version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 124
start: 12 31 116 5 23 30
data:
$ID,628
$MISSION,3
$DIVE,124
$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,-124565.99
$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,36
$R_STBD_OVSHOOT,91
$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
$GPS1,311216,051528,2214.880,12353.986,22,1.9,23,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.7
$GPS2,311216,052307,2214.935,12353.995,27,2.0,27,-3.5
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,146.9,83861,-15.8,-10.104,-18.78,2952
$D_GRID,4979
$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,-194.6,98,2196,1375,1348,0.0,0.0,0,72,0.00,0.00,-54.67,0.000,16386,0.000,0.000,95,2195,3194,3197,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,94,2195,3199,3192,3.3,-8.0,8,103,8.65,2.45,-9.68,0.000,18948,0.480,0.076,2540,737,3782,3740,3824,0,0,0,0,0,0,14.43,14.66,14.94
$GC,167,-0.78,-194.6,1584,736,3737,3825,26.1,-21.3,24,175,0.03,2.22,0.00,0.000,3078,0.386,0.041,2542,2100,3783,3740,3826,0,0,0,0,0,0,14.53,14.73,28.83
$GC,420,-0.78,-194.6,2542,2101,3739,3826,81.0,-21.2,73,428,0.00,2.40,0.00,0.000,2308,0.000,0.059,2533,3554,3782,3739,3825,0,0,0,0,0,0,28.83,14.81,28.83
$GC,506,-0.78,-194.6,2533,3555,3739,3826,98.6,-19.1,89,514,0.00,2.30,0.00,0.000,3078,0.000,0.031,2533,2131,3782,3739,3826,0,0,0,0,0,0,28.83,14.84,28.83
$GC,760,-0.78,-194.6,1568,2128,3736,3825,149.9,-18.1,138,768,0.00,2.28,0.00,0.000,2564,0.000,0.055,2533,753,3783,3739,3827,0,0,0,0,0,0,28.83,14.83,28.83
$GC,780,-0.78,-194.6,1568,753,3736,3826,153.4,-17.5,141,788,0.05,2.25,0.00,0.000,3078,0.332,0.040,2542,2144,3783,3739,3827,0,0,0,0,0,0,14.62,14.83,28.83
$GC,1036,-0.78,-194.6,1536,2142,3736,3829,196.5,-14.5,190,1044,0.00,2.35,0.00,0.000,2308,0.000,0.059,2533,3551,3783,3739,3828,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1158,-0.78,-194.6,2533,3551,3739,3829,214.4,-14.0,213,1166,0.00,2.25,0.00,0.000,3078,0.000,0.030,2533,2146,3784,3739,3829,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1411,-0.78,-194.6,2532,2146,3739,3830,252.3,-16.5,261,1421,0.00,2.33,0.00,0.000,2308,0.000,0.061,2522,3553,3784,3739,3829,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1467,-0.78,-194.6,2523,3553,3740,3829,261.9,-15.9,272,1476,0.05,2.25,0.00,0.000,3078,0.309,0.031,2543,2150,3784,3740,3829,0,0,0,0,0,0,14.61,14.84,28.83
$GC,1716,-0.78,-194.6,2544,2148,3740,3829,299.3,-14.0,297,1725,0.00,2.22,0.00,0.000,2564,0.000,0.052,2544,752,3785,3740,3830,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1740,-0.78,-194.6,2544,752,3739,3830,303.1,-13.6,302,1748,0.00,2.20,0.00,0.000,3078,0.000,0.037,2536,2157,3784,3740,3829,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1988,-0.78,-194.6,2536,2157,3739,3829,337.0,-13.8,327,1997,0.00,2.25,0.00,0.000,2564,0.000,0.052,2536,746,3784,3739,3829,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2049,-0.78,-194.6,2536,746,3739,3829,345.6,-13.5,339,2053,0.08,2.20,0.00,0.000,3078,0.405,0.037,2548,2156,3784,3739,3830,0,0,0,0,0,0,14.74,14.99,28.83
