version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 89
start: 12 24 116 6 43 13
data:
$ID,628
$MISSION,3
$DIVE,89
$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,-9
$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,-124367.48
$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,51
$R_STBD_OVSHOOT,104
$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
$GPS1,241216,063455,2330.965,12306.932,37,0.9,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-64.4
$GPS2,241216,064250,2330.984,12307.036,8,1.4,9,-3.8
$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,117.8,81481,-15.8,-10.104,-18.78,2952
$D_GRID,3490
$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,-194.6,85,2199,1358,1355,0.0,0.0,0,72,0.00,0.00,-54.70,0.000,16386,0.000,0.000,83,2199,3221,3224,3219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,82,2199,3223,3220,3.1,-5.9,8,98,8.65,2.45,-9.43,0.000,18948,0.480,0.079,2540,749,3785,3742,3829,0,0,0,0,0,0,14.47,14.76,14.97
$GC,156,-0.78,-194.6,1552,748,3737,3829,24.6,-24.9,22,165,0.00,2.17,0.00,0.000,3078,0.000,0.042,2533,2081,3785,3740,3830,0,0,0,0,0,0,28.83,14.76,28.83
$GC,411,-0.78,-194.6,1536,2079,3736,3829,85.6,-26.8,71,418,0.00,2.35,0.00,0.000,2308,0.000,0.063,2522,3482,3785,3740,3830,0,0,0,0,0,0,28.83,14.82,28.83
$GC,497,-0.78,-194.6,2522,3483,3740,3830,104.9,-23.0,87,505,0.05,2.15,0.00,0.000,3078,0.332,0.033,2541,2143,3785,3740,3830,0,0,0,0,0,0,14.62,14.84,28.83
$GC,751,-0.78,-194.6,1552,2140,3737,3829,157.4,-19.5,136,759,0.00,2.28,0.00,0.000,2564,0.000,0.056,2541,757,3785,3740,3830,0,0,0,0,0,0,28.83,14.86,28.83
$GC,852,-0.78,-194.6,1536,756,3737,3830,175.6,-17.8,155,859,0.00,2.15,0.00,0.000,3078,0.000,0.042,2534,2088,3785,3740,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1104,-0.78,-194.6,1540,2086,3736,3831,220.6,-17.6,204,1111,0.00,2.33,0.00,0.000,2308,0.000,0.063,2523,3486,3785,3740,3831,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1252,-0.78,-194.6,2523,3485,3740,3831,244.7,-16.1,232,1260,0.05,2.12,0.00,0.000,3078,0.313,0.032,2543,2153,3785,3740,3831,0,0,0,0,0,0,14.69,14.89,28.83
$GC,1502,-0.78,-194.6,2543,2152,3740,3831,281.2,-14.9,260,1506,0.00,2.20,0.00,0.000,2308,0.000,0.063,2534,3492,3786,3740,3832,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1584,-0.78,-194.6,2535,3493,3740,3831,293.3,-13.7,276,1592,0.00,2.15,0.00,0.000,3078,0.000,0.032,2534,2148,3785,3740,3831,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1832,-0.78,-194.6,2534,2148,3740,3831,330.7,-14.9,301,1833,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2149,3785,3740,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2071,-0.78,-194.6,2534,2148,3740,3831,365.5,-14.1,325,2075,0.00,2.20,0.00,0.000,2308,0.000,0.062,2525,3494,3785,3739,3831,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2117,-0.78,-194.6,2525,3494,3738,3831,372.0,-13.7,334,2122,0.10,2.10,0.00,0.000,3078,0.340,0.032,2553,2143,3785,3739,3831,0,0,0,0,0,0,14.85,15.04,28.83
$GC,2362,-0.78,-194.6,2554,2142,3738,3832,401.9,-11.8,359,2366,0.00,2.22,0.00,0.000,4612,0.000,0.054,2554,747,3784,3738,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2383,-0.78,-194.6,2554,747,3738,3831,404.4,-12.4,363,2387,0.00,2.10,0.00,0.000,3078,0.000,0.040,2547,2098,3784,3737,3831,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2628,-0.78,-194.6,2547,2099,3737,3831,434.1,-11.7,388,2638,0.00,2.25,0.00,0.000,2308,0.000,0.060,2538,3491,3784,3737,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2700,-0.78,-194.6,2538,3491,3736,3831,443.0,-12.1,402,2704,0.00,2.08,0.00,0.000,3078,0.000,0.031,2538,2149,3783,3736,3831,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2945,-0.78,-194.6,2538,2148,3734,3831,472.4,-12.0,427,2954,0.00,2.22,0.00,0.000,2564,0.000,0.058,2537,757,3782,3734,3831,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3009,-0.78,-194.6,2537,757,3734,3831,480.7,-12.0,440,3017,0.03,2.12,0.00,0.000,3078,0.392,0.040,2540,2089,3782,3733,3831,0,0,0,0,0,0,14.78,15.00,28.83
