version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 30
start: 12 13 116 16 10 34
data:
$ID,628
$MISSION,3
$DIVE,30
$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,-123894.14
$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,38
$R_STBD_OVSHOOT,64
$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
$GPS1,131216,160431,2253.737,12127.008,33,0.8,34,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-65.8
$GPS2,131216,160941,2253.900,12127.151,9,0.8,9,-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,311.4,18103,-15.6,-8.684,-18.78,2740
$D_GRID,289
$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,-155.7,112,2169,1367,1340,0.0,0.0,0,72,0.00,0.00,-55.10,0.000,16386,0.000,0.000,109,2169,3200,3208,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.72,-155.7,109,2170,3208,3193,3.2,-5.5,8,97,8.68,2.25,-6.97,0.000,18692,0.503,0.083,2549,3530,3621,3616,3627,0,0,0,0,0,0,14.62,14.85,15.05
$GC,171,-0.72,-155.7,2549,3530,3614,3628,28.6,-22.1,25,180,0.03,2.25,0.00,0.000,3078,0.403,0.036,2558,2137,3621,3614,3628,0,0,0,0,0,0,14.72,14.89,28.83
$GC,486,-0.72,-155.7,1536,2134,3607,3628,91.7,-16.3,86,493,0.00,2.28,0.00,0.000,2564,0.000,0.060,2559,754,3621,3613,3630,0,0,0,0,0,0,28.83,14.92,28.83
$GC,520,-0.72,-155.7,1552,753,3608,3628,97.0,-15.2,92,528,0.03,2.22,0.00,0.000,3078,0.415,0.044,2560,2135,3621,3613,3630,0,0,0,0,0,0,14.76,14.93,28.83
$GC,834,-0.72,-155.7,1576,2134,3608,3631,135.2,-12.3,153,842,0.00,2.28,0.00,0.000,2564,0.000,0.060,2561,752,3623,3614,3632,0,0,0,0,0,0,28.83,14.95,28.83
$GC,869,-0.72,-155.7,1576,751,3608,3631,141.6,-19.6,159,876,0.00,2.25,0.00,0.000,3078,0.000,0.044,2553,2150,3622,3613,3631,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1185,-0.72,-155.7,2552,2152,3613,3634,190.7,-0.9,220,1192,0.00,2.30,0.00,0.000,2564,0.000,0.061,2553,752,3623,3613,3634,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1261,-0.72,-155.7,1576,751,3608,3632,194.5,-12.9,234,1268,0.05,2.25,0.00,0.000,3078,0.351,0.043,2564,2154,3623,3613,3634,0,0,0,0,0,0,14.83,14.98,28.83
$GC,1577,-0.72,-155.7,2565,2156,3612,3634,219.6,-0.7,295,1584,0.00,2.33,0.00,0.000,2564,0.000,0.061,2565,747,3623,3613,3633,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1734,-0.72,-155.7,2565,746,3612,3633,230.8,-12.1,325,1742,0.00,2.25,0.00,0.000,3078,0.000,0.044,2558,2147,3623,3612,3634,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2045,-0.72,-155.7,2557,2148,3611,3633,276.0,-14.3,368,2046,0.00,0.00,0.00,0.000,2054,0.000,0.000,2557,2148,3623,3612,3634,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2135,begin apogee
$GC,2139,-0.17,0.0,2557,1914,3611,3634,289.8,-15.6,377,2267,0.50,0.00,119.62,1.190,10246,0.269,0.000,2743,1914,2977,3018,2936,0,0,0,0,0,0,14.90,28.83,14.07
$STATE,2268,end apogee,CONTROL_FINISHED_OK
$STATE,2268,begin climb
$GC,2269,0.72,155.7,2743,1914,3018,2935,299.9,0.0,390,2398,0.73,2.33,119.55,1.157,10756,0.174,0.067,3038,584,2342,2371,2313,0,0,0,0,0,0,14.49,14.40,14.00
