version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 126
start: 12 31 116 14 53 31
data:
$ID,628
$MISSION,3
$DIVE,126
$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,-124568.51
$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,60
$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
$GPS1,311216,144501,2209.750,12354.140,38,0.7,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-61.7
$GPS2,311216,145308,2209.690,12354.106,8,0.8,8,-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,142.0,74204,-15.8,-10.104,-18.78,2952
$D_GRID,4917
$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,-194.6,101,2126,1367,1347,0.0,0.0,0,72,0.00,0.00,-54.78,0.000,16386,0.000,0.000,98,2127,3251,3251,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,98,2127,3253,3251,3.8,-9.1,8,98,8.68,2.33,-8.27,0.000,18948,0.483,0.075,2539,744,3783,3741,3825,0,0,0,0,0,0,14.42,14.73,14.93
$GC,156,-0.78,-194.6,1536,744,3736,3825,25.2,-19.5,22,164,0.03,2.28,0.00,0.000,3078,0.383,0.044,2541,2128,3783,3740,3826,0,0,0,0,0,0,14.52,14.75,28.83
$GC,412,-0.78,-194.6,1552,2126,3737,3824,81.6,-21.3,71,419,0.00,2.38,0.00,0.000,2308,0.000,0.061,2532,3557,3783,3740,3826,0,0,0,0,0,0,28.83,14.81,28.83
$GC,548,-0.78,-194.6,1536,3557,3736,3825,110.4,-21.4,97,555,0.00,2.28,0.00,0.000,3078,0.000,0.031,2532,2150,3782,3739,3826,0,0,0,0,0,0,28.83,14.85,28.83
$GC,800,-0.78,-194.6,2532,2148,3740,3827,161.4,-19.8,146,808,0.05,2.28,0.00,0.000,2564,0.504,0.054,2544,752,3783,3740,3827,0,0,0,0,0,0,14.69,14.85,28.83
$GC,861,-0.78,-194.6,1536,752,3737,3827,172.0,-15.9,157,868,0.00,2.28,0.00,0.000,3078,0.000,0.040,2536,2162,3783,3740,3827,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1114,-0.78,-194.6,1536,2159,3736,3828,211.5,-16.5,206,1122,0.00,2.33,0.00,0.000,2308,0.000,0.060,2527,3555,3784,3739,3829,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1169,-0.78,-194.6,1536,3553,3736,3828,219.9,-14.6,216,1177,0.05,2.25,0.00,0.000,3078,0.304,0.029,2547,2141,3784,3740,3829,0,0,0,0,0,0,14.66,14.88,28.83
$GC,1426,-0.78,-194.6,2547,2140,3740,3829,259.1,-13.6,260,1427,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2140,3784,3739,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1666,-0.78,-194.6,2547,2140,3740,3829,292.8,-13.7,284,1670,0.00,2.20,0.00,0.000,2564,0.000,0.051,2547,759,3784,3739,3829,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1745,-0.78,-194.6,2547,759,3740,3829,303.6,-13.4,299,1753,0.00,2.17,0.00,0.000,3078,0.000,0.038,2539,2154,3784,3740,3829,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1995,-0.78,-194.6,2539,2154,3739,3829,338.8,-14.5,325,2003,0.00,2.25,0.00,0.000,2308,0.000,0.059,2529,3545,3784,3739,3829,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2045,-0.78,-194.6,2529,3545,3739,3829,345.9,-14.1,335,2050,0.08,2.15,0.00,0.000,3078,0.377,0.030,2548,2150,3783,3738,3829,0,0,0,0,0,0,14.76,15.01,28.83
$GC,2290,-0.78,-194.6,2548,2150,3738,3829,375.6,-11.5,360,2294,0.00,2.20,0.00,0.000,516,0.000,0.052,2548,750,3783,3738,3829,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2336,-0.78,-194.6,2549,750,3738,3829,380.9,-11.3,369,2340,0.00,2.17,0.00,0.000,3078,0.000,0.038,2541,2146,3783,3738,3829,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2581,-0.78,-194.6,2541,2147,3736,3829,411.1,-13.8,394,2585,0.00,2.28,0.00,0.000,2308,0.000,0.060,2531,3548,3782,3736,3829,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2612,-0.78,-194.6,2531,3548,3735,3829,415.4,-13.4,400,2617,0.05,2.17,0.00,0.000,3078,0.447,0.030,2546,2144,3782,3735,3829,0,0,0,0,0,0,14.78,15.04,28.83
