version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 134
start: 1 2 117 4 45 41
data:
$ID,628
$MISSION,3
$DIVE,134
$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,-124615.46
$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,49
$R_STBD_OVSHOOT,64
$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
$GPS1,020117,043730,2156.020,12355.607,23,1.7,23,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.2
$GPS2,020117,044517,2156.084,12355.545,8,1.4,8,-3.4
$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,160.6,48914,-15.8,-10.104,-18.78,2952
$D_GRID,5075
$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,14,-0.78,-194.6,109,2169,1375,1356,0.0,0.0,0,71,0.00,0.00,-53.80,0.000,16386,0.000,0.000,107,2169,3227,3230,3225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.78,-194.6,107,2169,3229,3225,3.7,-8.7,8,96,8.68,2.40,-8.70,0.000,18948,0.484,0.077,2537,743,3783,3741,3826,0,0,0,0,0,0,14.40,14.72,14.92
$GC,175,-0.78,-194.6,2537,743,3740,3827,30.8,-21.8,26,183,0.05,2.28,0.00,0.000,3078,0.297,0.044,2548,2125,3783,3740,3826,0,0,0,0,0,0,14.57,14.74,28.83
$GC,431,-0.78,-194.6,2547,2125,3740,3827,92.6,-24.3,75,438,0.00,2.38,0.00,0.000,260,0.000,0.063,2539,3560,3783,3740,3827,0,0,0,0,0,0,28.83,14.80,28.83
$GC,501,-0.78,-194.6,1536,3560,3737,3826,108.9,-22.6,88,508,0.00,2.28,0.00,0.000,3078,0.000,0.031,2538,2148,3783,3740,3827,0,0,0,0,0,0,28.83,14.83,28.83
$GC,754,-0.78,-194.6,2538,2147,3740,3829,163.9,-20.0,137,762,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2147,3784,3740,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1006,-0.78,-194.6,1536,2145,3737,3829,205.0,-15.1,186,1013,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2147,3785,3740,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.78,-194.6,1536,2145,3737,3830,241.5,-15.1,235,1265,0.00,2.38,0.00,0.000,2308,0.000,0.058,2528,3574,3785,3740,3830,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1278,-0.78,-194.6,2528,3574,3740,3831,244.5,-15.1,238,1286,0.05,2.28,0.00,0.000,3078,0.276,0.029,2549,2142,3785,3740,3831,0,0,0,0,0,0,14.68,14.89,28.83
$GC,1528,-0.78,-194.6,2549,2141,3740,3830,280.4,-14.6,266,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2141,3786,3741,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1769,-0.78,-194.6,2549,2141,3740,3830,314.4,-13.6,290,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2141,3785,3740,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2008,-0.78,-194.6,2549,2140,3739,3830,344.9,-12.1,314,2017,0.00,2.33,0.00,0.000,260,0.000,0.058,2540,3561,3784,3739,3830,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2059,-0.78,-194.6,2541,3561,3738,3831,351.0,-12.2,324,2063,0.00,2.20,0.00,0.000,3078,0.000,0.029,2540,2143,3784,3739,3830,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2305,-0.78,-194.6,2540,2141,3738,3830,381.5,-12.2,349,2314,0.00,2.22,0.00,0.000,2564,0.000,0.054,2540,750,3783,3737,3830,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2345,-0.78,-194.6,2540,750,3737,3830,386.9,-13.4,357,2350,0.05,2.22,0.00,0.000,3078,0.480,0.040,2545,2167,3783,3737,3829,0,0,0,0,0,0,14.76,15.01,28.83
$GC,2597,-0.78,-194.6,2545,2168,3735,3830,418.0,-13.1,383,2598,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2168,3782,3735,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2837,-0.78,-194.6,2545,2168,3732,3830,450.6,-13.1,407,2841,0.00,2.25,0.00,0.000,2308,0.000,0.060,2536,3554,3781,3732,3830,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2903,-0.78,-194.6,2536,3555,3731,3830,459.0,-12.6,420,2912,0.00,2.17,0.00,0.000,3078,0.000,0.031,2536,2153,3780,3731,3830,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3153,-0.78,-194.6,2536,2153,3730,3830,490.1,-12.1,446,3162,0.00,2.25,0.00,0.000,2564,0.000,0.056,2535,753,3779,3729,3830,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3197,-0.78,-194.6,1664,753,3726,3829,495.4,-11.1,455,3205,0.05,2.25,0.00,0.000,3078,0.298,0.039,2548,2156,3779,3729,3830,0,0,0,0,0,0,14.73,14.95,28.83
