version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 91
start: 12 24 116 16 16 37
data:
$ID,628
$MISSION,3
$DIVE,91
$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,-9
$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,-124370.1
$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,57
$R_STBD_OVSHOOT,104
$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
$GPS1,241216,160631,2330.264,12315.551,32,0.8,32,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.3
$GPS2,241216,161613,2330.265,12315.673,9,0.9,9,-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,106.0,66794,-15.8,-10.104,-18.78,2952
$D_GRID,3472
$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,-194.6,95,2124,1359,1349,0.0,0.0,0,72,0.00,0.00,-54.90,0.000,16386,0.000,0.000,92,2124,3220,3226,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,92,2124,3226,3216,3.4,-7.9,8,97,8.65,2.30,-9.27,0.000,18948,0.482,0.079,2541,759,3784,3741,3827,0,0,0,0,0,0,14.46,14.77,14.96
$GC,130,-0.78,-194.6,1552,757,3736,3829,18.7,-24.0,17,138,0.03,2.17,0.00,0.000,3078,0.396,0.042,2542,2095,3784,3739,3830,0,0,0,0,0,0,14.53,14.75,28.83
$GC,386,-0.78,-194.6,1536,2093,3735,3829,79.2,-23.8,66,393,0.00,2.33,0.00,0.000,2308,0.000,0.056,2534,3491,3784,3739,3830,0,0,0,0,0,0,28.83,14.81,28.83
$GC,440,-0.78,-194.6,1544,3490,3735,3829,92.1,-21.7,76,448,0.00,2.15,0.00,0.000,3078,0.000,0.031,2533,2150,3784,3739,3830,0,0,0,0,0,0,28.83,14.83,28.83
$GC,693,-0.78,-194.6,1536,2148,3736,3828,151.4,-22.7,125,701,0.00,2.28,0.00,0.000,2564,0.000,0.054,2533,765,3784,3739,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,766,-0.78,-194.6,1560,765,3736,3829,166.4,-19.1,138,773,0.05,2.12,0.00,0.000,3078,0.337,0.041,2543,2087,3784,3739,3830,0,0,0,0,0,0,14.63,14.85,28.83
$GC,1020,-0.78,-194.6,1552,2085,3736,3830,213.2,-17.3,187,1028,0.00,2.17,0.00,0.000,2564,0.000,0.052,2543,759,3784,3739,3830,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1146,-0.78,-194.6,1544,758,3736,3829,234.3,-14.4,211,1154,0.00,2.12,0.00,0.000,3078,0.000,0.037,2537,2094,3785,3739,3831,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1402,-0.78,-194.6,2537,2094,3739,3831,273.9,-14.5,246,1411,0.00,2.28,0.00,0.000,2308,0.000,0.058,2527,3500,3785,3739,3831,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1545,-0.78,-194.6,1664,3498,3737,3830,295.7,-15.1,275,1553,0.05,2.15,0.00,0.000,3078,0.305,0.030,2546,2143,3785,3739,3831,0,0,0,0,0,0,14.72,14.94,28.83
$GC,1792,-0.78,-194.6,2546,2143,3739,3830,332.5,-15.1,300,1797,0.00,2.20,0.00,0.000,2564,0.000,0.054,2547,760,3785,3739,3831,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1851,-0.78,-194.6,1684,760,3737,3829,341.4,-13.8,312,1858,0.00,2.12,0.00,0.000,3078,0.000,0.037,2539,2098,3784,3739,3830,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2099,-0.78,-194.6,2539,2099,3738,3830,376.0,-14.2,337,2107,0.00,2.25,0.00,0.000,2308,0.000,0.059,2529,3497,3784,3738,3831,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2152,-0.78,-194.6,1664,3497,3735,3830,383.3,-13.1,348,2160,0.05,2.12,0.00,0.000,3078,0.294,0.029,2549,2150,3784,3738,3831,0,0,0,0,0,0,14.78,15.00,28.83
$GC,2400,-0.78,-194.6,2549,2151,3738,3831,413.0,-12.1,373,2404,0.00,2.22,0.00,0.000,516,0.000,0.053,2550,762,3784,3738,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2430,-0.78,-194.6,2549,761,3738,3831,416.8,-12.1,379,2434,0.00,2.08,0.00,0.000,3078,0.000,0.037,2542,2102,3784,3738,3831,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2676,-0.78,-194.6,2542,2104,3737,3830,449.9,-13.6,404,2680,0.00,2.35,0.00,0.000,2308,0.000,0.060,2531,3554,3783,3736,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2757,-0.78,-194.6,2531,3554,3735,3830,461.0,-13.6,420,2761,0.05,2.20,0.00,0.000,3078,0.451,0.031,2545,2140,3783,3736,3831,0,0,0,0,0,0,14.83,15.07,28.83
