version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 305
start: 2 5 117 16 58 18
data:
$ID,628
$MISSION,3
$DIVE,305
$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,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,-125835.12
$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,63
$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,48
$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
$GPS1,050217,164654,2308.186,12355.447,44,0.8,44,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-60.4
$GPS2,050217,165754,2308.133,12355.461,6,1.1,6,-3.7
$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,193.3,181911,-15.8,-10.104,-18.78,2952
$D_GRID,5905
$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,16,-0.78,-194.6,85,2176,1379,1341,0.0,0.0,0,78,0.00,0.00,-60.10,0.000,16386,0.000,0.000,82,2176,3432,3431,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.78,-194.6,82,2176,3431,3433,3.7,-7.4,9,102,8.68,2.35,-5.25,0.000,19204,0.460,0.068,2532,744,3782,3737,3828,0,0,0,0,0,0,14.29,14.76,14.99
$GC,232,-0.78,-194.6,1536,743,3733,3827,43.8,-27.7,37,240,0.05,2.28,0.00,0.000,3078,0.304,0.038,2543,2121,3782,3736,3829,0,0,0,0,0,0,14.34,14.66,28.83
$GC,488,-0.78,-194.6,1540,2120,3733,3828,97.4,-21.0,86,495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2543,2122,3782,3736,3828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,743,-0.78,-194.6,2543,2122,3737,3828,150.9,-21.1,135,750,0.00,2.30,0.00,0.000,2564,0.000,0.050,2543,748,3782,3737,3828,0,0,0,0,0,0,28.83,14.64,28.83
$GC,778,-0.78,-194.6,1552,748,3733,3827,157.7,-19.0,141,786,0.00,2.33,0.00,0.000,3078,0.000,0.040,2534,2160,3782,3737,3828,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1032,-0.78,-194.6,1536,2158,3734,3828,202.1,-18.3,190,1039,0.00,2.38,0.00,0.000,2308,0.000,0.062,2524,3554,3783,3737,3829,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1153,-0.78,-194.6,1512,3553,3734,3828,222.7,-15.0,213,1161,0.03,2.33,0.00,0.000,3078,0.204,0.034,2547,2147,3783,3737,3829,0,0,0,0,0,0,14.40,14.69,28.83
$GC,1408,-0.78,-194.6,2548,2147,3738,3829,261.0,-15.0,255,1418,0.00,2.30,0.00,0.000,2564,0.000,0.053,2548,741,3783,3738,3829,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1431,-0.78,-194.6,2547,741,3738,3829,264.4,-15.2,259,1441,0.00,2.22,0.00,0.000,3078,0.000,0.041,2539,2142,3783,3738,3829,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1681,-0.78,-194.6,2539,2143,3738,3830,302.8,-14.7,285,1689,0.00,2.35,0.00,0.000,2308,0.000,0.064,2528,3551,3783,3738,3829,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1761,-0.78,-194.6,2529,3551,3738,3829,313.7,-12.2,301,1771,0.08,2.25,0.00,0.000,3078,0.350,0.033,2549,2145,3783,3738,3829,0,0,0,0,0,0,14.49,14.82,28.83
$GC,2011,-0.78,-194.6,2548,2145,3738,3829,345.3,-13.1,327,2020,0.00,2.38,0.00,0.000,260,0.000,0.063,2539,3559,3783,3738,3829,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2056,-0.78,-194.6,2539,3559,3737,3829,351.2,-12.8,336,2062,0.00,2.28,0.00,0.000,3078,0.000,0.034,2539,2152,3783,3738,3829,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2305,-0.78,-194.6,2539,2152,3737,3829,384.3,-13.2,361,2314,0.00,2.30,0.00,0.000,2564,0.000,0.058,2539,755,3782,3737,3828,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2349,-0.78,-194.6,1648,755,3734,3829,390.5,-12.1,370,2358,0.08,2.30,0.00,0.000,3078,0.377,0.042,2548,2178,3783,3737,3829,0,0,0,0,0,0,14.47,14.78,28.83
