version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 39
start: 12 14 116 15 45 29
data:
$ID,628
$MISSION,3
$DIVE,39
$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,-123959.02
$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,37
$R_STBD_OVSHOOT,68
$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
$GPS1,141216,153703,2304.907,12128.365,8,1.1,8,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-58.6
$GPS2,141216,154436,2305.054,12128.426,10,1.1,10,-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,197.1,5164,-15.6,-8.684,-18.78,2740
$D_GRID,471
$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,-155.7,100,2167,1369,1337,0.0,0.0,0,71,0.00,0.00,-54.67,0.000,16386,0.000,0.000,99,2168,3191,3197,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.72,-155.7,98,2168,3198,3184,3.0,-4.2,8,97,8.70,2.35,-7.62,0.000,18948,0.500,0.077,2560,730,3626,3621,3631,0,0,0,0,0,0,14.63,14.87,15.04
$GC,241,-0.72,-155.7,1568,728,3613,3633,37.8,-19.4,39,248,0.00,2.25,0.00,0.000,3078,0.000,0.044,2552,2120,3626,3618,3634,0,0,0,0,0,0,28.83,14.91,28.83
$GC,555,-0.72,-155.7,2552,2121,3618,3635,97.1,-18.0,100,563,0.00,2.38,0.00,0.000,2308,0.000,0.060,2541,3575,3626,3618,3635,0,0,0,0,0,0,28.83,14.95,28.83
$GC,611,-0.72,-155.7,1536,3574,3613,3634,103.7,-9.7,110,619,0.05,2.30,0.00,0.000,3078,0.304,0.031,2575,2125,3626,3618,3635,0,0,0,0,0,0,14.83,14.97,28.83
$GC,925,-0.72,-155.7,1568,2122,3613,3635,135.2,-9.0,171,932,0.00,2.38,0.00,0.000,4356,0.000,0.060,2567,3571,3627,3618,3637,0,0,0,0,0,0,28.83,14.97,28.83
$GC,954,-0.72,-155.7,1576,3570,3613,3635,138.0,-9.0,176,962,0.00,2.25,0.00,0.000,1030,0.000,0.032,2566,2155,3627,3618,3637,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1268,-0.72,-155.7,1552,2152,3613,3636,170.0,-8.6,237,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2155,3627,3618,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1583,-0.72,-155.7,1552,2152,3612,3636,199.8,-10.0,298,1590,0.00,2.33,0.00,0.000,260,0.000,0.063,2558,3551,3627,3617,3637,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1612,-0.72,-155.7,1568,3550,3613,3636,202.8,-9.8,303,1619,0.00,2.22,0.00,0.000,3078,0.000,0.033,2558,2154,3627,3618,3637,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1924,-0.72,-155.7,1552,2151,3611,3636,238.5,-12.7,364,1932,0.00,2.30,0.00,0.000,2564,0.000,0.057,2557,750,3627,3617,3637,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1954,-0.72,-155.7,2557,749,3616,3637,242.3,-12.9,369,1963,0.05,2.25,0.00,0.000,3078,0.347,0.041,2569,2151,3626,3616,3637,0,0,0,0,0,0,14.83,14.98,28.83
$GC,2266,-0.72,-155.7,2569,2152,3613,3637,278.5,-11.1,406,2270,0.00,2.25,0.00,0.000,516,0.000,0.056,2569,753,3624,3612,3637,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2294,-0.72,-155.7,2569,752,3612,3637,282.4,-12.6,412,2303,0.00,2.25,0.00,0.000,3078,0.000,0.041,2563,2155,3624,3612,3637,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2602,-0.72,-155.7,2563,2156,3611,3637,315.1,-9.4,443,2606,0.00,2.25,0.00,0.000,2564,0.000,0.058,2563,758,3623,3610,3637,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2628,-0.72,-155.7,2563,757,3611,3637,317.6,-9.4,448,2632,0.00,2.17,0.00,0.000,3078,0.000,0.041,2554,2151,3623,3610,3637,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2933,-0.72,-155.7,2554,2151,3608,3636,349.6,-10.5,479,2937,0.00,2.28,0.00,0.000,2308,0.000,0.065,2544,3552,3622,3608,3636,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3018,-0.72,-155.7,2544,3552,3607,3637,358.0,-9.7,496,3023,0.10,2.17,0.00,0.000,3078,0.347,0.034,2573,2147,3621,3607,3636,0,0,0,0,0,0,14.95,15.10,28.83