$GC,3008,-0.78,-194.6,2545,2140,3733,3831,492.9,-11.6,446,3009,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2140,3782,3733,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3248,-0.78,-194.6,2545,2140,3731,3831,521.3,-11.7,470,3252,0.00,2.20,0.00,0.000,2564,0.000,0.055,2545,762,3780,3731,3830,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3266,-0.78,-194.6,1688,762,3727,3829,523.8,-12.8,474,3274,0.00,2.22,0.00,0.000,3078,0.000,0.039,2537,2148,3780,3731,3830,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3514,-0.78,-194.6,2538,2148,3728,3830,554.1,-11.7,499,3523,0.00,2.28,0.00,0.000,2308,0.000,0.062,2528,3551,3778,3727,3830,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3615,-0.78,-194.6,2528,3551,3726,3830,565.4,-11.0,519,3620,0.08,2.17,0.00,0.000,3078,0.364,0.031,2548,2152,3778,3726,3830,0,0,0,0,0,0,14.85,15.07,28.83
$GC,3860,-0.78,-194.6,2548,2151,3725,3828,588.8,-8.5,544,3864,0.00,2.22,0.00,0.000,516,0.000,0.056,2548,758,3776,3725,3828,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3926,-0.78,-194.6,2548,758,3725,3827,594.7,-8.9,557,3930,0.00,2.20,0.00,0.000,3078,0.000,0.040,2541,2160,3775,3724,3827,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4172,-0.78,-194.6,2541,2161,3723,3826,617.9,-9.8,573,4178,0.00,2.28,0.00,0.000,2308,0.000,0.063,2532,3557,3774,3723,3826,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4265,-0.78,-194.6,2531,3557,3722,3826,628.1,-10.4,592,4272,0.05,2.20,0.00,0.000,3078,0.449,0.032,2545,2149,3774,3722,3826,0,0,0,0,0,0,14.84,15.08,28.83
$GC,4511,-0.78,-194.6,2545,2148,3721,3823,652.2,-9.6,605,4515,0.00,2.30,0.00,0.000,2308,0.000,0.063,2536,3549,3772,3721,3823,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4560,-0.78,-194.6,2536,3550,3720,3823,657.2,-9.9,615,4568,0.00,2.20,0.00,0.000,3078,0.000,0.032,2536,2150,3771,3720,3823,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4807,-0.78,-194.6,2536,2149,3719,3822,681.3,-9.8,628,4813,0.00,2.25,0.00,0.000,2564,0.000,0.057,2536,750,3770,3718,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4880,-0.78,-194.6,2536,749,3717,3822,689.2,-10.5,643,4888,0.08,2.22,0.00,0.000,3078,0.406,0.042,2547,2158,3769,3717,3822,0,0,0,0,0,0,14.83,15.06,28.83
$GC,5127,-0.78,-194.6,2547,2159,3716,3821,713.6,-10.2,656,5133,0.00,2.25,0.00,0.000,2564,0.000,0.057,2548,759,3768,3716,3821,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5175,-0.78,-194.6,2547,759,3716,3821,719.0,-10.9,666,5179,0.00,2.20,0.00,0.000,3078,0.000,0.041,2541,2148,3768,3716,3821,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5427,-0.78,-194.6,2541,2150,3714,3817,744.0,-9.7,680,5431,0.00,2.30,0.00,0.000,2308,0.000,0.065,2531,3558,3766,3714,3818,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5476,-0.78,-194.6,2531,3558,3713,3818,748.9,-9.4,690,5483,0.05,2.22,0.00,0.000,3078,0.446,0.033,2544,2142,3765,3713,3817,0,0,0,0,0,0,14.84,15.08,28.83
$GC,5723,-0.78,-194.6,2545,2140,3710,3815,769.4,-8.4,703,5727,0.00,2.25,0.00,0.000,2564,0.000,0.059,2545,747,3763,3711,3815,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5806,-0.78,-194.6,2545,747,3711,3815,777.4,-9.3,720,5811,0.00,2.22,0.00,0.000,3078,0.000,0.043,2538,2148,3763,3711,3815,0,0,0,0,0,0,28.83,15.06,28.83
