version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 333
start: 2 11 117 14 9 28
data:
$ID,628
$MISSION,3
$DIVE,333
$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,-126064.59
$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,49
$R_STBD_OVSHOOT,48
$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
$GPS1,110217,135600,2233.631,12355.456,37,0.8,37,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-58.1
$GPS2,110217,140904,2233.686,12355.500,5,1.1,5,-3.6
$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,170.9,118202,-15.8,-10.104,-18.78,2952
$D_GRID,5306
$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,-194.6,80,2133,750,730,0.0,0.0,0,97,0.00,0.00,-79.57,0.000,16386,0.000,0.000,80,2133,3459,3459,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.78,-194.6,80,2133,3459,3459,3.1,-4.4,12,123,8.62,2.38,-5.18,0.000,19204,0.447,0.076,2540,731,3783,3740,3827,0,0,0,0,0,0,14.23,14.71,15.00
$GC,257,-0.78,-194.6,1544,730,3736,3826,39.3,-21.9,41,266,0.05,2.35,0.00,0.000,3078,0.441,0.041,2544,2144,3783,3740,3827,0,0,0,0,0,0,14.41,14.64,28.83
$GC,514,-0.78,-194.6,1544,2143,3736,3826,86.4,-17.2,90,520,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2145,3783,3739,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,766,-0.78,-194.6,1536,2143,3733,3826,133.7,-18.6,139,774,0.00,2.40,0.00,0.000,2308,0.000,0.060,2535,3554,3783,3739,3827,0,0,0,0,0,0,28.83,14.64,28.83
$GC,848,-0.78,-194.6,1536,3554,3735,3826,147.1,-15.8,154,856,0.00,2.33,0.00,0.000,3078,0.000,0.032,2535,2145,3782,3738,3827,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1101,-0.78,-194.6,2535,2145,3739,3827,190.9,-16.1,203,1109,0.00,2.38,0.00,0.000,2564,0.000,0.057,2535,730,3783,3739,3827,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1207,-0.78,-194.6,1536,730,3736,3826,207.3,-14.3,223,1215,0.08,2.35,0.00,0.000,3078,0.376,0.044,2545,2145,3783,3739,3827,0,0,0,0,0,0,14.39,14.65,28.83
$GC,1461,-0.78,-194.6,1536,2143,3735,3826,243.3,-15.8,272,1468,0.00,2.35,0.00,0.000,2564,0.000,0.051,2545,747,3783,3739,3827,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1506,-0.78,-194.6,1544,746,3736,3826,250.2,-14.0,280,1510,0.00,2.25,0.00,0.000,3078,0.000,0.038,2537,2154,3782,3739,3826,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1758,-0.78,-194.6,2538,2153,3738,3827,287.1,-14.7,306,1768,0.00,2.28,0.00,0.000,2564,0.000,0.052,2538,748,3783,3739,3827,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1830,-0.78,-194.6,2538,748,3739,3827,297.1,-13.4,320,1839,0.08,2.22,0.00,0.000,3078,0.356,0.039,2548,2150,3783,3739,3827,0,0,0,0,0,0,14.46,14.78,28.83
$GC,2080,-0.78,-194.6,2548,2151,3739,3827,327.6,-12.1,346,2084,0.00,2.33,0.00,0.000,260,0.000,0.060,2538,3555,3782,3738,3827,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2104,-0.78,-194.6,2539,3555,3739,3827,330.8,-12.7,351,2111,0.00,2.25,0.00,0.000,3078,0.000,0.031,2539,2144,3782,3738,3827,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2354,-0.78,-194.6,2539,2145,3738,3827,364.0,-13.3,376,2362,0.00,2.25,0.00,0.000,2564,0.000,0.053,2539,752,3782,3738,3827,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2384,-0.78,-194.6,2539,752,3738,3827,368.3,-13.2,382,2389,0.08,2.25,0.00,0.000,3078,0.369,0.039,2548,2156,3782,3738,3827,0,0,0,0,0,0,14.47,14.82,28.83
