version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 93
start: 12 25 116 1 44 14
data:
$ID,628
$MISSION,3
$DIVE,93
$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,-124372.62
$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,49
$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
$GPS1,251216,013301,2330.088,12324.305,30,1.0,31,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-65.2
$GPS2,251216,014351,2330.107,12324.411,6,0.9,6,-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,102.8,51952,-15.8,-10.104,-18.78,2952
$D_GRID,3268
$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,-194.6,86,2161,1366,1348,0.0,0.0,0,72,0.00,0.00,-54.80,0.000,16386,0.000,0.000,82,2161,3196,3202,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,82,2161,3202,3191,3.3,-8.2,8,97,8.77,0.00,-9.62,0.000,18950,0.491,0.000,2538,2160,3785,3741,3829,0,0,0,0,0,0,14.43,28.83,14.95
$GC,343,-0.78,-194.6,1536,2159,3737,3828,64.4,-24.3,59,350,0.00,2.35,0.00,0.000,2308,0.000,0.062,2529,3550,3784,3740,3829,0,0,0,0,0,0,28.83,14.81,28.83
$GC,373,-0.78,-194.6,1552,3549,3736,3829,71.3,-23.0,64,381,0.05,2.28,0.00,0.000,3078,0.325,0.032,2547,2134,3785,3740,3830,0,0,0,0,0,0,14.64,14.83,28.83
$GC,625,-0.78,-194.6,1536,2130,3737,3829,123.9,-20.4,113,634,0.00,2.38,0.00,0.000,2308,0.000,0.063,2539,3558,3785,3740,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,717,-0.78,-194.6,1536,3557,3736,3829,141.9,-18.3,130,724,0.00,2.25,0.00,0.000,3078,0.000,0.033,2539,2156,3785,3740,3830,0,0,0,0,0,0,28.83,14.88,28.83
$GC,972,-0.78,-194.6,2539,2156,3740,3830,187.7,-16.7,179,980,0.00,2.30,0.00,0.000,2564,0.000,0.057,2538,752,3784,3738,3830,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1028,-0.78,-194.6,1544,751,3737,3829,196.2,-15.6,189,1037,0.03,2.25,0.00,0.000,3078,0.391,0.041,2541,2146,3785,3740,3830,0,0,0,0,0,0,14.68,14.88,28.83
$GC,1284,-0.78,-194.6,1536,2144,3737,3830,234.7,-15.9,238,1291,0.00,2.33,0.00,0.000,2308,0.000,0.061,2532,3547,3785,3740,3830,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1432,-0.78,-194.6,1664,3546,3737,3829,258.3,-14.2,267,1440,0.00,2.22,0.00,0.000,3078,0.000,0.030,2533,2144,3785,3740,3831,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1680,-0.78,-194.6,2533,2143,3740,3831,295.4,-15.2,292,1682,0.03,0.00,0.00,0.000,2054,0.605,0.000,2544,2141,3785,3740,3831,0,0,0,0,0,0,14.82,28.83,28.83
$GC,1920,-0.78,-194.6,2544,2141,3740,3831,328.8,-13.8,316,1929,0.00,2.22,0.00,0.000,2564,0.000,0.053,2544,743,3785,3739,3831,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1971,-0.78,-194.6,2544,742,3739,3831,335.8,-13.2,326,1975,0.00,2.20,0.00,0.000,3078,0.000,0.037,2535,2159,3784,3738,3831,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2216,-0.78,-194.6,2536,2159,3739,3831,370.8,-14.6,351,2225,0.00,2.25,0.00,0.000,2308,0.000,0.061,2527,3554,3785,3739,3831,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2280,-0.78,-194.6,2527,3555,3739,3831,380.3,-13.8,364,2289,0.08,2.17,0.00,0.000,3078,0.375,0.029,2545,2140,3784,3738,3830,0,0,0,0,0,0,14.83,15.04,28.83
