version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 350
start: 2 15 117 4 29 6
data:
$ID,628
$MISSION,3
$DIVE,350
$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,1
$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,-126293.85
$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,39
$R_STBD_OVSHOOT,97
$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
$GPS1,150217,041954,2214.441,12354.507,35,0.9,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-65.2
$GPS2,150217,042842,2214.480,12354.361,7,1.0,8,-3.5
$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,138.5,82948,-15.8,-10.104,-18.78,2952
$D_GRID,4979
$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,-194.6,106,2080,1375,1343,0.0,0.0,0,78,0.00,0.00,-60.75,0.000,16386,0.000,0.000,104,2080,3410,3408,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.78,-194.6,104,2080,3408,3412,3.6,-7.8,9,104,8.65,2.30,-6.00,0.000,18948,0.452,0.076,2544,733,3782,3736,3829,0,0,0,0,0,0,14.19,14.65,14.91
$GC,143,-0.78,-194.6,2544,733,3738,3829,19.1,-16.4,19,150,0.00,2.28,0.00,0.000,3078,0.000,0.041,2536,2103,3783,3738,3829,0,0,0,0,0,0,28.83,14.59,28.83
$GC,395,-0.78,-194.6,1536,2101,3735,3828,64.8,-18.4,68,402,0.00,2.47,0.00,0.000,2308,0.000,0.059,2526,3551,3783,3738,3828,0,0,0,0,0,0,28.83,14.63,28.83
$GC,461,-0.78,-194.6,2526,3552,3738,3829,76.8,-17.3,80,469,0.10,2.35,0.00,0.000,3078,0.331,0.031,2553,2135,3783,3738,3829,0,0,0,0,0,0,14.36,14.65,28.83
$GC,716,-0.78,-194.6,2553,2135,3738,3829,118.6,-15.0,129,723,0.00,2.35,0.00,0.000,516,0.000,0.053,2553,757,3784,3738,3830,0,0,0,0,0,0,28.83,14.61,28.83
$GC,741,-0.78,-194.6,1584,756,3734,3828,122.5,-15.5,133,748,0.00,2.30,0.00,0.000,3078,0.000,0.041,2544,2146,3783,3738,3829,0,0,0,0,0,0,28.83,14.63,28.83
$GC,994,-0.78,-194.6,1536,2145,3734,3828,161.9,-16.9,182,1002,0.00,2.40,0.00,0.000,2308,0.000,0.060,2534,3557,3783,3738,3829,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1041,-0.78,-194.6,2534,3557,3738,3829,170.1,-17.3,190,1049,0.00,2.33,0.00,0.000,3078,0.000,0.031,2534,2149,3783,3738,3829,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1297,-0.78,-194.6,1552,2148,3734,3828,222.0,-20.8,239,1303,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2149,3783,3738,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1553,-0.78,-194.6,2534,2149,3738,3830,274.5,-21.0,277,1563,0.00,2.35,0.00,0.000,2308,0.000,0.062,2523,3546,3783,3738,3829,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1576,-0.78,-194.6,2523,3547,3738,3830,279.0,-19.7,281,1587,0.05,2.22,0.00,0.000,3078,0.281,0.030,2544,2133,3784,3738,3830,0,0,0,0,0,0,14.24,14.76,28.83
$GC,1825,-0.78,-194.6,2544,2133,3738,3830,315.7,-13.5,307,1834,0.00,2.38,0.00,0.000,2308,0.000,0.060,2535,3550,3783,3738,3829,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1909,-0.78,-194.6,1632,3549,3735,3829,327.7,-13.0,324,1917,0.00,2.25,0.00,0.000,3078,0.000,0.030,2535,2147,3783,3738,3829,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2158,-0.78,-194.6,2535,2146,3738,3830,360.8,-13.2,349,2166,0.00,2.25,0.00,0.000,2564,0.000,0.052,2535,761,3783,3738,3829,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2211,-0.78,-194.6,1632,761,3735,3829,368.3,-12.4,360,2220,0.08,2.22,0.00,0.000,3078,0.366,0.037,2546,2155,3784,3738,3830,0,0,0,0,0,0,14.45,14.78,28.83
