version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 28
start: 12 13 116 12 11 49
data:
$ID,628
$MISSION,3
$DIVE,28
$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,380
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,160
$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,400
$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,-123891.62
$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,2800
$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,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,70
$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,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,3
$DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$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,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,131216,115731,2248.625,12123.859,40,0.7,40,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-64.3
$GPS2,131216,121057,2248.945,12124.092,9,0.7,9,-3.5
$SPEED_LIMITS,0.150,0.255
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,350.8,27305,-15.6,-8.684,-18.78,2740
$D_GRID,423
$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
$GC,15,-0.72,-155.7,100,2168,1266,1246,0.0,0.0,0,77,0.00,0.00,-59.75,0.000,16386,0.000,0.000,97,2168,3314,3316,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.72,-155.7,97,2168,3315,3312,3.9,-9.7,9,102,8.85,2.30,-4.80,0.000,18692,0.504,0.086,2553,3518,3625,3617,3634,0,0,0,0,0,0,14.50,14.71,14.94
$GC,154,-0.72,-155.7,1568,3517,3611,3633,26.5,-22.9,22,163,0.00,2.25,0.00,0.000,3078,0.000,0.035,2553,2142,3625,3616,3634,0,0,0,0,0,0,28.83,14.76,28.83
$GC,469,-0.72,-155.7,1536,2138,3610,3632,91.4,-16.9,83,476,0.00,2.30,0.00,0.000,2564,0.000,0.057,2552,749,3624,3615,3634,0,0,0,0,0,0,28.83,14.83,28.83
$GC,514,-0.72,-155.7,1544,749,3610,3633,98.1,-13.8,91,522,0.05,2.22,0.00,0.000,3078,0.342,0.043,2564,2123,3624,3615,3634,0,0,0,0,0,0,14.69,14.84,28.83
$GC,828,-0.72,-155.7,1552,2121,3610,3633,138.8,-12.1,152,835,0.00,2.28,0.00,0.000,2564,0.000,0.057,2565,745,3625,3615,3635,0,0,0,0,0,0,28.83,14.87,28.83
$GC,993,-0.72,-155.7,1540,744,3610,3633,158.5,-11.9,184,1001,0.00,2.28,0.00,0.000,3078,0.000,0.042,2556,2155,3625,3615,3635,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1306,-0.72,-155.7,1552,2154,3610,3634,194.1,-11.7,245,1314,0.00,2.33,0.00,0.000,2564,0.000,0.057,2556,743,3625,3615,3635,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1351,-0.72,-155.7,2556,743,3615,3635,199.5,-11.9,253,1359,0.05,2.28,0.00,0.000,3078,0.356,0.042,2567,2154,3625,3615,3635,0,0,0,0,0,0,14.76,14.91,28.83
$GC,1665,-0.72,-155.7,1552,2151,3608,3633,236.9,-12.2,314,1673,0.00,2.33,0.00,0.000,516,0.000,0.057,2568,743,3624,3613,3635,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1736,-0.72,-155.7,1552,743,3608,3634,246.1,-13.0,327,1743,0.00,2.28,0.00,0.000,3078,0.000,0.043,2562,2152,3624,3613,3635,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2051,-0.72,-155.7,2562,2153,3611,3635,285.1,-10.3,361,2061,0.00,2.28,0.00,0.000,2308,0.000,0.065,2551,3548,3623,3611,3635,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2104,-0.72,-155.7,2551,3548,3611,3635,291.5,-11.2,371,2116,0.05,2.20,0.00,0.000,3078,0.435,0.032,2566,2132,3623,3611,3635,0,0,0,0,0,0,14.83,15.00,28.83
$GC,2413,-0.72,-155.7,2566,2130,3609,3635,324.4,-10.4,403,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2130,3622,3609,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2714,-0.72,-155.7,2566,2130,3606,3635,355.2,-9.2,433,2723,0.00,2.33,0.00,0.000,260,0.000,0.065,2557,3548,3620,3606,3635,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2795,-0.72,-155.7,2557,3548,3605,3635,363.0,-10.2,449,2804,0.00,2.17,0.00,0.000,3078,0.000,0.034,2557,2155,3620,3605,3635,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3105,-0.72,-155.7,2557,2154,3603,3634,398.1,-11.2,481,3109,0.00,2.25,0.00,0.000,2564,0.000,0.059,2557,753,3618,3603,3634,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3302,-0.72,-155.7,2557,753,3601,3634,420.5,-9.8,520,3307,0.03,2.17,0.00,0.000,3078,0.453,0.044,2560,2146,3617,3601,3634,0,0,0,0,0,0,14.85,15.05,28.83
$STATE,3332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3332,begin apogee
$GC,3336,-0.17,0.0,2560,1925,3601,3633,423.7,-9.8,524,3517,0.50,0.00,176.80,1.200,10246,0.249,0.000,2743,1924,2987,3027,2948,0,0,0,0,0,0,14.93,28.83,13.98
$STATE,3518,end apogee,CONTROL_FINISHED_OK
$STATE,3518,begin climb
$GC,3519,0.72,155.7,2743,1923,3021,2940,432.9,0.0,542,3658,0.73,2.33,128.62,1.307,10756,0.171,0.065,3034,591,2339,2367,2312,0,0,0,0,0,0,14.35,14.29,13.83
