version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 132
start: 1 1 117 19 29 43
data:
$ID,628
$MISSION,3
$DIVE,132
$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,-124584.98
$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,44
$R_STBD_OVSHOOT,94
$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
$GPS1,010117,192140,2158.027,12354.377,46,1.5,48,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.7
$GPS2,010117,192919,2158.043,12354.309,10,1.6,10,-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,124.8,52853,-15.8,-10.104,-18.78,2952
$D_GRID,5072
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.78,-194.6,111,2180,1360,1348,0.0,0.0,0,70,0.00,0.00,-53.53,0.000,16386,0.000,0.000,109,2180,3210,3218,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.78,-194.6,108,2180,3217,3205,3.5,-7.1,8,94,8.60,0.00,-9.07,0.000,18694,0.477,0.000,2538,2180,3783,3741,3825,0,0,0,0,0,0,14.40,28.83,14.93
$GC,340,-0.78,-194.6,1552,2178,3737,3824,75.0,-25.2,59,347,0.00,2.25,0.00,0.000,2308,0.000,0.060,2530,3503,3782,3740,3825,0,0,0,0,0,0,28.83,14.75,28.83
$GC,374,-0.78,-194.6,1536,3502,3737,3824,83.3,-24.0,65,383,0.05,2.20,0.00,0.000,3078,0.328,0.031,2548,2136,3782,3740,3825,0,0,0,0,0,0,14.57,14.78,28.83
$GC,631,-0.78,-194.6,1552,2132,3737,3825,140.8,-18.5,114,638,0.00,2.30,0.00,0.000,260,0.000,0.057,2539,3498,3783,3740,3826,0,0,0,0,0,0,28.83,14.81,28.83
$GC,661,-0.78,-194.6,1552,3497,3737,3825,146.1,-18.2,119,668,0.00,2.17,0.00,0.000,3078,0.000,0.030,2540,2141,3783,3740,3826,0,0,0,0,0,0,28.83,14.83,28.83
$GC,914,-0.78,-194.6,1536,2138,3737,3827,188.0,-15.9,168,921,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2139,3784,3740,3828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1167,-0.78,-194.6,1536,2138,3736,3828,226.5,-16.1,217,1175,0.00,2.28,0.00,0.000,2564,0.000,0.055,2539,760,3784,3740,3829,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1238,-0.78,-194.6,1552,760,3737,3829,237.4,-14.5,230,1246,0.03,2.15,0.00,0.000,3078,0.356,0.039,2543,2100,3784,3740,3829,0,0,0,0,0,0,14.61,14.85,28.83
$GC,1493,-0.78,-194.6,2543,2100,3741,3829,270.6,-12.9,264,1497,0.00,2.15,0.00,0.000,2564,0.000,0.054,2543,756,3784,3740,3829,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1512,-0.78,-194.6,2543,756,3738,3829,273.4,-13.3,268,1522,0.00,2.22,0.00,0.000,3078,0.000,0.039,2536,2143,3784,3740,3829,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1761,-0.78,-194.6,2536,2143,3741,3829,308.0,-15.1,293,1770,0.00,2.30,0.00,0.000,2308,0.000,0.060,2528,3562,3784,3740,3829,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1811,-0.78,-194.6,2528,3562,3739,3829,315.4,-14.0,303,1816,0.08,2.20,0.00,0.000,3078,0.364,0.028,2548,2138,3784,3739,3829,0,0,0,0,0,0,14.75,14.99,28.83
$GC,2056,-0.78,-194.6,2548,2137,3739,3829,347.9,-12.7,328,2060,0.00,2.33,0.00,0.000,260,0.000,0.057,2539,3558,3784,3739,3829,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2100,-0.78,-194.6,1640,3557,3736,3829,353.8,-13.2,337,2107,0.00,2.22,0.00,0.000,3078,0.000,0.028,2539,2154,3783,3738,3829,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2348,-0.78,-194.6,2539,2154,3738,3829,386.5,-13.5,362,2356,0.00,2.25,0.00,0.000,2564,0.000,0.054,2539,748,3783,3737,3829,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2409,-0.78,-194.6,2539,749,3737,3829,394.6,-12.9,374,2418,0.08,2.22,0.00,0.000,3078,0.390,0.040,2548,2169,3783,3737,3829,0,0,0,0,0,0,14.76,15.00,28.83
