version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 140
start: 1 3 117 9 4 56
data:
$ID,628
$MISSION,3
$DIVE,140
$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,552.90619
$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,-124702.48
$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,85
$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
$GPS1,030117,085254,2146.002,12356.569,38,0.9,38,-3.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-61.7
$GPS2,030117,090432,2146.007,12356.587,7,1.2,8,-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,165.3,30222,-15.8,-10.104,-18.78,2952
$D_GRID,5146
$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,-194.6,115,2186,1228,1182,0.0,0.0,0,77,0.00,0.00,-60.42,0.000,16386,0.000,0.000,113,2189,3307,3308,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.78,-194.6,113,2189,3308,3306,3.9,-8.7,9,102,8.48,2.38,-7.30,0.000,18948,0.474,0.073,2537,734,3780,3740,3821,0,0,0,0,0,0,14.49,14.81,15.01
$GC,150,-0.78,-194.6,2537,733,3739,3822,24.5,-22.3,21,158,0.03,2.25,0.00,0.000,3078,0.393,0.043,2539,2105,3780,3739,3822,0,0,0,0,0,0,14.57,14.80,28.83
$GC,403,-0.78,-194.6,1536,2103,3736,3821,86.7,-25.2,70,411,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2105,3780,3739,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,658,-0.78,-194.6,1544,2103,3736,3821,145.9,-22.2,119,666,0.00,2.42,0.00,0.000,2308,0.000,0.063,2530,3558,3780,3739,3822,0,0,0,0,0,0,28.83,14.84,28.83
$GC,771,-0.78,-194.6,1544,3557,3736,3821,167.7,-16.7,140,779,0.03,2.30,0.00,0.000,3078,0.384,0.031,2541,2127,3780,3739,3822,0,0,0,0,0,0,14.64,14.88,28.83
$GC,1026,-0.78,-194.6,2541,2125,3739,3822,210.9,-16.0,189,1034,0.00,2.25,0.00,0.000,2564,0.000,0.051,2542,759,3780,3739,3822,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1123,-0.78,-194.6,1536,759,3736,3821,226.6,-14.5,207,1131,0.00,2.25,0.00,0.000,3078,0.000,0.035,2533,2170,3780,3739,3822,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1374,-0.78,-194.6,2533,2170,3740,3822,269.9,-16.8,245,1384,0.00,2.22,0.00,0.000,2308,0.000,0.057,2523,3541,3781,3739,3823,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1459,-0.78,-194.6,2523,3541,3739,3822,282.6,-14.8,261,1469,0.10,2.17,0.00,0.000,3078,0.337,0.031,2550,2148,3780,3738,3823,0,0,0,0,0,0,14.73,14.94,28.83
$GC,1708,-0.78,-194.6,2550,2147,3740,3823,308.7,-9.3,287,1712,0.00,2.30,0.00,0.000,260,0.000,0.060,2541,3545,3780,3739,3822,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1734,-0.78,-194.6,2542,3545,3740,3822,311.3,-9.8,292,1738,0.00,2.17,0.00,0.000,3078,0.000,0.028,2541,2145,3781,3739,3823,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1980,-0.78,-194.6,2541,2144,3739,3822,343.4,-15.0,317,1988,0.00,2.22,0.00,0.000,2564,0.000,0.053,2541,754,3781,3739,3823,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2080,-0.78,-194.6,2541,754,3739,3822,359.3,-16.1,337,2084,0.00,2.17,0.00,0.000,3078,0.000,0.036,2532,2154,3780,3739,3822,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2332,-0.78,-194.6,2532,2154,3738,3823,400.5,-15.5,363,2341,0.03,2.22,0.00,0.000,2564,0.613,0.049,2544,759,3780,3737,3823,0,0,0,0,0,0,14.82,14.98,28.83
$GC,2386,-0.78,-194.6,1664,759,3735,3821,408.8,-13.8,374,2393,0.00,2.22,0.00,0.000,3078,0.000,0.036,2537,2153,3779,3737,3822,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2635,-0.78,-194.6,2537,2153,3735,3823,440.8,-12.5,399,2644,0.00,2.25,0.00,0.000,2308,0.000,0.060,2528,3544,3778,3734,3823,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2658,-0.78,-194.6,1664,3543,3732,3822,444.0,-11.9,404,2666,0.05,2.22,0.00,0.000,3078,0.284,0.028,2548,2144,3778,3734,3823,0,0,0,0,0,0,14.73,14.97,28.83
