version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 274
start: 1 30 117 7 59 31
data:
$ID,628
$MISSION,3
$DIVE,274
$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,50
$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,-125561.13
$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,45
$R_STBD_OVSHOOT,53
$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
$GPS1,300117,075119,2335.534,12343.701,43,0.8,43,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-59.1
$GPS2,300117,075907,2335.477,12343.708,7,0.8,8,-3.8
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N2
$TGT_LATLONG,2330.000,12355.000
$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,160.9,21695,-15.8,-10.104,-18.78,2952
$D_GRID,3270
$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,-194.6,91,2147,1365,1348,0.0,0.0,0,79,0.00,0.00,-61.08,0.000,16386,0.000,0.000,87,2148,3457,3456,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.78,-194.6,87,2148,3456,3458,3.6,-6.7,9,104,8.62,2.35,-5.00,0.000,18948,0.453,0.070,2541,741,3784,3740,3828,0,0,0,0,0,0,14.24,14.59,14.92
$GC,208,-0.78,-194.6,1544,741,3737,3827,35.7,-20.9,32,216,0.00,2.30,0.00,0.000,3078,0.000,0.041,2532,2135,3784,3740,3828,0,0,0,0,0,0,28.83,14.64,28.83
$GC,465,-0.78,-194.6,2532,2135,3740,3828,94.0,-22.8,81,472,0.03,0.00,0.00,0.000,2054,0.623,0.000,2543,2135,3783,3739,3828,0,0,0,0,0,0,14.55,28.83,28.83
$GC,718,-0.78,-194.6,1568,2133,3737,3827,148.4,-22.2,130,726,0.00,2.40,0.00,0.000,2308,0.000,0.061,2534,3557,3784,3740,3828,0,0,0,0,0,0,28.83,14.69,28.83
$GC,815,-0.78,-194.6,2534,3556,3740,3828,167.8,-18.4,148,822,0.00,2.33,0.00,0.000,3078,0.000,0.032,2534,2136,3784,3740,3828,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1069,-0.78,-194.6,1552,2133,3736,3828,213.0,-16.9,197,1076,0.00,2.40,0.00,0.000,2308,0.000,0.057,2523,3548,3785,3741,3829,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1109,-0.78,-194.6,1536,3546,3736,3828,219.6,-15.5,204,1117,0.05,2.28,0.00,0.000,3078,0.295,0.031,2543,2152,3784,3741,3828,0,0,0,0,0,0,14.40,14.72,28.83
$GC,1362,-0.78,-194.6,2544,2151,3740,3829,257.5,-14.5,248,1370,0.00,2.28,0.00,0.000,2564,0.000,0.051,2544,758,3785,3741,3829,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1385,-0.78,-194.6,1648,758,3737,3828,261.3,-15.4,253,1393,0.00,2.28,0.00,0.000,3078,0.000,0.038,2536,2156,3785,3741,3830,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1634,-0.78,-194.6,2536,2156,3740,3830,298.3,-14.4,278,1642,0.00,2.30,0.00,0.000,2308,0.000,0.060,2527,3551,3784,3740,3829,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1705,-0.78,-194.6,2527,3551,3740,3829,308.4,-13.9,292,1715,0.08,2.22,0.00,0.000,3078,0.366,0.031,2545,2138,3784,3740,3829,0,0,0,0,0,0,14.52,14.87,28.83
$GC,1955,-0.78,-194.6,2546,2138,3740,3829,341.6,-13.2,318,1964,0.00,2.35,0.00,0.000,2308,0.000,0.060,2536,3548,3784,3740,3829,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1986,-0.78,-194.6,2537,3549,3740,3829,345.9,-13.9,324,1990,0.00,2.20,0.00,0.000,3078,0.000,0.031,2536,2154,3784,3740,3829,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2233,-0.78,-194.6,2536,2153,3740,3829,378.2,-12.8,349,2243,0.00,2.25,0.00,0.000,2564,0.000,0.054,2537,760,3784,3739,3829,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2345,-0.78,-194.6,2536,760,3739,3829,392.9,-12.4,371,2354,0.08,2.20,0.00,0.000,3078,0.380,0.038,2546,2151,3783,3738,3829,0,0,0,0,0,0,14.52,14.88,28.83
