version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 54
start: 12 17 116 4 49 16
data:
$ID,628
$MISSION,3
$DIVE,54
$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,-124084.31
$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,74
$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
$GPS1,171216,044101,2316.515,12148.485,31,0.9,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-63.7
$GPS2,171216,044852,2316.689,12148.593,8,0.9,8,-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,157.0,216099,-15.7,-10.000,-18.68,2978
$D_GRID,3343
$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,-194.6,109,2180,1366,1348,0.0,0.0,0,72,0.00,0.00,-54.65,0.000,16386,0.000,0.000,107,2181,3221,3227,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,107,2181,3227,3214,3.4,-7.2,8,97,8.70,2.45,-9.12,0.000,18948,0.496,0.078,2540,735,3783,3744,3823,0,0,0,0,0,0,14.46,14.73,14.91
$GC,200,-0.78,-194.6,1544,734,3738,3824,35.0,-20.7,31,208,0.03,2.25,0.00,0.000,3078,0.427,0.041,2541,2114,3783,3741,3825,0,0,0,0,0,0,14.57,14.76,28.83
$GC,517,-0.78,-194.6,2541,2115,3741,3826,107.7,-21.1,92,524,0.00,2.28,0.00,0.000,2564,0.000,0.053,2541,735,3783,3741,3826,0,0,0,0,0,0,28.83,14.83,28.83
$GC,552,-0.78,-194.6,1544,736,3738,3826,114.1,-17.3,98,559,0.00,2.28,0.00,0.000,3078,0.000,0.039,2534,2146,3783,3741,3826,0,0,0,0,0,0,28.83,14.85,28.83
$GC,866,-0.78,-194.6,1536,2144,3738,3828,166.1,-14.9,159,873,0.00,2.35,0.00,0.000,2308,0.000,0.063,2524,3548,3785,3741,3829,0,0,0,0,0,0,28.83,14.85,28.83
$GC,973,-0.78,-194.6,1552,3547,3739,3828,183.8,-15.7,179,981,0.05,2.28,0.00,0.000,3078,0.324,0.031,2543,2124,3785,3741,3829,0,0,0,0,0,0,14.73,14.90,28.83
$GC,1286,-0.78,-194.6,1536,2121,3737,3828,229.5,-13.4,240,1293,0.00,2.25,0.00,0.000,2564,0.000,0.056,2543,756,3785,3742,3829,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1427,-0.78,-194.6,1536,756,3738,3828,247.8,-13.1,267,1434,0.00,2.25,0.00,0.000,3078,0.000,0.041,2536,2149,3785,3742,3829,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1737,-0.78,-194.6,2535,2149,3741,3829,291.2,-14.0,299,1746,0.00,2.30,0.00,0.000,2308,0.000,0.063,2525,3558,3785,3741,3829,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1780,-0.78,-194.6,2525,3558,3741,3829,297.4,-14.4,307,1784,0.05,2.17,0.00,0.000,3078,0.320,0.032,2546,2147,3784,3740,3829,0,0,0,0,0,0,14.80,14.97,28.83
$GC,2093,-0.78,-194.6,2546,2146,3739,3829,336.8,-12.3,339,2101,0.00,2.28,0.00,0.000,2308,0.000,0.062,2537,3547,3784,3739,3829,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2153,-0.78,-194.6,2537,3546,3738,3829,344.3,-12.1,351,2157,0.00,2.17,0.00,0.000,3078,0.000,0.032,2537,2151,3784,3739,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2459,-0.78,-194.6,2537,2150,3738,3829,381.3,-11.1,382,2468,0.00,2.25,0.00,0.000,2564,0.000,0.057,2537,749,3783,3737,3829,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2502,-0.78,-194.6,2537,749,3737,3829,386.3,-10.7,391,2510,0.05,2.25,0.00,0.000,3078,0.325,0.042,2547,2145,3783,3737,3829,0,0,0,0,0,0,14.85,15.00,28.83
$GC,2809,-0.78,-194.6,2547,2146,3734,3829,418.4,-10.8,422,2813,0.00,2.22,0.00,0.000,2564,0.000,0.057,2547,759,3781,3733,3829,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2885,-0.78,-194.6,2547,759,3732,3829,426.7,-10.9,437,2889,0.00,2.20,0.00,0.000,3078,0.000,0.043,2541,2160,3780,3732,3829,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3190,-0.78,-194.6,2541,2160,3730,3829,463.4,-12.8,468,3199,0.00,2.28,0.00,0.000,2308,0.000,0.065,2531,3552,3779,3729,3829,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3233,-0.78,-194.6,1688,3551,3726,3828,469.4,-12.7,477,3242,0.03,2.25,0.00,0.000,3078,0.369,0.033,2542,2150,3779,3729,3830,0,0,0,0,0,0,14.84,15.03,28.83
