version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 85
start: 12 23 116 11 33 11
data:
$ID,628
$MISSION,3
$DIVE,85
$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,-124320.24
$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,46
$R_STBD_OVSHOOT,67
$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
$GPS1,231216,112501,2331.337,12251.977,42,0.9,42,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.0
$GPS2,231216,113249,2331.432,12252.053,9,1.1,9,-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,130.2,106942,-15.8,-10.104,-18.78,2952
$D_GRID,2787
$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,-194.6,106,2177,1377,1347,0.0,0.0,0,71,0.00,0.00,-53.78,0.000,16386,0.000,0.000,103,2176,3190,3192,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.78,-194.6,103,2176,3194,3187,3.2,-6.0,8,103,8.62,2.42,-10.07,0.000,18948,0.483,0.081,2540,743,3783,3740,3826,0,0,0,0,0,0,14.47,14.66,14.94
$GC,177,-0.78,-194.6,1552,742,3736,3827,30.5,-27.8,26,185,0.00,2.25,0.00,0.000,3078,0.000,0.040,2533,2123,3783,3739,3828,0,0,0,0,0,0,28.83,14.77,28.83
$GC,430,-0.78,-194.6,1536,2121,3736,3828,87.4,-24.2,75,437,0.00,2.38,0.00,0.000,2308,0.000,0.062,2523,3555,3784,3739,3829,0,0,0,0,0,0,28.83,14.82,28.83
$GC,480,-0.78,-194.6,2523,3556,3739,3828,100.4,-23.5,84,488,0.05,2.30,0.00,0.000,3078,0.317,0.033,2555,2138,3784,3739,3829,0,0,0,0,0,0,14.69,14.85,28.83
$GC,736,-0.78,-194.6,1568,2135,3736,3828,148.2,-15.9,133,744,0.00,2.28,0.00,0.000,4612,0.000,0.054,2555,756,3784,3739,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,751,-0.78,-194.6,2554,756,3739,3830,150.8,-16.1,135,758,0.00,2.25,0.00,0.000,3078,0.000,0.042,2546,2143,3784,3739,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1004,-0.78,-194.6,2546,2143,3739,3830,189.3,-14.4,184,1011,0.00,2.35,0.00,0.000,2308,0.000,0.060,2536,3551,3784,3739,3830,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1023,-0.78,-194.6,1576,3550,3736,3829,192.4,-15.4,187,1030,0.00,2.25,0.00,0.000,3078,0.000,0.031,2536,2147,3784,3739,3830,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1276,-0.78,-194.6,1536,2144,3735,3830,236.1,-16.7,236,1283,0.00,2.38,0.00,0.000,2308,0.000,0.063,2528,3570,3784,3739,3830,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1413,-0.78,-194.6,1616,3569,3736,3830,258.3,-14.4,263,1422,0.08,2.25,0.00,0.000,3078,0.373,0.031,2547,2136,3785,3739,3831,0,0,0,0,0,0,14.76,14.95,28.83
$GC,1661,-0.78,-194.6,2547,2136,3739,3831,291.8,-13.3,288,1670,0.00,2.20,0.00,0.000,2564,0.000,0.054,2547,757,3785,3739,3831,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1732,-0.78,-194.6,2547,757,3739,3831,300.5,-10.8,302,1736,0.00,2.20,0.00,0.000,3078,0.000,0.037,2539,2158,3785,3739,3831,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1977,-0.78,-194.6,2539,2160,3739,3830,330.8,-13.0,327,1987,0.00,2.28,0.00,0.000,2308,0.000,0.060,2529,3557,3785,3739,3831,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2008,-0.78,-194.6,2529,3557,3739,3831,335.0,-13.2,333,2013,0.08,2.20,0.00,0.000,3078,0.377,0.030,2548,2141,3785,3739,3831,0,0,0,0,0,0,14.82,15.02,28.83
