version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 33
start: 12 13 116 23 27 34
data:
$ID,628
$MISSION,3
$DIVE,33
$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,-123897.9
$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,51
$R_STBD_OVSHOOT,63
$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
$GPS1,131216,231501,2300.472,12129.436,37,0.9,37,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-59.8
$GPS2,131216,232641,2300.773,12129.722,6,0.9,6,-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,266.9,8436,-15.6,-8.684,-18.78,2740
$D_GRID,783
$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,-155.7,94,2168,1371,1332,0.0,0.0,0,78,0.00,0.00,-61.10,0.000,16386,0.000,0.000,90,2167,3440,3445,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.72,-155.7,90,2167,3445,3436,3.8,-7.6,9,97,8.75,2.33,-2.83,0.000,19204,0.496,0.084,2548,3533,3625,3616,3634,0,0,0,0,0,0,14.54,14.79,14.98
$GC,226,-0.72,-155.7,1536,3534,3610,3633,44.7,-22.9,36,234,0.05,2.25,0.00,0.000,3078,0.353,0.036,2566,2151,3625,3615,3635,0,0,0,0,0,0,14.66,14.83,28.83
$GC,540,-0.72,-155.7,1600,2148,3610,3633,105.0,-16.3,97,548,0.00,2.30,0.00,0.000,516,0.000,0.058,2567,749,3625,3615,3635,0,0,0,0,0,0,28.83,14.88,28.83
$GC,560,-0.72,-155.7,2567,749,3615,3635,108.2,-16.7,100,567,0.00,2.22,0.00,0.000,3078,0.000,0.042,2558,2130,3625,3615,3635,0,0,0,0,0,0,28.83,14.88,28.83
$GC,876,-0.72,-155.7,2558,2130,3615,3636,150.3,-12.7,161,883,0.00,2.38,0.00,0.000,2308,0.000,0.063,2547,3571,3625,3615,3636,0,0,0,0,0,0,28.83,14.92,28.83
$GC,895,-0.72,-155.7,2548,3571,3615,3636,152.9,-13.1,164,903,0.05,2.30,0.00,0.000,3078,0.311,0.034,2581,2132,3625,3615,3636,0,0,0,0,0,0,14.79,14.93,28.83
$GC,1211,-0.72,-155.7,1568,2129,3610,3635,180.7,-6.4,225,1218,0.00,2.28,0.00,0.000,4612,0.000,0.062,2581,755,3626,3615,3637,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1322,-0.72,-155.7,1600,754,3610,3635,189.5,-8.7,246,1331,0.00,2.25,0.00,0.000,5126,0.000,0.042,2574,2159,3626,3615,3637,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1636,-0.72,-155.7,2574,2159,3615,3637,219.6,-11.1,307,1643,0.00,2.33,0.00,0.000,4356,0.000,0.065,2564,3550,3626,3615,3637,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1665,-0.72,-155.7,1568,3549,3609,3635,222.9,-10.8,312,1673,0.00,2.22,0.00,0.000,3078,0.000,0.034,2563,2157,3626,3615,3637,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1985,-0.72,-155.7,2564,2157,3612,3637,261.1,-11.8,365,1995,0.00,2.28,0.00,0.000,2564,0.000,0.062,2563,750,3624,3612,3637,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2071,-0.72,-155.7,2564,750,3612,3637,271.6,-12.7,382,2080,0.00,2.25,0.00,0.000,3078,0.000,0.044,2555,2146,3624,3611,3637,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2379,-0.72,-155.7,2556,2145,3610,3637,304.5,-11.6,413,2383,0.00,2.25,0.00,0.000,2564,0.000,0.060,2556,750,3623,3610,3637,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2410,-0.72,-155.7,2556,750,3610,3637,308.5,-12.6,419,2420,0.08,2.20,0.00,0.000,3078,0.426,0.044,2567,2156,3623,3610,3637,0,0,0,0,0,0,14.85,15.02,28.83
$GC,2719,-0.72,-155.7,2567,2157,3607,3637,340.7,-9.7,451,2724,0.00,2.28,0.00,0.000,260,0.000,0.067,2558,3551,3621,3606,3637,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2758,-0.72,-155.7,1680,3550,3601,3636,344.7,-9.8,459,2765,0.00,2.25,0.00,0.000,3078,0.000,0.034,2558,2147,3621,3606,3637,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3065,-0.72,-155.7,2558,2147,3605,3635,374.3,-10.3,490,3069,0.00,2.25,0.00,0.000,2564,0.000,0.062,2558,749,3619,3604,3635,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3161,-0.72,-155.7,2558,748,3604,3635,384.6,-10.5,509,3166,0.08,2.20,0.00,0.000,3078,0.432,0.045,2570,2150,3619,3604,3635,0,0,0,0,0,0,14.89,15.07,28.83
