version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 6
start: 12 8 116 11 20 38
data:
$ID,628
$MISSION,3
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$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,1
$RHO,1.0275
$MASS,53567
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$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,450
$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,-123566.29
$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,2840
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,2074
$C_ROLL_CLIMB,2074
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,41
$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,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,081216,111250,2147.955,12103.738,36,1.3,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-60.5
$GPS2,081216,112014,2148.086,12103.776,7,1.2,7,-3.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,10.3,144818,-15.7,-10.000,-18.68,2978
$D_GRID,1000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.84,-194.6,117,2059,974,923,0.0,0.0,0,85,0.00,0.00,-68.22,0.000,16386,0.000,0.000,115,2060,3241,3251,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.84,-194.6,115,2060,3250,3233,3.6,-8.0,10,116,8.62,2.42,-8.45,0.000,18692,0.492,0.089,2552,3485,3785,3739,3831,0,0,0,0,0,0,14.53,14.77,14.97
$GC,139,-0.84,-194.6,1552,3484,3735,3831,19.3,-23.4,18,146,0.00,2.33,0.00,0.000,3078,0.000,0.042,2551,2060,3784,3738,3831,0,0,0,0,0,0,28.83,14.81,28.83
$GC,453,-0.84,-194.6,1560,2057,3735,3831,94.6,-25.5,79,461,0.05,2.35,0.00,0.000,2308,0.516,0.063,2554,3479,3785,3738,3832,0,0,0,0,0,0,14.73,14.87,28.83
$GC,585,-0.84,-194.6,1552,3479,3734,3831,121.1,-13.2,104,593,0.00,2.28,0.00,0.000,3078,0.000,0.046,2554,2077,3785,3738,3832,0,0,0,0,0,0,28.83,14.90,28.83
$GC,900,-0.84,-194.6,1544,2074,3735,3832,164.9,-11.8,165,909,0.00,2.30,0.00,0.000,2564,0.000,0.064,2554,673,3785,3738,3833,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1111,-0.84,-194.6,1568,673,3735,3832,193.7,-14.2,205,1119,0.05,2.25,0.00,0.000,3078,0.332,0.047,2566,2073,3785,3738,3833,0,0,0,0,0,0,14.77,14.94,28.83
$GC,1426,-0.84,-194.6,2566,2074,3738,3833,238.2,-12.6,266,1434,0.00,2.33,0.00,0.000,2308,0.000,0.067,2557,3475,3785,3738,3833,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1512,-0.84,-194.6,1536,3474,3735,3832,249.9,-14.2,282,1519,0.00,2.25,0.00,0.000,3078,0.000,0.041,2556,2073,3785,3738,3833,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1817,-0.84,-194.6,2556,2072,3737,3833,294.0,-14.0,313,1827,0.00,2.28,0.00,0.000,2308,0.000,0.067,2546,3472,3785,3737,3833,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1880,-0.84,-194.6,2547,3472,3737,3833,302.9,-13.5,325,1885,0.08,2.20,0.00,0.000,3078,0.377,0.041,2566,2063,3785,3737,3833,0,0,0,0,0,0,14.85,15.02,28.83
$GC,2185,-0.84,-194.6,2566,2062,3734,3833,336.8,-9.0,356,2189,0.00,2.30,0.00,0.000,2308,0.000,0.067,2558,3473,3783,3734,3833,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2231,-0.84,-194.6,2558,3473,3733,3833,341.0,-8.9,365,2236,0.00,2.20,0.00,0.000,3078,0.000,0.041,2557,2067,3783,3733,3833,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2536,-0.84,-194.6,2557,2067,3731,3833,374.5,-12.0,396,2540,0.00,2.30,0.00,0.000,2308,0.000,0.069,2548,3477,3781,3730,3833,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2645,-0.84,-194.6,2548,3477,3730,3833,386.6,-9.8,418,2654,0.08,2.20,0.00,0.000,3078,0.373,0.043,2569,2070,3781,3729,3833,0,0,0,0,0,0,14.90,15.07,28.83