$GC,2253,-0.78,-194.6,2548,2140,3739,3831,368.6,-14.3,358,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2140,3785,3739,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2493,-0.78,-194.6,2548,2139,3737,3831,402.0,-12.9,382,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2139,3784,3738,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2733,-0.78,-194.6,2547,2139,3737,3830,431.7,-11.7,406,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2139,3784,3737,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2973,-0.78,-194.6,2548,2139,3734,3831,457.8,-10.7,430,2978,0.00,2.33,0.00,0.000,260,0.000,0.061,2540,3557,3782,3734,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3040,-0.78,-194.6,2540,3558,3734,3830,464.9,-10.7,443,3049,0.00,2.20,0.00,0.000,3078,0.000,0.031,2540,2144,3781,3733,3830,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3290,-0.78,-194.6,2540,2144,3731,3830,493.4,-11.5,469,3291,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2144,3781,3731,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3529,-0.78,-194.6,2540,2144,3730,3830,520.9,-11.0,493,3533,0.00,2.33,0.00,0.000,2308,0.000,0.064,2531,3554,3779,3729,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3555,-0.78,-194.6,2530,3554,3729,3830,523.7,-10.7,498,3560,0.05,2.20,0.00,0.000,3078,0.460,0.033,2546,2152,3779,3729,3830,0,0,0,0,0,0,14.85,15.07,28.83
$GC,3800,-0.78,-194.6,2546,2151,3726,3830,549.3,-10.9,523,3804,0.00,2.25,0.00,0.000,2564,0.000,0.057,2546,752,3777,3725,3829,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3839,-0.78,-194.6,1672,751,3722,3828,553.8,-11.3,531,3846,0.00,2.25,0.00,0.000,3078,0.000,0.041,2539,2150,3777,3725,3830,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4086,-0.78,-194.6,2539,2151,3724,3827,582.7,-12.2,556,4096,0.00,2.28,0.00,0.000,2308,0.000,0.063,2530,3548,3775,3724,3827,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4140,-0.78,-194.6,1684,3547,3721,3826,589.6,-12.1,567,4149,0.03,2.25,0.00,0.000,3078,0.385,0.031,2541,2148,3775,3724,3827,0,0,0,0,0,0,14.79,15.02,28.83
$GC,4398,-0.78,-194.6,2541,2147,3723,3825,618.6,-11.1,585,4402,0.00,2.30,0.00,0.000,2308,0.000,0.063,2532,3547,3774,3723,3825,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4463,-0.78,-194.6,2533,3547,3722,3825,625.9,-10.8,598,4467,0.00,2.20,0.00,0.000,3078,0.000,0.032,2533,2144,3773,3722,3825,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4709,-0.78,-194.6,2533,2144,3721,3823,652.5,-10.9,611,4713,0.00,2.25,0.00,0.000,2564,0.000,0.057,2533,750,3772,3721,3823,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4745,-0.78,-194.6,2533,749,3720,3823,656.5,-11.2,618,4750,0.10,2.20,0.00,0.000,3078,0.376,0.042,2550,2148,3772,3721,3823,0,0,0,0,0,0,14.86,15.07,28.83
$GC,5002,-0.78,-194.6,2550,2149,3718,3822,682.1,-9.7,633,5008,0.00,2.30,0.00,0.000,260,0.000,0.064,2541,3553,3770,3718,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5042,-0.78,-194.6,2541,3553,3717,3823,686.0,-9.7,641,5046,0.00,2.20,0.00,0.000,3078,0.000,0.033,2541,2152,3769,3717,3822,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5297,-0.78,-194.6,2541,2151,3716,3821,710.4,-9.3,656,5299,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2151,3768,3716,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5537,-0.78,-194.6,2541,2151,3715,3818,730.7,-7.9,668,5541,0.00,2.33,0.00,0.000,2308,0.000,0.066,2531,3547,3765,3714,3817,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5566,-0.78,-194.6,2532,3548,3714,3818,733.3,-8.4,674,5571,0.05,2.20,0.00,0.000,3078,0.448,0.033,2545,2148,3766,3714,3818,0,0,0,0,0,0,14.85,15.09,28.83
$GC,5818,-0.78,-194.6,2545,2148,3712,3816,753.3,-8.3,688,5822,0.00,2.25,0.00,0.000,2564,0.000,0.059,2545,762,3763,3712,3815,0,0,0,0,0,0,28.83,15.05,28.83
