version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 137
start: 1 2 117 18 51 56
data:
$ID,628
$MISSION,3
$DIVE,137
$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,-124619.23
$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,41
$R_STBD_OVSHOOT,90
$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
$GPS1,020117,184400,2148.640,12354.808,29,0.9,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.2
$GPS2,020117,185132,2148.631,12354.723,8,1.4,8,-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,116.4,35682,-15.8,-10.104,-18.78,2952
$D_GRID,4797
$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,-194.6,117,2191,1371,1350,0.0,0.0,0,72,0.00,0.00,-54.75,0.000,16386,0.000,0.000,115,2191,3245,3250,3241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,115,2191,3249,3241,3.3,-5.4,8,97,8.52,2.45,-8.52,0.000,18948,0.471,0.073,2541,737,3784,3742,3826,0,0,0,0,0,0,14.40,14.73,14.91
$GC,161,-0.78,-194.6,2541,737,3740,3828,30.0,-25.2,23,168,0.00,2.25,0.00,0.000,3078,0.000,0.042,2533,2109,3783,3740,3827,0,0,0,0,0,0,28.83,14.73,28.83
$GC,413,-0.78,-194.6,2534,2110,3740,3828,94.0,-28.2,72,421,0.00,2.40,0.00,0.000,2308,0.000,0.058,2523,3560,3784,3740,3828,0,0,0,0,0,0,28.83,14.79,28.83
$GC,473,-0.78,-194.6,1536,3559,3737,3827,108.9,-24.0,83,482,0.05,2.30,0.00,0.000,3078,0.317,0.031,2543,2132,3784,3740,3828,0,0,0,0,0,0,14.59,14.82,28.83
$GC,729,-0.78,-194.6,2543,2131,3739,3830,161.2,-15.9,132,736,0.00,2.38,0.00,0.000,2308,0.000,0.062,2534,3549,3784,3738,3830,0,0,0,0,0,0,28.83,14.83,28.83
$GC,850,-0.78,-194.6,2534,3549,3740,3830,180.8,-16.3,155,858,0.00,2.25,0.00,0.000,3078,0.000,0.031,2534,2156,3785,3740,3830,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1105,-0.78,-194.6,2534,2156,3740,3830,216.6,-15.1,204,1113,0.00,2.33,0.00,0.000,2564,0.000,0.056,2534,750,3785,3740,3831,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1177,-0.78,-194.6,2534,750,3740,3831,227.5,-14.6,217,1186,0.05,2.28,0.00,0.000,3078,0.304,0.040,2545,2157,3785,3740,3831,0,0,0,0,0,0,14.64,14.85,28.83
$GC,1431,-0.78,-194.6,2545,2157,3740,3831,264.7,-15.2,257,1441,0.00,2.28,0.00,0.000,2564,0.000,0.055,2545,744,3786,3741,3831,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1454,-0.78,-194.6,2545,744,3741,3831,268.3,-15.7,261,1464,0.00,2.22,0.00,0.000,3078,0.000,0.038,2538,2163,3786,3741,3831,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1705,-0.78,-194.6,2538,2164,3740,3831,307.0,-14.8,287,1714,0.00,2.22,0.00,0.000,2308,0.000,0.059,2528,3553,3785,3740,3831,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1739,-0.78,-194.6,2528,3554,3740,3831,312.6,-14.8,294,1747,0.08,2.20,0.00,0.000,3078,0.370,0.028,2546,2134,3786,3741,3831,0,0,0,0,0,0,14.73,14.97,28.83
$GC,1986,-0.78,-194.6,2547,2132,3740,3831,344.1,-12.2,319,1990,0.00,2.20,0.00,0.000,2564,0.000,0.053,2547,751,3785,3740,3831,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2031,-0.78,-194.6,2547,751,3739,3831,349.7,-11.8,328,2036,0.00,2.20,0.00,0.000,3078,0.000,0.038,2539,2160,3785,3739,3831,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2277,-0.78,-194.6,2539,2160,3738,3831,378.9,-12.1,353,2278,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2160,3784,3738,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-0.78,-194.6,2538,2160,3737,3831,408.9,-11.8,377,2521,0.00,2.25,0.00,0.000,2308,0.000,0.060,2529,3546,3783,3737,3830,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2583,-0.78,-194.6,2528,3547,3736,3831,416.9,-11.8,390,2592,0.08,2.17,0.00,0.000,3078,0.363,0.030,2549,2145,3783,3736,3831,0,0,0,0,0,0,14.78,15.03,28.83