$GC,2442,0.72,155.7,3038,584,2359,2306,292.8,9.7,425,2450,0.00,2.25,0.00,0.000,5126,0.000,0.039,3038,1960,2332,2359,2306,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2750,0.72,155.7,3038,1960,2358,2299,247.9,12.6,457,2757,0.00,2.30,0.00,0.000,4356,0.000,0.060,3038,3342,2329,2359,2299,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2846,0.72,155.7,3038,3342,2359,2299,237.7,9.7,475,2855,0.03,2.22,0.00,0.000,5126,0.428,0.041,3038,1983,2328,2358,2298,0,0,0,0,0,0,14.71,14.88,28.83
$GC,3162,0.83,155.7,2048,1981,2307,2288,211.9,7.1,536,3170,0.10,2.38,0.00,0.000,2564,0.225,0.067,3100,539,2326,2357,2295,0,0,0,0,0,0,14.92,14.93,28.83
$GC,3395,0.90,155.7,2064,539,2301,2288,181.3,7.8,581,3403,0.00,2.28,0.00,0.000,5126,0.000,0.044,3100,1955,2324,2353,2296,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3711,0.90,155.7,2064,1956,2302,2286,152.3,10.7,642,3718,0.00,2.33,0.00,0.000,4612,0.000,0.068,3110,555,2323,2353,2293,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3950,0.90,155.7,2112,555,2302,2286,131.0,10.7,688,3958,0.05,2.22,0.00,0.000,5126,0.355,0.040,3092,1953,2322,2352,2293,0,0,0,0,0,0,14.81,14.97,28.83
$GC,4267,1.10,155.7,2048,1951,2300,2285,108.7,5.7,749,4274,0.15,2.33,0.00,0.000,2564,0.181,0.067,3183,543,2321,2351,2292,0,0,0,0,0,0,14.93,14.97,28.83
$GC,4503,1.31,155.7,2176,543,2297,2285,95.1,5.8,795,4512,0.08,2.22,0.00,0.000,3078,0.158,0.039,3231,1949,2320,2349,2292,0,0,0,0,0,0,14.94,14.97,28.83
$GC,4821,1.57,356.1,2208,1948,2297,2285,77.4,1.2,856,4936,0.17,2.33,105.45,0.374,10756,0.179,0.060,3324,545,1539,1583,1496,0,0,0,0,0,0,14.91,14.81,14.60
$GC,4948,1.57,356.1,2376,545,1560,1497,62.7,23.4,875,4958,0.05,2.25,1.38,0.164,13318,0.452,0.040,3310,1939,1536,1579,1493,0,0,0,0,0,0,14.62,14.82,14.73
$STATE,5198,end climb,SURFACE_DEPTH_REACHED
$STATE,5198,begin surface coast
$FINISH,0.6,1.022880
$STATE,5210,end surface coast,CONTROL_FINISHED_OK
$STATE,5210,begin surface
$SM_CCo,5224,23.17,0.164,0,0,1356,400.08
$SM_GC,1.01,7.60,0.32,23.17,0.106,0.068,0.164,136,2158,1356,-8.25,-1.13,400.08,0,0,0,0,0,0,14.87,14.94,14.83
$IRIDIUM_FIX,2244.02,12125.11,101009,050558
$TT8_MAMPS,0.020223,0.020223
$HUMID,41.17
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,20.20
$XPDR_PINGS,2
$24V_AH,14.0,10.886
$10V_AH,13.5,0.000
$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,18.225,50.700,346.000,23.175,0.000,0.000,0.000,238.975,0.500,0.000,10.112,2179.914,579.330,417.072,2317.639,96.486,0.000,1394.315,0.000,2093.672,0.000,1.025,0.000
$DEVICE_MAMPS,502.605,82.620,1189.575,164.475,0.000,0.000,0.000,158.355,420.000,0.000,11.240,12.320,2.190,12.320,32.540,39.280,0.000,10.900,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,609.961,1199.182,1836.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323180
$DATA_FILE_SIZE,70525,925
$CAP_FILE_SIZE,81118,0
$CFSIZE,2097086464,2088271872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.652, 45.2,1
$GPS,131216,173839,2255.561,12128.165,5,1.0,5,-3.5