$GC,6058,-0.78,-194.6,2538,2150,3709,3814,801.8,-9.8,734,6059,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2150,3760,3708,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6298,-0.78,-194.6,2537,2150,3708,3812,824.8,-9.5,746,6299,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2150,3760,3707,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6538,-0.78,-194.6,2537,2150,3706,3811,846.8,-9.1,758,6539,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2151,3759,3706,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6778,-0.78,-194.6,2538,2150,3705,3809,869.3,-9.4,770,6782,0.00,2.28,0.00,0.000,2564,0.000,0.060,2537,754,3757,3705,3810,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6816,-0.78,-194.6,2538,754,3704,3809,872.8,-9.7,777,6822,0.08,2.22,0.00,0.000,3078,0.402,0.045,2547,2156,3756,3704,3809,0,0,0,0,0,0,14.81,15.06,28.83
$GC,7074,-0.78,-194.6,2547,2156,3703,3808,895.7,-9.0,793,7078,0.00,2.30,0.00,0.000,260,0.000,0.067,2539,3558,3755,3702,3808,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7112,-0.78,-194.6,1696,3557,3699,3807,899.4,-9.2,801,7117,0.00,2.25,0.00,0.000,3078,0.000,0.034,2538,2156,3754,3702,3807,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7370,-0.78,-194.6,2540,2155,3701,3806,922.5,-8.8,816,7374,0.00,2.33,0.00,0.000,2308,0.000,0.067,2530,3557,3754,3702,3806,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7414,-0.78,-194.6,2530,3558,3701,3806,926.6,-9.0,825,7419,0.08,2.22,0.00,0.000,3078,0.372,0.034,2549,2148,3753,3701,3806,0,0,0,0,0,0,14.82,15.07,28.83
$GC,7666,-0.78,-194.6,2549,2147,3700,3805,946.1,-7.7,839,7671,0.00,2.35,0.00,0.000,260,0.000,0.067,2540,3557,3752,3700,3805,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7727,-0.78,-194.6,2540,3557,3699,3805,951.1,-8.2,851,7731,0.00,2.22,0.00,0.000,3078,0.000,0.035,2540,2145,3752,3699,3805,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,7962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7962,begin apogee
$GC,7966,-0.17,0.0,2540,1924,3699,3804,971.7,-9.0,865,8244,0.57,0.00,271.08,1.568,10246,0.242,0.000,2748,1923,2981,3021,2942,0,0,0,0,0,0,14.83,28.83,13.72
$STATE,8245,end apogee,CONTROL_FINISHED_OK
$STATE,8245,begin climb
$GC,8246,0.78,194.6,2748,1923,3018,2938,983.9,0.0,879,8464,0.80,0.00,208.18,1.766,10758,0.148,0.000,3058,1923,2182,2218,2147,0,0,0,0,0,0,14.22,28.83,13.60
$GC,8704,0.78,194.6,3058,1923,2207,2129,936.2,14.0,914,8710,0.00,2.42,0.00,0.000,4356,0.000,0.066,3058,3347,2168,2207,2129,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8823,0.78,194.6,3059,3347,2207,2128,917.4,15.6,938,8828,0.08,2.25,0.00,0.000,5126,0.468,0.044,3053,1987,2167,2207,2127,0,0,0,0,0,0,14.51,14.72,28.83
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$STATE,16416,end climb,SURFACE_DEPTH_REACHED
$STATE,16416,begin surface coast
$FINISH,0.1,1.012847
$STATE,16434,end surface coast,CONTROL_FINISHED_OK
$STATE,16434,begin surface
$SM_CCo,16448,61.12,0.154,0,0,1355,400.08
$SM_GC,0.89,7.35,0.28,61.12,0.096,0.070,0.154,137,2152,1355,-8.25,-1.67,400.08,0,0,0,0,0,0,14.81,14.89,14.73
$IRIDIUM_FIX,2319.18,12315.33,211009,050523
$TT8_MAMPS,0.020223,0.020223
$HUMID,37.67
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,13.6,33.832
$10V_AH,13.3,0.000
$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
$DEVICE_SECS,19.250,194.525,526.600,61.125,0.000,0.000,0.000,416.550,0.750,0.000,10.398,4103.005,8162.856,820.943,3813.945,171.506,0.000,2733.023,0.000,3384.137,0.000,0.552,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1071.151,2099.072,1470.882,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328664
$DATA_FILE_SIZE,143958,1921
$CAP_FILE_SIZE,201351,0
$CFSIZE,2097086464,2078638080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.181, 71.5,1
$GPS,241216,205247,2330.303,12319.727,25,1.8,25,-3.8