version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 31
start: 12 13 116 17 44 38
data:
$ID,628
$MISSION,3
$DIVE,31
$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,-123895.39
$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,44
$R_STBD_OVSHOOT,44
$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
$GPS1,131216,173839,2255.561,12128.165,5,1.0,5,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-64.4
$GPS2,131216,174345,2255.710,12128.306,8,1.0,8,-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,302.5,15205,-15.6,-8.684,-18.78,2740
$D_GRID,336
$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,14,-0.72,-155.7,113,2163,1367,1340,0.0,0.0,0,71,0.00,0.00,-54.85,0.000,16386,0.000,0.000,110,2164,3206,3214,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.72,-155.7,110,2164,3216,3200,3.7,-8.4,8,96,8.62,2.30,-6.55,0.000,18692,0.497,0.084,2553,3549,3623,3617,3629,0,0,0,0,0,0,14.62,14.86,15.05
$GC,159,-0.72,-155.7,1544,3548,3611,3628,26.5,-21.6,23,166,0.00,2.28,0.00,0.000,3078,0.000,0.036,2552,2146,3623,3616,3630,0,0,0,0,0,0,28.83,14.90,28.83
$GC,474,-0.72,-155.7,1544,2142,3611,3631,90.1,-18.0,84,481,0.00,2.30,0.00,0.000,2564,0.000,0.058,2553,746,3624,3616,3632,0,0,0,0,0,0,28.83,14.93,28.83
$GC,636,-0.72,-155.7,1536,745,3611,3632,113.3,-14.3,115,644,0.05,2.25,0.00,0.000,3078,0.352,0.042,2562,2148,3625,3616,3634,0,0,0,0,0,0,14.81,14.96,28.83
$GC,951,-0.72,-155.7,1600,2146,3611,3633,156.9,-13.6,176,959,0.00,2.30,0.00,0.000,2564,0.000,0.060,2563,748,3625,3616,3635,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1011,-0.72,-155.7,1568,747,3611,3634,164.7,-12.0,187,1019,0.03,2.25,0.00,0.000,3078,0.403,0.043,2564,2154,3625,3616,3635,0,0,0,0,0,0,14.80,14.98,28.83
$GC,1325,-0.72,-155.7,2565,2154,3616,3635,201.1,-11.8,248,1333,0.00,2.33,0.00,0.000,2308,0.000,0.065,2556,3552,3625,3616,3635,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1385,-0.72,-155.7,1560,3551,3611,3634,208.0,-10.5,259,1393,0.00,2.25,0.00,0.000,3078,0.000,0.038,2555,2156,3625,3616,3635,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1701,-0.72,-155.7,1552,2152,3611,3634,245.0,-11.2,320,1707,0.00,0.00,0.00,0.000,2054,0.000,0.000,2555,2154,3625,3616,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2010,-0.72,-155.7,2555,2154,3614,3635,277.2,-9.9,355,2019,0.00,2.28,0.00,0.000,2564,0.000,0.061,2556,740,3624,3613,3635,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2116,-0.72,-155.7,2556,740,3613,3635,287.6,-10.1,376,2126,0.05,2.25,0.00,0.000,3078,0.350,0.042,2568,2148,3623,3612,3635,0,0,0,0,0,0,14.85,15.00,28.83
$GC,2423,-0.72,-155.7,2568,2148,3612,3635,317.1,-10.3,407,2428,0.00,2.25,0.00,0.000,516,0.000,0.061,2568,747,3623,3611,3635,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2452,-0.72,-155.7,1712,747,3607,3634,320.3,-10.9,413,2459,0.00,2.25,0.00,0.000,3078,0.000,0.044,2562,2151,3623,3611,3635,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,2609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2609,begin apogee
$GC,2612,-0.17,0.0,2562,1919,3610,3635,336.0,-10.5,429,2790,0.50,0.00,171.45,1.138,10246,0.269,0.000,2741,1918,2982,3024,2941,0,0,0,0,0,0,14.94,28.83,14.05
$STATE,2791,end apogee,CONTROL_FINISHED_OK
$STATE,2791,begin climb
$GC,2792,0.72,155.7,2741,1918,3021,2939,340.2,0.0,447,2924,0.75,2.28,124.05,1.214,10756,0.178,0.066,3039,580,2343,2373,2314,0,0,0,0,0,0,14.41,14.39,13.95
