version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 276
start: 1 30 117 17 48 50
data:
$ID,628
$MISSION,3
$DIVE,276
$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,-125563.66
$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,46
$R_STBD_OVSHOOT,93
$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
$GPS1,300117,174031,2332.971,12348.017,29,0.8,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-61.6
$GPS2,300117,174826,2332.922,12347.961,8,0.9,8,-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,145.7,13123,-15.8,-10.104,-18.78,2952
$D_GRID,3409
$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,-194.6,86,2195,1372,1343,0.0,0.0,0,72,0.00,0.00,-54.35,0.000,16386,0.000,0.000,83,2195,3190,3195,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,83,2195,3196,3186,3.1,-6.7,8,104,8.70,2.47,-9.98,0.000,18948,0.458,0.074,2539,749,3783,3745,3822,0,0,0,0,0,0,14.24,14.52,14.91
$GC,204,-0.78,-194.6,2539,748,3744,3822,28.8,-15.4,31,212,0.03,2.22,0.00,0.000,3078,0.367,0.039,2542,2098,3783,3744,3822,0,0,0,0,0,0,14.35,14.62,28.83
$GC,460,-0.78,-194.6,2542,2099,3743,3822,81.4,-17.5,80,467,0.00,2.33,0.00,0.000,2564,0.000,0.061,2542,753,3782,3743,3822,0,0,0,0,0,0,28.83,14.64,28.83
$GC,530,-0.78,-194.6,1544,752,3740,3821,94.5,-17.6,93,538,0.00,2.22,0.00,0.000,3078,0.000,0.042,2533,2103,3782,3743,3822,0,0,0,0,0,0,28.83,14.63,28.83
$GC,785,-0.78,-194.6,1536,2101,3740,3822,146.2,-21.7,142,792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2103,3782,3743,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1039,-0.78,-194.6,1536,2102,3740,3822,197.1,-16.8,191,1046,0.00,2.45,0.00,0.000,2308,0.000,0.057,2523,3554,3783,3743,3823,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1155,-0.78,-194.6,2523,3554,3743,3823,215.2,-15.3,213,1164,0.03,2.33,0.00,0.000,3078,0.218,0.034,2546,2132,3783,3743,3823,0,0,0,0,0,0,14.41,14.73,28.83
$GC,1414,-0.78,-194.6,2546,2131,3744,3824,253.6,-14.3,261,1425,0.00,2.38,0.00,0.000,2308,0.000,0.058,2537,3553,3783,3743,3824,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1480,-0.78,-194.6,2537,3553,3743,3824,262.7,-13.2,273,1489,0.00,2.22,0.00,0.000,3078,0.000,0.033,2537,2149,3784,3744,3824,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1730,-0.78,-194.6,2537,2149,3743,3824,298.0,-14.6,299,1740,0.00,2.22,0.00,0.000,2564,0.000,0.052,2537,766,3783,3743,3824,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1756,-0.78,-194.6,2537,766,3743,3824,302.4,-15.2,304,1764,0.05,2.25,0.00,0.000,3078,0.271,0.040,2549,2151,3783,3743,3824,0,0,0,0,0,0,14.45,14.75,28.83
$GC,2003,-0.78,-194.6,2548,2151,3743,3824,333.9,-12.8,329,2012,0.00,2.33,0.00,0.000,260,0.000,0.060,2539,3557,3783,3742,3824,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2036,-0.78,-194.6,2539,3557,3742,3824,338.5,-13.0,336,2044,0.00,2.28,0.00,0.000,3078,0.000,0.031,2539,2152,3783,3742,3824,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2285,-0.78,-194.6,2540,2152,3742,3824,370.1,-12.7,361,2286,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2152,3782,3741,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2524,-0.78,-194.6,2538,2152,3741,3824,402.0,-13.5,385,2533,0.00,2.30,0.00,0.000,2564,0.000,0.059,2539,752,3781,3740,3823,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2575,-0.78,-194.6,2539,753,3740,3824,409.1,-13.5,395,2585,0.08,2.22,0.00,0.000,3078,0.376,0.041,2549,2155,3782,3740,3824,0,0,0,0,0,0,14.53,14.86,28.83
