version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 96
start: 12 25 116 16 7 10
data:
$ID,628
$MISSION,3
$DIVE,96
$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,-124416.59
$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,52
$R_STBD_OVSHOOT,62
$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
$GPS1,251216,155855,2329.302,12337.727,33,1.2,33,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.7
$GPS2,251216,160647,2329.247,12337.803,6,1.2,6,-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,76.6,29241,-15.8,-10.104,-18.78,2952
$D_GRID,3449
$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,-194.6,87,2205,1356,1351,0.0,0.0,0,72,0.00,0.00,-54.72,0.000,16386,0.000,0.000,84,2207,3201,3206,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,83,2206,3206,3197,3.1,-6.4,8,103,8.65,2.25,-9.90,0.000,18692,0.480,0.082,2529,3531,3785,3741,3830,0,0,0,0,0,0,14.45,14.69,14.96
$GC,131,-0.78,-194.6,1544,3532,3736,3830,18.3,-24.1,17,140,0.05,2.25,0.00,0.000,3078,0.320,0.033,2548,2153,3785,3739,3831,0,0,0,0,0,0,14.57,14.76,28.83
$GC,387,-0.78,-194.6,1568,2149,3735,3829,74.9,-19.4,66,394,0.00,2.30,0.00,0.000,516,0.000,0.052,2548,750,3784,3739,3830,0,0,0,0,0,0,28.83,14.82,28.83
$GC,406,-0.78,-194.6,2548,750,3739,3830,79.2,-21.1,69,415,0.00,2.25,0.00,0.000,3078,0.000,0.041,2540,2134,3784,3739,3830,0,0,0,0,0,0,28.83,14.83,28.83
$GC,661,-0.78,-194.6,1544,2132,3736,3830,134.7,-19.7,118,668,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2134,3784,3739,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,912,-0.78,-194.6,1568,2132,3735,3830,183.5,-19.2,167,919,0.00,2.38,0.00,0.000,2308,0.000,0.063,2530,3567,3785,3739,3831,0,0,0,0,0,0,28.83,14.88,28.83
$GC,941,-0.78,-194.6,1536,3566,3736,3830,188.9,-18.3,172,950,0.05,2.28,0.00,0.000,3078,0.321,0.031,2549,2146,3785,3739,3831,0,0,0,0,0,0,14.68,14.90,28.83
$GC,1194,-0.78,-194.6,1568,2144,3736,3831,230.9,-16.8,221,1202,0.00,2.30,0.00,0.000,516,0.000,0.057,2549,754,3785,3739,3832,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1249,-0.78,-194.6,1540,753,3736,3831,240.1,-16.5,231,1257,0.00,2.25,0.00,0.000,3078,0.000,0.042,2541,2145,3785,3739,3832,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1505,-0.78,-194.6,2541,2144,3740,3832,281.3,-16.0,262,1514,0.00,2.28,0.00,0.000,2308,0.000,0.061,2531,3551,3785,3739,3832,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1616,-0.78,-194.6,2531,3551,3739,3832,298.4,-15.0,284,1620,0.05,2.17,0.00,0.000,3078,0.448,0.030,2544,2145,3785,3739,3832,0,0,0,0,0,0,14.76,15.00,28.83
$GC,1860,-0.78,-194.6,2544,2144,3740,3832,334.1,-14.2,309,1864,0.00,2.33,0.00,0.000,2308,0.000,0.062,2535,3559,3785,3739,3832,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1899,-0.78,-194.6,1664,3558,3736,3830,339.7,-13.9,317,1906,0.00,2.25,0.00,0.000,3078,0.000,0.031,2535,2154,3785,3739,3832,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2147,-0.78,-194.6,2535,2152,3739,3832,376.0,-15.1,342,2148,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2154,3785,3739,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2386,-0.78,-194.6,2535,2154,3738,3832,410.2,-13.8,366,2390,0.00,2.25,0.00,0.000,2564,0.000,0.054,2535,746,3785,3738,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2432,-0.78,-194.6,2535,746,3738,3831,416.3,-12.9,375,2437,0.08,2.20,0.00,0.000,3078,0.404,0.039,2544,2156,3785,3738,3832,0,0,0,0,0,0,14.62,15.04,28.83