$GC,2857,-0.78,-194.6,2545,2143,3734,3829,446.3,-12.3,425,2861,0.00,2.22,0.00,0.000,2564,0.000,0.054,2546,760,3781,3733,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2938,-0.78,-194.6,2546,759,3732,3829,456.2,-11.4,441,2942,0.00,2.17,0.00,0.000,3078,0.000,0.038,2538,2154,3781,3733,3829,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3184,-0.78,-194.6,2538,2154,3732,3829,483.9,-11.9,466,3188,0.00,2.28,0.00,0.000,2308,0.000,0.062,2529,3548,3780,3731,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3295,-0.78,-194.6,2529,3549,3730,3829,498.2,-13.3,488,3304,0.08,2.17,0.00,0.000,3078,0.366,0.030,2548,2148,3779,3730,3829,0,0,0,0,0,0,14.81,15.04,28.83
$GC,3544,-0.78,-194.6,2548,2148,3727,3829,527.0,-10.4,514,3548,0.00,2.25,0.00,0.000,516,0.000,0.054,2548,751,3777,3726,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3568,-0.78,-194.6,1664,750,3723,3828,529.7,-10.3,519,3576,0.00,2.25,0.00,0.000,3078,0.000,0.039,2541,2148,3777,3726,3828,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3818,-0.78,-194.6,2541,2149,3725,3825,552.8,-9.7,544,3826,0.00,2.28,0.00,0.000,2308,0.000,0.062,2532,3554,3775,3725,3825,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3848,-0.78,-194.6,2531,3554,3725,3825,556.0,-10.1,550,3853,0.05,2.20,0.00,0.000,3078,0.442,0.030,2545,2147,3775,3725,3825,0,0,0,0,0,0,14.79,15.04,28.83
$GC,4100,-0.78,-194.6,2545,2145,3724,3823,582.0,-10.9,576,4109,0.00,2.22,0.00,0.000,2564,0.000,0.055,2546,762,3773,3723,3823,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4181,-0.78,-194.6,2546,762,3723,3823,591.3,-11.2,592,4190,0.00,2.20,0.00,0.000,3078,0.000,0.040,2538,2164,3772,3723,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4440,-0.78,-194.6,2539,2164,3722,3822,620.8,-11.3,610,4444,0.00,2.22,0.00,0.000,2308,0.000,0.063,2529,3539,3772,3722,3822,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4494,-0.78,-194.6,2529,3540,3721,3822,627.1,-11.3,621,4503,0.08,2.17,0.00,0.000,3078,0.369,0.031,2549,2151,3771,3721,3822,0,0,0,0,0,0,14.79,15.05,28.83
$GC,4742,-0.78,-194.6,2549,2151,3719,3821,652.3,-10.2,634,4748,0.00,2.25,0.00,0.000,516,0.000,0.056,2548,755,3770,3719,3821,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4764,-0.78,-194.6,1680,754,3715,3820,654.9,-10.7,639,4769,0.00,2.25,0.00,0.000,3078,0.000,0.041,2542,2151,3770,3719,3821,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5021,-0.78,-194.6,2541,2151,3717,3818,682.4,-10.9,654,5022,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2152,3767,3717,3818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5261,-0.78,-194.6,2542,2152,3715,3816,707.6,-10.3,666,5265,0.00,2.30,0.00,0.000,2308,0.000,0.064,2532,3553,3765,3715,3816,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5321,-0.78,-194.6,1608,3553,3710,3815,714.1,-10.6,678,5326,0.03,2.20,0.00,0.000,3078,0.549,0.031,2544,2150,3765,3714,3816,0,0,0,0,0,0,14.81,15.06,28.83
$GC,5573,-0.78,-194.6,2544,2150,3713,3814,741.4,-11.5,692,5574,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2150,3763,3713,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5813,-0.78,-194.6,2544,2149,3711,3812,770.8,-12.4,704,5814,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2149,3761,3711,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6053,-0.78,-194.6,2544,2149,3710,3812,800.1,-11.8,716,6057,0.00,2.28,0.00,0.000,2564,0.000,0.057,2544,757,3761,3710,3812,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6151,-0.78,-194.6,1680,756,3705,3810,811.9,-11.2,736,6156,0.00,2.25,0.00,0.000,3078,0.000,0.043,2538,2137,3759,3708,3811,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6409,-0.78,-194.6,2538,2138,3706,3809,839.9,-10.5,751,6416,0.00,2.35,0.00,0.000,2308,0.000,0.067,2529,3559,3757,3706,3809,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6462,-0.78,-194.6,2529,3559,3705,3809,845.6,-10.0,762,6470,0.08,2.22,0.00,0.000,3078,0.364,0.032,2548,2149,3757,3705,3809,0,0,0,0,0,0,14.78,15.04,28.83
