version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 79
start: 12 22 116 6 46 44
data:
$ID,628
$MISSION,3
$DIVE,79
$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,-124312.59
$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,44
$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,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
$GPS1,221216,063831,2331.194,12236.014,52,0.9,52,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-64.8
$GPS2,221216,064621,2331.313,12236.038,8,0.9,9,-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,164.7,134131,-15.8,-10.104,-18.78,2952
$D_GRID,3573
$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,-194.6,97,2168,1361,1354,0.0,0.0,0,72,0.00,0.00,-54.50,0.000,16386,0.000,0.000,95,2168,3223,3226,3220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,95,2168,3226,3220,3.5,-7.8,8,97,8.62,2.40,-9.10,0.000,18948,0.483,0.077,2536,746,3784,3739,3830,0,0,0,0,0,0,14.47,14.75,14.92
$GC,201,-0.78,-194.6,1544,745,3734,3830,34.3,-20.8,31,209,0.05,2.25,0.00,0.000,3078,0.320,0.042,2547,2122,3784,3738,3831,0,0,0,0,0,0,14.61,14.77,28.83
$GC,455,-0.78,-194.6,1552,2121,3734,3830,92.6,-24.3,80,463,0.00,2.38,0.00,0.000,2308,0.000,0.060,2537,3560,3784,3738,3831,0,0,0,0,0,0,28.83,14.83,28.83
$GC,541,-0.78,-194.6,1544,3559,3734,3830,111.8,-20.9,96,549,0.00,2.30,0.00,0.000,3078,0.000,0.031,2537,2130,3784,3738,3831,0,0,0,0,0,0,28.83,14.87,28.83
$GC,794,-0.78,-194.6,1536,2126,3735,3830,158.9,-18.4,145,802,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2128,3785,3738,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1046,-0.78,-194.6,1536,2126,3735,3831,200.4,-14.5,194,1053,0.00,2.28,0.00,0.000,2564,0.000,0.058,2537,756,3785,3738,3833,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1212,-0.78,-194.6,1536,755,3735,3832,224.9,-13.7,226,1220,0.03,2.25,0.00,0.000,3078,0.387,0.042,2540,2147,3785,3738,3833,0,0,0,0,0,0,14.69,14.90,28.83
$GC,1471,-0.78,-194.6,2540,2147,3738,3833,264.2,-16.0,267,1481,0.00,2.30,0.00,0.000,2308,0.000,0.063,2531,3556,3785,3738,3833,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1493,-0.78,-194.6,2531,3555,3738,3833,268.0,-17.5,271,1504,0.05,2.20,0.00,0.000,3078,0.460,0.031,2545,2148,3785,3738,3833,0,0,0,0,0,0,14.75,14.97,28.83
$GC,1743,-0.78,-194.6,2544,2148,3738,3833,309.7,-16.0,297,1744,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2149,3785,3738,3833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1983,-0.78,-194.6,2545,2148,3738,3833,343.8,-14.4,321,1987,0.00,2.25,0.00,0.000,2564,0.000,0.058,2545,757,3785,3737,3833,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2083,-0.78,-194.6,2545,757,3738,3833,359.5,-14.8,341,2087,0.00,2.20,0.00,0.000,3078,0.000,0.041,2538,2157,3785,3737,3833,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2329,-0.78,-194.6,2538,2157,3736,3833,394.5,-13.6,366,2338,0.00,2.28,0.00,0.000,2308,0.000,0.063,2529,3559,3784,3735,3833,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2392,-0.78,-194.6,2529,3558,3735,3833,403.5,-12.8,379,2400,0.05,2.25,0.00,0.000,3078,0.290,0.031,2550,2146,3784,3736,3833,0,0,0,0,0,0,14.82,15.01,28.83