$GC,2832,-0.78,-194.6,2549,2144,3735,3831,445.4,-11.9,416,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2144,3783,3735,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,-0.78,-194.6,2549,2144,3731,3831,474.3,-12.1,440,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2144,3781,3731,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3313,-0.78,-194.6,2549,2144,3730,3830,504.3,-12.4,464,3317,0.00,2.33,0.00,0.000,260,0.000,0.065,2541,3544,3780,3730,3831,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3349,-0.78,-194.6,2541,3544,3729,3831,508.7,-12.2,471,3358,0.00,2.17,0.00,0.000,3078,0.000,0.030,2541,2148,3780,3729,3831,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3601,-0.78,-194.6,2542,2147,3728,3829,538.7,-11.3,497,3609,0.00,2.22,0.00,0.000,2564,0.000,0.054,2541,741,3778,3727,3829,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3641,-0.78,-194.6,2541,741,3727,3828,543.5,-11.3,505,3646,0.05,2.20,0.00,0.000,3078,0.467,0.038,2545,2150,3778,3727,3829,0,0,0,0,0,0,14.76,15.03,28.83
$GC,3886,-0.78,-194.6,2545,2150,3725,3826,565.7,-8.2,530,3890,0.00,2.30,0.00,0.000,2308,0.000,0.063,2536,3551,3775,3725,3826,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3962,-0.78,-194.6,2536,3550,3724,3826,572.2,-8.5,545,3971,0.00,2.20,0.00,0.000,3078,0.000,0.031,2536,2144,3775,3724,3826,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4212,-0.78,-194.6,2536,2144,3723,3823,595.6,-9.7,571,4221,0.00,2.25,0.00,0.000,2564,0.000,0.054,2536,751,3773,3723,3823,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4263,-0.78,-194.6,2536,751,3723,3823,600.9,-10.1,581,4268,0.08,2.22,0.00,0.000,3078,0.404,0.040,2548,2160,3772,3722,3823,0,0,0,0,0,0,14.76,15.01,28.83
$GC,4508,-0.78,-194.6,2548,2160,3721,3822,624.2,-9.8,594,4512,0.00,2.28,0.00,0.000,260,0.000,0.063,2541,3545,3771,3721,3822,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4664,-0.78,-194.6,2539,3545,3719,3822,639.8,-10.0,625,4668,0.00,2.20,0.00,0.000,3078,0.000,0.031,2541,2146,3770,3719,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4920,-0.78,-194.6,2540,2145,3717,3820,666.4,-10.4,640,4924,0.00,2.33,0.00,0.000,2308,0.000,0.062,2531,3548,3768,3717,3820,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4949,-0.78,-194.6,2531,3548,3717,3820,669.7,-10.5,646,4957,0.05,2.22,0.00,0.000,3078,0.438,0.031,2545,2140,3768,3717,3820,0,0,0,0,0,0,14.78,15.04,28.83
$GC,5196,-0.78,-194.6,2545,2138,3716,3817,695.1,-10.8,659,5200,0.00,2.25,0.00,0.000,2564,0.000,0.057,2546,753,3767,3716,3818,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5230,-0.78,-194.6,2546,752,3716,3817,699.1,-11.1,666,5237,0.00,2.22,0.00,0.000,3078,0.000,0.041,2538,2156,3766,3715,3817,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5477,-0.78,-194.6,2539,2156,3713,3815,724.9,-10.3,679,5481,0.00,2.30,0.00,0.000,2308,0.000,0.065,2529,3548,3764,3713,3815,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5533,-0.78,-194.6,2529,3548,3712,3815,730.5,-9.9,690,5538,0.08,2.20,0.00,0.000,3078,0.366,0.032,2549,2148,3763,3712,3815,0,0,0,0,0,0,14.78,15.04,28.83