$GC,2636,-0.78,-194.6,2548,2156,3737,3827,401.7,-13.9,408,2645,0.00,2.33,0.00,0.000,260,0.000,0.060,2539,3553,3781,3736,3827,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2670,-0.78,-194.6,2539,3553,3736,3827,406.8,-14.2,415,2677,0.00,2.25,0.00,0.000,3078,0.000,0.031,2539,2146,3782,3737,3827,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2918,-0.78,-194.6,2539,2145,3734,3827,440.2,-12.9,440,2927,0.00,2.35,0.00,0.000,2308,0.000,0.064,2528,3544,3780,3734,3827,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3009,-0.78,-194.6,2528,3544,3733,3827,451.0,-11.2,458,3020,0.08,2.22,0.00,0.000,3078,0.346,0.031,2549,2145,3780,3733,3827,0,0,0,0,0,0,14.51,14.85,28.83
$GC,3260,-0.78,-194.6,2548,2145,3731,3827,476.5,-10.2,484,3268,0.00,2.28,0.00,0.000,516,0.000,0.054,2549,761,3778,3731,3826,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3353,-0.78,-194.6,1648,761,3728,3826,486.4,-10.2,503,3360,0.00,2.22,0.00,0.000,3078,0.000,0.037,2541,2153,3778,3731,3826,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3603,-0.78,-194.6,2541,2154,3729,3826,514.9,-12.0,528,3609,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2154,3778,3729,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3851,-0.78,-194.6,2541,2154,3727,3826,545.0,-11.5,553,3860,0.00,2.35,0.00,0.000,2308,0.000,0.063,2531,3547,3775,3725,3826,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3873,-0.78,-194.6,2531,3547,3726,3826,547.4,-11.2,557,3882,0.05,2.25,0.00,0.000,3078,0.417,0.033,2546,2142,3776,3726,3826,0,0,0,0,0,0,14.53,14.85,28.83
$GC,4122,-0.78,-194.6,2546,2142,3725,3823,573.5,-10.0,583,4131,0.00,2.30,0.00,0.000,2564,0.000,0.054,2546,755,3774,3725,3823,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4177,-0.78,-194.6,2545,755,3724,3823,578.8,-9.5,594,4184,0.00,2.25,0.00,0.000,3078,0.000,0.040,2539,2155,3773,3724,3823,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4434,-0.78,-194.6,2539,2155,3723,3822,605.3,-10.9,618,4440,0.00,2.33,0.00,0.000,2308,0.000,0.063,2529,3543,3772,3723,3822,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4454,-0.78,-194.6,2529,3543,3723,3822,607.5,-10.9,622,4461,0.08,2.22,0.00,0.000,3078,0.344,0.033,2548,2152,3772,3723,3822,0,0,0,0,0,0,14.49,14.84,28.83
$GC,4714,-0.78,-194.6,2548,2151,3722,3821,635.1,-10.5,638,4720,0.00,2.33,0.00,0.000,516,0.000,0.057,2549,761,3771,3721,3821,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4757,-0.78,-194.6,2548,761,3721,3821,639.9,-10.3,647,4761,0.00,2.25,0.00,0.000,3078,0.000,0.041,2541,2159,3771,3721,3821,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5009,-0.78,-194.6,2541,2159,3718,3819,664.4,-9.4,661,5015,0.00,2.35,0.00,0.000,2308,0.000,0.065,2530,3544,3769,3719,3819,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5138,-0.78,-194.6,2531,3544,3717,3819,676.6,-9.2,687,5143,0.05,2.25,0.00,0.000,3078,0.421,0.034,2546,2148,3767,3716,3819,0,0,0,0,0,0,14.50,14.83,28.83
$GC,5384,-0.78,-194.6,2546,2147,3716,3815,698.3,-9.1,700,5385,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2146,3766,3717,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,-0.78,-194.6,2546,2146,3715,3814,721.4,-9.7,712,5625,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2146,3764,3715,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5863,-0.78,-194.6,2546,2146,3713,3812,744.0,-9.3,724,5870,0.00,2.42,0.00,0.000,2308,0.000,0.066,2537,3548,3762,3712,3812,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5917,-0.78,-194.6,2537,3548,3709,3812,749.1,-9.3,735,5923,0.00,2.30,0.00,0.000,3078,0.000,0.035,2537,2150,3761,3711,3812,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6163,-0.78,-194.6,2537,2149,3711,3811,771.3,-9.0,748,6169,0.00,2.35,0.00,0.000,2564,0.000,0.059,2537,746,3761,3711,3811,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6237,-0.78,-194.6,2537,746,3710,3810,778.4,-9.6,763,6244,0.08,2.30,0.00,0.000,3078,0.357,0.043,2547,2145,3760,3710,3810,0,0,0,0,0,0,14.40,14.76,28.83