$GC,3466,-0.72,-155.7,2569,2150,3602,3633,410.5,-8.4,540,3470,0.00,2.25,0.00,0.000,516,0.000,0.063,2570,756,3618,3602,3634,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3510,-0.72,-155.7,1696,756,3597,3632,414.4,-8.3,549,3517,0.00,2.22,0.00,0.000,3078,0.000,0.046,2564,2141,3617,3601,3634,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3817,-0.72,-155.7,2564,2141,3600,3630,440.6,-8.6,580,3821,0.00,2.30,0.00,0.000,2308,0.000,0.070,2555,3549,3615,3600,3630,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3943,-0.72,-155.7,2554,3549,3599,3630,451.3,-8.9,605,3947,0.00,2.20,0.00,0.000,3078,0.000,0.037,2555,2146,3614,3599,3630,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4248,-0.72,-155.7,2555,2146,3597,3628,480.4,-10.3,636,4252,0.00,2.33,0.00,0.000,2308,0.000,0.068,2546,3550,3613,3598,3628,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4274,-0.72,-155.7,2545,3549,3597,3627,483.1,-10.6,641,4279,0.08,2.20,0.00,0.000,3078,0.394,0.035,2565,2141,3612,3597,3628,0,0,0,0,0,0,14.91,15.09,28.83
$GC,4579,-0.72,-155.7,2565,2141,3596,3627,512.7,-9.4,672,4583,0.00,2.25,0.00,0.000,2564,0.000,0.066,2565,750,3611,3596,3627,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4665,-0.72,-155.7,2566,750,3595,3627,521.3,-10.1,689,4669,0.00,2.22,0.00,0.000,3078,0.000,0.047,2558,2159,3610,3595,3626,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4970,-0.72,-155.7,2559,2160,3594,3625,548.9,-8.5,720,4974,0.00,2.30,0.00,0.000,2308,0.000,0.070,2549,3555,3609,3593,3625,0,0,0,0,0,0,28.83,15.05,28.83
$GC,5093,-0.72,-155.7,1680,3554,3587,3623,560.5,-9.6,745,5102,0.03,2.25,0.00,0.000,3078,0.359,0.037,2561,2152,3608,3592,3625,0,0,0,0,0,0,14.87,15.05,28.83
$GC,5400,-0.72,-155.7,2561,2152,3591,3622,588.1,-8.5,776,5404,0.00,2.25,0.00,0.000,2564,0.000,0.061,2561,757,3607,3592,3622,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5509,-0.72,-155.7,1680,756,3585,3620,597.9,-8.7,798,5516,0.00,2.25,0.00,0.000,3078,0.000,0.047,2555,2144,3606,3590,3622,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5826,-0.72,-155.7,2556,2144,3589,3620,623.7,-8.5,816,5830,0.00,2.33,0.00,0.000,2308,0.000,0.073,2547,3556,3604,3588,3620,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5850,-0.72,-155.7,2546,3556,3588,3619,626.0,-8.9,821,5855,0.08,2.22,0.00,0.000,3078,0.386,0.037,2566,2141,3604,3588,3620,0,0,0,0,0,0,14.91,15.10,28.83
$GC,6162,-0.72,-155.7,2566,2140,3588,3619,652.2,-7.9,838,6166,0.00,2.22,0.00,0.000,516,0.000,0.063,2566,760,3602,3587,3618,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6246,-0.72,-155.7,2566,760,3587,3618,658.9,-7.8,855,6250,0.00,2.28,0.00,0.000,3078,0.000,0.048,2559,2184,3603,3587,3619,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6558,-0.72,-155.7,2559,2184,3586,3616,681.4,-7.1,872,6562,0.00,2.25,0.00,0.000,2308,0.000,0.073,2550,3551,3601,3586,3616,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6582,-0.72,-155.7,2550,3551,3586,3616,683.2,-7.4,877,6587,0.05,2.20,0.00,0.000,3078,0.454,0.038,2562,2154,3601,3586,3616,0,0,0,0,0,0,14.90,15.11,28.83