$GC,2459,-0.78,-194.6,2546,2155,3738,3828,397.6,-12.1,385,2463,0.00,2.33,0.00,0.000,2564,0.000,0.052,2547,746,3784,3738,3830,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2483,-0.78,-194.6,2546,746,3738,3829,401.0,-13.1,390,2490,0.00,2.25,0.00,0.000,3078,0.000,0.037,2538,2151,3783,3737,3830,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2731,-0.78,-194.6,2539,2151,3737,3830,429.9,-12.3,415,2735,0.00,2.28,0.00,0.000,2564,0.000,0.052,2539,757,3783,3737,3830,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2774,-0.78,-194.6,2539,757,3737,3830,435.3,-12.3,423,2784,0.03,2.22,0.00,0.000,3078,0.351,0.039,2542,2162,3783,3737,3830,0,0,0,0,0,0,14.36,14.77,28.83
$GC,3023,-0.78,-194.6,2542,2162,3735,3830,463.5,-10.6,449,3032,0.00,2.33,0.00,0.000,2308,0.000,0.062,2533,3549,3782,3735,3830,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3127,-0.78,-194.6,1632,3548,3732,3829,474.5,-10.3,470,3134,0.00,2.25,0.00,0.000,3078,0.000,0.030,2533,2144,3782,3734,3830,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3376,-0.78,-194.6,2533,2144,3732,3829,502.2,-11.8,495,3385,0.00,2.28,0.00,0.000,2564,0.000,0.054,2533,754,3781,3732,3830,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3407,-0.78,-194.6,2533,755,3732,3829,506.1,-12.6,501,3417,0.10,2.22,0.00,0.000,3078,0.327,0.038,2552,2155,3780,3731,3830,0,0,0,0,0,0,14.45,14.81,28.83
$GC,3657,-0.78,-194.6,2552,2155,3731,3830,533.3,-10.5,527,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2155,3779,3730,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3897,-0.78,-194.6,2552,2155,3728,3829,557.4,-9.2,551,3907,0.00,2.35,0.00,0.000,260,0.000,0.063,2542,3550,3778,3727,3829,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3950,-0.78,-194.6,2543,3550,3726,3830,562.2,-8.6,561,3959,0.00,2.25,0.00,0.000,3078,0.000,0.031,2542,2143,3777,3726,3829,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4200,-0.78,-194.6,2542,2144,3726,3826,584.1,-8.4,587,4209,0.00,2.28,0.00,0.000,2564,0.000,0.055,2542,767,3776,3726,3826,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4337,-0.78,-194.6,1584,766,3721,3825,595.5,-8.2,614,4343,0.00,2.22,0.00,0.000,3078,0.000,0.040,2534,2148,3775,3725,3826,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4592,-0.78,-194.6,2534,2148,3724,3824,619.6,-10.3,630,4598,0.00,2.35,0.00,0.000,2308,0.000,0.064,2524,3545,3774,3724,3824,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4721,-0.78,-194.6,2524,3545,3723,3824,634.3,-12.1,656,4726,0.10,2.25,0.00,0.000,3078,0.296,0.033,2553,2142,3773,3723,3824,0,0,0,0,0,0,14.47,14.82,28.83
$GC,4967,-0.78,-194.6,2554,2143,3722,3823,659.3,-9.8,669,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2142,3772,3722,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5207,-0.78,-194.6,2554,2142,3721,3822,682.3,-9.6,681,5213,0.00,2.33,0.00,0.000,4612,0.000,0.057,2554,758,3771,3720,3822,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5341,-0.78,-194.6,2554,758,3720,3822,694.7,-9.1,708,5348,0.00,2.28,0.00,0.000,3078,0.000,0.041,2546,2149,3770,3719,3821,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5587,-0.78,-194.6,2547,2149,3718,3819,716.2,-8.5,721,5593,0.00,2.40,0.00,0.000,2308,0.000,0.067,2536,3558,3768,3717,3819,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5655,-0.78,-194.6,2536,3559,3716,3820,722.4,-8.9,735,5660,0.00,2.28,0.00,0.000,3078,0.000,0.034,2536,2156,3768,3716,3820,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5902,-0.78,-194.6,2536,2155,3716,3816,744.5,-9.3,748,5903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2155,3766,3716,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6142,-0.78,-194.6,2536,2155,3714,3815,766.8,-9.1,760,6148,0.00,2.35,0.00,0.000,2564,0.000,0.058,2536,757,3764,3714,3815,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6202,-0.78,-194.6,2536,757,3713,3814,772.4,-9.0,772,6206,0.08,2.28,0.00,0.000,3078,0.355,0.043,2547,2150,3764,3713,3815,0,0,0,0,0,0,14.41,14.76,28.83
