version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 87
start: 12 23 116 21 9 30
data:
$ID,628
$MISSION,3
$DIVE,87
$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,-124322.85
$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,78
$R_STBD_OVSHOOT,107
$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
$GPS1,231216,205931,2331.133,12258.964,29,0.9,29,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-63.9
$GPS2,231216,210906,2331.194,12258.987,9,0.8,9,-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,125.5,95157,-15.8,-10.104,-18.78,2952
$D_GRID,2763
$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,-194.6,99,2109,1361,1348,0.0,0.0,0,72,0.00,0.00,-54.90,0.000,16386,0.000,0.000,94,2108,3237,3240,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,94,2108,3240,3235,3.5,-7.3,8,97,8.60,2.25,-8.88,0.000,18948,0.479,0.081,2539,778,3784,3741,3827,0,0,0,0,0,0,14.45,14.76,14.95
$GC,124,-0.78,-194.6,1552,776,3737,3829,19.2,-28.9,16,132,0.03,2.12,0.00,0.000,3078,0.392,0.041,2540,2082,3784,3740,3829,0,0,0,0,0,0,14.52,14.73,28.83
$GC,376,-0.78,-194.6,1536,2080,3737,3828,74.6,-21.3,65,385,0.00,2.35,0.00,0.000,2308,0.000,0.063,2531,3481,3784,3739,3829,0,0,0,0,0,0,28.83,14.81,28.83
$GC,428,-0.78,-194.6,1552,3480,3736,3828,86.4,-22.9,74,436,0.03,2.10,0.00,0.000,3078,0.397,0.031,2541,2171,3784,3739,3829,0,0,0,0,0,0,14.60,14.83,28.83
$GC,681,-0.78,-194.6,1552,2168,3736,3829,143.6,-22.4,123,688,0.00,2.33,0.00,0.000,2564,0.000,0.056,2541,760,3784,3739,3830,0,0,0,0,0,0,28.83,14.86,28.83
$GC,742,-0.78,-194.6,2541,760,3740,3830,156.1,-19.2,134,749,0.00,2.15,0.00,0.000,3078,0.000,0.041,2533,2095,3784,3740,3829,0,0,0,0,0,0,28.83,14.85,28.83
$GC,994,-0.78,-194.6,1536,2093,3736,3829,203.1,-17.8,183,1002,0.00,2.33,0.00,0.000,2308,0.000,0.059,2524,3491,3784,3739,3830,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1064,-0.78,-194.6,1536,3490,3736,3829,214.9,-14.2,196,1072,0.05,2.15,0.00,0.000,3078,0.302,0.031,2544,2145,3784,3739,3830,0,0,0,0,0,0,14.69,14.88,28.83
$GC,1323,-0.78,-194.6,2544,2143,3740,3831,253.2,-14.7,244,1327,0.00,2.22,0.00,0.000,2564,0.000,0.052,2544,751,3785,3740,3830,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1392,-0.78,-194.6,2544,750,3740,3830,263.6,-14.8,257,1401,0.00,2.10,0.00,0.000,3078,0.000,0.038,2537,2096,3785,3740,3830,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1642,-0.78,-194.6,2537,2097,3740,3830,303.6,-15.9,283,1651,0.00,2.22,0.00,0.000,2308,0.000,0.059,2528,3483,3785,3739,3831,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1706,-0.78,-194.6,2528,3483,3740,3831,314.4,-15.8,296,1714,0.08,2.10,0.00,0.000,3078,0.376,0.030,2546,2128,3785,3739,3831,0,0,0,0,0,0,14.79,15.00,28.83
$GC,1953,-0.78,-194.6,2546,2127,3739,3831,349.1,-13.5,321,1957,0.00,2.25,0.00,0.000,2308,0.000,0.063,2538,3495,3785,3739,3831,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1977,-0.78,-194.6,2538,3496,3739,3831,352.7,-13.8,326,1984,0.00,2.10,0.00,0.000,3078,0.000,0.032,2538,2154,3784,3739,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2224,-0.78,-194.6,2538,2154,3738,3830,387.1,-14.5,351,2228,0.00,2.25,0.00,0.000,2564,0.000,0.054,2538,746,3785,3739,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2325,-0.78,-194.6,2538,746,3738,3831,401.6,-13.6,371,2330,0.08,2.10,0.00,0.000,3078,0.389,0.039,2547,2099,3784,3738,3830,0,0,0,0,0,0,14.83,15.03,28.83