$GC,3541,-0.78,-194.6,2541,2148,3726,3826,505.5,-10.6,508,3545,0.00,2.33,0.00,0.000,2308,0.000,0.066,2533,3553,3776,3726,3826,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3625,-0.78,-194.6,2533,3554,3725,3826,514.7,-10.8,525,3633,0.05,2.20,0.00,0.000,3078,0.453,0.033,2546,2149,3776,3725,3827,0,0,0,0,0,0,14.88,15.07,28.83
$GC,3931,-0.78,-194.6,2546,2149,3724,3824,545.7,-9.4,556,3935,0.00,2.25,0.00,0.000,2564,0.000,0.059,2546,753,3773,3724,3823,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3970,-0.78,-194.6,1680,753,3720,3823,549.5,-9.2,564,3977,0.00,2.25,0.00,0.000,3078,0.000,0.043,2539,2146,3773,3722,3824,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4277,-0.78,-194.6,2539,2145,3722,3823,578.2,-9.6,595,4286,0.00,2.30,0.00,0.000,2308,0.000,0.067,2530,3548,3772,3721,3823,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4370,-0.78,-194.6,1664,3547,3716,3821,587.4,-9.6,614,4379,0.03,2.25,0.00,0.000,3078,0.379,0.034,2541,2152,3772,3721,3823,0,0,0,0,0,0,14.84,15.04,28.83
$GC,4679,-0.78,-194.6,2541,2151,3719,3821,613.0,-7.9,637,4685,0.00,2.28,0.00,0.000,2564,0.000,0.061,2542,749,3770,3718,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4718,-0.78,-194.6,2541,749,3718,3821,616.4,-8.3,645,4722,0.00,2.22,0.00,0.000,3078,0.000,0.046,2536,2147,3769,3718,3821,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5034,-0.78,-194.6,2536,2147,3716,3819,643.0,-8.6,663,5038,0.00,2.33,0.00,0.000,2308,0.000,0.070,2528,3560,3767,3716,3819,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5110,-0.78,-194.6,2528,3559,3715,3818,650.0,-9.3,678,5114,0.08,2.22,0.00,0.000,3078,0.383,0.035,2546,2147,3767,3715,3819,0,0,0,0,0,0,14.90,15.08,28.83
$GC,5426,-0.78,-194.6,2546,2147,3713,3815,676.8,-8.1,696,5427,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2147,3764,3713,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5726,-0.78,-194.6,2546,2147,3711,3814,702.2,-8.6,711,5730,0.00,2.25,0.00,0.000,2564,0.000,0.061,2547,758,3762,3711,3814,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5782,-0.78,-194.6,2547,758,3710,3814,707.2,-9.0,722,5786,0.00,2.22,0.00,0.000,3078,0.000,0.047,2540,2154,3762,3711,3814,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6098,-0.78,-194.6,2539,2156,3710,3812,738.3,-10.6,740,6100,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2156,3760,3709,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6398,-0.78,-194.6,2539,2155,3707,3811,772.4,-11.5,755,6402,0.00,2.30,0.00,0.000,2308,0.000,0.070,2530,3549,3758,3706,3811,0,0,0,0,0,0,28.83,15.06,28.83
$GC,6427,-0.78,-194.6,2530,3551,3706,3811,776.0,-12.0,761,6435,0.08,2.25,0.00,0.000,3078,0.399,0.036,2548,2133,3758,3706,3811,0,0,0,0,0,0,14.90,15.09,28.83
$GC,6734,-0.78,-194.6,2548,2133,3705,3808,809.4,-11.0,777,6740,0.00,2.38,0.00,0.000,2308,0.000,0.070,2540,3560,3756,3705,3808,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6757,-0.78,-194.6,2539,3561,3705,3808,812.3,-12.3,782,6761,0.00,2.22,0.00,0.000,3078,0.000,0.036,2539,2154,3756,3705,3808,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7074,-0.78,-194.6,2540,2153,3704,3807,849.1,-10.8,800,7078,0.00,2.28,0.00,0.000,2564,0.000,0.063,2539,755,3755,3703,3807,0,0,0,0,0,0,28.83,15.06,28.83
$GC,7113,-0.78,-194.6,2539,755,3703,3807,853.7,-11.0,808,7118,0.08,2.25,0.00,0.000,3078,0.414,0.048,2548,2156,3755,3703,3807,0,0,0,0,0,0,14.89,15.07,28.83