$GC,2598,-0.78,-194.6,2548,2178,3735,3829,418.2,-10.9,395,2607,0.00,2.28,0.00,0.000,260,0.000,0.064,2539,3550,3781,3734,3829,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2619,-0.78,-194.6,2539,3550,3734,3829,420.6,-10.7,399,2628,0.00,2.25,0.00,0.000,3078,0.000,0.035,2539,2150,3782,3735,3829,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2870,-0.78,-194.6,2540,2151,3734,3829,449.9,-11.5,425,2879,0.00,2.33,0.00,0.000,2564,0.000,0.059,2539,748,3781,3733,3829,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2884,-0.78,-194.6,2539,748,3733,3829,452.0,-11.6,428,2892,0.08,2.28,0.00,0.000,3078,0.366,0.044,2548,2154,3780,3732,3829,0,0,0,0,0,0,14.50,14.82,28.83
$GC,3132,-0.78,-194.6,2548,2155,3730,3829,478.8,-11.2,453,3141,0.00,2.30,0.00,0.000,516,0.000,0.059,2548,754,3780,3731,3829,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3164,-0.78,-194.6,2549,754,3731,3829,482.5,-12.0,459,3172,0.00,2.25,0.00,0.000,3078,0.000,0.044,2542,2156,3780,3731,3829,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3414,-0.78,-194.6,2542,2156,3729,3829,512.9,-13.0,485,3423,0.00,2.35,0.00,0.000,2308,0.000,0.067,2532,3555,3778,3728,3829,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3478,-0.78,-194.6,2532,3555,3727,3829,521.8,-12.9,498,3486,0.05,2.30,0.00,0.000,3078,0.426,0.036,2545,2141,3778,3727,3829,0,0,0,0,0,0,14.53,14.83,28.83
$GC,3726,-0.78,-194.6,2546,2142,3726,3826,551.8,-11.2,523,3727,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2142,3776,3726,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3965,-0.78,-194.6,2546,2142,3725,3825,576.4,-10.1,547,3970,0.00,2.33,0.00,0.000,2564,0.000,0.057,2546,749,3774,3724,3825,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4010,-0.78,-194.6,2546,748,3724,3825,581.1,-9.8,556,4016,0.00,2.28,0.00,0.000,3078,0.000,0.044,2538,2152,3774,3724,3825,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4267,-0.78,-194.6,2538,2152,3723,3823,606.5,-10.1,579,4273,0.00,2.35,0.00,0.000,2308,0.000,0.065,2529,3550,3773,3723,3823,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4307,-0.78,-194.6,2528,3550,3722,3823,610.5,-10.2,587,4314,0.08,2.25,0.00,0.000,3078,0.350,0.034,2548,2148,3772,3722,3823,0,0,0,0,0,0,14.50,14.85,28.83
$GC,4567,-0.78,-194.6,2548,2148,3721,3821,635.8,-9.9,603,4573,0.00,2.33,0.00,0.000,516,0.000,0.057,2548,750,3771,3721,3822,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4660,-0.78,-194.6,2548,750,3721,3822,645.0,-9.4,622,4667,0.00,2.28,0.00,0.000,3078,0.000,0.044,2541,2143,3771,3721,3822,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4907,-0.78,-194.6,2541,2143,3718,3821,669.1,-10.1,635,4913,0.00,2.40,0.00,0.000,2308,0.000,0.065,2530,3563,3769,3718,3821,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4987,-0.78,-194.6,2530,3563,3717,3821,677.6,-10.4,651,4994,0.08,2.30,0.00,0.000,3078,0.348,0.035,2550,2147,3769,3717,3821,0,0,0,0,0,0,14.49,14.83,28.83
$GC,5247,-0.78,-194.6,2550,2146,3716,3817,703.3,-10.0,667,5253,0.00,2.33,0.00,0.000,516,0.000,0.058,2551,754,3766,3716,3817,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5335,-0.78,-194.6,2550,754,3716,3817,713.0,-10.8,685,5339,0.00,2.28,0.00,0.000,3078,0.000,0.044,2542,2149,3766,3716,3817,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5582,-0.78,-194.6,2542,2149,3714,3815,739.9,-11.1,698,5589,0.00,2.40,0.00,0.000,2308,0.000,0.067,2532,3567,3764,3713,3815,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5635,-0.78,-194.6,2532,3567,3713,3815,745.7,-10.2,709,5642,0.03,2.33,0.00,0.000,3078,0.531,0.035,2546,2146,3764,3713,3815,0,0,0,0,0,0,14.53,14.82,28.83