$GC,2640,-0.78,-194.6,2550,2144,3734,3833,429.5,-10.4,404,2649,0.00,2.30,0.00,0.000,260,0.000,0.060,2541,3553,3783,3733,3833,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2701,-0.78,-194.6,2541,3553,3732,3833,436.1,-10.7,416,2705,0.00,2.20,0.00,0.000,3078,0.000,0.030,2541,2137,3782,3732,3832,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2947,-0.78,-194.6,2541,2135,3731,3831,464.5,-11.0,441,2948,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2136,3782,3731,3833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,-0.78,-194.6,2541,2135,3729,3833,490.3,-11.0,465,3190,0.00,2.22,0.00,0.000,2564,0.000,0.058,2541,751,3780,3729,3832,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3254,-0.78,-194.6,1664,751,3725,3831,498.8,-11.9,479,3262,0.00,2.25,0.00,0.000,3078,0.000,0.041,2532,2150,3780,3728,3832,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3502,-0.78,-194.6,2532,2150,3725,3832,530.0,-11.8,504,3504,0.03,0.00,0.00,0.000,2054,0.626,0.000,2545,2150,3778,3725,3832,0,0,0,0,0,0,14.88,28.83,28.83
$GC,3742,-0.78,-194.6,2544,2150,3724,3830,556.5,-10.8,528,3743,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2150,3777,3725,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3981,-0.78,-194.6,2544,2150,3723,3829,582.9,-11.0,552,3985,0.00,2.28,0.00,0.000,2308,0.000,0.063,2535,3548,3776,3723,3829,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4040,-0.78,-194.6,1664,3547,3719,3828,590.0,-11.6,564,4048,0.00,2.25,0.00,0.000,3078,0.000,0.032,2535,2148,3775,3722,3829,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4288,-0.78,-194.6,2535,2148,3721,3826,619.8,-11.9,581,4294,0.00,2.25,0.00,0.000,2564,0.000,0.057,2535,752,3773,3721,3826,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4327,-0.78,-194.6,2535,752,3721,3826,624.7,-12.1,589,4332,0.08,2.20,0.00,0.000,3078,0.415,0.042,2545,2150,3773,3721,3826,0,0,0,0,0,0,14.85,15.07,28.83
$GC,4584,-0.78,-194.6,2545,2151,3719,3824,651.9,-10.3,604,4588,0.00,2.28,0.00,0.000,2308,0.000,0.063,2537,3548,3771,3719,3824,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4700,-0.78,-194.6,2537,3549,3717,3824,663.8,-10.0,627,4704,0.00,2.20,0.00,0.000,3078,0.000,0.032,2537,2148,3770,3716,3824,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4956,-0.78,-194.6,2537,2147,3716,3822,690.4,-10.3,642,4960,0.00,2.25,0.00,0.000,2564,0.000,0.058,2537,754,3769,3716,3823,0,0,0,0,0,0,28.83,15.05,28.83
$GC,5040,-0.78,-194.6,2537,754,3715,3822,699.3,-10.2,659,5045,0.08,2.22,0.00,0.000,3078,0.403,0.044,2547,2162,3768,3715,3822,0,0,0,0,0,0,14.86,15.07,28.83
$GC,5292,-0.78,-194.6,2547,2162,3713,3821,722.8,-9.7,673,5293,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2163,3767,3713,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5532,-0.78,-194.6,2546,2163,3711,3820,746.4,-9.7,685,5533,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2163,3765,3711,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5772,-0.78,-194.6,2546,2163,3710,3817,769.1,-9.2,697,5776,0.00,2.28,0.00,0.000,2308,0.000,0.067,2539,3547,3763,3710,3817,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5808,-0.78,-194.6,2539,3546,3709,3817,772.3,-9.2,704,5814,0.00,2.20,0.00,0.000,3078,0.000,0.034,2539,2150,3762,3709,3816,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6067,-0.78,-194.6,2539,2149,3708,3815,796.4,-9.0,720,6069,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2149,3761,3708,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6308,-0.78,-194.6,2539,2149,3706,3814,818.5,-9.5,732,6309,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2149,3759,3706,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6548,-0.78,-194.6,2539,2149,3704,3813,841.2,-9.4,744,6552,0.00,2.33,0.00,0.000,2308,0.000,0.067,2529,3549,3758,3704,3813,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6584,-0.78,-194.6,2530,3550,3704,3812,844.7,-9.6,751,6591,0.08,2.20,0.00,0.000,3078,0.376,0.035,2549,2149,3758,3704,3813,0,0,0,0,0,0,14.88,15.09,28.83