$GC,2595,-0.78,-194.6,2546,2151,3738,3829,423.7,-12.5,397,2599,0.00,2.33,0.00,0.000,2308,0.000,0.061,2537,3556,3783,3738,3829,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2637,-0.78,-194.6,2538,3557,3738,3829,428.7,-11.9,405,2646,0.00,2.22,0.00,0.000,3078,0.000,0.031,2537,2146,3783,3738,3829,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2888,-0.78,-194.6,2537,2147,3736,3829,459.8,-13.1,431,2889,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2147,3782,3736,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3127,-0.78,-194.6,2537,2146,3734,3829,489.4,-12.2,455,3128,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2146,3781,3734,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3367,-0.78,-194.6,2537,2146,3731,3829,516.5,-11.5,479,3376,0.00,2.35,0.00,0.000,2308,0.000,0.062,2528,3547,3780,3731,3829,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3408,-0.78,-194.6,2528,3547,3731,3829,521.2,-11.2,487,3418,0.08,2.22,0.00,0.000,3078,0.347,0.033,2547,2147,3780,3731,3829,0,0,0,0,0,0,14.57,14.90,28.83
$GC,3658,-0.78,-194.6,2547,2147,3728,3829,546.1,-9.6,513,3659,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2147,3778,3728,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.78,-194.6,2547,2147,3727,3826,571.4,-10.9,537,3902,0.00,2.35,0.00,0.000,260,0.000,0.063,2539,3546,3775,3726,3825,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3942,-0.78,-194.6,2539,3547,3726,3826,576.2,-10.4,546,3949,0.00,2.25,0.00,0.000,3078,0.000,0.033,2539,2151,3775,3726,3825,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4190,-0.78,-194.6,2539,2151,3724,3823,602.1,-10.3,570,4191,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2150,3773,3724,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4429,-0.78,-194.6,2539,2151,3723,3822,626.8,-10.6,582,4435,0.00,2.35,0.00,0.000,2308,0.000,0.063,2529,3547,3772,3723,3822,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4449,-0.78,-194.6,2529,3547,3723,3822,628.9,-10.5,586,4455,0.08,2.25,0.00,0.000,3078,0.354,0.034,2548,2143,3772,3723,3822,0,0,0,0,0,0,14.54,14.89,28.83
$GC,4709,-0.78,-194.6,2548,2144,3722,3821,654.5,-9.9,602,4713,0.00,2.30,0.00,0.000,516,0.000,0.057,2549,760,3771,3722,3821,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4783,-0.78,-194.6,2548,760,3720,3821,662.7,-10.7,617,4790,0.00,2.25,0.00,0.000,3078,0.000,0.042,2541,2148,3770,3720,3821,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5030,-0.78,-194.6,2541,2148,3718,3818,688.6,-10.7,630,5031,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2148,3768,3718,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5270,-0.78,-194.6,2541,2148,3717,3816,713.6,-10.0,642,5271,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2148,3767,3717,3817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5510,-0.78,-194.6,2541,2148,3715,3815,736.7,-9.5,654,5516,0.00,2.38,0.00,0.000,2308,0.000,0.067,2530,3558,3764,3714,3814,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5578,-0.78,-194.6,2531,3558,3713,3815,743.7,-9.8,668,5583,0.05,2.30,0.00,0.000,3078,0.422,0.035,2546,2147,3764,3713,3815,0,0,0,0,0,0,14.54,14.87,28.83
$GC,5830,-0.78,-194.6,2546,2146,3712,3812,768.2,-9.9,682,5836,0.00,2.33,0.00,0.000,2564,0.000,0.060,2546,758,3762,3712,3812,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5879,-0.78,-194.6,2546,758,3712,3813,773.2,-9.8,692,5882,0.00,2.28,0.00,0.000,3078,0.000,0.043,2539,2156,3761,3711,3812,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6130,-0.78,-194.6,2540,2157,3710,3812,798.2,-10.1,706,6136,0.00,2.35,0.00,0.000,2308,0.000,0.068,2529,3551,3760,3710,3811,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6159,-0.78,-194.6,2529,3551,3710,3811,801.3,-11.0,712,6164,0.08,2.28,0.00,0.000,3078,0.357,0.036,2548,2141,3760,3710,3811,0,0,0,0,0,0,14.51,14.86,28.83