$GC,5894,-0.78,-194.6,2545,761,3710,3816,760.1,-8.9,703,5898,0.00,2.20,0.00,0.000,3078,0.000,0.044,2538,2150,3763,3711,3815,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6150,-0.78,-194.6,2539,2150,3710,3814,783.5,-9.2,718,6154,0.00,2.30,0.00,0.000,2308,0.000,0.067,2529,3548,3762,3710,3814,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6218,-0.78,-194.6,2530,3548,3709,3814,790.1,-9.6,732,6226,0.08,2.22,0.00,0.000,3078,0.379,0.034,2548,2145,3761,3709,3814,0,0,0,0,0,0,14.85,15.08,28.83
$GC,6466,-0.78,-194.6,2548,2146,3708,3812,811.8,-9.0,745,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2146,3760,3708,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6705,-0.78,-194.6,2548,2146,3706,3811,833.7,-9.0,757,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2146,3758,3706,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6945,-0.78,-194.6,2548,2144,3705,3810,855.6,-9.0,769,6949,0.00,2.35,0.00,0.000,2308,0.000,0.068,2540,3552,3757,3705,3809,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6974,-0.78,-194.6,2540,3552,3704,3809,858.5,-9.4,775,6979,0.00,2.22,0.00,0.000,3078,0.000,0.034,2540,2153,3756,3704,3809,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7227,-0.78,-194.6,2540,2152,3703,3808,883.2,-9.9,789,7228,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2152,3755,3703,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7467,-0.78,-194.6,2540,2151,3702,3807,905.7,-9.2,801,7468,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2152,3754,3702,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7707,-0.78,-194.6,2540,2152,3700,3806,926.7,-8.6,813,7713,0.00,2.35,0.00,0.000,2308,0.000,0.069,2530,3557,3752,3699,3805,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7759,-0.78,-194.6,2531,3557,3700,3805,931.6,-8.7,824,7767,0.05,2.25,0.00,0.000,3078,0.454,0.034,2546,2148,3753,3700,3806,0,0,0,0,0,0,14.83,15.07,28.83
$GC,8006,-0.78,-194.6,2546,2148,3699,3804,952.2,-8.7,837,8010,0.00,2.25,0.00,0.000,2564,0.000,0.060,2546,762,3751,3699,3804,0,0,0,0,0,0,28.83,15.01,28.83
$GC,8035,-0.78,-194.6,2546,762,3699,3805,955.1,-9.6,843,8039,0.00,2.22,0.00,0.000,3078,0.000,0.045,2540,2148,3751,3699,3804,0,0,0,0,0,0,28.83,15.05,28.83
$STATE,8206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8206,begin apogee
$GC,8210,-0.17,0.0,2540,1918,3698,3804,970.5,-9.1,853,8490,0.57,0.00,276.65,1.558,10246,0.252,0.000,2745,1917,2988,3027,2949,0,0,0,0,0,0,14.85,28.83,13.69
$STATE,8491,end apogee,CONTROL_FINISHED_OK
$STATE,8491,begin climb
$GC,8493,0.78,194.6,2746,1917,3019,2940,983.7,0.0,867,8709,0.77,2.42,206.15,1.781,10756,0.142,0.073,3057,593,2184,2218,2150,0,0,0,0,0,0,14.19,14.09,13.54
$GC,8791,0.78,194.6,3057,593,2198,2133,961.0,13.5,927,8795,0.00,2.28,0.00,0.000,5126,0.000,0.043,3057,1952,2165,2198,2133,0,0,0,0,0,0,28.83,14.42,28.83
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$STATE,16792,end climb,SURFACE_DEPTH_REACHED
$STATE,16792,begin surface coast
$FINISH,0.2,1.023198
$STATE,16808,end surface coast,CONTROL_FINISHED_OK
$STATE,16808,begin surface
$SM_CCo,16824,45.65,0.156,0,0,1356,400.08
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$TT8_MAMPS,0.020223,0.020223
$HUMID,37.79
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.5,31.581
$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322892
$DATA_FILE_SIZE,147057,1937
$CAP_FILE_SIZE,204371,0
$CFSIZE,2097086464,2079621120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.231, 43.7,1
$GPS,231216,161531,2331.350,12255.603,35,0.8,35,-3.8