$GC,2658,-0.78,-194.6,2548,2169,3735,3829,422.7,-10.9,400,2662,0.00,2.25,0.00,0.000,260,0.000,0.059,2540,3555,3782,3735,3829,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2704,-0.78,-194.6,2540,3555,3734,3829,427.5,-10.3,409,2708,0.00,2.17,0.00,0.000,3078,0.000,0.029,2540,2151,3781,3734,3829,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2950,-0.78,-194.6,2540,2150,3732,3830,453.4,-10.5,434,2958,0.00,2.22,0.00,0.000,2564,0.000,0.054,2540,760,3780,3732,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2981,-0.78,-194.6,2540,761,3731,3829,456.9,-11.9,440,2990,0.05,2.17,0.00,0.000,3078,0.477,0.040,2545,2150,3780,3731,3829,0,0,0,0,0,0,14.76,15.02,28.83
$GC,3230,-0.78,-194.6,2545,2150,3730,3829,485.1,-11.8,466,3234,0.00,2.28,0.00,0.000,2308,0.000,0.060,2536,3550,3779,3730,3829,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3279,-0.78,-194.6,2536,3550,3729,3829,491.3,-12.0,476,3286,0.00,2.17,0.00,0.000,3078,0.000,0.030,2536,2151,3779,3729,3829,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3527,-0.78,-194.6,2536,2151,3727,3826,521.3,-12.2,501,3535,0.00,2.25,0.00,0.000,2564,0.000,0.056,2536,750,3776,3727,3826,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3570,-0.78,-194.6,1664,750,3723,3826,526.9,-11.9,510,3577,0.00,2.25,0.00,0.000,3078,0.000,0.041,2532,2146,3776,3726,3826,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3818,-0.78,-194.6,2532,2147,3725,3825,554.8,-11.1,535,3819,0.00,0.00,0.00,0.000,2054,0.000,0.000,2532,2147,3775,3725,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4057,-0.78,-194.6,2532,2147,3723,3823,581.6,-11.0,559,4061,0.00,2.30,0.00,0.000,2308,0.000,0.061,2522,3554,3773,3723,3823,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4143,-0.78,-194.6,2523,3554,3722,3823,591.5,-11.6,576,4148,0.10,2.20,0.00,0.000,3078,0.330,0.031,2550,2141,3773,3723,3823,0,0,0,0,0,0,14.81,15.04,28.83
$GC,4388,-0.78,-194.6,2550,2140,3722,3822,619.0,-11.2,593,4392,0.00,2.22,0.00,0.000,516,0.000,0.057,2550,763,3772,3722,3822,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4407,-0.78,-194.6,1696,763,3718,3821,621.3,-11.3,597,4411,0.00,2.22,0.00,0.000,3078,0.000,0.041,2545,2143,3772,3722,3822,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4664,-0.78,-194.6,2545,2143,3719,3821,650.4,-11.2,612,4665,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2144,3770,3720,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4904,-0.78,-194.6,2545,2143,3717,3819,676.9,-10.8,624,4905,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2143,3768,3717,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5144,-0.78,-194.6,2545,2143,3716,3817,700.7,-9.5,636,5148,0.00,2.33,0.00,0.000,2308,0.000,0.063,2535,3558,3766,3716,3817,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5240,-0.78,-194.6,2535,3558,3715,3817,709.6,-9.3,655,5246,0.00,2.20,0.00,0.000,3078,0.000,0.032,2535,2156,3766,3715,3817,0,0,0,0,0,0,28.83,15.05,28.83
$GC,5500,-0.78,-194.6,2535,2155,3714,3815,734.6,-9.9,671,5501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2155,3764,3714,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5740,-0.78,-194.6,2535,2155,3712,3813,760.6,-11.1,683,5744,0.00,2.33,0.00,0.000,2308,0.000,0.063,2525,3555,3762,3712,3813,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5784,-0.78,-194.6,2525,3555,3711,3813,765.8,-11.3,692,5789,0.10,2.22,0.00,0.000,3078,0.331,0.032,2553,2145,3762,3711,3813,0,0,0,0,0,0,14.80,15.05,28.83