$GC,3445,-0.78,-194.6,2548,2156,3728,3828,518.5,-9.6,480,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2156,3777,3727,3828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3684,-0.78,-194.6,2548,2156,3725,3826,542.7,-10.8,504,3688,0.00,2.28,0.00,0.000,260,0.000,0.061,2541,3549,3775,3725,3826,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3760,-0.78,-194.6,2541,3549,3724,3826,551.4,-11.3,519,3764,0.00,2.20,0.00,0.000,3078,0.000,0.031,2541,2142,3775,3724,3826,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4006,-0.78,-194.6,2541,2141,3723,3823,582.0,-12.7,544,4015,0.00,2.25,0.00,0.000,2564,0.000,0.057,2541,747,3773,3723,3823,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4099,-0.78,-194.6,1664,747,3718,3822,594.6,-12.8,563,4107,0.03,2.25,0.00,0.000,3078,0.387,0.040,2544,2144,3772,3722,3823,0,0,0,0,0,0,14.69,14.95,28.83
$GC,4356,-0.78,-194.6,2544,2144,3721,3822,623.3,-10.5,579,4358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2143,3771,3721,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4596,-0.78,-194.6,2544,2143,3720,3821,643.9,-7.7,591,4601,0.00,2.30,0.00,0.000,2308,0.000,0.063,2535,3546,3769,3718,3821,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4625,-0.78,-194.6,2535,3547,3718,3821,646.3,-7.8,597,4634,0.00,2.20,0.00,0.000,3078,0.000,0.031,2535,2151,3769,3718,3821,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4873,-0.78,-194.6,2535,2150,3716,3817,666.5,-8.8,610,4877,0.00,2.28,0.00,0.000,2564,0.000,0.057,2535,753,3767,3717,3817,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4962,-0.78,-194.6,2534,753,3716,3818,675.0,-9.1,628,4967,0.08,2.20,0.00,0.000,3078,0.402,0.041,2543,2149,3767,3716,3818,0,0,0,0,0,0,14.76,15.04,28.83
$GC,5214,-0.78,-194.6,2544,2149,3714,3815,696.0,-8.7,642,5218,0.00,2.30,0.00,0.000,2308,0.000,0.063,2535,3547,3764,3714,3815,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5263,-0.78,-194.6,2534,3548,3713,3815,700.5,-8.7,652,5271,0.00,2.22,0.00,0.000,3078,0.000,0.032,2534,2144,3764,3713,3815,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5510,-0.78,-194.6,2534,2144,3711,3813,723.8,-9.8,665,5514,0.00,2.35,0.00,0.000,2308,0.000,0.063,2525,3547,3762,3711,3813,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5564,-0.78,-194.6,2525,3547,3711,3813,729.4,-10.3,676,5572,0.10,2.22,0.00,0.000,3078,0.330,0.033,2553,2137,3762,3711,3813,0,0,0,0,0,0,14.80,15.04,28.83
$GC,5811,-0.78,-194.6,2553,2136,3710,3812,751.8,-9.1,689,5815,0.00,2.35,0.00,0.000,260,0.000,0.063,2543,3549,3761,3710,3812,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5855,-0.78,-194.6,2543,3549,3709,3812,756.1,-9.5,698,5860,0.00,2.20,0.00,0.000,3078,0.000,0.033,2544,2154,3760,3709,3812,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6107,-0.78,-194.6,2543,2153,3707,3809,781.9,-10.7,712,6111,0.00,2.28,0.00,0.000,2564,0.000,0.059,2544,757,3758,3707,3809,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6156,-0.78,-194.6,2544,758,3707,3809,787.6,-11.4,722,6163,0.00,2.22,0.00,0.000,3078,0.000,0.044,2537,2151,3757,3706,3809,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6403,-0.78,-194.6,2537,2152,3705,3808,816.1,-11.9,735,6407,0.00,2.33,0.00,0.000,2308,0.000,0.066,2528,3550,3756,3705,3808,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6437,-0.78,-194.6,2528,3551,3704,3808,820.4,-11.9,742,6445,0.08,2.22,0.00,0.000,3078,0.364,0.033,2547,2147,3755,3704,3807,0,0,0,0,0,0,14.77,15.04,28.83