$GC,6464,-0.78,-194.6,2547,2151,3711,3813,795.4,-8.9,788,6470,0.00,2.40,0.00,0.000,260,0.000,0.067,2538,3552,3762,3711,3813,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6497,-0.78,-194.6,2538,3552,3711,3813,798.6,-9.2,795,6504,0.00,2.33,0.00,0.000,3078,0.000,0.035,2538,2142,3762,3711,3813,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6744,-0.78,-194.6,2538,2142,3710,3812,821.9,-9.6,808,6745,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2142,3761,3710,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6984,-0.78,-194.6,2539,2142,3708,3810,844.5,-9.4,820,6985,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2142,3759,3708,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7224,-0.78,-194.6,2539,2142,3707,3808,867.4,-9.8,832,7230,0.00,2.45,0.00,0.000,2308,0.000,0.067,2529,3551,3757,3706,3808,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7246,-0.78,-194.6,1664,3551,3702,3807,869.7,-9.6,837,7251,0.08,2.30,0.00,0.000,3078,0.322,0.036,2549,2149,3757,3706,3808,0,0,0,0,0,0,14.42,14.74,28.83
$GC,7504,-0.78,-194.6,2549,2150,3705,3807,892.2,-8.9,852,7510,0.00,2.38,0.00,0.000,516,0.000,0.060,2550,752,3755,3705,3806,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7566,-0.78,-194.6,1664,752,3701,3805,898.3,-9.3,865,7571,0.00,2.30,0.00,0.000,3078,0.000,0.044,2542,2156,3755,3704,3806,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7824,-0.78,-194.6,2542,2156,3703,3805,921.6,-9.2,880,7828,0.00,2.38,0.00,0.000,2564,0.000,0.060,2542,749,3754,3703,3805,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7858,-0.78,-194.6,2542,748,3703,3805,925.2,-9.9,887,7866,0.00,2.33,0.00,0.000,3078,0.000,0.045,2534,2153,3753,3702,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8106,-0.78,-194.6,2534,2153,3702,3804,949.6,-10.4,900,8107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2153,3753,3702,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8323,begin apogee
$GC,8329,-0.17,0.0,2535,1934,3700,3803,971.9,-10.3,911,8618,0.60,0.00,285.92,1.532,10246,0.227,0.000,2744,1934,2988,3025,2951,0,0,0,0,0,0,14.30,28.83,13.47
$STATE,8619,end apogee,CONTROL_FINISHED_OK
$STATE,8619,begin climb
$GC,8621,0.78,194.6,2743,1933,3018,2942,988.1,0.0,925,8847,0.80,2.60,211.93,1.775,11012,0.145,0.066,3052,3339,2178,2208,2149,0,0,0,0,0,0,14.10,14.00,13.28
$GC,8892,0.78,194.6,2144,3337,2160,2129,970.3,13.5,967,8897,0.00,2.38,0.00,0.000,5126,0.000,0.043,3063,1975,2167,2200,2135,0,0,0,0,0,0,28.83,14.31,28.83
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$STATE,16909,end climb,SURFACE_DEPTH_REACHED
$STATE,16909,begin surface coast
$FINISH,0.0,1.009105
$STATE,16931,end surface coast,CONTROL_FINISHED_OK
$STATE,16932,begin surface
$SM_CCo,16947,104.07,0.151,0,0,1355,400.08
$SM_GC,0.99,7.50,0.30,104.07,0.092,0.057,0.151,129,2184,1355,-8.24,-1.72,400.08,0,0,0,0,0,0,14.68,14.78,14.50
$IRIDIUM_FIX,2209.02,12354.98,121209,121208
$TT8_MAMPS,0.020223,0.020223
$HUMID,40.86
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,22.10
$XPDR_PINGS,3
$24V_AH,13.3,136.576
$10V_AH,13.4,0.000
$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
$DEVICE_SECS,19.600,201.850,497.850,104.075,0.000,0.000,0.000,401.350,0.750,0.000,9.290,4152.053,8397.671,882.295,3845.668,276.116,0.000,2830.858,0.000,3444.561,0.000,0.552,0.000
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$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,328708
$DATA_FILE_SIZE,147300,1966
$CAP_FILE_SIZE,204532,0
$CFSIZE,2097086464,2036203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.162,285.8,1
$GPS,150217,091430,2213.299,12354.654,36,0.7,36,-3.5