$GC,2825,-0.78,-194.6,2549,2156,3739,3824,441.0,-12.8,421,2835,0.00,2.30,0.00,0.000,260,0.000,0.060,2539,3547,3780,3737,3824,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2907,-0.78,-194.6,2540,3546,3738,3824,450.8,-11.6,437,2911,0.00,2.22,0.00,0.000,3078,0.000,0.032,2540,2144,3781,3738,3824,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3153,-0.78,-194.6,2540,2144,3737,3824,480.2,-12.0,462,3154,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2144,3779,3735,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3392,-0.78,-194.6,2540,2144,3734,3823,508.5,-11.7,486,3393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2143,3779,3734,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3632,-0.78,-194.6,2540,2143,3731,3824,537.1,-11.3,510,3642,0.00,2.30,0.00,0.000,2564,0.000,0.057,2540,757,3777,3731,3824,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3666,-0.78,-194.6,1664,757,3728,3823,541.3,-11.2,517,3673,0.00,2.28,0.00,0.000,3078,0.000,0.042,2531,2147,3776,3728,3824,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3915,-0.78,-194.6,2531,2146,3728,3824,568.1,-10.7,542,3925,0.05,2.35,0.00,0.000,2308,0.469,0.060,2536,3546,3775,3727,3824,0,0,0,0,0,0,14.71,14.78,28.83
$GC,4017,-0.78,-194.6,2536,3545,3726,3824,578.6,-10.3,562,4026,0.00,2.22,0.00,0.000,3078,0.000,0.034,2536,2154,3775,3726,3824,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4268,-0.78,-194.6,2536,2152,3725,3822,604.9,-10.6,586,4274,0.00,2.30,0.00,0.000,2564,0.000,0.057,2536,758,3773,3725,3822,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4320,-0.78,-194.6,2536,758,3725,3823,610.8,-10.5,597,4328,0.08,2.25,0.00,0.000,3078,0.372,0.043,2546,2154,3773,3725,3822,0,0,0,0,0,0,14.51,14.84,28.83
$GC,4567,-0.78,-194.6,2546,2154,3724,3821,634.8,-9.9,610,4573,0.00,2.35,0.00,0.000,2308,0.000,0.063,2537,3552,3772,3723,3821,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4615,-0.78,-194.6,2537,3552,3723,3821,639.9,-9.8,620,4619,0.00,2.28,0.00,0.000,3078,0.000,0.034,2538,2145,3772,3723,3821,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4867,-0.78,-194.6,2537,2144,3722,3818,666.6,-11.4,634,4873,0.00,2.38,0.00,0.000,2308,0.000,0.063,2528,3547,3770,3722,3818,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4947,-0.78,-194.6,2527,3547,3721,3817,675.7,-11.6,650,4954,0.08,2.25,0.00,0.000,3078,0.342,0.034,2547,2148,3769,3721,3818,0,0,0,0,0,0,14.54,14.88,28.83
$GC,5207,-0.78,-194.6,2547,2148,3719,3813,702.9,-10.1,666,5213,0.00,2.38,0.00,0.000,2308,0.000,0.063,2538,3549,3767,3719,3815,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5255,-0.78,-194.6,2538,3549,3718,3815,707.9,-9.6,676,5259,0.00,2.28,0.00,0.000,3078,0.000,0.034,2538,2145,3766,3718,3815,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5507,-0.78,-194.6,2538,2145,3717,3813,733.0,-10.0,690,5513,0.00,2.33,0.00,0.000,2564,0.000,0.060,2538,756,3764,3715,3813,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5572,-0.78,-194.6,2538,757,3717,3813,739.9,-10.4,703,5577,0.08,2.25,0.00,0.000,3078,0.369,0.045,2548,2148,3764,3716,3813,0,0,0,0,0,0,14.48,14.81,28.83
