version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 69
start: 12 20 116 6 31 49
data:
$ID,628
$MISSION,3
$DIVE,69
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$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,320
$T_MISSION,380
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,53567
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,70
$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,-124299.73
$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,41
$R_STBD_OVSHOOT,34
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$GPS1,201216,062119,2327.020,12213.458,37,1.2,37,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.1
$GPS2,201216,063126,2327.231,12213.630,6,1.5,7,-3.7
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N2
$TGT_LATLONG,2330.000,12355.000
$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,162.0,172242,-15.8,-10.104,-18.78,2952
$D_GRID,3099
$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,-0.78,-194.6,94,2126,1351,1356,0.0,0.0,0,71,0.00,0.00,-54.33,0.000,16386,0.000,0.000,93,2127,3222,3225,3219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.78,-194.6,93,2127,3225,3218,3.5,-7.6,8,97,8.60,2.33,-9.02,0.000,18948,0.480,0.078,2537,743,3784,3739,3830,0,0,0,0,0,0,14.45,14.75,14.94
$GC,159,-0.78,-194.6,1552,742,3735,3830,26.5,-22.3,23,167,0.03,2.33,0.00,0.000,3078,0.241,0.043,2550,2160,3784,3738,3831,0,0,0,0,0,0,14.62,14.77,28.83
$GC,414,-0.78,-194.6,2550,2161,3738,3831,82.0,-18.7,72,422,0.00,2.33,0.00,0.000,260,0.000,0.062,2541,3556,3784,3738,3831,0,0,0,0,0,0,28.83,14.82,28.83
$GC,459,-0.78,-194.6,1552,3556,3734,3830,90.0,-17.5,80,466,0.00,2.28,0.00,0.000,3078,0.000,0.032,2541,2144,3784,3738,3831,0,0,0,0,0,0,28.83,14.85,28.83
$GC,714,-0.78,-194.6,1552,2142,3735,3831,137.9,-20.2,129,722,0.00,2.30,0.00,0.000,2564,0.000,0.058,2541,752,3784,3737,3832,0,0,0,0,0,0,28.83,14.86,28.83
$GC,810,-0.78,-194.6,2541,751,3738,3832,154.6,-15.7,147,818,0.00,2.25,0.00,0.000,3078,0.000,0.041,2532,2148,3785,3738,3832,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1065,-0.78,-194.6,2532,2148,3738,3832,193.6,-16.8,196,1072,0.03,2.30,0.00,0.000,2308,0.626,0.060,2534,3548,3785,3738,3833,0,0,0,0,0,0,14.76,14.90,28.83
$GC,1156,-0.78,-194.6,1536,3547,3735,3831,208.4,-15.0,213,1164,0.00,2.25,0.00,0.000,3078,0.000,0.032,2534,2149,3785,3738,3832,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1411,-0.78,-194.6,1536,2147,3734,3831,250.5,-15.3,262,1419,0.00,2.25,0.00,0.000,2564,0.000,0.057,2534,752,3785,3738,3832,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1514,-0.78,-194.6,1632,751,3735,3831,266.1,-13.8,283,1522,0.05,2.25,0.00,0.000,3078,0.335,0.041,2545,2148,3785,3738,3832,0,0,0,0,0,0,14.74,14.93,28.83
$GC,1761,-0.78,-194.6,2545,2149,3738,3832,297.6,-12.8,308,1765,0.00,2.25,0.00,0.000,2308,0.000,0.062,2536,3546,3785,3738,3832,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1872,-0.78,-194.6,2536,3544,3737,3832,312.2,-12.8,330,1876,0.00,2.20,0.00,0.000,3078,0.000,0.031,2535,2136,3784,3737,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2117,-0.78,-194.6,2536,2135,3737,3832,345.0,-12.8,355,2126,0.00,2.22,0.00,0.000,2564,0.000,0.058,2536,749,3784,3736,3832,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2178,-0.78,-194.6,2536,749,3736,3832,352.3,-11.1,367,2187,0.00,2.20,0.00,0.000,3078,0.000,0.042,2535,2150,3784,3736,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2428,-0.78,-194.6,2536,2150,3734,3832,382.8,-12.5,393,2432,0.00,2.25,0.00,0.000,2308,0.000,0.061,2529,3554,3783,3734,3832,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2461,-0.78,-194.6,1664,3553,3731,3831,387.3,-12.5,400,2469,0.03,2.22,0.00,0.000,3078,0.386,0.031,2540,2147,3782,3733,3832,0,0,0,0,0,0,14.80,15.02,28.83
