.92,28.83
$GC,10268,0.79,194.6,3100,661,2226,2162,565.0,13.2,1206,10272,0.00,2.28,0.00,0.000,5126,0.000,0.055,3100,2073,2193,2225,2162,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10573,0.79,194.6,3100,2074,2226,2162,525.9,12.5,1237,10574,0.00,0.00,0.00,0.000,4102,0.000,0.000,3100,2074,2194,2226,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10873,0.79,194.6,3100,2074,2225,2161,486.3,12.8,1267,10882,0.00,2.33,0.00,0.000,4612,0.000,0.078,3110,668,2193,2226,2160,0,0,0,0,0,0,28.83,14.96,28.83
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$STATE,14794,end climb,SURFACE_DEPTH_REACHED
$STATE,14794,begin surface coast
$FINISH,0.0,1.019611
$STATE,14832,end surface coast,CONTROL_FINISHED_OK
$STATE,14833,begin surface
$SM_CCo,14845,84.53,0.163,0,0,1151,450.13
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$TT8_MAMPS,0.020223,0.020223
$HUMID,40.19
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,21.80
$XPDR_PINGS,11
$24V_AH,13.1,2.103
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.100,142.450,510.650,84.525,0.000,0.000,0.000,325.250,2.750,0.000,7.303,4206.797,6372.006,754.143,3852.022,145.990,0.000,2536.233,0.000,3531.091,0.000,0.551,0.000
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$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324540
$DATA_FILE_SIZE,147123,1929
$CAP_FILE_SIZE,177862,0
$CFSIZE,2097086464,2092236800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.013,289.5,1
$GPS,081216,182620,2149.092,12106.070,13,1.6,13,-3.2