version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 34
start: 12 14 116 4 6 12
data:
$ID,628
$MISSION,3
$DIVE,34
$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,-123899.16
$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,43
$R_STBD_OVSHOOT,61
$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
$GPS1,141216,035725,2301.215,12128.911,41,0.9,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-59.4
$GPS2,141216,040519,2301.380,12129.065,6,1.4,6,-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,282.5,6863,-15.6,-8.684,-18.78,2740
$D_GRID,468
$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,-155.7,111,2171,1370,1341,0.0,0.0,0,71,0.00,0.00,-54.25,0.000,16386,0.000,0.000,108,2171,3182,3192,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.72,-155.7,108,2171,3192,3173,3.2,-6.2,8,96,8.73,2.28,-7.38,0.000,18692,0.495,0.086,2552,3532,3624,3620,3628,0,0,0,0,0,0,14.51,14.74,14.93
$GC,200,-0.72,-155.7,1552,3532,3611,3631,35.3,-20.9,31,207,0.00,2.25,0.00,0.000,3078,0.000,0.034,2552,2147,3625,3617,3633,0,0,0,0,0,0,28.83,14.79,28.83
$GC,514,-0.72,-155.7,1556,2143,3611,3633,95.4,-13.7,92,521,0.00,2.33,0.00,0.000,2564,0.000,0.060,2551,746,3625,3616,3634,0,0,0,0,0,0,28.83,14.85,28.83
$GC,752,-0.72,-155.7,1552,746,3610,3633,128.5,-13.3,138,760,0.05,2.25,0.00,0.000,3078,0.338,0.042,2563,2139,3625,3616,3634,0,0,0,0,0,0,14.71,14.87,28.83
$GC,1070,-0.72,-155.7,1568,2137,3611,3634,161.9,-11.4,199,1077,0.00,2.30,0.00,0.000,2564,0.000,0.060,2563,750,3626,3616,3636,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1186,-0.72,-155.7,2563,750,3616,3636,175.1,-10.4,221,1195,0.00,2.25,0.00,0.000,3078,0.000,0.043,2555,2146,3626,3616,3636,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1500,-0.72,-155.7,1536,2143,3610,3634,209.9,-11.4,282,1508,0.00,2.35,0.00,0.000,2308,0.000,0.065,2544,3547,3626,3616,3636,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1570,-0.72,-155.7,1544,3546,3610,3634,217.6,-10.2,295,1578,0.05,2.25,0.00,0.000,3078,0.317,0.034,2565,2143,3625,3615,3636,0,0,0,0,0,0,14.77,14.93,28.83
$GC,1888,-0.72,-155.7,2565,2143,3613,3636,248.5,-9.9,356,1896,0.00,2.28,0.00,0.000,516,0.000,0.061,2566,762,3624,3613,3636,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1982,-0.72,-155.7,2566,762,3612,3636,257.8,-10.1,374,1986,0.00,2.20,0.00,0.000,3078,0.000,0.044,2558,2153,3624,3612,3636,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2288,-0.72,-155.7,2558,2154,3611,3636,288.7,-11.0,405,2299,0.00,2.28,0.00,0.000,2564,0.000,0.060,2559,749,3622,3610,3635,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2333,-0.72,-155.7,2559,749,3610,3636,293.7,-11.7,413,2343,0.00,2.22,0.00,0.000,3078,0.000,0.044,2552,2162,3623,3610,3636,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2640,-0.72,-155.7,2552,2163,3607,3636,328.9,-10.4,445,2645,0.03,2.28,0.00,0.000,2308,0.617,0.064,2553,3551,3621,3607,3636,0,0,0,0,0,0,14.88,15.00,28.83
