version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 83
start: 12 23 116 2 3 15
data:
$ID,628
$MISSION,3
$DIVE,83
$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,-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,-124317.73
$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,44
$R_STBD_OVSHOOT,61
$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
$GPS1,231216,015456,2331.764,12246.440,37,0.9,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-61.5
$GPS2,231216,020252,2331.862,12246.502,9,1.1,9,-3.8
$SPEED_LIMITS,0.158,0.267
$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,152.4,116388,-15.8,-10.104,-18.78,2952
$D_GRID,3173
$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,14,-0.78,-194.6,93,2173,1371,1345,0.0,0.0,0,70,0.00,0.00,-53.30,0.000,16386,0.000,0.000,89,2173,3197,3201,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.78,-194.6,88,2173,3201,3194,3.7,-8.6,8,95,8.52,2.40,-9.43,0.000,18948,0.471,0.073,2538,743,3783,3741,3825,0,0,0,0,0,0,14.47,14.75,14.94
$GC,179,-0.78,-194.6,1552,743,3736,3826,27.7,-18.5,27,187,0.03,2.28,0.00,0.000,3078,0.419,0.041,2539,2133,3783,3740,3827,0,0,0,0,0,0,14.56,14.77,28.83
$GC,436,-0.78,-194.6,2539,2133,3740,3827,89.5,-23.3,76,443,0.00,2.38,0.00,0.000,2308,0.000,0.060,2530,3570,3783,3739,3827,0,0,0,0,0,0,28.83,14.83,28.83
$GC,471,-0.78,-194.6,1560,3569,3736,3826,97.7,-22.5,82,479,0.03,2.30,0.00,0.000,3078,0.411,0.030,2540,2134,3783,3740,3827,0,0,0,0,0,0,14.64,14.85,28.83
$GC,726,-0.78,-194.6,2540,2133,3740,3828,152.9,-19.2,131,734,0.00,2.25,0.00,0.000,2564,0.000,0.051,2540,762,3784,3739,3829,0,0,0,0,0,0,28.83,14.85,28.83
$GC,767,-0.78,-194.6,1552,761,3737,3828,160.0,-17.4,138,775,0.03,2.25,0.00,0.000,3078,0.399,0.040,2542,2154,3784,3740,3829,0,0,0,0,0,0,14.66,14.87,28.83
$GC,1020,-0.78,-194.6,1536,2153,3736,3829,202.5,-14.8,187,1028,0.00,2.33,0.00,0.000,2308,0.000,0.060,2534,3548,3785,3740,3830,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1101,-0.78,-194.6,1536,3547,3736,3829,214.4,-13.7,202,1108,0.00,2.22,0.00,0.000,3078,0.000,0.029,2533,2153,3785,3740,3830,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1357,-0.78,-194.6,2533,2152,3740,3828,254.0,-16.8,250,1365,0.00,2.30,0.00,0.000,2308,0.000,0.062,2523,3551,3785,3740,3830,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1390,-0.78,-194.6,1648,3550,3736,3829,259.9,-16.7,257,1399,0.05,2.25,0.00,0.000,3078,0.310,0.031,2543,2151,3785,3740,3830,0,0,0,0,0,0,14.71,14.90,28.83
$GC,1637,-0.78,-194.6,2543,2150,3740,3830,296.0,-14.7,282,1646,0.00,2.25,0.00,0.000,2564,0.000,0.056,2544,750,3784,3739,3830,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1678,-0.78,-194.6,2544,750,3740,3830,302.2,-15.0,290,1687,0.00,2.20,0.00,0.000,3078,0.000,0.041,2536,2153,3785,3740,3830,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1928,-0.78,-194.6,2536,2153,3740,3829,340.4,-15.9,316,1937,0.00,2.28,0.00,0.000,2308,0.000,0.060,2528,3558,3785,3740,3830,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2019,-0.78,-194.6,2529,3558,3739,3830,353.6,-14.5,334,2024,0.08,2.20,0.00,0.000,3078,0.377,0.030,2548,2140,3784,3739,3830,0,0,0,0,0,0,14.82,15.03,28.83
$GC,2264,-0.78,-194.6,2548,2139,3738,3830,385.3,-12.9,359,2268,0.00,2.20,0.00,0.000,516,0.000,0.054,2548,760,3784,3738,3830,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2292,-0.78,-194.6,2548,760,3738,3830,388.7,-12.9,364,2301,0.00,2.17,0.00,0.000,3078,0.000,0.038,2541,2154,3784,3738,3830,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2540,-0.78,-194.6,2541,2154,3737,3830,420.4,-12.9,390,2549,0.00,2.25,0.00,0.000,2308,0.000,0.060,2531,3547,3783,3736,3830,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2571,-0.78,-194.6,2531,3547,3737,3830,424.5,-13.2,396,2581,0.05,2.17,0.00,0.000,3078,0.451,0.031,2545,2143,3783,3736,3830,0,0,0,0,0,0,14.83,15.05,28.83
