version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 50
start: 12 16 116 9 5 9
data:
$ID,628
$MISSION,3
$DIVE,50
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$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,-8
$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,70
$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,-124079.29
$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,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,34
$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
$GPS1,161216,085655,2312.397,12143.051,40,0.9,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.6
$GPS2,161216,090445,2312.516,12142.957,9,1.0,9,-3.6
$SPEED_LIMITS,0.156,0.266
$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,152.4,226586,-15.7,-10.000,-18.68,2978
$D_GRID,1999
$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,-194.6,106,2154,1376,1345,0.0,0.0,0,72,0.00,0.00,-54.88,0.000,16386,0.000,0.000,103,2154,3221,3230,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,103,2154,3231,3212,3.7,-8.4,8,98,8.68,2.38,-8.80,0.000,18948,0.491,0.082,2538,753,3783,3742,3824,0,0,0,0,0,0,14.45,14.70,14.89
$GC,219,-0.78,-194.6,1552,753,3738,3825,45.0,-22.1,34,227,0.03,2.33,0.00,0.000,3078,0.279,0.050,2550,2154,3784,3742,3826,0,0,0,0,0,0,14.59,14.74,28.83
$GC,536,-0.78,-194.6,2550,2154,3741,3829,115.1,-19.3,95,543,0.00,2.35,0.00,0.000,260,0.000,0.064,2542,3548,3784,3741,3828,0,0,0,0,0,0,28.83,14.81,28.83
$GC,580,-0.78,-194.6,1552,3547,3738,3827,123.6,-18.0,103,588,0.00,2.28,0.00,0.000,3078,0.000,0.032,2541,2141,3784,3741,3828,0,0,0,0,0,0,28.83,14.83,28.83
$GC,899,-0.78,-194.6,1568,2138,3738,3829,175.8,-15.3,164,906,0.00,2.38,0.00,0.000,2308,0.000,0.063,2531,3562,3785,3741,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,943,-0.78,-194.6,1536,3561,3738,3829,182.1,-13.9,172,951,0.03,2.28,0.00,0.000,3078,0.396,0.033,2542,2150,3785,3741,3830,0,0,0,0,0,0,14.68,14.87,28.83
$GC,1258,-0.78,-194.6,1568,2148,3738,3831,229.5,-14.8,233,1266,0.00,2.30,0.00,0.000,2564,0.000,0.058,2542,761,3786,3742,3831,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1304,-0.78,-194.6,2542,761,3742,3832,236.5,-14.5,241,1313,0.00,2.25,0.00,0.000,3078,0.000,0.044,2534,2147,3786,3741,3832,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1615,-0.78,-194.6,2535,2148,3742,3832,281.5,-14.4,280,1619,0.00,2.30,0.00,0.000,2308,0.000,0.063,2525,3554,3787,3742,3832,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1664,-0.78,-194.6,2525,3554,3741,3831,288.6,-13.6,290,1674,0.05,2.25,0.00,0.000,3078,0.316,0.031,2544,2146,3786,3742,3831,0,0,0,0,0,0,14.73,14.90,28.83
$GC,1972,-0.78,-194.6,2544,2146,3741,3832,327.4,-12.2,321,1976,0.00,2.22,0.00,0.000,2564,0.000,0.057,2545,760,3786,3741,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2001,-0.78,-194.6,2545,760,3741,3832,331.2,-12.8,327,2009,0.00,2.20,0.00,0.000,3078,0.000,0.041,2537,2151,3786,3740,3832,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2308,-0.78,-194.6,2537,2151,3739,3831,368.4,-12.1,358,2312,0.00,2.30,0.00,0.000,2308,0.000,0.066,2527,3556,3785,3739,3831,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2367,-0.78,-194.6,2527,3556,3738,3832,376.1,-12.3,370,2375,0.08,2.25,0.00,0.000,3078,0.383,0.031,2546,2149,3784,3738,3831,0,0,0,0,0,0,14.84,15.01,28.83
$GC,2673,-0.78,-194.6,2546,2148,3736,3831,410.2,-10.5,401,2678,0.00,2.25,0.00,0.000,2564,0.000,0.058,2546,758,3783,3736,3831,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2704,-0.78,-194.6,2546,757,3736,3831,413.6,-10.8,407,2708,0.00,2.20,0.00,0.000,3078,0.000,0.042,2538,2153,3784,3736,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3009,-0.78,-194.6,2538,2153,3732,3831,451.2,-13.4,438,3013,0.00,2.25,0.00,0.000,2564,0.000,0.058,2536,760,3781,3731,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3060,-0.78,-194.6,2538,760,3731,3831,458.1,-13.6,448,3070,0.08,2.20,0.00,0.000,3078,0.427,0.044,2546,2151,3781,3731,3831,0,0,0,0,0,0,14.85,15.03,28.83