$GC,6483,-0.78,-194.6,2547,2145,3708,3808,798.3,-8.1,776,6485,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2145,3758,3708,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6723,-0.78,-194.6,2547,2145,3707,3806,818.3,-8.5,788,6730,0.00,2.42,0.00,0.000,2308,0.000,0.068,2539,3558,3756,3706,3806,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6772,-0.78,-194.6,2539,3558,3705,3806,822.9,-9.6,798,6776,0.00,2.30,0.00,0.000,3078,0.000,0.037,2539,2152,3755,3705,3806,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7019,-0.78,-194.6,2539,2151,3705,3805,846.1,-9.5,811,7025,0.00,2.42,0.00,0.000,2308,0.000,0.067,2530,3550,3755,3705,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7047,-0.78,-194.6,2530,3550,3704,3805,849.1,-10.1,817,7052,0.08,2.33,0.00,0.000,3078,0.344,0.037,2549,2138,3754,3704,3805,0,0,0,0,0,0,14.42,14.78,28.83
$GC,7294,-0.78,-194.6,2549,2138,3703,3803,871.3,-9.0,830,7300,0.00,2.35,0.00,0.000,516,0.000,0.060,2549,755,3753,3703,3803,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7328,-0.78,-194.6,2549,755,3703,3803,874.8,-9.8,837,7335,0.00,2.30,0.00,0.000,3078,0.000,0.044,2541,2158,3753,3703,3803,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7573,-0.78,-194.6,2542,2158,3701,3802,899.7,-10.6,850,7575,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2158,3751,3701,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7813,-0.78,-194.6,2541,2158,3700,3801,925.2,-10.6,862,7820,0.00,2.40,0.00,0.000,2308,0.000,0.070,2532,3549,3750,3700,3801,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7863,-0.78,-194.6,2531,3549,3699,3801,930.5,-10.6,872,7868,0.05,2.33,0.00,0.000,3078,0.410,0.037,2545,2141,3750,3699,3801,0,0,0,0,0,0,14.44,14.75,28.83
$GC,8109,-0.78,-194.6,2545,2140,3699,3800,954.6,-9.4,885,8110,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2141,3748,3698,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8287,begin apogee
$GC,8292,-0.17,0.0,2545,1937,3698,3798,971.2,-9.1,894,8588,0.57,0.00,287.55,1.522,10246,0.225,0.000,2749,1937,2981,3019,2943,0,0,0,0,0,0,14.37,28.83,13.50
$STATE,8589,end apogee,CONTROL_FINISHED_OK
$STATE,8589,begin climb
$GC,8591,0.78,194.6,2749,1936,3018,2940,987.4,0.0,909,8814,0.77,2.58,213.10,1.763,11012,0.135,0.066,3051,3344,2183,2213,2153,0,0,0,0,0,0,14.16,14.04,13.32
$GC,8871,0.78,194.6,3052,3343,2204,2136,969.6,12.8,959,8875,0.00,2.38,0.00,0.000,5126,0.000,0.044,3062,1977,2169,2203,2135,0,0,0,0,0,0,28.83,14.33,28.83
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$STATE,16994,end climb,SURFACE_DEPTH_REACHED
$STATE,16994,begin surface coast
$FINISH,0.1,1.023663
$STATE,17016,end surface coast,CONTROL_FINISHED_OK
$STATE,17016,begin surface
$SM_CCo,17032,130.52,0.151,0,0,732,552.91
$SM_GC,1.03,7.22,0.28,130.52,0.080,0.058,0.151,115,2194,732,-8.26,-1.64,552.91,0,0,0,0,0,0,14.70,14.79,14.50
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$TT8_MAMPS,0.020223,0.020223
$HUMID,40.39
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,13.3,129.673
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328844
$DATA_FILE_SIZE,147102,1963
$CAP_FILE_SIZE,203420,0
$CFSIZE,2097086464,2038071296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.123,320.8,1
$GPS,110217,185649,2232.264,12355.416,22,1.0,41,-3.6