$GC,6895,-0.72,-155.7,2563,2154,3585,3614,705.5,-7.2,894,6901,0.00,2.28,0.00,0.000,2564,0.000,0.064,2564,750,3599,3585,3614,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6974,-0.72,-155.7,2563,750,3584,3614,711.3,-7.2,910,6980,0.00,2.25,0.00,0.000,3078,0.000,0.050,2556,2161,3599,3584,3614,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7294,-0.72,-155.7,2556,2162,3583,3612,736.1,-7.8,929,7300,0.00,2.30,0.00,0.000,2564,0.000,0.067,2556,752,3597,3583,3612,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7327,-0.72,-155.7,2556,752,3583,3613,738.9,-8.3,936,7335,0.05,2.25,0.00,0.000,3078,0.508,0.050,2563,2160,3597,3583,3612,0,0,0,0,0,0,14.88,15.09,28.83
$GC,7634,-0.72,-155.7,2563,2160,3581,3611,763.6,-8.8,952,7635,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2160,3596,3581,3611,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7873,begin apogee
$GC,7876,-0.17,0.0,2564,1930,3581,3609,783.0,-7.7,964,8085,0.50,0.00,205.27,1.581,10246,0.256,0.000,2745,1930,2988,3028,2948,0,0,0,0,0,0,14.95,28.83,13.73
$STATE,8086,end apogee,CONTROL_FINISHED_OK
$STATE,8086,begin climb
$GC,8088,0.72,155.7,2745,1930,3022,2940,788.1,0.0,974,8276,0.75,2.40,177.00,1.612,10756,0.161,0.074,3042,567,2342,2368,2317,0,0,0,0,0,0,14.21,14.18,13.69
$GC,8346,0.72,155.7,3042,567,2354,2309,767.5,12.8,1028,8351,0.00,2.30,0.00,0.000,5126,0.000,0.045,3042,1952,2331,2354,2309,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8659,0.72,155.7,3042,1952,2353,2301,729.8,11.5,1045,8665,0.00,2.35,0.00,0.000,4356,0.000,0.068,3042,3356,2327,2353,2301,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8711,0.72,155.7,3042,3357,2352,2301,723.5,11.2,1056,8719,0.08,2.28,0.00,0.000,5126,0.483,0.044,3037,1970,2326,2352,2301,0,0,0,0,0,0,14.61,14.80,28.83
$GC,9018,0.72,155.7,3037,1971,2353,2298,690.0,10.8,1072,9023,0.00,2.38,0.00,0.000,4612,0.000,0.076,3046,544,2325,2352,2298,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9057,0.72,155.7,2178,543,2309,2291,685.5,11.7,1080,9062,0.00,2.33,0.00,0.000,5126,0.000,0.047,3046,1952,2323,2349,2298,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9375,0.72,155.7,3046,1953,2350,2296,645.5,13.2,1098,9376,0.00,0.00,0.00,0.000,4102,0.000,0.000,3046,1953,2322,2349,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9674,0.72,155.7,3045,1953,2350,2295,609.1,11.8,1113,9675,0.00,0.00,0.00,0.000,4102,0.000,0.000,3046,1953,2322,2350,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9974,0.72,155.7,3046,1953,2350,2294,574.3,11.5,1139,9978,0.00,2.33,0.00,0.000,4356,0.000,0.070,3047,3352,2320,2348,2293,0,0,0,0,0,0,28.83,14.97,28.83
$GC,10055,0.72,155.7,3046,3353,2350,2293,564.8,11.7,1155,10060,0.10,2.30,0.00,0.000,5126,0.438,0.047,3033,1942,2321,2350,2293,0,0,0,0,0,0,14.81,15.01,28.83
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$STATE,16004,end climb,SURFACE_DEPTH_REACHED
$STATE,16004,begin surface coast
$FINISH,0.1,1.022874
$STATE,16031,end surface coast,CONTROL_FINISHED_OK
$STATE,16031,begin surface
$SM_CCo,16045,71.38,0.163,0,0,1356,400.08
$SM_GC,0.83,7.15,0.30,71.38,0.103,0.070,0.163,144,2168,1356,-8.25,-1.30,400.08,0,0,0,0,0,0,14.78,14.89,14.74
$IRIDIUM_FIX,2253.38,12130.77,101009,121250
$TT8_MAMPS,0.020223,0.020223
$HUMID,40.03
$INTERNAL_PRESSURE,8.03742
$TCM_TEMP,21.60
$XPDR_PINGS,3
$24V_AH,13.7,11.782
$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
$DEVICE_SECS,18.550,165.150,479.600,71.375,0.000,0.000,0.000,488.400,2.750,0.000,7.039,4568.673,7046.613,702.560,4338.815,174.154,0.000,2766.507,0.000,3838.377,0.000,18.443,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1225.947,2389.181,2044.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,157371,2073
$CAP_FILE_SIZE,196184,0
$CFSIZE,2097086464,2087747584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.124, 53.1,1
$GPS,141216,035725,2301.215,12128.911,41,0.9,41,-3.5