$GC,6405,-0.78,-194.6,2549,2141,3709,3809,825.1,-9.5,725,6411,0.00,2.40,0.00,0.000,260,0.000,0.067,2539,3548,3759,3709,3809,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6453,-0.78,-194.6,2539,3549,3708,3809,829.9,-9.7,735,6458,0.00,2.28,0.00,0.000,3078,0.000,0.036,2540,2151,3757,3706,3809,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6706,-0.78,-194.6,2540,2151,3706,3807,852.3,-8.7,749,6712,0.00,2.40,0.00,0.000,2308,0.000,0.067,2530,3552,3756,3706,3807,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6734,-0.78,-194.6,2530,3553,3706,3807,854.8,-8.6,755,6739,0.08,2.28,0.00,0.000,3078,0.352,0.036,2549,2149,3755,3705,3806,0,0,0,0,0,0,14.50,14.85,28.83
$GC,6980,-0.78,-194.6,2549,2149,3705,3805,874.1,-7.9,768,6986,0.00,2.33,0.00,0.000,516,0.000,0.060,2549,757,3755,3705,3805,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7043,-0.78,-194.6,1664,757,3701,3805,879.4,-8.1,781,7048,0.00,2.33,0.00,0.000,3078,0.000,0.045,2542,2154,3755,3705,3805,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7300,-0.78,-194.6,2542,2155,3703,3805,900.2,-8.2,796,7302,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2155,3753,3703,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7540,-0.78,-194.6,2542,2155,3702,3804,920.1,-8.2,808,7542,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2155,3752,3702,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7780,-0.78,-194.6,2541,2155,3701,3802,940.1,-8.1,820,7782,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2155,3751,3701,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8020,-0.78,-194.6,2542,2155,3700,3801,959.7,-8.3,832,8026,0.00,2.40,0.00,0.000,2308,0.000,0.072,2532,3556,3750,3699,3802,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8074,-0.78,-194.6,2532,3557,3699,3801,964.5,-8.7,843,8081,0.05,2.33,0.00,0.000,3078,0.412,0.038,2546,2148,3750,3699,3801,0,0,0,0,0,0,14.51,14.81,28.83
$STATE,8159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8159,begin apogee
$GC,8164,-0.17,0.0,2546,1927,3699,3800,971.5,-8.2,848,8461,0.55,0.00,289.23,1.522,10246,0.230,0.000,2743,1927,2981,3023,2939,0,0,0,0,0,0,14.54,28.83,13.52
$STATE,8462,end apogee,CONTROL_FINISHED_OK
$STATE,8462,begin climb
$GC,8464,0.78,194.6,2743,1927,3019,2936,984.7,0.0,863,8687,0.80,2.65,212.10,1.763,11012,0.134,0.067,3051,3345,2184,2218,2150,0,0,0,0,0,0,14.16,14.01,13.34
$GC,8724,0.78,194.6,3051,3346,2206,2135,966.6,14.0,909,8730,0.00,2.38,0.00,0.000,5126,0.000,0.047,3062,1984,2170,2205,2135,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8984,0.78,194.6,3061,1984,2202,2127,931.1,13.8,925,8985,0.00,0.00,0.00,0.000,4102,0.000,0.000,3061,1984,2164,2202,2127,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17094,end climb,SURFACE_DEPTH_REACHED
$STATE,17094,begin surface coast
$FINISH,0.8,1.023319
$STATE,17115,end surface coast,CONTROL_FINISHED_OK
$STATE,17116,begin surface
$SM_CCo,17131,104.25,0.150,0,0,1354,400.08
$SM_GC,0.91,7.53,0.25,104.25,0.119,0.067,0.150,128,2161,1354,-8.25,-2.01,400.08,0,0,0,0,0,0,14.69,14.81,14.57
$IRIDIUM_FIX,2326.22,12340.10,261109,161659
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.25
$INTERNAL_PRESSURE,8.09601
$TCM_TEMP,23.10
$XPDR_PINGS,6
$24V_AH,13.3,106.276
$10V_AH,12.9,0.000
$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
$DEVICE_SECS,19.325,192.350,501.325,104.250,0.000,0.000,0.000,348.050,1.500,0.000,9.318,4286.043,8438.634,858.723,3840.184,254.881,0.000,2749.885,0.000,3496.776,0.000,0.553,0.000
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$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,328716
$DATA_FILE_SIZE,147357,1968
$CAP_FILE_SIZE,204230,0
$CFSIZE,2097086464,2048655360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.173, 50.4,1
$GPS,300117,124800,2334.276,12346.023,37,0.8,37,-3.8