$GC,5824,-0.78,-194.6,2548,2148,3715,3812,763.9,-9.6,717,5830,0.00,2.35,0.00,0.000,260,0.000,0.065,2539,3547,3763,3714,3812,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5866,-0.78,-194.6,1672,3546,3710,3811,768.3,-9.9,726,5871,0.00,2.28,0.00,0.000,3078,0.000,0.035,2539,2149,3762,3713,3811,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6124,-0.78,-194.6,2539,2149,3712,3809,793.6,-9.9,741,6125,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2149,3760,3712,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6364,-0.78,-194.6,2540,2149,3711,3807,816.0,-9.1,753,6370,0.00,2.40,0.00,0.000,2308,0.000,0.066,2530,3554,3759,3711,3807,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6428,-0.78,-194.6,1616,3553,3706,3806,821.9,-9.1,766,6432,0.08,2.30,0.00,0.000,3078,0.347,0.036,2549,2146,3758,3710,3807,0,0,0,0,0,0,14.50,14.85,28.83
$GC,6680,-0.78,-194.6,2549,2143,3709,3806,842.3,-7.9,780,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2144,3757,3709,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6920,-0.78,-194.6,2549,2144,3707,3804,861.5,-8.1,792,6926,0.00,2.40,0.00,0.000,260,0.000,0.067,2540,3545,3755,3707,3804,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6968,-0.78,-194.6,2540,3545,3706,3804,865.7,-8.5,802,6972,0.00,2.30,0.00,0.000,3078,0.000,0.037,2540,2146,3755,3706,3804,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7220,-0.78,-194.6,2540,2146,3705,3802,886.9,-8.5,816,7226,0.00,2.38,0.00,0.000,2564,0.000,0.063,2539,747,3753,3705,3802,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7262,-0.78,-194.6,1664,746,3701,3801,891.0,-9.0,825,7267,0.00,2.33,0.00,0.000,3078,0.000,0.047,2531,2139,3753,3705,3802,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7520,-0.78,-194.6,2531,2139,3703,3801,914.9,-9.7,840,7526,0.05,2.35,0.00,0.000,2308,0.463,0.066,2537,3548,3752,3703,3801,0,0,0,0,0,0,14.69,14.67,28.83
$GC,7562,-0.78,-194.6,1664,3547,3699,3800,919.1,-9.3,849,7567,0.00,2.33,0.00,0.000,3078,0.000,0.037,2537,2135,3751,3702,3801,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7820,-0.78,-194.6,2537,2133,3702,3800,944.1,-9.8,864,7824,0.00,2.35,0.00,0.000,2564,0.000,0.063,2537,750,3750,3702,3799,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7849,-0.78,-194.6,2537,749,3702,3799,947.3,-10.6,870,7853,0.08,2.30,0.00,0.000,3078,0.363,0.047,2547,2153,3751,3702,3800,0,0,0,0,0,0,14.45,14.78,28.83
$STATE,8100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8100,begin apogee
$GC,8104,-0.17,0.0,2547,1928,3700,3798,970.8,-9.4,884,8394,0.55,0.00,285.77,1.532,10246,0.232,0.000,2744,1928,2988,3030,2946,0,0,0,0,0,0,14.52,28.83,13.54
$STATE,8395,end apogee,CONTROL_FINISHED_OK
$STATE,8395,begin climb
$GC,8397,0.78,194.6,2744,1928,3024,2938,986.6,0.0,898,8622,0.80,2.45,212.60,1.757,10756,0.138,0.075,3065,566,2180,2213,2147,0,0,0,0,0,0,14.14,14.01,13.34
$GC,8673,0.78,194.6,3065,566,2199,2137,967.8,14.4,956,8678,0.00,2.35,0.00,0.000,5126,0.000,0.047,3065,1945,2167,2198,2137,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8920,0.78,194.6,3065,1946,2198,2129,933.4,13.8,969,8926,0.00,2.42,0.00,0.000,4356,0.000,0.067,3065,3359,2164,2198,2130,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,16453,end climb,SURFACE_DEPTH_REACHED
$STATE,16453,begin surface coast
$FINISH,0.3,1.023385
$STATE,16469,end surface coast,CONTROL_FINISHED_OK
$STATE,16469,begin surface
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$TT8_MAMPS,0.020223,0.020223
$HUMID,41.10
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$TCM_TEMP,22.50
$XPDR_PINGS,4
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$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,328720
$DATA_FILE_SIZE,143717,1891
$CAP_FILE_SIZE,197348,0
$CFSIZE,2097086464,2048327680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.156, 24.8,1
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