$GC,2952,-0.84,-194.6,2569,2070,3725,3833,410.7,-7.1,449,2956,0.00,2.25,0.00,0.000,516,0.000,0.070,2569,673,3778,3724,3833,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2998,-0.84,-194.6,2570,673,3724,3833,414.1,-7.2,458,3002,0.00,2.20,0.00,0.000,3078,0.000,0.049,2565,2076,3778,3724,3833,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3304,-0.84,-194.6,2565,2077,3722,3833,436.4,-7.8,489,3308,0.00,2.28,0.00,0.000,2308,0.000,0.071,2555,3471,3777,3721,3833,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3408,-0.84,-194.6,2554,3471,3720,3832,446.1,-9.5,510,3415,0.00,2.20,0.00,0.000,3078,0.000,0.044,2554,2077,3776,3720,3833,0,0,0,0,0,0,28.83,15.08,28.83
$GC,3714,-0.84,-194.6,2555,2076,3719,3830,479.2,-11.7,541,3719,0.00,2.28,0.00,0.000,2564,0.000,0.074,2556,671,3774,3719,3830,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3753,-0.84,-194.6,1696,671,3715,3829,484.0,-11.6,549,3761,0.05,2.25,0.00,0.000,3078,0.333,0.051,2570,2066,3773,3718,3829,0,0,0,0,0,0,14.88,15.04,28.83
$GC,4060,-0.84,-194.6,2570,2066,3716,3828,518.7,-11.6,580,4064,0.00,2.30,0.00,0.000,260,0.000,0.073,2564,3478,3771,3715,3828,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4154,-0.84,-194.6,1680,3477,3712,3827,527.9,-9.9,599,4161,0.00,2.25,0.00,0.000,3078,0.000,0.044,2563,2074,3772,3716,3828,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4461,-0.84,-194.6,2563,2074,3714,3825,553.0,-8.0,630,4462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2563,2075,3769,3714,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4761,-0.84,-194.6,2563,2074,3711,3823,574.5,-7.0,660,4770,0.00,2.33,0.00,0.000,2308,0.000,0.075,2563,3485,3767,3711,3823,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4793,-0.84,-194.6,2563,3485,3711,3823,576.7,-7.1,666,4802,0.00,2.22,0.00,0.000,3078,0.000,0.047,2562,2076,3767,3711,3823,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5102,-0.84,-194.6,2563,2076,3710,3822,598.2,-7.7,698,5106,0.00,2.33,0.00,0.000,2308,0.000,0.075,2558,3485,3766,3710,3822,0,0,0,0,0,0,28.83,15.05,28.83
$STATE,5127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5127,begin apogee
$GC,5133,-0.19,0.0,2558,2071,3710,3823,600.2,-7.4,703,5320,0.60,0.00,178.73,1.959,10246,0.249,0.000,2779,2071,2988,3026,2950,0,0,0,0,1,0,14.94,28.83,13.31
$STATE,5321,end apogee,CONTROL_FINISHED_OK
$STATE,5321,begin climb
$GC,5322,0.84,194.6,2779,2071,3026,2955,606.7,0.0,712,5510,0.82,2.45,171.60,2.534,10756,0.136,0.076,3122,678,2194,2226,2163,0,0,0,0,1,0,14.17,14.09,13.27
$GC,5652,0.84,194.6,3122,678,2228,2166,575.8,17.2,780,5656,0.00,2.30,0.00,0.000,5126,0.000,0.050,3122,2086,2197,2228,2167,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5957,0.84,194.6,3122,2087,2228,2162,522.1,17.9,811,5961,0.00,2.35,0.00,0.000,4612,0.000,0.078,3132,676,2195,2228,2162,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6073,0.84,194.6,3131,675,2226,2162,500.9,18.3,834,6078,0.10,2.25,0.00,0.000,5126,0.430,0.052,3109,2075,2194,2226,2162,0,0,0,0,0,0,14.69,14.88,28.83
$GC,6378,0.84,194.6,3110,2077,2226,2160,454.1,13.4,865,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2077,2193,2226,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6678,0.84,194.6,3109,2077,2226,2158,417.0,11.6,895,6687,0.00,2.30,0.00,0.000,260,0.000,0.072,3109,3476,2192,2226,2158,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6779,0.84,194.6,3109,3476,2226,2158,402.9,14.5,915,6783,0.00,2.25,0.00,0.000,5126,0.000,0.051,3118,2080,2192,2226,2158,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7090,0.84,194.6,3117,2080,2226,2155,366.7,10.6,947,7094,0.00,2.30,0.00,0.000,4356,0.000,0.073,3117,3474,2191,2227,2156,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7266,0.84,194.6,3117,3474,2226,2156,343.3,14.4,982,7276,0.08,2.25,0.00,0.000,5126,0.487,0.052,3113,2069,2190,2226,2155,0,0,0,0,0,0,14.81,15.02,28.83