$GC,2293,-0.78,-194.6,2548,2156,3738,3829,379.7,-14.2,364,2297,0.00,2.25,0.00,0.000,2308,0.000,0.060,2539,3544,3783,3738,3829,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2423,-0.78,-194.6,1640,3543,3734,3828,398.0,-13.4,390,2430,0.00,2.17,0.00,0.000,3078,0.000,0.030,2539,2144,3783,3737,3829,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2670,-0.78,-194.6,2539,2144,3736,3829,436.0,-16.4,415,2671,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2144,3782,3736,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2910,-0.78,-194.6,2539,2144,3734,3829,471.0,-12.9,439,2911,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2144,3781,3734,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3149,-0.78,-194.6,2539,2144,3732,3829,497.5,-10.5,463,3154,0.00,2.33,0.00,0.000,2308,0.000,0.065,2529,3549,3780,3731,3829,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3208,-0.78,-194.6,2529,3549,3731,3829,503.8,-10.1,475,3217,0.03,2.22,0.00,0.000,3078,0.360,0.033,2541,2157,3780,3731,3829,0,0,0,0,0,0,14.73,14.97,28.83
$GC,3456,-0.78,-194.6,2541,2157,3729,3829,528.1,-9.6,500,3460,0.00,2.28,0.00,0.000,2308,0.000,0.061,2533,3544,3778,3728,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3485,-0.78,-194.6,2533,3545,3728,3829,531.3,-10.1,506,3493,0.00,2.20,0.00,0.000,3078,0.000,0.030,2533,2135,3778,3728,3829,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3733,-0.78,-194.6,2533,2135,3726,3826,556.6,-10.7,531,3741,0.00,2.22,0.00,0.000,2564,0.000,0.055,2532,750,3776,3726,3827,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3926,-0.78,-194.6,1648,750,3721,3824,580.0,-12.4,570,3935,0.05,2.25,0.00,0.000,3078,0.328,0.040,2543,2144,3774,3724,3825,0,0,0,0,0,0,14.74,14.99,28.83
$GC,4174,-0.78,-194.6,2544,2144,3723,3823,610.3,-12.4,591,4181,0.00,2.30,0.00,0.000,2308,0.000,0.063,2534,3550,3773,3723,3823,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4221,-0.78,-194.6,2534,3550,3722,3823,616.5,-12.5,601,4226,0.00,2.25,0.00,0.000,3078,0.000,0.031,2534,2146,3773,3723,3823,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4473,-0.78,-194.6,2534,2144,3722,3822,646.7,-11.6,615,4477,0.00,2.33,0.00,0.000,2308,0.000,0.063,2525,3550,3772,3722,3822,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4509,-0.78,-194.6,2525,3550,3721,3822,650.6,-10.6,622,4514,0.10,2.20,0.00,0.000,3078,0.327,0.031,2553,2140,3771,3721,3822,0,0,0,0,0,0,14.82,15.05,28.83
$GC,4766,-0.78,-194.6,2553,2140,3719,3821,673.6,-8.3,637,4770,0.00,2.22,0.00,0.000,516,0.000,0.057,2553,765,3770,3719,3821,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4795,-0.78,-194.6,2553,765,3719,3821,676.3,-8.6,643,4799,0.00,2.20,0.00,0.000,1030,0.000,0.041,2548,2153,3770,3719,3821,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5047,-0.78,-194.6,2549,2153,3717,3818,698.2,-9.1,657,5053,0.00,2.25,0.00,0.000,516,0.000,0.055,2548,758,3767,3716,3818,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5076,-0.78,-194.6,2549,758,3717,3818,701.1,-10.0,663,5080,0.00,2.20,0.00,0.000,3078,0.000,0.041,2540,2152,3767,3717,3818,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5322,-0.78,-194.6,2540,2153,3715,3816,725.1,-10.1,676,5326,0.00,2.30,0.00,0.000,2308,0.000,0.065,2530,3551,3765,3715,3815,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5418,-0.78,-194.6,2530,3552,3713,3816,735.5,-11.1,695,5422,0.08,2.20,0.00,0.000,3078,0.373,0.032,2549,2150,3765,3714,3816,0,0,0,0,0,0,14.79,15.05,28.83
$GC,5674,-0.78,-194.6,2549,2150,3713,3814,763.6,-11.2,710,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2150,3763,3712,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5914,-0.78,-194.6,2549,2149,3711,3813,791.3,-11.4,722,5918,0.00,2.25,0.00,0.000,516,0.000,0.057,2549,756,3762,3711,3813,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5970,-0.78,-194.6,2549,756,3710,3812,797.8,-11.4,733,5974,0.00,2.20,0.00,0.000,3078,0.000,0.042,2542,2149,3761,3710,3813,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6226,-0.78,-194.6,2542,2150,3709,3811,824.3,-9.3,748,6230,0.00,2.30,0.00,0.000,2308,0.000,0.067,2533,3545,3760,3709,3812,