$GC,2906,-0.78,-194.6,2548,2144,3732,3823,470.1,-10.5,429,2910,0.00,2.33,0.00,0.000,260,0.000,0.059,2539,3550,3776,3731,3822,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2948,-0.78,-194.6,2539,3551,3731,3822,474.4,-10.1,437,2952,0.00,2.17,0.00,0.000,3078,0.000,0.029,2539,2144,3776,3731,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3199,-0.78,-194.6,2539,2142,3729,3823,502.6,-11.2,463,3201,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2143,3776,3730,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3439,-0.78,-194.6,2539,2143,3726,3822,528.9,-10.4,487,3440,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2143,3773,3725,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3679,-0.78,-194.6,2539,2143,3724,3821,554.8,-10.9,511,3683,0.00,2.25,0.00,0.000,2564,0.000,0.054,2540,749,3772,3724,3821,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3718,-0.78,-194.6,2540,749,3724,3821,559.3,-10.5,519,3726,0.05,2.22,0.00,0.000,3078,0.456,0.039,2545,2155,3772,3724,3821,0,0,0,0,0,0,14.78,15.04,28.83
$GC,3965,-0.78,-194.6,2545,2155,3723,3818,582.5,-9.4,544,3969,0.00,2.28,0.00,0.000,2308,0.000,0.062,2537,3545,3770,3723,3818,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4014,-0.78,-194.6,2537,3545,3722,3818,587.4,-9.5,554,4021,0.00,2.22,0.00,0.000,3078,0.000,0.031,2537,2156,3770,3722,3818,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4271,-0.78,-194.6,2537,2155,3721,3815,613.4,-10.7,574,4275,0.00,2.25,0.00,0.000,2564,0.000,0.055,2537,759,3768,3721,3815,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4290,-0.78,-194.6,2537,759,3720,3814,615.7,-11.4,578,4295,0.08,2.20,0.00,0.000,3078,0.377,0.038,2547,2156,3767,3720,3815,0,0,0,0,0,0,14.78,15.04,28.83
$GC,4547,-0.78,-194.6,2547,2156,3718,3813,644.8,-12.4,593,4548,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2155,3765,3717,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4787,-0.78,-194.6,2546,2156,3716,3812,671.9,-10.9,605,4793,0.00,2.25,0.00,0.000,2564,0.000,0.055,2547,760,3763,3716,3811,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4851,-0.78,-194.6,2547,760,3716,3812,679.2,-11.1,618,4855,0.00,2.20,0.00,0.000,3078,0.000,0.040,2539,2159,3764,3716,3812,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5103,-0.78,-194.6,2540,2159,3713,3808,704.3,-9.6,632,5109,0.00,2.28,0.00,0.000,2308,0.000,0.064,2530,3541,3761,3713,3809,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5183,-0.78,-194.6,2530,3541,3712,3809,711.9,-9.3,648,5190,0.08,2.20,0.00,0.000,3078,0.370,0.031,2549,2141,3760,3711,3809,0,0,0,0,0,0,14.78,15.05,28.83
$GC,5444,-0.78,-194.6,2549,2141,3711,3806,733.5,-8.1,664,5449,0.00,2.22,0.00,0.000,516,0.000,0.056,2549,759,3758,3710,3806,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5495,-0.78,-194.6,2549,759,3710,3806,738.2,-8.6,675,5503,0.00,2.20,0.00,0.000,3078,0.000,0.040,2541,2147,3758,3710,3806,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5743,-0.78,-194.6,2541,2147,3708,3804,758.8,-8.2,688,5749,0.00,2.33,0.00,0.000,2308,0.000,0.065,2532,3551,3756,3708,3804,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5785,-0.78,-194.6,1664,3550,3704,3803,762.7,-8.7,697,5790,0.00,2.25,0.00,0.000,3078,0.000,0.033,2532,2159,3756,3707,3805,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6042,-0.78,-194.6,2532,2158,3706,3802,786.5,-9.4,712,6044,0.05,0.00,0.00,0.000,2054,0.446,0.000,2545,2157,3753,3704,3802,0,0,0,0,0,0,14.85,28.83,28.83