$GC,2527,-0.78,-194.6,2545,2139,3738,3830,412.4,-12.5,389,2536,0.00,2.30,0.00,0.000,2308,0.000,0.060,2536,3554,3784,3738,3831,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2571,-0.78,-194.6,1664,3553,3734,3830,417.8,-11.7,398,2578,0.00,2.22,0.00,0.000,3078,0.000,0.030,2536,2151,3784,3737,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2819,-0.78,-194.6,2536,2149,3736,3831,448.9,-12.1,423,2820,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2150,3783,3736,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3058,-0.78,-194.6,2536,2150,3734,3831,477.9,-12.2,447,3062,0.00,2.25,0.00,0.000,2564,0.000,0.059,2536,750,3782,3734,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3154,-0.78,-194.6,2536,750,3733,3830,489.2,-11.2,466,3159,0.00,2.20,0.00,0.000,3078,0.000,0.041,2536,2156,3781,3733,3830,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3400,-0.78,-194.6,2536,2156,3731,3831,518.3,-11.6,491,3409,0.00,2.25,0.00,0.000,2308,0.000,0.062,2528,3550,3780,3731,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3461,-0.78,-194.6,2528,3550,3730,3830,525.5,-11.8,503,3471,0.08,2.17,0.00,0.000,3078,0.371,0.031,2547,2145,3780,3730,3831,0,0,0,0,0,0,14.85,15.07,28.83
$GC,3711,-0.78,-194.6,2547,2144,3728,3830,551.3,-10.0,529,3715,0.00,2.22,0.00,0.000,2564,0.000,0.056,2547,753,3779,3727,3831,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3796,-0.78,-194.6,2547,753,3726,3830,560.4,-11.0,546,3801,0.00,2.20,0.00,0.000,3078,0.000,0.040,2541,2160,3778,3726,3830,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4044,-0.78,-194.6,2541,2160,3725,3828,588.1,-11.6,571,4052,0.00,2.22,0.00,0.000,2308,0.000,0.063,2531,3544,3776,3725,3828,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4087,-0.78,-194.6,2531,3545,3724,3828,593.6,-12.0,580,4095,0.05,2.17,0.00,0.000,3078,0.451,0.031,2545,2146,3776,3724,3828,0,0,0,0,0,0,14.83,15.07,28.83
$GC,4344,-0.78,-194.6,2545,2146,3723,3826,622.3,-10.6,596,4348,0.00,2.22,0.00,0.000,2564,0.000,0.057,2545,757,3774,3723,3826,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4413,-0.78,-194.6,2545,757,3723,3825,630.0,-10.7,610,4420,0.00,2.20,0.00,0.000,3078,0.000,0.042,2538,2154,3774,3722,3826,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4660,-0.78,-194.6,2538,2156,3721,3823,654.5,-9.9,623,4664,0.00,2.28,0.00,0.000,2308,0.000,0.064,2529,3553,3772,3721,3823,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4709,-0.78,-194.6,2529,3553,3720,3823,659.4,-9.9,633,4717,0.08,2.20,0.00,0.000,3078,0.373,0.032,2549,2144,3771,3720,3823,0,0,0,0,0,0,14.85,15.08,28.83
$GC,4956,-0.78,-194.6,2548,2144,3718,3822,682.0,-9.3,646,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2145,3770,3719,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5197,-0.78,-194.6,2549,2144,3717,3822,706.2,-10.4,658,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2144,3769,3717,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5436,-0.78,-194.6,2548,2144,3716,3820,732.3,-11.2,670,5442,0.00,2.33,0.00,0.000,260,0.000,0.063,2540,3556,3767,3715,3819,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5489,-0.78,-194.6,2540,3556,3714,3820,738.5,-11.3,681,5496,0.00,2.20,0.00,0.000,3078,0.000,0.032,2540,2154,3767,3714,3820,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5736,-0.78,-194.6,2540,2154,3713,3816,764.4,-10.2,694,5740,0.00,2.28,0.00,0.000,2564,0.000,0.058,2540,748,3764,3713,3816,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5816,-0.78,-194.6,2540,749,3711,3817,772.6,-10.0,710,5821,0.05,2.22,0.00,0.000,3078,0.478,0.044,2544,2159,3764,3712,3816,0,0,0,0,0,0,14.82,15.06,28.83