$GC,3323,-0.72,-155.7,2573,2147,3607,3635,384.0,-7.5,527,3327,0.00,2.22,0.00,0.000,4612,0.000,0.060,2573,756,3620,3606,3634,0,0,0,0,0,0,28.83,15.08,28.83
$GC,3399,-0.72,-155.7,2573,756,3606,3635,389.4,-6.8,542,3403,0.00,2.17,0.00,0.000,1030,0.000,0.043,2566,2148,3620,3606,3634,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3705,-0.72,-155.7,2566,2149,3604,3633,414.5,-10.0,573,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2149,3619,3604,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4005,-0.72,-155.7,2566,2149,3602,3630,444.5,-9.4,603,4009,0.00,2.30,0.00,0.000,260,0.000,0.067,2557,3550,3616,3602,3630,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4068,-0.72,-155.7,2557,3550,3601,3630,451.1,-10.0,616,4076,0.00,2.22,0.00,0.000,3078,0.000,0.035,2557,2157,3615,3601,3630,0,0,0,0,0,0,28.83,15.08,28.83
$STATE,4265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4265,begin apogee
$GC,4268,-0.17,0.0,2556,1917,3600,3629,471.1,-10.5,636,4456,0.52,0.00,182.23,1.284,10246,0.252,0.000,2747,1917,2984,3026,2943,0,0,0,0,0,0,14.95,28.83,13.96
$STATE,4457,end apogee,CONTROL_FINISHED_OK
$STATE,4458,begin climb
$GC,4459,0.72,155.7,2748,1917,3023,2939,477.7,0.0,655,4607,0.73,2.30,135.18,1.379,10756,0.167,0.065,3041,578,2337,2365,2309,0,0,0,0,0,0,14.38,14.34,13.85
$GC,4721,0.72,155.7,2152,578,2314,2296,458.8,11.2,708,4729,0.00,2.28,0.00,0.000,5126,0.000,0.041,3041,1957,2328,2355,2302,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5029,0.72,155.7,3042,1958,2356,2296,429.3,8.6,739,5033,0.00,2.28,0.00,0.000,4356,0.000,0.061,3041,3348,2325,2355,2296,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5126,0.72,155.7,3042,3348,2355,2296,421.2,8.3,758,5135,0.05,2.20,0.00,0.000,5126,0.373,0.040,3033,1976,2325,2355,2295,0,0,0,0,0,0,14.73,14.94,28.83
$GC,5435,0.82,155.7,3033,1976,2354,2291,399.9,7.3,790,5446,0.10,2.35,0.00,0.000,2564,0.224,0.065,3092,541,2321,2352,2291,0,0,0,0,0,0,14.96,14.97,28.83
$GC,5498,0.82,155.7,3092,541,2351,2291,393.9,10.4,802,5507,0.10,2.22,0.00,0.000,5126,0.422,0.041,3067,1960,2321,2352,2291,0,0,0,0,0,0,14.81,15.01,28.83
$GC,5808,0.82,155.7,3066,1960,2351,2290,366.5,10.5,834,5817,0.00,2.30,0.00,0.000,4612,0.000,0.067,3076,542,2320,2350,2290,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5898,0.82,155.7,3076,542,2349,2290,355.9,12.4,852,5903,0.00,2.20,0.00,0.000,5126,0.000,0.041,3076,1945,2319,2349,2290,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6203,0.82,155.7,3076,1946,2349,2289,317.7,12.1,883,6207,0.00,2.28,0.00,0.000,4356,0.000,0.060,3076,3348,2319,2349,2289,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6227,0.82,155.7,2176,3346,2307,2282,314.6,12.7,888,6235,0.05,2.28,0.00,0.000,5126,0.401,0.040,3068,1956,2319,2349,2289,0,0,0,0,0,0,14.82,15.02,28.83
