version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 37
start: 12 14 116 12 11 26
data:
$ID,628
$MISSION,3
$DIVE,37
$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,-123956.52
$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,39
$R_STBD_OVSHOOT,58
$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
$GPS1,141216,120514,2303.186,12127.555,7,1.4,7,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-62.2
$GPS2,141216,121033,2303.283,12127.620,7,1.4,7,-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,240.1,3090,-15.6,-8.684,-18.78,2740
$D_GRID,297
$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,-155.7,123,2162,1374,1337,0.0,0.0,0,72,0.00,0.00,-54.83,0.000,16386,0.000,0.000,120,2162,3216,3226,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.72,-155.7,120,2162,3224,3208,3.5,-6.5,8,97,8.52,2.35,-6.72,0.000,19204,0.488,0.083,2560,743,3625,3620,3631,0,0,0,0,0,0,14.60,14.84,15.04
$GC,124,-0.72,-155.7,1600,741,3613,3632,19.9,-28.3,16,132,0.03,2.28,0.00,0.000,3078,0.411,0.047,2561,2133,3625,3617,3634,0,0,0,0,0,0,14.68,14.85,28.83
$GC,438,-0.72,-155.7,1568,2131,3612,3633,85.6,-17.3,77,446,0.00,2.30,0.00,0.000,2564,0.000,0.057,2561,740,3626,3618,3634,0,0,0,0,0,0,28.83,14.91,28.83
$GC,458,-0.72,-155.7,1600,740,3613,3633,88.8,-16.1,80,466,0.00,2.28,0.00,0.000,3078,0.000,0.042,2555,2152,3626,3618,3634,0,0,0,0,0,0,28.83,14.92,28.83
$GC,772,-0.72,-155.7,1536,2151,3612,3634,129.0,-12.8,141,781,0.00,2.33,0.00,0.000,2564,0.000,0.059,2554,742,3627,3618,3636,0,0,0,0,0,0,28.83,14.93,28.83
$GC,961,-0.72,-155.7,1544,741,3612,3634,153.4,-10.4,177,970,0.05,2.28,0.00,0.000,3078,0.356,0.044,2565,2151,3627,3618,3636,0,0,0,0,0,0,14.79,14.96,28.83
$GC,1277,-0.72,-155.7,1584,2150,3613,3635,186.0,-10.3,238,1284,0.00,2.33,0.00,0.000,2564,0.000,0.060,2565,743,3627,3618,3637,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1316,-0.72,-155.7,1568,742,3612,3635,189.8,-11.1,245,1324,0.00,2.28,0.00,0.000,3078,0.000,0.043,2556,2160,3627,3618,3636,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1632,-0.72,-155.7,1568,2158,3612,3635,223.6,-11.4,306,1640,0.00,2.35,0.00,0.000,2564,0.000,0.060,2556,735,3627,3618,3636,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1667,-0.72,-155.7,2556,735,3617,3637,227.7,-11.5,312,1675,0.05,2.28,0.00,0.000,3078,0.347,0.043,2568,2151,3626,3617,3636,0,0,0,0,0,0,14.82,14.98,28.83
$GC,1979,-0.72,-155.7,2568,2151,3616,3636,256.6,-9.5,366,1988,0.00,2.28,0.00,0.000,260,0.000,0.065,2558,3547,3626,3615,3637,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2033,-0.72,-155.7,2558,3547,3615,3637,261.9,-9.6,377,2040,0.00,2.22,0.00,0.000,3078,0.000,0.034,2558,2133,3626,3615,3637,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2340,-0.72,-155.7,2558,2133,3612,3637,293.5,-11.8,408,2349,0.00,2.22,0.00,0.000,2564,0.000,0.062,2558,749,3624,3612,3637,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,2369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2370,begin apogee
$GC,2375,-0.17,0.0,2550,1967,3612,3637,297.0,-11.6,414,2652,0.52,0.00,271.92,0.952,10246,0.266,0.000,2742,1967,2987,3029,2946,0,0,0,0,0,0,14.86,28.83,14.09
$STATE,2653,end apogee,CONTROL_FINISHED_OK
$STATE,2653,begin climb
$GC,2655,0.72,155.7,2742,1967,3027,2943,306.9,0.0,442,2785,0.73,2.47,121.82,1.134,10756,0.172,0.066,3036,558,2344,2374,2314,0,0,0,0,0,0,14.40,14.38,13.95