$GC,6282,-0.78,-194.6,2545,2157,3705,3800,807.8,-9.0,724,6286,0.00,2.33,0.00,0.000,2308,0.000,0.067,2536,3550,3752,3705,3800,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6361,-0.78,-194.6,1672,3549,3699,3799,815.0,-8.9,740,6365,0.00,2.28,0.00,0.000,3078,0.000,0.033,2536,2149,3751,3703,3800,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6619,-0.78,-194.6,2536,2148,3702,3798,838.7,-9.5,755,6623,0.00,2.30,0.00,0.000,2564,0.000,0.058,2536,754,3750,3702,3798,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6673,-0.78,-194.6,2536,754,3701,3798,844.3,-9.9,766,6681,0.08,2.22,0.00,0.000,3078,0.388,0.042,2546,2147,3749,3701,3798,0,0,0,0,0,0,14.74,15.02,28.83
$GC,6920,-0.78,-194.6,2546,2147,3700,3796,866.1,-9.0,779,6924,0.00,2.33,0.00,0.000,2308,0.000,0.067,2537,3545,3748,3700,3796,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6975,-0.78,-194.6,2537,3545,3699,3796,871.3,-9.3,790,6980,0.00,2.22,0.00,0.000,3078,0.000,0.033,2537,2145,3748,3700,3796,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7232,-0.78,-194.6,2537,2143,3699,3794,896.4,-9.7,805,7236,0.00,2.35,0.00,0.000,2308,0.000,0.067,2528,3545,3746,3699,3794,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7256,-0.78,-194.6,2528,3545,3698,3794,899.0,-10.4,810,7261,0.08,2.22,0.00,0.000,3078,0.358,0.034,2547,2148,3746,3698,3794,0,0,0,0,0,0,14.76,15.03,28.83
$GC,7507,-0.78,-194.6,2547,2147,3697,3793,922.1,-9.2,824,7509,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2147,3744,3697,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7748,-0.78,-194.6,2547,2147,3695,3792,945.1,-9.8,836,7752,0.00,2.35,0.00,0.000,2308,0.000,0.067,2538,3545,3744,3696,3792,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7797,-0.78,-194.6,2538,3545,3695,3792,950.3,-10.2,846,7801,0.00,2.22,0.00,0.000,3078,0.000,0.034,2538,2153,3743,3694,3792,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,7988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7988,begin apogee
$GC,7992,-0.17,0.0,2538,1914,3694,3791,970.6,-10.8,857,8282,0.57,0.00,286.38,1.556,10246,0.239,0.000,2744,1914,2988,3029,2947,0,0,0,0,0,0,14.76,28.83,13.67
$STATE,8283,end apogee,CONTROL_FINISHED_OK
$STATE,8283,begin climb
$GC,8285,0.78,194.6,2744,1914,3022,2938,986.5,0.0,871,8562,0.77,2.38,267.65,1.543,10756,0.140,0.074,3058,592,2188,2226,2151,0,0,0,0,0,0,14.19,14.09,13.56
$GC,8578,0.78,194.6,3058,593,2210,2140,965.2,12.8,933,8582,0.00,2.30,0.00,0.000,5126,0.000,0.043,3058,1938,2174,2210,2139,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8824,0.78,194.6,3058,1940,2207,2129,930.1,14.3,946,8829,0.00,2.40,0.00,0.000,4356,0.000,0.064,3058,3359,2168,2207,2129,0,0,0,0,0,0,28.83,14.60,28.83
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$STATE,16016,end climb,SURFACE_DEPTH_REACHED
$STATE,16017,begin surface coast
$FINISH,0.0,1.022853
$STATE,16028,end surface coast,CONTROL_FINISHED_OK
$STATE,16028,begin surface
$SM_CCo,16043,81.12,0.154,0,0,734,552.91
$SM_GC,0.93,7.53,0.25,81.12,0.102,0.064,0.154,134,2179,734,-8.26,-1.70,552.91,0,0,0,0,0,0,14.71,14.81,14.62
$IRIDIUM_FIX,2136.49,12354.28,301009,222229
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.01
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,13.6,53.128
$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
$DEVICE_SECS,19.075,197.075,781.275,81.125,0.000,0.000,0.000,342.500,0.750,0.000,9.387,3861.270,8193.641,961.443,3602.203,183.376,0.000,2849.517,0.000,3231.989,0.000,0.552,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1019.194,1999.254,1316.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328800
$DATA_FILE_SIZE,140377,1863
$CAP_FILE_SIZE,197573,0
$CFSIZE,2097086464,2070183936
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,204.0,1
$GPS,030117,133454,2143.535,12357.155,38,1.0,38,-3.4