$GC,6074,-0.78,-194.6,2544,2159,3710,3815,794.7,-8.4,725,6080,0.00,2.28,0.00,0.000,2308,0.000,0.066,2535,3547,3762,3710,3815,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6133,-0.78,-194.6,2535,3547,3710,3814,800.0,-8.6,737,6137,0.00,2.20,0.00,0.000,3078,0.000,0.034,2535,2147,3761,3709,3814,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6390,-0.78,-194.6,2535,2146,3708,3813,824.9,-10.1,752,6391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2146,3761,3709,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6629,-0.78,-194.6,2534,2146,3706,3812,850.4,-10.9,764,6635,0.00,2.33,0.00,0.000,2308,0.000,0.066,2526,3551,3759,3706,3812,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6657,-0.78,-194.6,2526,3551,3706,3812,853.7,-11.0,770,6662,0.08,2.20,0.00,0.000,3078,0.382,0.034,2545,2149,3759,3706,3812,0,0,0,0,0,0,14.83,15.08,28.83
$GC,6909,-0.78,-194.6,2545,2148,3705,3810,877.8,-9.4,784,6913,0.00,2.28,0.00,0.000,2564,0.000,0.061,2545,756,3757,3705,3810,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6943,-0.78,-194.6,2546,756,3704,3809,881.2,-9.6,791,6951,0.00,2.22,0.00,0.000,3078,0.000,0.044,2539,2151,3756,3704,3809,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7190,-0.78,-194.6,2540,2151,3703,3808,903.2,-9.0,804,7196,0.00,2.30,0.00,0.000,2308,0.000,0.067,2530,3551,3755,3703,3808,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7279,-0.78,-194.6,2530,3551,3702,3808,911.2,-8.4,822,7284,0.08,2.22,0.00,0.000,3078,0.373,0.034,2549,2137,3755,3702,3808,0,0,0,0,0,0,14.82,15.07,28.83
$GC,7526,-0.78,-194.6,2549,2136,3701,3806,930.1,-7.4,835,7532,0.00,2.35,0.00,0.000,260,0.000,0.067,2541,3550,3753,3701,3806,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7607,-0.78,-194.6,1696,3549,3697,3805,936.8,-7.7,852,7612,0.00,2.25,0.00,0.000,3078,0.000,0.035,2541,2158,3753,3700,3806,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7865,-0.78,-194.6,2541,2157,3699,3805,958.4,-8.6,867,7869,0.00,2.30,0.00,0.000,2564,0.000,0.061,2541,750,3752,3700,3805,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7954,-0.78,-194.6,2541,750,3699,3805,966.9,-9.2,885,7958,0.00,2.25,0.00,0.000,3078,0.000,0.046,2533,2162,3752,3699,3805,0,0,0,0,0,0,28.83,15.03,28.83
$STATE,8005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8005,begin apogee
$GC,8009,-0.17,0.0,2533,1920,3699,3804,971.3,-8.9,889,8287,0.60,0.00,271.58,1.567,10246,0.250,0.000,2749,1919,2983,3022,2944,0,0,0,0,0,0,14.82,28.83,13.71
$STATE,8288,end apogee,CONTROL_FINISHED_OK
$STATE,8288,begin climb
$GC,8289,0.78,194.6,2749,1919,3018,2938,981.9,0.0,903,8499,0.77,2.40,201.32,1.794,10756,0.146,0.074,3055,581,2185,2220,2151,0,0,0,0,0,0,14.21,14.10,13.54
$GC,8509,0.78,194.6,3055,581,2205,2139,965.4,12.6,948,8514,0.00,2.30,0.00,0.000,5126,0.000,0.042,3055,1940,2170,2204,2137,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8766,0.78,194.6,3055,1941,2200,2123,931.3,12.8,963,8767,0.00,0.00,0.00,0.000,4102,0.000,0.000,3055,1941,2161,2200,2123,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16636,end climb,SURFACE_DEPTH_REACHED
$STATE,16636,begin surface coast
$FINISH,0.1,1.023192
$STATE,16658,end surface coast,CONTROL_FINISHED_OK
$STATE,16658,begin surface
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$IRIDIUM_FIX,2321.52,12321.84,211009,151556
$TT8_MAMPS,0.019474,0.019474
$HUMID,38.38
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,13.5,34.619
$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.800,182.175,584.975,45.125,0.000,0.000,0.000,488.975,0.250,0.000,7.106,4162.396,8206.064,814.551,3987.075,175.064,0.000,2861.458,0.000,3488.419,0.000,0.553,0.000
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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,328712
$DATA_FILE_SIZE,147220,1968
$CAP_FILE_SIZE,201602,0
$CFSIZE,2097086464,2078310400
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.220, 94.6,1
$GPS,251216,062401,2329.548,12329.118,35,1.1,35,-3.8