$GC,2709,-0.78,-194.6,2541,2146,3731,3832,418.1,-11.7,425,2710,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2146,3781,3731,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,-0.78,-194.6,2541,2146,3730,3832,447.2,-12.1,449,2953,0.00,2.22,0.00,0.000,2564,0.000,0.056,2541,760,3780,3730,3830,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3034,-0.78,-194.6,2541,761,3729,3832,457.6,-11.4,466,3039,0.00,2.17,0.00,0.000,3078,0.000,0.041,2534,2154,3780,3729,3832,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3280,-0.78,-194.6,2534,2154,3726,3832,489.1,-12.6,491,3284,0.00,2.28,0.00,0.000,2308,0.000,0.063,2525,3552,3779,3726,3832,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3411,-0.78,-194.6,2525,3553,3724,3832,506.7,-13.4,517,3421,0.10,2.17,0.00,0.000,3078,0.341,0.032,2553,2147,3778,3724,3832,0,0,0,0,0,0,14.90,15.08,28.83
$GC,3660,-0.78,-194.6,2553,2148,3724,3830,534.5,-10.1,543,3665,0.00,2.22,0.00,0.000,516,0.000,0.057,2553,761,3776,3723,3830,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3759,-0.78,-194.6,1696,760,3720,3829,544.2,-9.4,563,3766,0.00,2.22,0.00,0.000,3078,0.000,0.041,2546,2141,3776,3723,3829,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4007,-0.78,-194.6,2547,2141,3722,3827,566.3,-9.2,588,4011,0.00,2.33,0.00,0.000,2308,0.000,0.063,2537,3557,3775,3723,3827,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4121,-0.78,-194.6,2536,3557,3721,3827,577.3,-9.4,611,4128,0.00,2.20,0.00,0.000,3078,0.000,0.031,2536,2149,3772,3719,3825,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4378,-0.78,-194.6,2537,2149,3719,3824,604.5,-11.0,635,4385,0.00,2.25,0.00,0.000,2564,0.000,0.057,2537,752,3771,3719,3824,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4451,-0.78,-194.6,2536,750,3717,3824,612.6,-10.4,650,4459,0.08,2.22,0.00,0.000,3078,0.401,0.043,2546,2157,3770,3717,3824,0,0,0,0,0,0,14.87,15.07,28.83
$GC,4698,-0.78,-194.6,2546,2157,3716,3822,634.8,-8.8,663,4702,0.00,2.30,0.00,0.000,2308,0.000,0.064,2538,3554,3769,3716,3823,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4802,-0.78,-194.6,2538,3555,3715,3821,644.7,-9.4,684,4806,0.00,2.20,0.00,0.000,3078,0.000,0.032,2538,2153,3768,3715,3822,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5059,-0.78,-194.6,2539,2151,3714,3822,669.5,-10.0,699,5060,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2152,3768,3714,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5299,-0.78,-194.6,2538,2152,3712,3820,693.8,-10.2,711,5300,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2152,3766,3712,3820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5539,-0.78,-194.6,2538,2152,3710,3818,717.0,-9.5,723,5543,0.00,2.28,0.00,0.000,2564,0.000,0.062,2538,748,3764,3710,3818,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5563,-0.78,-194.6,2538,747,3710,3818,719.7,-11.0,728,5568,0.08,2.22,0.00,0.000,3078,0.409,0.044,2547,2148,3764,3710,3818,0,0,0,0,0,0,14.88,15.09,28.83
$GC,5815,-0.78,-194.6,2547,2149,3708,3816,745.2,-10.6,742,5821,0.00,2.30,0.00,0.000,2308,0.000,0.067,2539,3551,3762,3708,3816,0,0,0,0,0,0,28.83,15.05,28.83