$GC,2996,0.72,155.7,3039,580,2357,2304,325.1,11.9,484,3000,0.00,2.20,0.00,0.000,5126,0.000,0.040,3039,1955,2330,2357,2304,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3303,0.72,155.7,3039,1954,2356,2298,293.0,9.9,515,3312,0.00,2.25,0.00,0.000,4612,0.000,0.070,3046,581,2327,2356,2298,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3491,0.72,155.7,3047,581,2353,2298,271.6,10.8,551,3500,0.00,2.15,0.00,0.000,5126,0.000,0.039,3046,1957,2325,2353,2298,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3801,0.72,155.7,2048,1955,2302,2288,240.4,9.8,592,3809,0.00,2.30,0.00,0.000,4612,0.000,0.069,3057,576,2324,2354,2295,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3841,0.72,155.7,2048,575,2303,2287,236.3,10.4,599,3849,0.05,2.20,0.00,0.000,5126,0.330,0.042,3037,1950,2323,2351,2295,0,0,0,0,0,0,14.83,14.97,28.83
$GC,4156,0.82,155.7,1984,1949,2301,2285,209.2,7.3,660,4164,0.10,2.28,0.00,0.000,2564,0.228,0.067,3097,573,2322,2352,2293,0,0,0,0,0,0,14.95,14.97,28.83
$GC,4217,0.82,155.7,2064,572,2300,2284,203.4,9.9,671,4225,0.08,2.20,0.00,0.000,5126,0.348,0.041,3068,1949,2322,2351,2293,0,0,0,0,0,0,14.82,14.97,28.83
$GC,4531,0.82,155.7,2000,1947,2300,2283,174.6,8.2,732,4538,0.00,0.00,0.00,0.000,4102,0.000,0.000,3069,1949,2321,2351,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4845,1.00,155.7,1992,1948,2300,2283,152.2,6.1,793,4853,0.12,2.28,0.00,0.000,2564,0.211,0.067,3150,571,2321,2351,2291,0,0,0,0,0,0,14.93,14.97,28.83
$GC,4881,1.00,155.7,2128,571,2298,2283,149.1,9.3,799,4889,0.08,2.20,0.00,0.000,5126,0.364,0.041,3125,1954,2319,2349,2290,0,0,0,0,0,0,14.81,14.97,28.83
$GC,5196,1.00,155.7,2048,1952,2297,2282,119.9,9.0,860,5203,0.00,2.28,0.00,0.000,4612,0.000,0.067,3132,581,2319,2349,2290,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5369,1.14,267.3,2096,580,2297,2283,106.0,4.5,893,5471,0.05,2.17,91.22,0.968,11270,0.174,0.041,3176,1948,1881,1931,1832,0,0,0,0,0,0,14.90,14.97,14.21
$GC,5778,1.14,267.3,2144,1947,1878,1812,64.0,11.4,968,5785,0.00,2.28,0.00,0.000,4612,0.000,0.067,3186,584,1870,1922,1818,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6016,1.14,267.3,2152,584,1874,1812,36.6,11.7,1014,6023,0.03,2.17,0.00,0.000,5126,0.431,0.041,3175,1945,1868,1918,1818,0,0,0,0,0,0,14.72,14.91,28.83
$STATE,6296,end climb,SURFACE_DEPTH_REACHED
$STATE,6296,begin surface coast
$FINISH,0.0,1.022936
$STATE,6324,end surface coast,CONTROL_FINISHED_OK
$STATE,6324,begin surface
$SM_CCo,6337,61.90,0.158,0,0,1356,400.08
$SM_GC,0.74,7.28,0.30,61.90,0.110,0.072,0.158,135,2169,1356,-8.26,-1.39,400.08,0,0,0,0,0,0,14.93,14.98,14.85
$IRIDIUM_FIX,2246.36,12126.33,101009,070708
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.36
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,21.70
$XPDR_PINGS,2
$24V_AH,13.9,11.115
$10V_AH,14.0,0.000
$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,17.775,59.100,386.725,61.900,0.000,0.000,0.000,233.650,0.500,0.000,10.107,2462.384,1087.556,517.388,2561.850,108.912,0.000,1592.695,0.000,2345.207,0.000,1.024,0.000
$DEVICE_MAMPS,497.250,84.150,1214.055,158.355,0.000,0.000,0.000,159.120,420.000,0.000,11.240,12.320,2.190,12.320,32.540,39.280,0.000,10.900,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,685.455,1351.050,1916.443,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323128
$DATA_FILE_SIZE,80568,1074
$CAP_FILE_SIZE,92234,0
$CFSIZE,2097086464,2088173568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.727, 39.6,1
$GPS,131216,193232,2257.995,12129.397,40,0.8,40,-3.5