$GC,5790,-0.78,-194.6,2549,2147,3711,3813,752.5,-8.5,705,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2147,3762,3711,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6029,-0.78,-194.6,2549,2147,3710,3812,773.0,-8.7,717,6034,0.00,2.35,0.00,0.000,260,0.000,0.065,2539,3552,3761,3710,3812,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6094,-0.78,-194.6,2540,3553,3709,3812,778.9,-9.1,730,6098,0.00,2.22,0.00,0.000,3078,0.000,0.032,2540,2150,3760,3709,3812,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6346,-0.78,-194.6,2540,2148,3707,3809,803.4,-10.4,744,6350,0.00,2.33,0.00,0.000,2308,0.000,0.065,2530,3544,3758,3707,3810,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6455,-0.78,-194.6,2531,3544,3705,3810,815.6,-11.4,766,6462,0.05,2.22,0.00,0.000,3078,0.444,0.032,2546,2143,3757,3705,3809,0,0,0,0,0,0,14.76,15.04,28.83
$GC,6702,-0.78,-194.6,2546,2143,3705,3807,841.3,-10.3,779,6703,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2143,3756,3705,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6942,-0.78,-194.6,2546,2143,3703,3806,865.7,-10.1,791,6943,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2143,3754,3703,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7182,-0.78,-194.6,2546,2142,3702,3805,889.3,-9.9,803,7186,0.00,2.35,0.00,0.000,2308,0.000,0.067,2538,3543,3753,3702,3805,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7240,-0.78,-194.6,1684,3542,3698,3804,895.2,-9.6,815,7245,0.00,2.25,0.00,0.000,3078,0.000,0.032,2538,2157,3753,3701,3805,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7498,-0.78,-194.6,2538,2155,3700,3803,920.5,-9.8,830,7502,0.00,2.33,0.00,0.000,2308,0.000,0.067,2529,3543,3751,3700,3803,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7517,-0.78,-194.6,2529,3543,3700,3803,922.6,-9.8,834,7522,0.08,2.22,0.00,0.000,3078,0.363,0.033,2548,2138,3751,3700,3803,0,0,0,0,0,0,14.74,15.02,28.83
$GC,7769,-0.78,-194.6,2548,2139,3699,3801,945.7,-9.3,848,7773,0.00,2.25,0.00,0.000,516,0.000,0.060,2548,762,3750,3699,3801,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7805,-0.78,-194.6,2549,761,3699,3801,949.2,-9.8,855,7809,0.00,2.22,0.00,0.000,3078,0.000,0.043,2541,2154,3750,3699,3801,0,0,0,0,0,0,28.83,15.00,28.83
$STATE,8020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8020,begin apogee
$GC,8024,-0.17,0.0,2542,1922,3697,3800,970.1,-9.6,868,8312,0.57,0.00,283.98,1.570,10246,0.242,0.000,2747,1922,2988,3028,2948,0,0,0,0,0,0,14.75,28.83,13.66
$STATE,8313,end apogee,CONTROL_FINISHED_OK
$STATE,8313,begin climb
$GC,8315,0.78,194.6,2746,1922,3021,2940,985.6,0.0,882,8536,0.77,2.38,212.12,1.782,10756,0.145,0.071,3058,592,2185,2220,2151,0,0,0,0,0,0,14.17,14.04,13.47
$GC,8618,0.78,194.6,3058,591,2198,2133,961.1,14.0,945,8622,0.00,2.28,0.00,0.000,5126,0.000,0.044,3058,1943,2165,2198,2133,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8874,0.78,194.6,3058,1944,2197,2127,926.1,13.6,960,8879,0.00,2.40,0.00,0.000,4356,0.000,0.065,3058,3363,2161,2197,2126,0,0,0,0,0,0,28.83,14.65,28.83
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$STATE,16403,end climb,SURFACE_DEPTH_REACHED
$STATE,16404,begin surface coast
$FINISH,0.1,1.022808
$STATE,16415,end surface coast,CONTROL_FINISHED_OK
$STATE,16416,begin surface
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$TT8_MAMPS,0.020223,0.020223
$HUMID,40.98
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$TCM_TEMP,22.60
$XPDR_PINGS,2
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$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,328680
$DATA_FILE_SIZE,143955,1882
$CAP_FILE_SIZE,199349,0
$CFSIZE,2097086464,2071101440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.186,285.7,1
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