$GC,5883,-0.78,-194.6,2539,3552,3707,3816,752.5,-10.5,756,5887,0.00,2.22,0.00,0.000,3078,0.000,0.034,2539,2142,3761,3706,3816,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6135,-0.78,-194.6,2539,2142,3706,3814,779.2,-10.4,770,6136,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2142,3760,3706,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6375,-0.78,-194.6,2539,2141,3704,3813,804.4,-10.5,782,6376,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2141,3758,3704,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6615,-0.78,-194.6,2539,2141,3703,3811,828.3,-9.9,794,6616,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2142,3757,3703,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6855,-0.78,-194.6,2539,2141,3701,3810,850.8,-9.4,806,6861,0.00,2.35,0.00,0.000,2308,0.000,0.069,2529,3557,3755,3701,3810,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6898,-0.78,-194.6,2529,3556,3701,3810,855.1,-9.3,815,6903,0.08,2.22,0.00,0.000,3078,0.386,0.034,2548,2148,3755,3701,3810,0,0,0,0,0,0,14.88,15.09,28.83
$GC,7154,-0.78,-194.6,2548,2147,3700,3808,876.4,-8.2,830,7158,0.00,2.30,0.00,0.000,260,0.000,0.068,2539,3543,3754,3700,3808,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7208,-0.78,-194.6,2539,3543,3699,3808,881.4,-9.0,841,7216,0.00,2.25,0.00,0.000,3078,0.000,0.034,2539,2147,3753,3699,3808,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7455,-0.78,-194.6,2540,2146,3698,3806,903.2,-9.0,854,7459,0.00,2.28,0.00,0.000,2564,0.000,0.063,2539,746,3752,3698,3807,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7531,-0.78,-194.6,2539,746,3698,3806,910.1,-9.1,869,7536,0.08,2.25,0.00,0.000,3078,0.409,0.047,2548,2159,3752,3698,3806,0,0,0,0,0,0,14.85,15.07,28.83
$GC,7788,-0.78,-194.6,2548,2158,3695,3804,932.6,-9.2,884,7792,0.00,2.30,0.00,0.000,260,0.000,0.070,2540,3555,3750,3695,3805,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7817,-0.78,-194.6,2540,3555,3695,3805,935.6,-10.0,890,7824,0.00,2.22,0.00,0.000,3078,0.000,0.035,2540,2146,3750,3695,3805,0,0,0,0,0,0,28.83,15.08,28.83
$GC,8064,-0.78,-194.6,2541,2144,3694,3804,958.0,-8.8,903,8065,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2145,3749,3695,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8203,begin apogee
$GC,8207,-0.17,0.0,2540,1926,3694,3803,970.3,-8.7,910,8486,0.57,0.00,275.42,1.594,10246,0.245,0.000,2749,1926,2987,3027,2948,0,0,0,0,0,0,14.90,28.83,13.69
$STATE,8487,end apogee,CONTROL_FINISHED_OK
$STATE,8488,begin climb
$GC,8489,0.78,194.6,2749,1926,3020,2941,980.4,0.0,924,8708,0.80,2.40,210.38,1.774,10756,0.147,0.076,3068,587,2187,2220,2154,0,0,0,0,0,0,14.18,14.08,13.58
$GC,8725,0.78,194.6,3068,587,2206,2143,961.2,13.7,972,8730,0.08,2.30,0.00,0.000,5126,0.430,0.044,3054,1944,2174,2206,2142,0,0,0,0,0,0,14.07,14.23,28.83
$GC,8982,0.78,194.6,3054,1945,2205,2130,922.9,15.2,987,8986,0.00,2.40,0.00,0.000,4356,0.000,0.067,3054,3357,2167,2205,2130,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9056,0.78,194.6,3054,3357,2205,2130,910.7,16.1,1002,9063,0.00,2.28,0.00,0.000,5126,0.000,0.044,3061,1981,2166,2204,2129,0,0,0,0,0,0,28.83,14.69,28.83
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$STATE,16362,end climb,SURFACE_DEPTH_REACHED
$STATE,16362,begin surface coast
$FINISH,0.6,1.022782
$STATE,16379,end surface coast,CONTROL_FINISHED_OK
$STATE,16379,begin surface
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$TT8_MAMPS,0.020223,0.020223
$HUMID,39.17
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,22.20
$XPDR_PINGS,0
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$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322940
$DATA_FILE_SIZE,150645,1984
$CAP_FILE_SIZE,204338,0
$CFSIZE,2097086464,2082242560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.272, 28.0,1
$GPS,201216,110701,2327.375,12215.701,38,0.8,38,-3.7