$GC,6536,0.82,155.7,3067,1956,2349,2287,282.6,8.9,919,6545,0.00,2.25,0.00,0.000,4356,0.000,0.060,3067,3346,2318,2349,2288,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6579,0.82,155.7,3067,3345,2349,2287,278.2,10.1,927,6589,0.00,2.22,0.00,0.000,5126,0.000,0.038,3076,1947,2319,2350,2288,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6888,0.82,155.7,2048,1945,2299,2278,243.1,11.3,965,6895,0.00,0.00,0.00,0.000,4102,0.000,0.000,3076,1947,2317,2349,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7202,0.82,155.7,2080,1946,2301,2278,206.0,11.9,1026,7209,0.00,2.33,0.00,0.000,4356,0.000,0.058,3076,3341,2317,2349,2285,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7246,0.82,155.7,2048,3339,2299,2278,200.4,12.0,1034,7254,0.05,2.28,0.00,0.000,5126,0.396,0.039,3068,1952,2317,2349,2286,0,0,0,0,0,0,14.78,14.98,28.83
$GC,7563,0.82,155.7,3068,1952,2349,2285,166.9,9.7,1095,7571,0.00,2.35,0.00,0.000,4612,0.000,0.066,3078,519,2316,2349,2284,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7803,0.82,155.7,3078,519,2348,2284,146.1,9.0,1141,7811,0.03,2.30,0.00,0.000,5126,0.423,0.040,3068,1957,2316,2348,2284,0,0,0,0,0,0,14.77,14.97,28.83
$GC,8119,0.82,155.7,2048,1955,2298,2277,113.6,10.8,1202,8126,0.00,2.35,0.00,0.000,4612,0.000,0.064,3078,524,2316,2348,2284,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8189,0.82,155.7,2048,524,2297,2276,106.5,9.9,1215,8198,0.03,2.28,0.00,0.000,5126,0.428,0.040,3069,1949,2316,2348,2284,0,0,0,0,0,0,14.76,14.97,28.83
$GC,8506,1.00,296.3,2048,1947,2297,2276,80.9,3.4,1276,8587,0.12,2.40,73.10,0.396,10756,0.204,0.064,3153,541,1780,1829,1731,0,0,0,0,0,0,14.90,14.81,14.61
$GC,8721,1.00,296.3,3153,541,1831,1735,57.6,11.2,1314,8729,0.08,2.28,0.00,0.000,5126,0.327,0.039,3116,1959,1783,1831,1735,0,0,0,0,0,0,14.70,14.87,28.83
$GC,9036,1.00,296.3,2080,1958,1793,1726,29.0,9.4,1375,9044,0.00,2.30,0.00,0.000,2308,0.000,0.059,3115,3335,1781,1831,1731,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9194,1.08,296.3,2064,3334,1791,1726,11.0,7.6,1405,9202,0.03,2.28,0.00,0.000,3078,0.247,0.037,3157,1940,1781,1831,1731,0,0,0,0,0,0,14.78,14.92,28.83
$STATE,9296,end climb,SURFACE_DEPTH_REACHED
$STATE,9297,begin surface coast
$FINISH,0.2,1.022897
$STATE,9334,end surface coast,CONTROL_FINISHED_OK
$STATE,9334,begin surface
$SM_CCo,9347,53.10,0.163,0,0,1354,400.08
$SM_GC,1.40,7.30,0.30,53.10,0.118,0.058,0.163,147,2170,1354,-8.23,-1.67,400.08,0,0,0,0,0,0,14.88,14.99,14.81
$IRIDIUM_FIX,2253.38,12128.77,111009,050522
$TT8_MAMPS,0.020223,0.020223
$HUMID,41.45
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,21.10
$XPDR_PINGS,1
$24V_AH,13.8,13.346
$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,18.075,96.175,390.500,53.100,0.000,0.000,0.000,316.925,0.750,0.000,11.284,3261.530,2751.238,554.437,3188.726,128.387,0.000,1973.122,0.000,2875.919,0.000,5.116,0.000
$DEVICE_MAMPS,499.545,77.265,1379.295,162.945,0.000,0.000,0.000,159.885,420.000,0.000,11.240,12.320,2.190,12.320,32.540,39.280,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,899.990,1764.094,1951.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323160
$DATA_FILE_SIZE,107135,1431
$CAP_FILE_SIZE,128274,0
$CFSIZE,2097086464,2087059456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.294, 25.1,1
$GPS,141216,182319,2305.451,12128.686,35,1.2,35,-3.5