$GC,7576,0.84,194.6,3113,2068,2226,2154,294.1,15.5,1014,7580,0.00,2.33,0.00,0.000,4356,0.000,0.072,3113,3480,2190,2226,2154,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7800,0.84,194.6,3113,3480,2226,2154,262.4,12.7,1057,7810,0.00,2.25,0.00,0.000,5126,0.000,0.050,3121,2076,2190,2226,2154,0,0,0,0,0,0,28.83,15.02,28.83
$GC,8112,0.84,194.6,2112,2074,2176,2146,222.2,15.2,1109,8120,0.00,2.35,0.00,0.000,4612,0.000,0.075,3132,667,2189,2226,2153,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8163,0.84,194.6,2112,667,2175,2145,214.2,15.1,1118,8171,0.05,2.28,0.00,0.000,5126,0.377,0.051,3115,2068,2189,2225,2153,0,0,0,0,0,0,14.80,14.97,28.83
$GC,8476,0.84,194.6,2088,2067,2176,2145,177.0,10.1,1179,8483,0.00,2.35,0.00,0.000,4612,0.000,0.073,3124,669,2189,2225,2153,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8501,0.85,198.3,3124,670,2225,2154,174.5,9.9,1183,8509,0.00,2.28,1.52,0.244,13318,0.000,0.050,3124,2068,2179,2215,2143,0,0,0,0,0,0,28.83,14.95,14.74
$GC,8817,0.85,198.3,2120,2067,2175,2144,144.0,10.3,1244,8824,0.00,2.35,0.00,0.000,4612,0.000,0.073,3134,668,2187,2223,2151,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9045,0.96,292.1,3134,668,2224,2151,125.8,6.8,1288,9146,0.00,2.28,92.18,1.060,11270,0.000,0.049,3134,2071,1786,1837,1735,0,0,0,0,0,0,28.83,14.95,14.12
$GC,9453,1.04,356.0,3134,2071,1827,1716,79.2,7.8,1363,9495,0.12,2.35,33.10,0.389,10756,0.199,0.071,3211,668,1536,1588,1484,0,0,0,0,0,0,14.72,14.73,14.50
$GC,9517,1.04,356.0,2216,668,1563,1485,70.9,15.2,1373,9526,0.08,2.30,0.00,0.000,5126,0.337,0.048,3173,2070,1542,1594,1490,0,0,0,0,0,0,14.60,14.76,28.83
$GC,9833,1.04,356.0,2128,2069,1562,1485,24.4,15.0,1434,9841,0.00,2.35,0.00,0.000,260,0.000,0.066,3172,3473,1542,1594,1490,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9873,1.04,356.0,3172,3474,1594,1490,18.2,15.7,1441,9881,0.00,2.30,0.00,0.000,5126,0.000,0.050,3182,2075,1541,1594,1489,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,9978,end climb,SURFACE_DEPTH_REACHED
$STATE,9978,begin surface coast
$FINISH,0.0,1.022818
$STATE,10000,end surface coast,CONTROL_FINISHED_OK
$STATE,10000,begin surface
$SM_CCo,10013,49.22,0.166,0,0,1152,450.13
$SM_GC,0.85,7.40,0.00,49.22,0.129,0.000,0.166,144,2073,1152,-8.36,-0.03,450.13,0,0,0,0,0,0,14.85,28.83,14.77
$IRIDIUM_FIX,2141.13,12059.02,051009,000055
$TT8_MAMPS,0.020223,0.020223
$HUMID,42.32
$INTERNAL_PRESSURE,8.03742
$TCM_TEMP,21.20
$XPDR_PINGS,11
$24V_AH,13.3,1.673
$10V_AH,13.1,0.000
$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,18.175,105.350,477.125,49.225,0.000,0.000,0.000,353.825,2.750,0.000,8.277,3186.048,3449.570,628.333,3115.032,113.721,0.000,2123.843,0.000,2763.614,0.000,0.551,0.000
$DEVICE_MAMPS,515.610,88.740,2534.445,166.005,0.000,0.000,0.000,163.710,420.000,0.000,11.240,12.320,2.190,12.320,32.540,39.280,0.000,10.900,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,871.296,1705.879,1562.436,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324308
$DATA_FILE_SIZE,110537,1465
$CAP_FILE_SIZE,131660,0
$CFSIZE,2097086464,2092466176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.018,187.2,1
$GPS,081216,140931,2149.004,12104.283,37,0.8,37,-3.2