$GC,2717,-0.72,-155.7,2553,3551,3606,3635,336.8,-9.7,460,2721,0.00,2.20,0.00,0.000,3078,0.000,0.034,2553,2149,3621,3606,3636,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3022,-0.72,-155.7,2553,2149,3604,3634,370.3,-12.0,491,3026,0.00,2.25,0.00,0.000,2564,0.000,0.064,2553,756,3619,3605,3634,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3058,-0.72,-155.7,2553,755,3604,3634,374.9,-12.8,498,3063,0.08,2.22,0.00,0.000,3078,0.442,0.046,2564,2162,3619,3604,3634,0,0,0,0,0,0,14.85,15.04,28.83
$GC,3363,-0.72,-155.7,2564,2164,3602,3633,404.8,-8.4,529,3365,0.00,0.00,0.00,0.000,2054,0.000,0.000,2564,2164,3617,3603,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3663,-0.72,-155.7,2563,2164,3601,3630,431.6,-9.1,559,3667,0.00,2.30,0.00,0.000,2564,0.000,0.064,2564,756,3615,3600,3630,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3686,-0.72,-155.7,1712,756,3596,3628,434.1,-9.9,564,3694,0.00,2.25,0.00,0.000,3078,0.000,0.047,2556,2146,3615,3600,3630,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3995,-0.72,-155.7,2556,2146,3599,3628,461.5,-8.7,595,4004,0.00,2.28,0.00,0.000,2564,0.000,0.064,2557,746,3613,3598,3628,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4009,-0.72,-155.7,2556,746,3599,3628,463.1,-9.6,598,4017,0.03,2.28,0.00,0.000,3078,0.412,0.047,2561,2150,3613,3598,3628,0,0,0,0,0,0,14.81,15.02,28.83
$STATE,4065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4065,begin apogee
$GC,4069,-0.17,0.0,2562,1927,3598,3627,468.3,-9.2,604,4260,0.50,0.00,186.98,1.265,10246,0.256,0.000,2743,1927,2987,3028,2947,0,0,0,0,0,0,14.91,28.83,13.90
$STATE,4261,end apogee,CONTROL_FINISHED_OK
$STATE,4261,begin climb
$GC,4262,0.72,155.7,2742,1926,3021,2939,474.8,0.0,623,4411,0.75,2.38,139.65,1.346,10756,0.171,0.071,3040,577,2344,2373,2315,0,0,0,0,0,0,14.31,14.27,13.83
$GC,4591,0.72,155.7,3041,577,2353,2303,450.1,10.5,690,4599,0.00,2.28,0.00,0.000,5126,0.000,0.043,3040,1953,2328,2353,2303,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4898,0.72,155.7,3041,1954,2353,2298,419.3,10.1,721,4902,0.00,2.33,0.00,0.000,4356,0.000,0.064,3040,3362,2326,2354,2298,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4944,0.72,155.7,3041,3362,2353,2298,414.2,10.7,730,4949,0.08,2.25,0.00,0.000,5126,0.462,0.041,3034,1974,2325,2353,2298,0,0,0,0,0,0,14.69,14.88,28.83
$GC,5249,0.72,155.7,3034,1973,2353,2294,383.0,9.4,761,5258,0.00,2.35,0.00,0.000,516,0.000,0.067,3043,543,2323,2353,2293,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5283,0.72,155.7,3043,542,2351,2294,379.5,9.5,768,5291,0.00,2.25,0.00,0.000,5126,0.000,0.042,3043,1956,2322,2351,2293,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5590,0.72,155.7,3043,1955,2351,2292,349.1,10.3,799,5591,0.00,0.00,0.00,0.000,4102,0.000,0.000,3043,1956,2321,2351,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5891,0.72,155.7,3043,1956,2351,2290,320.7,9.0,829,5895,0.00,2.30,0.00,0.000,4356,0.000,0.064,3043,3349,2320,2351,2290,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5955,0.72,155.7,3043,3350,2351,2291,314.3,9.9,842,5963,0.10,2.25,0.00,0.000,5126,0.410,0.038,3029,1947,2320,2351,2290,0,0,0,0,0,0,14.83,15.01,28.83