$GC,6684,-0.78,-194.6,2547,2147,3703,3805,846.4,-10.3,755,6688,0.00,2.28,0.00,0.000,2564,0.000,0.060,2547,751,3754,3703,3805,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6748,-0.78,-194.6,2547,751,3703,3805,853.2,-10.2,768,6752,0.00,2.25,0.00,0.000,3078,0.000,0.044,2540,2161,3754,3703,3806,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7000,-0.78,-194.6,2540,2163,3701,3805,877.3,-9.3,782,7006,0.00,2.30,0.00,0.000,2308,0.000,0.067,2530,3552,3752,3700,3805,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7063,-0.78,-194.6,2531,3552,3700,3804,883.1,-8.5,795,7068,0.08,2.22,0.00,0.000,3078,0.374,0.033,2549,2152,3752,3700,3804,0,0,0,0,0,0,14.75,15.03,28.83
$GC,7320,-0.78,-194.6,2549,2150,3700,3803,902.9,-7.4,810,7324,0.00,2.28,0.00,0.000,516,0.000,0.060,2550,759,3751,3700,3803,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7364,-0.78,-194.6,2550,759,3699,3802,906.5,-7.6,819,7369,0.00,2.22,0.00,0.000,3078,0.000,0.043,2542,2154,3751,3700,3803,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7616,-0.78,-194.6,2542,2155,3698,3801,926.0,-7.7,833,7620,0.00,2.28,0.00,0.000,2564,0.000,0.060,2542,758,3749,3698,3801,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7652,-0.78,-194.6,2542,759,3698,3801,929.0,-8.4,840,7657,0.00,2.20,0.00,0.000,3078,0.000,0.044,2537,2144,3749,3698,3801,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7913,-0.78,-194.6,2537,2145,3696,3800,951.2,-8.8,856,7917,0.00,2.35,0.00,0.000,2308,0.000,0.067,2528,3555,3748,3696,3800,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7989,-0.78,-194.6,2528,3556,3695,3800,958.1,-9.3,871,7994,0.08,2.22,0.00,0.000,3078,0.360,0.034,2546,2150,3747,3695,3800,0,0,0,0,0,0,14.73,15.02,28.83
$STATE,8130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8130,begin apogee
$GC,8134,-0.17,0.0,2547,1932,3695,3798,970.1,-8.5,881,8422,0.55,0.00,284.15,1.559,10246,0.246,0.000,2744,1931,2988,3028,2948,0,0,0,0,0,0,14.74,28.83,13.66
$STATE,8423,end apogee,CONTROL_FINISHED_OK
$STATE,8423,begin climb
$GC,8425,0.78,194.6,2744,1931,3021,2940,981.3,0.0,895,8653,0.80,2.55,217.77,1.740,11012,0.155,0.062,3048,3350,2184,2219,2150,0,0,0,0,0,0,14.16,14.05,13.53
$GC,8678,0.78,194.6,3048,3352,2208,2136,959.8,15.5,939,8683,0.00,2.38,0.00,0.000,5126,0.000,0.042,3057,1985,2171,2208,2135,0,0,0,0,0,0,28.83,14.23,28.83
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$STATE,16274,end climb,SURFACE_DEPTH_REACHED
$STATE,16274,begin surface coast
$FINISH,0.1,1.016455
$STATE,16296,end surface coast,CONTROL_FINISHED_OK
$STATE,16296,begin surface
$SM_CCo,16310,13.80,0.156,0,0,1356,400.08
$SM_GC,2.23,7.30,0.30,13.80,0.102,0.057,0.156,138,2223,1356,-8.24,-1.41,400.08,0,0,0,0,0,0,14.78,14.90,14.70
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$TT8_MAMPS,0.020223,0.020223
$HUMID,39.48
$INTERNAL_PRESSURE,8.09601
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,13.5,50.622
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.200,202.550,696.400,13.800,0.000,0.000,0.000,361.625,0.250,0.000,9.094,3958.382,8110.772,857.680,3662.802,180.093,0.000,2746.118,0.000,3287.017,0.000,0.552,0.000
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$MEM,328664
$DATA_FILE_SIZE,140781,1879
$CAP_FILE_SIZE,200828,0
$CFSIZE,2097086464,2071592960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.019,314.4,1
$GPS,020117,091900,2153.980,12356.352,40,0.8,41,-3.4