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6302,-0.78,-194.6,2533,3545,3707,3811,830.7,-8.3,763,6306,0.00,2.20,0.00,0.000,3078,0.000,0.034,2533,2154,3759,3707,3812,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6563,-0.78,-194.6,2533,2153,3707,3809,850.2,-7.2,779,6569,0.00,2.28,0.00,0.000,2564,0.000,0.058,2533,753,3757,3706,3809,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6596,-0.78,-194.6,2532,753,3706,3809,852.9,-7.7,786,6604,0.10,2.22,0.00,0.000,3078,0.373,0.042,2549,2147,3756,3705,3807,0,0,0,0,0,0,14.76,15.02,28.83
$GC,6843,-0.78,-194.6,2550,2147,3705,3807,868.9,-6.8,799,6847,0.00,2.33,0.00,0.000,260,0.000,0.067,2541,3547,3756,3705,3807,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6872,-0.78,-194.6,2541,3547,3704,3807,871.2,-7.6,805,6876,0.00,2.22,0.00,0.000,3078,0.000,0.034,2541,2143,3756,3705,3807,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7124,-0.78,-194.6,2541,2141,3704,3806,891.8,-8.5,819,7130,0.00,2.25,0.00,0.000,2564,0.000,0.060,2541,759,3754,3703,3806,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7167,-0.78,-194.6,2541,758,3703,3805,895.8,-9.1,828,7171,0.00,2.22,0.00,0.000,3078,0.000,0.044,2537,2148,3754,3703,3806,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7424,-0.78,-194.6,2537,2149,3702,3805,917.9,-8.6,843,7428,0.00,2.33,0.00,0.000,2308,0.000,0.068,2528,3549,3753,3702,3805,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7488,-0.78,-194.6,2528,3551,3701,3805,923.9,-9.2,856,7493,0.08,2.22,0.00,0.000,3078,0.353,0.034,2548,2143,3753,3701,3805,0,0,0,0,0,0,14.77,15.03,28.83
$GC,7745,-0.78,-194.6,2548,2141,3700,3802,946.3,-9.0,871,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2141,3751,3700,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7985,-0.78,-194.6,2548,2141,3699,3801,969.9,-10.3,883,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2141,3750,3699,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8004,begin apogee
$GC,8008,-0.17,0.0,2548,1919,3699,3801,972.0,-10.3,884,8215,0.55,0.00,198.15,2.707,10246,0.243,0.000,2748,1919,2987,3026,2949,0,0,0,0,1,0,14.76,28.83,13.06
$STATE,8216,end apogee,CONTROL_FINISHED_OK
$STATE,8216,begin climb
$GC,8217,0.78,194.6,2748,1919,3027,2954,984.5,0.0,894,8439,0.80,0.00,215.45,1.834,10758,0.143,0.000,3054,1919,2193,2228,2159,0,0,0,0,0,0,13.97,28.83,13.39
$GC,8666,0.78,194.6,3055,1919,2203,2126,946.9,13.3,947,8670,0.00,2.47,0.00,0.000,4356,0.000,0.064,3055,3355,2164,2203,2126,0,0,0,0,0,0,28.83,14.53,28.83
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$STATE,16063,end climb,SURFACE_DEPTH_REACHED
$STATE,16064,begin surface coast
$FINISH,0.3,1.022986
$STATE,16081,end surface coast,CONTROL_FINISHED_OK
$STATE,16081,begin surface
$SM_CCo,16097,99.47,0.151,0,0,1354,400.08
$SM_GC,0.92,7.53,1.92,99.47,0.103,0.031,0.151,121,2148,1354,-8.26,1.55,400.08,0,0,0,0,0,0,14.84,14.90,14.71
$IRIDIUM_FIX,2204.37,12353.68,271009,181830
$TT8_MAMPS,0.020223,0.020223
$HUMID,37.43
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,23.10
$XPDR_PINGS,12
$24V_AH,13.1,46.547
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.175,191.450,413.600,99.475,0.000,0.000,0.000,336.975,3.000,0.000,28.021,4112.912,7790.750,738.380,3814.287,179.506,0.000,2572.473,0.000,3447.221,0.000,0.551,0.000
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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,328728
$DATA_FILE_SIZE,146992,1927
$CAP_FILE_SIZE,198708,0
$CFSIZE,2097086464,2073231360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.091,231.9,1
$GPS,311216,095431,2212.803,12354.631,29,0.8,29,-3.5