$GC,6709,-0.78,-194.6,2548,2150,3705,3807,866.6,-8.4,775,6713,0.00,2.33,0.00,0.000,260,0.000,0.066,2540,3554,3756,3705,3807,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6758,-0.78,-194.6,2540,3554,3704,3807,871.0,-8.6,785,6765,0.00,2.22,0.00,0.000,3078,0.000,0.033,2540,2154,3756,3705,3807,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7005,-0.78,-194.6,2540,2153,3703,3805,892.3,-9.0,798,7009,0.00,2.33,0.00,0.000,2308,0.000,0.066,2530,3551,3754,3703,3805,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7054,-0.78,-194.6,2530,3551,3702,3805,896.9,-9.1,808,7062,0.08,2.22,0.00,0.000,3078,0.367,0.033,2549,2148,3753,3702,3805,0,0,0,0,0,0,14.77,15.04,28.83
$GC,7301,-0.78,-194.6,2549,2147,3702,3804,918.8,-9.1,821,7305,0.00,2.35,0.00,0.000,260,0.000,0.066,2541,3557,3752,3702,3803,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7325,-0.78,-194.6,2541,3558,3701,3804,921.3,-9.5,826,7329,0.00,2.22,0.00,0.000,3078,0.000,0.033,2541,2152,3752,3701,3804,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7577,-0.78,-194.6,2541,2151,3700,3802,945.4,-9.5,840,7581,0.00,2.35,0.00,0.000,2308,0.000,0.067,2531,3551,3751,3700,3802,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7611,-0.78,-194.6,2531,3551,3700,3802,948.9,-9.9,847,7619,0.05,2.22,0.00,0.000,3078,0.434,0.034,2545,2148,3751,3700,3802,0,0,0,0,0,0,14.76,15.03,28.83
$STATE,7856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7857,begin apogee
$GC,7861,-0.17,0.0,2545,1927,3699,3800,970.4,-8.6,860,8145,0.55,0.00,280.33,1.574,10246,0.242,0.000,2745,1926,2988,3028,2948,0,0,0,0,0,0,14.78,28.83,13.68
$STATE,8146,end apogee,CONTROL_FINISHED_OK
$STATE,8146,begin climb
$GC,8147,0.78,194.6,2745,1926,3021,2940,983.5,0.0,874,8366,0.80,2.47,207.77,1.799,10756,0.155,0.073,3061,581,2182,2217,2148,0,0,0,0,0,0,14.17,14.07,13.50
$GC,8427,0.78,194.6,3061,581,2199,2134,964.1,13.2,932,8431,0.00,2.30,0.00,0.000,5126,0.000,0.043,3060,1950,2166,2199,2134,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8673,0.78,194.6,3060,1951,2198,2127,933.6,12.1,945,8677,0.00,2.38,0.00,0.000,4356,0.000,0.066,3059,3358,2162,2199,2125,0,0,0,0,0,0,28.83,14.64,28.83
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$STATE,16281,end climb,SURFACE_DEPTH_REACHED
$STATE,16281,begin surface coast
$FINISH,0.2,1.022954
$STATE,16298,end surface coast,CONTROL_FINISHED_OK
$STATE,16298,begin surface
$SM_CCo,16312,48.88,0.155,0,0,1356,400.08
$SM_GC,1.16,7.25,0.28,48.88,0.097,0.063,0.155,144,2148,1356,-8.23,-1.75,400.08,0,0,0,0,0,0,14.76,14.85,14.70
$IRIDIUM_FIX,2157.39,12354.31,281009,040409
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.25
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,13.5,47.348
$10V_AH,13.2,0.000
$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
$DEVICE_SECS,18.925,196.350,576.375,48.875,0.000,0.000,0.000,379.425,0.250,0.000,9.106,4097.273,7927.701,797.796,3820.788,180.820,0.000,2718.052,0.000,3426.095,0.000,0.552,0.000
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$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,328708
$DATA_FILE_SIZE,147417,1945
$CAP_FILE_SIZE,202148,0
$CFSIZE,2097086464,2072903680
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.222,265.6,1
$GPS,311216,192725,2207.803,12353.546,37,0.9,38,-3.5