$GC,2570,-0.78,-194.6,2547,2100,3737,3830,432.7,-11.8,396,2571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2100,3784,3737,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2810,-0.78,-194.6,2547,2100,3734,3830,460.3,-11.6,420,2814,0.00,2.15,0.00,0.000,2564,0.000,0.057,2548,758,3782,3734,3830,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2829,-0.78,-194.6,2548,757,3734,3831,462.9,-12.3,424,2836,0.00,2.10,0.00,0.000,3078,0.000,0.041,2541,2099,3782,3734,3831,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3076,-0.78,-194.6,2541,2099,3732,3830,489.7,-10.8,449,3086,0.00,2.25,0.00,0.000,2308,0.000,0.060,2531,3489,3780,3731,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3218,-0.78,-194.6,2531,3489,3731,3830,505.4,-11.0,477,3228,0.05,2.10,0.00,0.000,3078,0.446,0.031,2545,2137,3780,3730,3830,0,0,0,0,0,0,14.85,15.07,28.83
$GC,3468,-0.78,-194.6,2545,2136,3729,3830,533.9,-10.9,503,3472,0.00,2.22,0.00,0.000,2564,0.000,0.056,2545,752,3779,3729,3830,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3538,-0.78,-194.6,2545,752,3727,3830,542.0,-11.3,517,3542,0.00,2.10,0.00,0.000,3078,0.000,0.040,2538,2097,3778,3727,3830,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3784,-0.78,-194.6,2538,2097,3726,3829,569.6,-11.1,542,3793,0.00,2.28,0.00,0.000,2308,0.000,0.062,2529,3495,3777,3725,3829,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3845,-0.78,-194.6,2529,3495,3725,3829,576.6,-11.3,554,3849,0.08,2.10,0.00,0.000,3078,0.369,0.031,2548,2145,3776,3724,3829,0,0,0,0,0,0,14.85,15.07,28.83
$GC,4100,-0.78,-194.6,2549,2144,3724,3826,602.8,-10.0,579,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2144,3775,3724,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4340,-0.78,-194.6,2548,2144,3723,3824,626.0,-9.0,591,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2144,3773,3723,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4580,-0.78,-194.6,2548,2144,3721,3823,646.4,-8.7,603,4584,0.00,2.25,0.00,0.000,516,0.000,0.057,2549,753,3772,3721,3823,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4656,-0.78,-194.6,2550,752,3721,3823,653.5,-9.6,618,4660,0.00,2.10,0.00,0.000,3078,0.000,0.042,2542,2092,3771,3720,3823,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4912,-0.78,-194.6,2542,2092,3718,3822,679.8,-10.2,633,4918,0.00,2.30,0.00,0.000,2308,0.000,0.063,2533,3495,3769,3717,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4986,-0.78,-194.6,2533,3495,3717,3822,687.6,-10.6,648,4993,0.00,2.12,0.00,0.000,3078,0.000,0.032,2533,2146,3769,3717,3822,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5232,-0.78,-194.6,2533,2144,3716,3821,714.5,-11.3,661,5238,0.03,2.22,0.00,0.000,2308,0.581,0.062,2536,3493,3768,3715,3821,0,0,0,0,0,0,14.92,15.04,28.83
$GC,5259,-0.78,-194.6,2536,3492,3715,3821,717.9,-11.4,667,5264,0.00,2.12,0.00,0.000,3078,0.000,0.032,2535,2145,3768,3715,3821,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5511,-0.78,-194.6,2536,2145,3714,3817,745.1,-10.7,681,5515,0.00,2.22,0.00,0.000,2308,0.000,0.064,2528,3491,3765,3714,3817,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5576,-0.78,-194.6,2528,3491,3713,3817,752.4,-11.2,694,5580,0.08,2.12,0.00,0.000,3078,0.368,0.033,2548,2140,3765,3713,3817,0,0,0,0,0,0,14.86,15.08,28.83