$GC,6263,0.72,155.7,3029,1947,2351,2288,288.9,8.3,873,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1947,2319,2351,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6563,0.72,155.7,3029,1947,2351,2287,263.4,8.6,903,6574,0.00,2.30,0.00,0.000,516,0.000,0.067,3038,538,2318,2349,2288,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6620,0.72,155.7,3038,538,2349,2288,258.6,8.2,914,6629,0.00,2.28,0.00,0.000,5126,0.000,0.042,3038,1951,2318,2349,2288,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6931,0.72,155.7,3037,1951,2349,2287,231.2,8.9,965,6940,0.00,2.35,0.00,0.000,4612,0.000,0.067,3048,541,2318,2349,2288,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6972,0.72,155.7,2048,540,2297,2280,227.3,9.9,972,6980,0.03,2.28,0.00,0.000,5126,0.407,0.043,3038,1952,2317,2348,2287,0,0,0,0,0,0,14.78,14.97,28.83
$GC,7284,0.72,155.7,3038,1953,2349,2287,198.0,9.2,1033,7292,0.00,2.33,0.00,0.000,4356,0.000,0.061,3038,3344,2318,2349,2287,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7417,0.72,155.7,3038,3344,2349,2288,185.7,10.4,1058,7425,0.00,2.30,0.00,0.000,5126,0.000,0.040,3046,1946,2318,2349,2288,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7732,0.77,155.7,3046,1946,2349,2287,156.0,8.0,1119,7739,0.00,2.35,0.00,0.000,516,0.000,0.068,3057,545,2318,2349,2287,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7868,0.81,155.7,2048,545,2296,2279,147.8,8.1,1145,7876,0.00,2.28,0.00,0.000,1030,0.000,0.041,3057,1954,2317,2348,2287,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8183,0.88,155.7,2016,1952,2296,2279,119.0,7.7,1206,8191,0.08,2.35,0.00,0.000,2564,0.272,0.066,3108,538,2317,2348,2287,0,0,0,0,0,0,14.87,14.91,28.83
$GC,8422,0.88,155.7,3109,537,2348,2287,100.0,11.0,1252,8430,0.05,2.28,0.00,0.000,5126,0.359,0.041,3090,1955,2316,2346,2287,0,0,0,0,0,0,14.74,14.92,28.83
$GC,8740,1.21,409.9,2048,1955,2297,2279,80.6,-0.8,1313,8883,0.22,2.42,136.35,0.383,10756,0.144,0.067,3211,539,1317,1351,1283,0,0,0,0,0,0,14.86,14.69,14.52
$GC,9022,1.21,409.9,2208,539,1343,1287,40.7,18.0,1361,9032,0.05,2.28,1.45,0.235,13318,0.379,0.040,3194,1943,1315,1352,1278,0,0,0,0,0,0,14.59,14.78,14.70
$STATE,9221,end climb,SURFACE_DEPTH_REACHED
$STATE,9221,begin surface coast
$FINISH,1.4,1.022826
$STATE,9233,end surface coast,CONTROL_FINISHED_OK
$STATE,9233,begin surface
$SM_CCo,9307,0.00,0.000,0,0,1322,408.67
$SM_GC,0.99,7.53,0.30,0.00,0.132,0.067,0.000,142,2159,1322,-8.25,-1.47,408.67,0,0,0,0,0,0,14.79,14.87,28.83
$IRIDIUM_FIX,2251.04,12129.55,101009,171735
$TT8_MAMPS,0.020223,0.020223
$HUMID,42.55
$INTERNAL_PRESSURE,8.00812
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,13.8,12.046
$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,18.325,92.025,464.425,0.000,0.000,0.000,0.000,374.475,0.500,0.000,7.036,3179.661,2754.109,538.311,3179.175,133.896,0.000,2005.516,0.000,2817.802,0.000,5.110,0.000
$DEVICE_MAMPS,616.590,85.680,1345.635,0.000,0.000,0.000,0.000,171.360,420.000,0.000,11.240,12.320,2.190,12.320,32.540,39.280,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,885.176,1734.480,1912.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323096
$DATA_FILE_SIZE,107142,1401
$CAP_FILE_SIZE,125333,0
$CFSIZE,2097086464,2087682048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.166, 26.9,1
$GPS,141216,064204,2302.440,12128.406,12,1.4,12,-3.5