$GC,2677,-0.78,-194.6,2544,2157,3737,3832,448.0,-13.2,400,2681,0.00,2.25,0.00,0.000,2308,0.000,0.060,2535,3547,3784,3736,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2758,-0.78,-194.6,2535,3547,3735,3832,458.5,-12.7,416,2762,0.00,2.17,0.00,0.000,3078,0.000,0.031,2535,2144,3783,3735,3832,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3005,-0.78,-194.6,2535,2143,3734,3832,487.8,-10.4,441,3006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2142,3782,3733,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3243,-0.78,-194.6,2535,2143,3731,3832,512.8,-11.1,465,3247,0.00,2.22,0.00,0.000,2564,0.000,0.058,2535,762,3781,3731,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3273,-0.78,-194.6,2535,761,3731,3832,516.4,-12.1,471,3278,0.08,2.17,0.00,0.000,3078,0.397,0.041,2546,2146,3781,3731,3832,0,0,0,0,0,0,14.83,15.05,28.83
$GC,3518,-0.78,-194.6,2546,2146,3729,3832,545.6,-13.4,496,3523,0.00,2.30,0.00,0.000,2308,0.000,0.062,2537,3552,3780,3729,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3582,-0.78,-194.6,1684,3553,3723,3831,554.7,-13.9,509,3590,0.00,2.25,0.00,0.000,3078,0.000,0.031,2538,2146,3779,3727,3831,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3830,-0.78,-194.6,2537,2146,3726,3830,585.8,-11.2,534,3831,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2146,3778,3726,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4070,-0.78,-194.6,2538,2146,3723,3827,610.1,-9.9,553,4076,0.00,2.33,0.00,0.000,2308,0.000,0.063,2528,3560,3775,3724,3827,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4109,-0.78,-194.6,2529,3560,3724,3827,614.3,-10.4,561,4114,0.08,2.20,0.00,0.000,3078,0.369,0.032,2549,2147,3775,3724,3827,0,0,0,0,0,0,14.84,15.07,28.83
$GC,4366,-0.78,-194.6,2549,2146,3723,3825,642.4,-11.5,576,4370,0.00,2.25,0.00,0.000,516,0.000,0.057,2549,750,3773,3722,3825,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4422,-0.78,-194.6,2550,750,3722,3825,649.3,-12.6,587,4426,0.00,2.22,0.00,0.000,3078,0.000,0.041,2542,2154,3773,3722,3825,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4683,-0.78,-194.6,2543,2154,3720,3823,678.7,-10.6,603,4687,0.00,2.28,0.00,0.000,2308,0.000,0.064,2533,3549,3771,3720,3823,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4779,-0.78,-194.6,2533,3549,3718,3823,687.8,-9.3,622,4785,0.00,2.20,0.00,0.000,3078,0.000,0.032,2533,2144,3770,3718,3823,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5038,-0.78,-194.6,2533,2143,3717,3822,711.3,-9.1,638,5043,0.00,2.25,0.00,0.000,2564,0.000,0.057,2534,752,3769,3717,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5074,-0.78,-194.6,2533,751,3717,3822,714.9,-9.8,645,5079,0.10,2.22,0.00,0.000,3078,0.364,0.042,2551,2159,3769,3717,3822,0,0,0,0,0,0,14.84,15.06,28.83
$GC,5331,-0.78,-194.6,2551,2159,3716,3821,738.4,-9.4,660,5338,0.00,2.28,0.00,0.000,260,0.000,0.064,2542,3548,3768,3715,3821,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5384,-0.78,-194.6,2542,3548,3714,3821,743.7,-9.5,671,5391,0.00,2.22,0.00,0.000,3078,0.000,0.034,2542,2141,3767,3714,3821,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5631,-0.78,-194.6,2542,2141,3713,3817,766.6,-8.8,684,5635,0.00,2.33,0.00,0.000,2308,0.000,0.065,2532,3548,3765,3713,3817,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5670,-0.78,-194.6,2533,3548,3712,3817,770.2,-9.0,692,5674,0.00,2.22,0.00,0.000,3078,0.000,0.034,2533,2142,3764,3712,3817,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5927,-0.78,-194.6,2533,2141,3711,3815,793.5,-9.4,707,5931,0.00,2.33,0.00,0.000,2308,0.000,0.065,2523,3547,3763,3711,3815,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5965,-0.78,-194.6,1664,3546,3707,3814,797.4,-9.5,715,5971,0.05,2.25,0.00,0.000,3078,0.308,0.034,2545,2150,3762,3710,3815,0,0,0,0,0,0,14.80,15.06,28.83