$GC,6036,-0.78,-194.6,2553,2144,3710,3812,792.1,-10.7,706,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2143,3761,3710,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6276,-0.78,-194.6,2553,2144,3708,3810,817.9,-10.9,718,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2144,3759,3709,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6516,-0.78,-194.6,2553,2144,3706,3808,843.3,-10.2,730,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2144,3757,3706,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6756,-0.78,-194.6,2553,2144,3705,3806,865.3,-8.8,742,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2144,3755,3705,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6996,-0.78,-194.6,2553,2144,3704,3805,884.7,-7.9,754,7000,0.00,2.35,0.00,0.000,260,0.000,0.066,2545,3548,3754,3703,3805,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7055,-0.78,-194.6,1672,3547,3699,3804,889.7,-8.3,766,7060,0.00,2.25,0.00,0.000,3078,0.000,0.034,2545,2159,3753,3702,3805,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7312,-0.78,-194.6,2545,2158,3701,3803,911.4,-8.6,781,7316,0.00,2.30,0.00,0.000,2564,0.000,0.060,2545,750,3752,3701,3804,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7341,-0.78,-194.6,2545,750,3701,3804,914.2,-9.7,787,7350,0.00,2.28,0.00,0.000,3078,0.000,0.044,2538,2141,3752,3701,3804,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7589,-0.78,-194.6,2538,2141,3700,3802,937.3,-9.6,800,7595,0.00,2.35,0.00,0.000,2308,0.000,0.067,2529,3558,3751,3700,3803,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7671,-0.78,-194.6,1680,3557,3696,3801,945.5,-9.7,817,7676,0.03,2.30,0.00,0.000,3078,0.353,0.034,2541,2142,3751,3699,3803,0,0,0,0,0,0,14.72,15.00,28.83
$GC,7928,-0.78,-194.6,2541,2141,3698,3800,968.6,-8.8,832,7929,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2141,3749,3699,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7947,begin apogee
$GC,7951,-0.17,0.0,2541,1926,3699,3800,970.3,-8.8,833,8209,0.57,0.00,254.38,1.665,10246,0.243,0.000,2750,1926,2987,3027,2947,0,0,0,0,0,0,14.76,28.83,13.69
$STATE,8210,end apogee,CONTROL_FINISHED_OK
$STATE,8211,begin climb
$GC,8212,0.78,194.6,2750,1926,3021,2940,979.9,0.0,846,8436,0.77,2.40,213.12,1.761,10756,0.152,0.073,3054,585,2183,2217,2149,0,0,0,0,0,0,14.18,14.07,13.53
$GC,8509,0.78,194.6,3054,585,2200,2136,951.8,15.7,906,8515,0.00,2.28,0.00,0.000,5126,0.000,0.043,3054,1942,2168,2200,2136,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8768,0.78,194.6,3054,1943,2200,2129,914.3,13.9,922,8772,0.00,2.42,0.00,0.000,4356,0.000,0.067,3054,3364,2164,2200,2129,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8852,0.78,194.6,2160,3363,2160,2121,902.0,14.0,939,8856,0.00,2.35,0.00,0.000,5126,0.000,0.045,3063,1990,2163,2199,2128,0,0,0,0,0,0,28.83,14.71,28.83
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$STATE,15997,end climb,SURFACE_DEPTH_REACHED
$STATE,15997,begin surface coast
$FINISH,0.2,1.022743
$STATE,16015,end surface coast,CONTROL_FINISHED_OK
$STATE,16015,begin surface
$SM_CCo,16029,11.65,0.157,0,0,1355,400.08
$SM_GC,1.55,7.30,0.30,11.65,0.095,0.057,0.157,144,2198,1355,-8.25,-1.33,400.08,0,0,0,0,0,0,14.73,14.85,14.69
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$TT8_MAMPS,0.019474,0.019474
$HUMID,40.35
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,13.5,49.790
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.575,169.550,640.750,11.650,0.000,0.000,0.000,351.900,0.250,0.000,12.100,3936.876,7983.129,770.013,3610.234,179.397,0.000,2594.766,0.000,3247.707,0.000,0.552,0.000
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$MEM,328708
$DATA_FILE_SIZE,140589,1830
$CAP_FILE_SIZE,189762,0
$CFSIZE,2097086464,2071953408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.162,288.8,1
$GPS,010117,235818,2157.113,12354.949,39,0.8,39,-3.4