$GC,7430,-0.78,-194.6,2548,2157,3701,3806,881.2,-8.6,826,7434,0.00,2.30,0.00,0.000,2308,0.000,0.071,2542,3549,3753,3702,3805,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7505,-0.78,-194.6,2541,3549,3701,3805,887.7,-8.5,841,7510,0.00,2.22,0.00,0.000,3078,0.000,0.037,2542,2147,3753,3701,3805,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7821,-0.78,-194.6,2542,2146,3700,3804,915.6,-8.5,859,7825,0.00,2.28,0.00,0.000,2564,0.000,0.063,2542,750,3752,3700,3804,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7850,-0.78,-194.6,2542,750,3699,3804,918.3,-8.9,865,7857,0.00,2.25,0.00,0.000,3078,0.000,0.048,2533,2151,3752,3700,3804,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8157,-0.78,-194.6,2534,2151,3699,3803,946.4,-9.1,881,8163,0.00,2.33,0.00,0.000,2308,0.000,0.072,2525,3553,3751,3699,3803,0,0,0,0,0,0,28.83,15.04,28.83
$GC,8200,-0.78,-194.6,2525,3553,3699,3803,950.5,-9.0,890,8205,0.10,2.22,0.00,0.000,3078,0.341,0.037,2552,2147,3751,3699,3803,0,0,0,0,0,0,14.91,15.08,28.83
$GC,8517,-0.78,-194.6,2552,2146,3698,3801,974.2,-7.1,908,8521,0.00,2.28,0.00,0.000,516,0.000,0.063,2553,750,3750,3699,3801,0,0,0,0,0,0,28.83,15.04,28.83
$GC,8561,-0.78,-194.6,2553,750,3698,3801,977.7,-7.3,917,8565,0.00,2.25,0.00,0.000,3078,0.000,0.049,2546,2155,3749,3698,3801,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,8751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8751,begin apogee
$GC,8755,-0.17,0.0,2546,1929,3697,3801,990.9,-6.8,928,9045,0.55,0.00,285.25,1.624,10246,0.249,0.000,2746,1930,2988,3028,2948,0,0,0,0,0,0,14.91,28.83,13.63
$STATE,9046,end apogee,CONTROL_FINISHED_OK
$STATE,9046,begin climb
$GC,9047,0.78,194.6,2746,1930,3021,2940,998.6,0.0,942,9278,0.77,2.47,220.82,1.784,10756,0.151,0.076,3053,582,2185,2219,2151,0,0,0,0,0,0,14.12,14.03,13.51
$GC,9338,0.78,194.6,2128,582,2159,2130,971.3,15.4,1003,9343,0.00,2.30,0.00,0.000,5126,0.000,0.045,3054,1945,2168,2200,2137,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9655,0.78,194.6,3053,1947,2200,2129,924.5,14.8,1021,9657,0.00,0.00,0.00,0.000,4102,0.000,0.000,3054,1947,2164,2200,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,0.78,194.6,3054,1946,2200,2125,882.0,14.3,1036,9959,0.00,2.38,0.00,0.000,4356,0.000,0.070,3053,3360,2162,2200,2125,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10004,0.78,194.6,3053,3361,2200,2125,874.4,15.1,1046,10012,0.00,2.28,0.00,0.000,5126,0.000,0.044,3062,1986,2162,2200,2125,0,0,0,0,0,0,28.83,14.81,28.83
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$STATE,17235,end climb,SURFACE_DEPTH_REACHED
$STATE,17235,begin surface coast
$FINISH,0.3,1.022986
$STATE,17248,end surface coast,CONTROL_FINISHED_OK
$STATE,17248,begin surface
$SM_CCo,17263,48.45,0.161,0,0,1354,400.08
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$IRIDIUM_FIX,2305.10,12151.37,131009,181800
$TT8_MAMPS,0.020223,0.020223
$HUMID,39.21
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,13.5,18.971
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.775,183.125,571.350,48.450,0.000,0.000,0.000,369.000,0.000,0.000,9.304,4306.588,8571.762,781.325,3939.647,162.364,0.000,2693.721,0.000,3560.536,0.000,0.551,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
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$MEM,322928
$DATA_FILE_SIZE,150522,2002
$CAP_FILE_SIZE,196971,0
$CFSIZE,2097086464,2084667392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.268,350.1,1
$GPS,171216,093901,2317.245,12149.132,39,0.8,39,-3.6