$GC,6223,-0.78,-194.6,2545,2149,3709,3814,821.0,-9.3,730,6227,0.00,2.25,0.00,0.000,2564,0.000,0.059,2545,758,3761,3709,3813,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6318,-0.78,-194.6,2545,759,3708,3813,830.4,-9.7,749,6323,0.00,2.22,0.00,0.000,3078,0.000,0.044,2538,2161,3760,3708,3813,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6574,-0.78,-194.6,2538,2162,3706,3812,855.6,-9.8,764,6575,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2161,3759,3706,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6814,-0.78,-194.6,2538,2162,3705,3811,878.4,-9.1,776,6818,0.00,2.28,0.00,0.000,2564,0.000,0.059,2538,757,3758,3705,3811,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6863,-0.78,-194.6,2538,757,3705,3811,883.4,-9.9,786,6871,0.08,2.22,0.00,0.000,3078,0.401,0.044,2548,2150,3758,3705,3811,0,0,0,0,0,0,14.80,15.04,28.83
$GC,7110,-0.78,-194.6,2548,2150,3703,3809,903.8,-8.2,799,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2150,3756,3703,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7350,-0.78,-194.6,2548,2150,3702,3807,922.7,-7.8,811,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2150,3755,3702,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7590,-0.78,-194.6,2548,2150,3701,3806,942.1,-8.3,823,7594,0.00,2.30,0.00,0.000,260,0.000,0.068,2541,3549,3753,3701,3806,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7639,-0.78,-194.6,2541,3550,3700,3807,946.3,-8.3,833,7646,0.00,2.22,0.00,0.000,3078,0.000,0.035,2541,2148,3753,3700,3806,0,0,0,0,0,0,28.83,15.06,28.83
$GC,7886,-0.78,-194.6,2541,2147,3700,3805,967.6,-8.8,846,7890,0.00,2.28,0.00,0.000,2564,0.000,0.061,2541,753,3752,3700,3805,0,0,0,0,0,0,28.83,15.01,28.83
$STATE,7909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7909,begin apogee
$GC,7915,-0.17,0.0,2534,1945,3699,3805,970.1,-9.4,851,8166,0.55,0.00,247.73,1.634,10246,0.251,0.000,2740,1946,2987,3027,2948,0,0,0,0,0,0,14.80,28.83,13.72
$STATE,8167,end apogee,CONTROL_FINISHED_OK
$STATE,8167,begin climb
$GC,8169,0.78,194.6,2739,1945,3020,2940,978.4,0.0,865,8390,0.80,2.53,210.73,1.737,10756,0.167,0.072,3052,565,2184,2219,2149,0,0,0,0,0,0,14.19,14.12,13.61
$GC,8425,0.78,194.6,2176,565,2168,2134,957.5,13.8,918,8430,0.00,2.38,0.00,0.000,5126,0.000,0.042,3052,1948,2173,2206,2140,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8682,0.78,194.6,3052,1948,2206,2133,921.8,14.1,933,8686,0.00,2.40,0.00,0.000,260,0.000,0.067,3052,3358,2169,2206,2133,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,16449,end climb,SURFACE_DEPTH_REACHED
$STATE,16450,begin surface coast
$FINISH,0.1,1.023242
$STATE,16471,end surface coast,CONTROL_FINISHED_OK
$STATE,16472,begin surface
$SM_CCo,16488,100.62,0.153,0,0,1354,400.08
$SM_GC,1.07,7.47,2.55,100.62,0.103,0.037,0.153,129,2126,1354,-8.26,-2.01,400.08,0,0,0,0,0,0,14.85,14.90,14.73
$IRIDIUM_FIX,2321.52,12335.54,221009,050559
$TT8_MAMPS,0.019474,0.019474
$HUMID,37.39
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,13.6,35.738
$10V_AH,12.9,0.000
$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
$DEVICE_SECS,19.150,195.750,458.450,100.625,0.000,0.000,0.000,370.375,0.500,0.000,7.082,4189.137,8068.952,771.351,3834.314,175.937,0.000,2660.619,0.000,3455.679,0.000,0.553,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1096.016,2147.042,1578.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328728
$DATA_FILE_SIZE,147033,1941
$CAP_FILE_SIZE,202469,0
$CFSIZE,2097086464,2077818880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.219,113.0,1
$GPS,251216,204449,2328.954,12342.260,34,0.8,34,-3.8