$GC,5827,-0.78,-194.6,2548,2140,3711,3815,778.8,-10.3,708,5831,0.00,2.25,0.00,0.000,516,0.000,0.059,2548,752,3763,3711,3815,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5865,-0.78,-194.6,1696,753,3707,3814,783.1,-11.1,716,5870,0.00,2.17,0.00,0.000,3078,0.000,0.044,2542,2096,3763,3711,3815,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6123,-0.78,-194.6,2542,2097,3710,3813,809.9,-10.2,731,6127,0.00,2.30,0.00,0.000,2308,0.000,0.065,2533,3495,3761,3710,3813,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6167,-0.78,-194.6,2533,3495,3709,3814,814.7,-10.3,740,6171,0.00,2.15,0.00,0.000,3078,0.000,0.034,2533,2137,3761,3709,3813,0,0,0,0,0,0,28.83,15.07,28.83
$GC,6419,-0.78,-194.6,2533,2136,3708,3812,839.3,-9.6,754,6421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2136,3760,3708,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6660,-0.78,-194.6,2533,2135,3706,3811,861.5,-8.9,766,6661,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2136,3758,3706,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6899,-0.78,-194.6,2533,2135,3705,3809,882.8,-8.9,778,6905,0.00,2.25,0.00,0.000,2308,0.000,0.066,2523,3489,3757,3705,3809,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6961,-0.78,-194.6,1672,3488,3700,3809,888.5,-9.1,791,6967,0.05,2.17,0.00,0.000,3078,0.324,0.034,2545,2148,3756,3704,3809,0,0,0,0,0,0,14.81,15.06,28.83
$GC,7219,-0.78,-194.6,2545,2148,3703,3807,909.3,-8.2,806,7221,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2148,3755,3703,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7459,-0.78,-194.6,2545,2148,3702,3806,930.3,-9.1,818,7465,0.00,2.28,0.00,0.000,2564,0.000,0.060,2546,758,3753,3701,3806,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7499,-0.78,-194.6,2545,758,3702,3806,934.2,-9.9,826,7503,0.00,2.12,0.00,0.000,3078,0.000,0.045,2539,2096,3754,3701,3807,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7755,-0.78,-194.6,2539,2097,3700,3805,958.1,-9.3,841,7759,0.00,2.30,0.00,0.000,2308,0.000,0.068,2529,3486,3752,3700,3805,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7818,-0.78,-194.6,2529,3485,3700,3805,964.3,-9.2,854,7823,0.08,2.12,0.00,0.000,3078,0.371,0.036,2548,2147,3752,3699,3805,0,0,0,0,0,0,14.83,15.05,28.83
$STATE,7889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7889,begin apogee
$GC,7893,-0.17,0.0,2549,1932,3699,3805,970.3,-8.5,859,8155,0.55,0.00,257.67,1.613,10246,0.245,0.000,2749,1930,2987,3027,2947,0,0,0,0,0,0,14.85,28.83,13.71
$STATE,8156,end apogee,CONTROL_FINISHED_OK
$STATE,8156,begin climb
$GC,8157,0.78,194.6,2749,1930,3020,2940,978.5,0.0,872,8373,0.77,2.42,205.32,1.774,11012,0.147,0.063,3053,3284,2187,2223,2151,0,0,0,0,0,0,14.20,14.12,13.59
$GC,8423,0.78,194.6,3053,3284,2211,2134,953.7,16.2,917,8427,0.00,2.22,0.00,0.000,5126,0.000,0.041,3062,1984,2172,2211,2134,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8675,0.78,194.6,3062,1983,2208,2127,913.4,15.8,931,8679,0.00,2.45,0.00,0.000,4612,0.000,0.075,3071,548,2167,2208,2127,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,16466,end climb,SURFACE_DEPTH_REACHED
$STATE,16466,begin surface coast
$FINISH,0.4,1.023189
$STATE,16477,end surface coast,CONTROL_FINISHED_OK
$STATE,16477,begin surface
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$TT8_MAMPS,0.020223,0.020223
$HUMID,37.79
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,22.80
$XPDR_PINGS,0
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$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322940
$DATA_FILE_SIZE,147411,1970
$CAP_FILE_SIZE,203979,0
$CFSIZE,2097086464,2079293440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.244, 53.1,1
$GPS,241216,014625,2331.307,12302.959,38,0.9,38,-3.8