$GC,2966,0.72,155.7,3036,558,2357,2302,290.1,8.3,504,2970,0.00,2.22,0.00,0.000,5126,0.000,0.038,3036,1951,2329,2357,2302,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3277,0.72,155.7,3036,1951,2357,2299,261.0,8.8,536,3281,0.00,2.28,0.00,0.000,4356,0.000,0.060,3036,3349,2328,2357,2299,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3304,0.72,155.7,3036,3349,2357,2300,258.4,10.0,541,3315,0.00,2.22,0.00,0.000,5126,0.000,0.040,3046,1960,2328,2357,2299,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3617,0.72,155.7,2000,1958,2306,2287,226.3,9.7,595,3624,0.00,2.35,0.00,0.000,4612,0.000,0.068,3056,526,2326,2356,2296,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3686,0.72,155.7,2048,526,2304,2288,218.1,12.1,608,3695,0.05,2.28,0.00,0.000,5126,0.331,0.041,3036,1950,2325,2355,2296,0,0,0,0,0,0,14.80,14.96,28.83
$GC,4004,0.72,155.7,3037,1951,2355,2296,191.0,10.5,669,4012,0.00,2.35,0.00,0.000,4612,0.000,0.068,3045,520,2325,2355,2295,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4243,0.72,155.7,2048,520,2301,2287,165.5,12.4,715,4250,0.00,2.30,0.00,0.000,5126,0.000,0.041,3045,1951,2323,2353,2294,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4558,0.87,269.5,3045,1953,2353,2293,142.6,4.4,776,4661,0.10,2.40,92.78,1.010,10756,0.220,0.070,3106,545,1872,1923,1822,0,0,0,0,0,0,14.95,14.58,14.16
$GC,4785,0.87,269.5,2080,545,1868,1807,114.6,10.7,815,4793,0.08,2.30,0.00,0.000,5126,0.320,0.042,3077,1955,1862,1912,1813,0,0,0,0,0,0,14.62,14.77,28.83
$GC,5100,1.08,269.5,2048,1953,1869,1801,86.2,5.7,876,5108,0.15,2.30,0.00,0.000,2308,0.178,0.059,3163,3349,1859,1912,1807,0,0,0,0,0,0,14.83,14.88,28.83
$GC,5293,1.08,269.5,2128,3348,1868,1801,64.5,12.6,913,5301,0.05,2.30,0.00,0.000,5126,0.389,0.042,3144,1955,1858,1911,1806,0,0,0,0,0,0,14.76,14.92,28.83
$GC,5608,1.08,269.5,3143,1954,1912,1805,28.6,11.5,974,5616,0.00,2.35,0.00,0.000,516,0.000,0.067,3152,545,1857,1911,1804,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5709,1.08,269.5,2096,545,1866,1799,17.7,10.2,993,5716,0.00,2.25,0.00,0.000,5126,0.000,0.040,3153,1950,1857,1910,1805,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,5823,end climb,SURFACE_DEPTH_REACHED
$STATE,5823,begin surface coast
$FINISH,0.1,1.019928
$STATE,5846,end surface coast,CONTROL_FINISHED_OK
$STATE,5846,begin surface
$SM_CCo,5859,60.65,0.158,0,0,1355,400.08
$SM_GC,0.91,7.15,0.30,60.65,0.105,0.073,0.158,140,2163,1355,-8.24,-1.24,400.08,0,0,0,0,0,0,14.91,14.98,14.85
$IRIDIUM_FIX,2255.72,12125.55,111009,010146
$TT8_MAMPS,0.020223,0.020223
$HUMID,39.28
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,13.9,12.881
$10V_AH,13.4,0.000
$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,17.475,64.375,486.525,60.650,0.000,0.000,0.000,247.675,0.000,0.000,8.297,2318.647,779.217,590.117,2480.788,102.314,0.000,1658.506,0.000,2248.103,0.000,1.024,0.000
$DEVICE_MAMPS,488.070,83.385,1134.495,158.355,0.000,0.000,0.000,156.060,420.000,0.000,11.240,12.320,2.190,12.320,32.540,39.280,0.000,10.900,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,651.217,1286.952,1872.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323200
$DATA_FILE_SIZE,77332,1019
$CAP_FILE_SIZE,88433,0
$CFSIZE,2097086464,2087321600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.326, 34.8,1
$GPS,141216,135120,2304.107,12127.858,25,0.9,40,-3.5