$GC,3370,-0.78,-194.6,2547,2153,3729,3831,496.5,-12.0,480,3371,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2153,3780,3729,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,-0.78,-194.6,2547,2153,3725,3830,531.6,-11.7,510,3679,0.00,2.30,0.00,0.000,2308,0.000,0.069,2538,3550,3777,3725,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3823,-0.78,-194.6,1696,3549,3720,3829,549.5,-10.9,541,3831,0.00,2.25,0.00,0.000,3078,0.000,0.033,2538,2151,3777,3724,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4131,-0.78,-194.6,2538,2151,3722,3827,582.3,-10.5,572,4132,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2150,3774,3723,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4431,-0.78,-194.6,2538,2151,3721,3824,612.9,-10.2,596,4432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2151,3773,3721,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4731,-0.78,-194.6,2538,2151,3719,3823,642.9,-9.7,611,4735,0.00,2.33,0.00,0.000,2308,0.000,0.070,2529,3547,3770,3718,3823,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4806,-0.78,-194.6,2529,3547,3717,3823,650.2,-9.5,626,4811,0.08,2.22,0.00,0.000,3078,0.376,0.035,2546,2144,3770,3717,3823,0,0,0,0,0,0,14.90,15.08,28.83
$GC,5128,-0.78,-194.6,2547,2143,3716,3822,678.0,-8.5,645,5132,0.00,2.25,0.00,0.000,2564,0.000,0.063,2547,759,3769,3716,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5172,-0.78,-194.6,2547,758,3716,3822,682.2,-9.1,654,5176,0.00,2.22,0.00,0.000,3078,0.000,0.047,2540,2150,3769,3716,3822,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5484,-0.78,-194.6,2540,2150,3713,3820,711.2,-9.5,671,5490,0.00,2.33,0.00,0.000,2308,0.000,0.072,2530,3557,3766,3713,3820,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5517,-0.78,-194.6,2530,3557,3712,3820,714.6,-10.1,678,5524,0.08,2.25,0.00,0.000,3078,0.391,0.035,2548,2135,3766,3712,3820,0,0,0,0,0,0,14.89,15.09,28.83
$GC,5824,-0.78,-194.6,2548,2134,3711,3817,743.0,-9.7,694,5825,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2134,3764,3711,3817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6124,-0.78,-194.6,2548,2134,3710,3815,773.3,-10.2,709,6130,0.00,2.38,0.00,0.000,2308,0.000,0.072,2539,3557,3762,3709,3815,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6147,-0.78,-194.6,2539,3557,3709,3815,775.8,-10.4,714,6151,0.00,2.22,0.00,0.000,3078,0.000,0.036,2539,2153,3762,3709,3815,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6464,-0.78,-194.6,2539,2152,3707,3814,807.9,-10.0,732,6468,0.00,2.28,0.00,0.000,2564,0.000,0.063,2539,758,3760,3707,3814,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6517,-0.78,-194.6,2539,757,3707,3814,813.7,-10.4,743,6526,0.08,2.25,0.00,0.000,3078,0.416,0.048,2548,2162,3760,3707,3814,0,0,0,0,0,0,14.88,15.07,28.83
$GC,6824,-0.78,-194.6,2549,2161,3705,3812,841.7,-9.1,759,6829,0.00,2.30,0.00,0.000,2308,0.000,0.073,2540,3550,3759,3705,3813,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6880,-0.78,-194.6,2540,3550,3705,3813,847.1,-9.6,770,6884,0.00,2.22,0.00,0.000,3078,0.000,0.037,2540,2141,3759,3705,3813,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7196,-0.78,-194.6,2540,2141,3704,3811,876.9,-9.5,788,7200,0.00,2.25,0.00,0.000,2564,0.000,0.063,2540,759,3757,3704,3811,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7240,-0.78,-194.6,2540,759,3703,3812,881.4,-9.5,797,7245,0.03,2.28,0.00,0.000,3078,0.627,0.049,2544,2173,3758,3704,3812,0,0,0,0,0,0,14.85,15.06,28.83