$GC,6843,-0.78,-194.6,2549,2149,3703,3811,866.7,-8.1,767,6847,0.00,2.28,0.00,0.000,516,0.000,0.060,2548,749,3756,3702,3811,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6907,-0.78,-194.6,2549,749,3702,3811,872.3,-8.3,780,6912,0.00,2.22,0.00,0.000,3078,0.000,0.045,2542,2146,3756,3702,3811,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7159,-0.78,-194.6,2542,2147,3700,3809,892.1,-7.7,794,7163,0.00,2.33,0.00,0.000,2308,0.000,0.069,2532,3556,3754,3700,3809,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7218,-0.78,-194.6,1696,3556,3696,3808,897.0,-8.1,806,7223,0.00,2.28,0.00,0.000,3078,0.000,0.035,2533,2152,3754,3699,3809,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7475,-0.78,-194.6,2533,2150,3698,3807,918.6,-8.4,821,7476,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2151,3753,3699,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7715,-0.78,-194.6,2533,2151,3699,3807,939.0,-8.3,833,7719,0.00,2.30,0.00,0.000,2564,0.000,0.061,2533,749,3752,3698,3806,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7744,-0.78,-194.6,2533,749,3698,3806,941.7,-9.0,839,7752,0.10,2.25,0.00,0.000,3078,0.384,0.047,2550,2154,3752,3698,3806,0,0,0,0,0,0,14.84,15.05,28.83
$GC,7991,-0.78,-194.6,2550,2154,3697,3805,959.2,-7.0,852,7995,0.00,2.33,0.00,0.000,260,0.000,0.070,2541,3557,3751,3697,3805,0,0,0,0,0,0,28.83,15.02,28.83
$GC,8032,-0.78,-194.6,2541,3556,3696,3805,962.1,-7.1,860,8039,0.00,2.22,0.00,0.000,3078,0.000,0.035,2541,2149,3750,3695,3805,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,8151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8151,begin apogee
$GC,8155,-0.17,0.0,2541,1929,3695,3804,970.9,-7.3,869,8433,0.57,0.00,273.42,1.564,10246,0.249,0.000,2748,1929,2985,3024,2946,0,0,0,0,0,0,14.85,28.83,13.70
$STATE,8434,end apogee,CONTROL_FINISHED_OK
$STATE,8434,begin climb
$GC,8436,0.78,194.6,2748,1928,3019,2939,980.0,0.0,883,8654,0.77,2.47,205.35,1.779,10756,0.145,0.075,3057,581,2177,2210,2145,0,0,0,0,0,0,14.20,14.07,13.53
$GC,8679,0.78,194.6,2152,581,2160,2130,961.5,14.3,932,8684,0.00,2.35,0.00,0.000,5126,0.000,0.044,3057,1942,2168,2200,2136,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8937,0.78,194.6,3057,1942,2200,2127,927.1,12.9,947,8943,0.00,2.40,0.00,0.000,4356,0.000,0.066,3057,3364,2163,2200,2126,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8969,0.78,194.6,3057,3364,2200,2126,922.1,14.4,954,8978,0.08,2.30,0.00,0.000,5126,0.487,0.044,3052,1983,2162,2200,2125,0,0,0,0,0,0,14.47,14.67,28.83
$GC,9217,0.78,194.6,3053,1983,2200,2122,889.9,13.0,967,9223,0.00,2.33,0.00,0.000,4356,0.000,0.067,3053,3359,2161,2200,2122,0,0,0,0,0,0,28.83,14.78,28.83
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$STATE,16649,end climb,SURFACE_DEPTH_REACHED
$STATE,16650,begin surface coast
$FINISH,1.3,1.022763
$STATE,16656,end surface coast,CONTROL_FINISHED_OK
$STATE,16656,begin surface
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$TT8_MAMPS,0.020223,0.020223
$HUMID,39.21
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.50
$XPDR_PINGS,8
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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,322892
$DATA_FILE_SIZE,147225,1939
$CAP_FILE_SIZE,198205,0
$CFSIZE,2097086464,2080604160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.260, 32.8,1
$GPS,221216,112601,2331.219,12238.262,28,0.8,28,-3.7