$GC,3715,0.72,155.7,3034,591,2355,2305,422.9,10.9,582,3719,0.00,2.22,0.00,0.000,1030,0.000,0.040,3034,1965,2330,2355,2305,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4020,0.72,155.7,3034,1966,2355,2299,395.3,8.4,613,4024,0.00,2.28,0.00,0.000,516,0.000,0.066,3044,590,2326,2355,2298,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4109,0.82,155.7,3044,590,2352,2298,388.1,7.3,631,4117,0.05,2.17,0.00,0.000,3078,0.365,0.041,3079,1965,2325,2352,2298,0,0,0,0,0,0,14.74,14.87,28.83
$GC,4416,0.82,155.7,3079,1965,2352,2295,356.3,11.9,662,4426,0.05,2.25,0.00,0.000,4356,0.495,0.059,3068,3341,2324,2352,2297,0,0,0,0,0,0,14.79,14.92,28.83
$GC,4487,0.82,155.7,3068,3340,2352,2297,347.9,10.9,676,4492,0.00,2.15,0.00,0.000,5126,0.000,0.039,3077,1988,2324,2352,2297,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4793,0.82,155.7,3077,1988,2352,2294,314.3,11.2,707,4794,0.00,0.00,0.00,0.000,4102,0.000,0.000,3077,1988,2323,2352,2294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5094,0.82,155.7,3077,1988,2352,2292,281.3,10.4,737,5098,0.00,2.35,0.00,0.000,4612,0.000,0.067,3088,547,2322,2352,2292,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5148,0.82,155.7,3088,546,2349,2292,275.5,10.9,747,5158,0.05,2.20,0.00,0.000,5126,0.368,0.041,3070,1967,2320,2349,2292,0,0,0,0,0,0,14.81,14.99,28.83
$GC,5456,0.82,155.7,2048,1965,2299,2284,248.4,8.9,780,5463,0.00,2.35,0.00,0.000,4612,0.000,0.067,3080,532,2320,2349,2291,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5475,0.82,155.7,3080,532,2349,2291,246.5,9.2,783,5484,0.03,2.25,0.00,0.000,5126,0.428,0.041,3071,1945,2320,2349,2291,0,0,0,0,0,0,14.83,15.00,28.83
$GC,5790,0.82,155.7,3071,1945,2349,2291,216.2,9.0,844,5797,0.00,0.00,0.00,0.000,4102,0.000,0.000,3071,1945,2318,2348,2289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6103,0.82,155.7,2048,1943,2299,2283,189.7,8.9,905,6110,0.00,2.33,0.00,0.000,4612,0.000,0.066,3080,550,2319,2349,2290,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6168,0.82,155.7,2048,549,2296,2283,183.4,9.9,917,6176,0.03,2.25,0.00,0.000,5126,0.425,0.041,3071,1954,2320,2349,2291,0,0,0,0,0,0,14.78,14.95,28.83
$GC,6483,0.82,155.7,3071,1954,2349,2291,153.7,10.0,978,6491,0.00,2.30,0.00,0.000,4356,0.000,0.060,3070,3340,2320,2349,2291,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6503,0.82,155.7,3071,3340,2349,2291,151.7,9.7,981,6511,0.03,2.28,0.00,0.000,5126,0.477,0.039,3071,1948,2320,2349,2291,0,0,0,0,0,0,14.73,14.95,28.83
$GC,6817,0.88,155.7,2048,1947,2299,2283,129.0,7.9,1042,6823,0.00,0.00,0.00,0.000,2054,0.000,0.000,3071,1949,2320,2349,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7132,1.05,286.4,3072,1948,2349,2291,108.3,3.8,1103,7250,0.15,2.40,110.68,0.955,10756,0.190,0.064,3162,549,1810,1859,1762,0,0,0,0,0,0,14.87,14.52,14.15
$GC,7357,1.05,286.4,2120,549,1796,1739,84.6,12.9,1141,7365,0.08,2.28,0.00,0.000,5126,0.334,0.039,3126,1952,1790,1836,1744,0,0,0,0,0,0,14.55,14.71,28.83
$GC,7674,1.05,286.4,3126,1953,1836,1738,50.1,10.0,1202,7682,0.00,2.33,0.00,0.000,2308,0.000,0.059,3126,3342,1787,1836,1739,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7875,1.05,286.4,2080,3341,1795,1732,30.3,10.3,1241,7883,0.00,2.28,0.00,0.000,1030,0.000,0.039,3133,1945,1786,1835,1737,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,8139,end climb,SURFACE_DEPTH_REACHED
$STATE,8139,begin surface coast
$FINISH,0.1,1.022998
$STATE,8166,end surface coast,CONTROL_FINISHED_OK
$STATE,8166,begin surface
$SM_CCo,8179,52.22,0.159,0,0,1355,400.08
$SM_GC,0.85,7.18,0.30,52.22,0.106,0.077,0.159,150,2146,1355,-8.23,-1.70,400.08,0,0,0,0,0,0,14.85,14.92,14.81
$IRIDIUM_FIX,2237.01,12123.89,101009,010121
$TT8_MAMPS,0.020223,0.020223
$HUMID,39.40
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,21.40
$XPDR_PINGS,2
$24V_AH,13.8,10.474
$10V_AH,13.3,0.000
$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,17.875,77.775,416.100,52.225,0.000,0.000,0.000,575.575,0.750,0.000,10.137,2942.216,2180.753,542.216,3241.168,129.772,0.000,2132.489,0.000,2678.581,0.000,3.068,0.000
$DEVICE_MAMPS,504.135,86.445,1306.620,159.120,0.000,0.000,0.000,166.005,420.000,0.000,11.240,12.320,2.190,12.320,32.540,39.280,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,816.614,1607.651,1944.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323148
$DATA_FILE_SIZE,97305,1297
$CAP_FILE_SIZE,116880,0
$CFSIZE,2097086464,2088468480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.437, 31.3,1
$GPS,131216,142951,2251.507,12125.015,15,1.2,15,-3.5