$GC,7552,-0.78,-194.6,2544,2174,3702,3810,909.8,-9.3,814,7559,0.00,2.30,0.00,0.000,2308,0.000,0.073,2535,3561,3756,3702,3810,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7585,-0.78,-194.6,2535,3561,3702,3810,913.1,-9.5,821,7592,0.00,2.25,0.00,0.000,3078,0.000,0.036,2535,2146,3756,3702,3810,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7892,-0.78,-194.6,2535,2146,3701,3808,942.8,-9.9,837,7893,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2146,3754,3701,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8192,-0.78,-194.6,2535,2146,3700,3807,972.2,-9.2,852,8198,0.00,2.28,0.00,0.000,2564,0.000,0.064,2535,750,3753,3700,3807,0,0,0,0,0,0,28.83,15.04,28.83
$GC,8232,-0.78,-194.6,2535,750,3700,3807,976.1,-9.9,860,8237,0.10,2.25,0.00,0.000,3078,0.383,0.049,2553,2154,3753,3700,3807,0,0,0,0,0,0,14.88,15.06,28.83
$STATE,8428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8428,begin apogee
$GC,8432,-0.17,0.0,2553,1933,3699,3806,990.5,-7.2,872,8722,0.52,0.00,286.15,1.636,10246,0.247,0.000,2745,1933,2987,3027,2948,0,0,0,0,0,0,14.90,28.83,13.61
$STATE,8723,end apogee,CONTROL_FINISHED_OK
$STATE,8723,begin climb
$GC,8724,0.78,194.6,2745,1932,3021,2939,1001.4,0.0,886,8958,0.80,2.42,225.12,1.770,10756,0.147,0.076,3063,582,2187,2221,2154,0,0,0,0,0,0,14.12,14.02,13.51
$GC,8999,0.78,194.6,3063,581,2201,2137,979.0,13.7,944,9006,0.00,2.33,0.00,0.000,5126,0.000,0.047,3063,1944,2169,2201,2137,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9306,0.78,194.6,3063,1944,2200,2128,937.2,13.7,960,9312,0.00,2.40,0.00,0.000,4356,0.000,0.070,3063,3357,2164,2200,2128,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9348,0.78,194.6,2176,3356,2161,2121,930.3,15.9,969,9353,0.05,2.35,0.00,0.000,5126,0.411,0.045,3054,1978,2163,2200,2127,0,0,0,0,0,0,14.48,14.66,28.83
$GC,9665,0.78,194.6,3054,1977,2200,2123,884.6,14.5,987,9670,0.00,2.42,0.00,0.000,4612,0.000,0.078,3062,540,2161,2200,2123,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9694,0.78,194.6,3062,539,2198,2123,879.9,15.0,993,9702,0.00,2.33,0.00,0.000,5126,0.000,0.047,3062,1964,2160,2198,2123,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10001,0.78,194.6,3062,1964,2198,2122,834.2,15.4,1009,10005,0.00,2.33,0.00,0.000,4356,0.000,0.071,3062,3354,2160,2198,2122,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10040,0.78,194.6,2152,3352,2158,2115,827.6,16.8,1017,10045,0.05,2.35,0.00,0.000,5126,0.416,0.047,3036,1953,2160,2198,2122,0,0,0,0,0,0,14.68,14.86,28.83
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$STATE,16587,end climb,SURFACE_DEPTH_REACHED
$STATE,16587,begin surface coast
$FINISH,0.2,1.023037
$STATE,16604,end surface coast,CONTROL_FINISHED_OK
$STATE,16604,begin surface
$SM_CCo,16618,16.52,0.167,0,0,1356,400.08
$SM_GC,1.78,7.53,0.30,16.52,0.129,0.060,0.167,144,2193,1356,-8.24,-1.33,400.08,0,0,0,0,0,0,14.75,14.85,14.71
$IRIDIUM_FIX,2300.41,12141.67,121009,222255
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.11
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,21.40
$XPDR_PINGS,2
$24V_AH,13.5,17.299
$10V_AH,13.2,0.000
$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
$DEVICE_SECS,19.200,175.150,611.025,16.525,0.000,0.000,0.000,368.125,0.500,0.000,10.320,4055.084,8409.825,761.684,3707.502,150.178,0.000,2601.943,0.000,3326.582,0.000,0.550,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1081.657,2110.371,1507.495,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322928
$DATA_FILE_SIZE,143951,1874
$CAP_FILE_SIZE,188407,0
$CFSIZE,2097086464,2085355520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.305,355.7,1
$GPS,161216,134349,2313.175,12143.912,50,1.1,50,-3.6