$GC,2821,-0.78,-194.6,2544,2141,3735,3830,455.3,-12.1,422,2825,0.00,2.22,0.00,0.000,2564,0.000,0.055,2544,755,3782,3734,3830,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2940,-0.78,-194.6,1664,754,3730,3829,469.1,-11.7,446,2947,0.00,2.25,0.00,0.000,3078,0.000,0.041,2536,2179,3781,3733,3830,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3187,-0.78,-194.6,2537,2179,3731,3830,496.3,-10.9,471,3188,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2179,3780,3731,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3427,-0.78,-194.6,2537,2179,3729,3830,524.3,-11.8,495,3431,0.00,2.25,0.00,0.000,2308,0.000,0.063,2529,3560,3779,3729,3830,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3535,-0.78,-194.6,1664,3559,3723,3829,537.2,-11.6,517,3544,0.05,2.25,0.00,0.000,3078,0.289,0.031,2549,2154,3778,3726,3830,0,0,0,0,0,0,14.83,15.02,28.83
$GC,3783,-0.78,-194.6,2549,2153,3725,3827,562.7,-10.1,542,3791,0.00,2.30,0.00,0.000,260,0.000,0.062,2541,3554,3776,3725,3827,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3856,-0.78,-194.6,1664,3553,3721,3826,570.1,-9.6,557,3864,0.00,2.25,0.00,0.000,3078,0.000,0.031,2540,2153,3775,3724,3827,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4104,-0.78,-194.6,2540,2151,3723,3825,595.5,-10.3,582,4113,0.00,2.25,0.00,0.000,2564,0.000,0.057,2540,756,3774,3723,3825,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4153,-0.78,-194.6,2540,756,3723,3825,601.1,-11.1,592,4158,0.05,2.20,0.00,0.000,3078,0.482,0.041,2545,2150,3774,3723,3825,0,0,0,0,0,0,14.83,15.05,28.83
$GC,4405,-0.78,-194.6,2545,2152,3721,3823,627.2,-10.7,606,4409,0.00,2.30,0.00,0.000,2308,0.000,0.063,2536,3557,3772,3721,3823,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4480,-0.78,-194.6,2536,3556,3720,3822,635.7,-11.3,621,4485,0.00,2.22,0.00,0.000,3078,0.000,0.032,2536,2144,3771,3720,3823,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4741,-0.78,-194.6,2536,2144,3719,3822,665.5,-11.3,637,4745,0.00,2.25,0.00,0.000,2564,0.000,0.057,2536,752,3770,3718,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4770,-0.78,-194.6,2536,752,3718,3822,669.0,-11.6,643,4779,0.08,2.22,0.00,0.000,3078,0.404,0.043,2547,2157,3770,3718,3822,0,0,0,0,0,0,14.85,15.07,28.83
$GC,5018,-0.78,-194.6,2547,2157,3716,3821,693.1,-9.6,656,5022,0.00,2.30,0.00,0.000,2308,0.000,0.065,2540,3549,3768,3716,3821,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5079,-0.78,-194.6,2540,3549,3716,3821,699.0,-9.5,668,5083,0.00,2.20,0.00,0.000,3078,0.000,0.033,2540,2150,3768,3716,3821,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5335,-0.78,-194.6,2540,2149,3715,3818,724.7,-10.2,683,5339,0.00,2.28,0.00,0.000,2564,0.000,0.058,2539,752,3766,3715,3817,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5409,-0.78,-194.6,2539,751,3714,3817,732.9,-10.5,698,5418,0.08,2.22,0.00,0.000,3078,0.399,0.044,2549,2147,3765,3713,3817,0,0,0,0,0,0,14.85,15.07,28.83
$GC,5656,-0.78,-194.6,2548,2147,3712,3815,756.4,-9.8,711,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2147,3763,3712,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5896,-0.78,-194.6,2549,2147,3710,3813,779.5,-9.4,723,5902,0.00,2.30,0.00,0.000,260,0.000,0.067,2541,3548,3762,3710,3814,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5969,-0.78,-194.6,2542,3548,3709,3814,786.6,-9.5,738,5977,0.00,2.20,0.00,0.000,3078,0.000,0.034,2541,2151,3761,3709,3814,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6216,-0.78,-194.6,2541,2150,3709,3813,810.5,-9.8,751,6222,0.00,2.28,0.00,0.000,2564,0.000,0.060,2541,747,3760,3709,3812,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6239,-0.78,-194.6,2541,747,3708,3812,813.1,-10.6,756,6243,0.00,2.25,0.00,0.000,3078,0.000,0.044,2534,2155,3760,3708,3812,0,0,0,0,0,0,28.83,15.06,28.83