$GC,3256,-0.78,-194.6,2540,2089,3731,3832,510.1,-12.7,465,3260,0.00,2.12,0.00,0.000,2564,0.000,0.057,2540,756,3781,3731,3832,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3295,-0.78,-194.6,1688,756,3728,3830,515.3,-12.4,473,3302,0.00,2.15,0.00,0.000,3078,0.000,0.041,2535,2100,3781,3731,3831,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3544,-0.78,-194.6,2535,2101,3729,3831,545.5,-12.0,498,3553,0.00,2.15,0.00,0.000,2564,0.000,0.057,2536,756,3779,3728,3831,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3604,-0.78,-194.6,2535,756,3728,3831,552.6,-10.7,510,3609,0.08,2.17,0.00,0.000,3078,0.405,0.041,2545,2150,3779,3728,3831,0,0,0,0,0,0,14.83,15.06,28.83
$GC,3849,-0.78,-194.6,2545,2151,3726,3829,573.7,-8.2,535,3854,0.00,2.25,0.00,0.000,2308,0.000,0.060,2536,3545,3777,3726,3829,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3976,-0.78,-194.6,2536,3545,3724,3829,585.0,-9.5,560,3980,0.00,2.17,0.00,0.000,3078,0.000,0.031,2536,2148,3777,3724,3830,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4231,-0.78,-194.6,2536,2146,3724,3826,611.6,-11.0,581,4232,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2146,3775,3724,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4471,-0.78,-194.6,2536,2146,3722,3824,639.7,-12.2,593,4475,0.00,2.25,0.00,0.000,2564,0.000,0.059,2536,752,3773,3722,3825,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4514,-0.78,-194.6,2536,752,3722,3825,645.4,-12.7,602,4520,0.08,2.20,0.00,0.000,3078,0.404,0.043,2548,2148,3774,3723,3825,0,0,0,0,0,0,14.84,15.07,28.83
$GC,4766,-0.78,-194.6,2548,2149,3720,3823,672.6,-10.8,616,4771,0.00,2.28,0.00,0.000,260,0.000,0.063,2540,3546,3770,3719,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4790,-0.78,-194.6,2540,3547,3719,3823,675.5,-10.9,621,4795,0.00,2.20,0.00,0.000,3078,0.000,0.031,2540,2144,3770,3719,3822,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5043,-0.78,-194.6,2540,2143,3718,3822,703.2,-11.3,635,5049,0.00,2.25,0.00,0.000,2564,0.000,0.059,2539,749,3769,3717,3821,0,0,0,0,0,0,28.83,15.05,28.83
$GC,5062,-0.78,-194.6,2540,749,3717,3822,705.6,-12.0,639,5066,0.00,2.22,0.00,0.000,3078,0.000,0.044,2533,2156,3769,3717,3822,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5323,-0.78,-194.6,2533,2157,3716,3821,736.2,-11.7,655,5327,0.00,2.28,0.00,0.000,2308,0.000,0.064,2522,3549,3768,3716,3821,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5448,-0.78,-194.6,2523,3550,3714,3821,751.3,-11.7,680,5453,0.10,2.20,0.00,0.000,3078,0.337,0.033,2550,2145,3767,3714,3820,0,0,0,0,0,0,14.88,15.08,28.83
$GC,5694,-0.78,-194.6,2550,2144,3712,3817,775.1,-9.4,693,5700,0.00,2.25,0.00,0.000,516,0.000,0.060,2551,757,3764,3712,3816,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5747,-0.78,-194.6,2550,757,3712,3816,780.3,-9.4,704,5754,0.00,2.22,0.00,0.000,3078,0.000,0.044,2543,2156,3763,3711,3816,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5994,-0.78,-194.6,2543,2157,3710,3815,804.0,-10.0,717,5995,0.00,0.00,0.00,0.000,2054,0.000,0.000,2543,2157,3762,3710,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6234,-0.78,-194.6,2543,2157,3708,3813,829.7,-10.9,729,6238,0.00,2.28,0.00,0.000,2308,0.000,0.066,2534,3545,3761,3709,3814,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6303,-0.78,-194.6,2534,3545,3708,3814,837.7,-11.3,743,6310,0.00,2.20,0.00,0.000,3078,0.000,0.033,2533,2151,3760,3707,3813,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6550,-0.78,-194.6,2534,2149,3707,3812,865.0,-10.6,756,6554,0.00,2.28,0.00,0.000,2564,0.000,0.061,2534,753,3759,3706,3812,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6585,-0.78,-194.6,2533,752,3706,3812,868.9,-11.0,763,6590,0.10,2.22,0.00,0.000,3078,0.383,0.045,2551,2154,3759,3706,3812,0,0,0,0,0,0,14.83,15.06,28.83