$GC,5882,-0.78,-194.6,2546,2146,3711,3813,768.8,-9.1,722,5883,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2146,3762,3711,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6122,-0.78,-194.6,2546,2146,3711,3812,791.3,-9.6,734,6128,0.00,2.45,0.00,0.000,2308,0.000,0.067,2537,3563,3760,3709,3812,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6150,-0.78,-194.6,2537,3563,3710,3812,794.2,-10.2,740,6154,0.00,2.33,0.00,0.000,3078,0.000,0.036,2537,2149,3761,3710,3812,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6398,-0.78,-194.6,2537,2149,3708,3811,818.8,-10.0,753,6399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2149,3760,3709,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6637,-0.78,-194.6,2537,2149,3706,3808,842.0,-9.4,765,6643,0.00,2.38,0.00,0.000,2564,0.000,0.060,2537,752,3757,3706,3809,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6677,-0.78,-194.6,2537,753,3706,3809,845.9,-9.4,773,6683,0.08,2.30,0.00,0.000,3078,0.365,0.046,2547,2153,3757,3706,3808,0,0,0,0,0,0,14.42,14.76,28.83
$GC,6937,-0.78,-194.6,2547,2153,3705,3807,867.1,-8.0,789,6944,0.00,2.42,0.00,0.000,2308,0.000,0.068,2539,3564,3756,3705,3807,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7017,-0.78,-194.6,2539,3564,3703,3807,873.6,-8.1,805,7023,0.00,2.33,0.00,0.000,3078,0.000,0.037,2539,2150,3755,3703,3807,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7277,-0.78,-194.6,2539,2149,3703,3805,896.4,-9.1,821,7283,0.00,2.38,0.00,0.000,2564,0.000,0.060,2539,753,3753,3702,3805,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7360,-0.78,-194.6,2538,753,3702,3805,904.9,-10.3,838,7365,0.08,2.33,0.00,0.000,3078,0.373,0.047,2548,2157,3753,3702,3805,0,0,0,0,0,0,14.38,14.71,28.83
$GC,7617,-0.78,-194.6,2548,2158,3700,3803,929.3,-9.6,853,7623,0.00,2.40,0.00,0.000,260,0.000,0.069,2539,3557,3752,3700,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7660,-0.78,-194.6,2540,3557,3699,3804,933.7,-9.7,862,7664,0.00,2.33,0.00,0.000,3078,0.000,0.037,2540,2145,3751,3699,3804,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7913,-0.78,-194.6,2539,2145,3699,3802,957.0,-8.9,876,7914,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2145,3750,3699,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8071,begin apogee
$GC,8076,-0.17,0.0,2539,1928,3698,3801,970.4,-8.3,884,8292,0.57,0.00,205.48,2.717,10246,0.233,0.000,2741,1928,2989,3025,2954,0,0,0,0,1,0,14.43,28.83,12.64
$STATE,8293,end apogee,CONTROL_FINISHED_OK
$STATE,8293,begin climb
$GC,8295,0.78,194.6,2741,1928,3026,2959,977.0,0.0,895,8523,0.85,2.65,217.65,1.818,10500,0.139,0.066,3054,3360,2185,2217,2154,0,0,0,0,0,0,13.81,13.89,13.18
$GC,8553,0.78,194.6,3054,3360,2206,2138,956.2,15.0,938,8558,0.00,2.45,0.00,0.000,5126,0.000,0.046,3065,1982,2171,2205,2138,0,0,0,0,0,0,28.83,14.11,28.83
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$STATE,16841,end climb,SURFACE_DEPTH_REACHED
$STATE,16842,begin surface coast
$FINISH,0.8,1.023447
$STATE,16864,end surface coast,CONTROL_FINISHED_OK
$STATE,16864,begin surface
$SM_CCo,16880,179.10,0.150,0,0,731,552.91
$SM_GC,0.74,7.57,0.30,179.10,0.093,0.070,0.150,124,2156,731,-8.26,-1.41,552.91,0,0,0,0,0,0,14.69,14.75,14.53
$IRIDIUM_FIX,2258.07,12354.41,031209,060644
$TT8_MAMPS,0.020223,0.020223
$HUMID,39.52
$INTERNAL_PRESSURE,8.03742
$TCM_TEMP,22.80
$XPDR_PINGS,16
$24V_AH,12.6,118.532
$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
$DEVICE_SECS,19.625,216.400,423.125,179.100,0.000,0.000,0.000,294.050,4.000,0.000,8.398,4255.833,8458.149,899.664,3827.756,256.197,0.000,2766.316,0.000,3514.180,0.000,0.553,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1112.610,2182.306,1565.372,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328852
$DATA_FILE_SIZE,150534,1985
$CAP_FILE_SIZE,208314,0
$CFSIZE,2097086464,2043150336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.117, 34.8,1
$GPS,050217,214401,2306.823,12355.744,47,0.8,47,-3.7