$GC,6496,-0.78,-194.6,2533,2157,3706,3811,838.4,-9.9,771,6497,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2157,3758,3706,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6736,-0.78,-194.6,2533,2157,3705,3810,862.2,-9.8,783,6740,0.00,2.30,0.00,0.000,2308,0.000,0.068,2523,3550,3757,3705,3810,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6760,-0.78,-194.6,2524,3549,3704,3810,864.9,-10.2,788,6765,0.10,2.22,0.00,0.000,3078,0.342,0.034,2551,2143,3757,3705,3810,0,0,0,0,0,0,14.87,15.08,28.83
$GC,7012,-0.78,-194.6,2551,2142,3704,3808,887.7,-9.0,802,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2142,3755,3703,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7252,-0.78,-194.6,2551,2142,3702,3806,908.6,-8.5,814,7258,0.00,2.25,0.00,0.000,516,0.000,0.060,2552,759,3754,3702,3807,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7295,-0.78,-194.6,2551,759,3702,3806,912.5,-8.6,823,7299,0.00,2.22,0.00,0.000,3078,0.000,0.044,2544,2148,3754,3702,3806,0,0,0,0,0,0,28.83,15.06,28.83
$GC,7552,-0.78,-194.6,2544,2149,3700,3806,934.8,-8.9,838,7558,0.00,2.33,0.00,0.000,2308,0.000,0.070,2535,3554,3752,3700,3805,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7615,-0.78,-194.6,2534,3554,3700,3805,940.8,-9.2,851,7619,0.00,2.22,0.00,0.000,3078,0.000,0.035,2535,2151,3752,3700,3805,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7872,-0.78,-194.6,2534,2150,3699,3804,967.1,-10.9,866,7873,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2150,3751,3699,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7911,begin apogee
$GC,7915,-0.17,0.0,2534,1927,3699,3804,971.5,-10.9,868,8118,0.57,0.00,194.35,2.640,10246,0.251,0.000,2741,1927,2987,3026,2949,0,0,0,0,1,0,14.85,28.83,13.21
$STATE,8119,end apogee,CONTROL_FINISHED_OK
$STATE,8119,begin climb
$GC,8120,0.78,194.6,2740,1927,3029,2956,982.8,0.0,878,8338,0.80,0.00,211.57,1.799,10758,0.140,0.000,3053,1927,2191,2227,2156,0,0,0,0,0,0,14.05,28.83,13.54
$GC,8572,0.78,194.6,3052,1927,2207,2130,945.0,12.7,928,8576,0.00,2.45,0.00,0.000,4356,0.000,0.066,3053,3358,2169,2208,2130,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,16475,end climb,SURFACE_DEPTH_REACHED
$STATE,16475,begin surface coast
$FINISH,0.8,1.023154
$STATE,16487,end surface coast,CONTROL_FINISHED_OK
$STATE,16487,begin surface
$SM_CCo,16500,43.78,0.157,0,0,1355,400.08
$SM_GC,1.07,7.40,0.30,43.78,0.102,0.057,0.157,137,2212,1355,-8.25,-1.61,400.08,0,0,0,0,0,0,14.81,14.92,14.73
$IRIDIUM_FIX,2323.87,12245.95,191009,151502
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.50
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,22.60
$XPDR_PINGS,8
$24V_AH,13.2,30.786
$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
$DEVICE_SECS,18.750,191.550,478.625,43.775,0.000,0.000,0.000,372.225,2.000,0.000,10.300,4164.965,8087.011,737.574,3842.345,166.633,0.000,2643.251,0.000,3451.419,0.000,0.551,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
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$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322920
$DATA_FILE_SIZE,147388,1953
$CAP_FILE_SIZE,202754,0
$CFSIZE,2097086464,2079948800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.260, 40.7,1
$GPS,231216,064031,2331.667,12249.281,57,0.9,57,-3.8