$GC,6843,-0.78,-194.6,2551,2154,3705,3810,890.6,-7.7,778,6848,0.00,2.30,0.00,0.000,260,0.000,0.067,2542,3555,3757,3704,3811,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6902,-0.78,-194.6,2542,3555,3704,3811,895.3,-7.7,790,6906,0.00,2.22,0.00,0.000,3078,0.000,0.034,2542,2141,3757,3704,3811,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7158,-0.78,-194.6,2542,2140,3703,3808,915.9,-8.2,805,7162,0.00,2.25,0.00,0.000,2564,0.000,0.062,2542,758,3755,3703,3808,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7194,-0.78,-194.6,2542,758,3702,3807,919.0,-8.7,812,7199,0.00,2.22,0.00,0.000,3078,0.000,0.046,2537,2149,3755,3703,3808,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7455,-0.78,-194.6,2537,2149,3701,3807,943.0,-9.3,828,7459,0.00,2.30,0.00,0.000,2308,0.000,0.068,2528,3548,3754,3701,3807,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7491,-0.78,-194.6,2528,3548,3701,3806,946.4,-9.6,835,7496,0.08,2.20,0.00,0.000,3078,0.373,0.034,2546,2148,3753,3700,3807,0,0,0,0,0,0,14.82,15.07,28.83
$STATE,7747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7747,begin apogee
$GC,7751,-0.17,0.0,2547,1927,3700,3806,971.2,-9.6,850,8028,0.55,0.00,268.27,1.574,10246,0.242,0.000,2746,1927,2979,3019,2939,0,0,0,0,0,0,14.19,28.83,13.72
$STATE,8029,end apogee,CONTROL_FINISHED_OK
$STATE,8029,begin climb
$GC,8030,0.78,194.6,2746,1927,3018,2936,983.2,0.0,864,8248,0.77,2.47,204.12,1.776,10756,0.150,0.073,3059,578,2178,2212,2145,0,0,0,0,0,0,14.23,14.12,13.61
$GC,8273,0.78,194.6,2176,578,2164,2131,963.8,14.7,913,8278,0.00,2.35,0.00,0.000,5126,0.000,0.042,3059,1944,2170,2203,2137,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8530,0.78,194.6,3059,1944,2202,2128,924.5,15.5,928,8537,0.00,2.38,0.00,0.000,4356,0.000,0.066,3059,3355,2165,2202,2128,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8610,0.78,194.6,3059,3355,2202,2127,911.6,15.9,944,8615,0.08,2.28,0.00,0.000,5126,0.468,0.042,3053,1979,2164,2202,2126,0,0,0,0,0,0,14.52,14.73,28.83
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$STATE,16263,end climb,SURFACE_DEPTH_REACHED
$STATE,16263,begin surface coast
$FINISH,0.1,1.023192
$STATE,16281,end surface coast,CONTROL_FINISHED_OK
$STATE,16281,begin surface
$SM_CCo,16295,51.35,0.155,0,0,1355,400.08
$SM_GC,1.05,7.32,0.28,51.35,0.102,0.060,0.155,140,2190,1355,-8.23,-1.55,400.08,0,0,0,0,0,0,14.83,14.92,14.74
$IRIDIUM_FIX,2319.18,12304.88,201009,202059
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.62
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,13.6,33.081
$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
$DEVICE_SECS,19.025,199.000,534.525,51.350,0.000,0.000,0.000,369.075,0.250,0.000,10.287,4091.904,8029.311,764.566,3744.396,167.650,0.000,2638.375,0.000,3359.625,0.000,0.553,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
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$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328692
$DATA_FILE_SIZE,143727,1895
$CAP_FILE_SIZE,201678,0
$CFSIZE,2097086464,2078965760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.220, 62.7,1
$GPS,241216,111652,2330.817,12311.210,38,1.6,38,-3.8