version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 97
start: 12 25 116 20 53 22
data:
$ID,628
$MISSION,3
$DIVE,97
$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,-124456.67
$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,54
$R_STBD_OVSHOOT,42
$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
$GPS1,251216,204449,2328.954,12342.260,34,0.8,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.7
$GPS2,251216,205259,2328.936,12342.365,5,1.2,5,-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,65.6,21549,-15.8,-10.104,-18.78,2952
$D_GRID,3707
$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,-194.6,90,2129,1355,1355,0.0,0.0,0,73,0.00,0.00,-55.58,0.000,16386,0.000,0.000,87,2131,3249,3253,3246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.78,-194.6,86,2131,3254,3247,3.5,-7.8,8,98,8.62,2.42,-8.65,0.000,18692,0.478,0.082,2530,3552,3785,3741,3830,0,0,0,0,0,0,14.45,14.75,14.95
$GC,125,-0.78,-194.6,1568,3551,3737,3830,18.5,-26.1,16,133,0.03,2.28,0.00,0.000,3078,0.412,0.031,2540,2148,3785,3740,3831,0,0,0,0,0,0,14.55,14.77,28.83
$GC,379,-0.78,-194.6,1544,2144,3737,3830,82.7,-24.9,65,386,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2146,3785,3740,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,632,-0.78,-194.6,1536,2143,3737,3830,135.8,-18.1,114,638,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2146,3785,3740,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,883,-0.78,-194.6,1552,2144,3737,3831,181.8,-18.6,163,890,0.00,2.30,0.00,0.000,2564,0.000,0.056,2540,754,3785,3740,3831,0,0,0,0,0,0,28.83,14.87,28.83
$GC,917,-0.78,-194.6,1560,754,3737,3831,188.3,-18.5,169,926,0.00,2.28,0.00,0.000,3078,0.000,0.042,2532,2157,3786,3740,3832,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1171,-0.78,-194.6,1536,2155,3737,3831,235.1,-18.6,218,1179,0.05,2.30,0.00,0.000,2564,0.496,0.054,2545,747,3786,3740,3832,0,0,0,0,0,0,14.74,14.90,28.83
$GC,1221,-0.78,-194.6,2545,747,3740,3832,243.9,-15.4,227,1228,0.00,2.28,0.00,0.000,3078,0.000,0.041,2538,2153,3786,3740,3832,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1476,-0.78,-194.6,2537,2154,3740,3832,279.1,-12.9,256,1485,0.00,2.28,0.00,0.000,2308,0.000,0.063,2527,3551,3785,3740,3831,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1526,-0.78,-194.6,2527,3551,3740,3832,286.2,-13.8,266,1531,0.08,2.20,0.00,0.000,3078,0.380,0.031,2545,2140,3786,3741,3832,0,0,0,0,0,0,14.76,14.98,28.83
$GC,1771,-0.78,-194.6,2546,2139,3740,3832,322.4,-15.7,291,1775,0.00,2.20,0.00,0.000,2564,0.000,0.054,2546,755,3785,3739,3832,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1820,-0.78,-194.6,1664,754,3737,3831,330.6,-15.8,301,1828,0.00,2.25,0.00,0.000,3078,0.000,0.038,2538,2158,3786,3740,3832,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2068,-0.78,-194.6,2538,2159,3740,3832,370.0,-14.9,326,2072,0.00,2.25,0.00,0.000,2308,0.000,0.060,2528,3551,3785,3739,3832,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2132,-0.78,-194.6,2528,3551,3739,3832,378.9,-13.2,339,2140,0.08,2.20,0.00,0.000,3078,0.367,0.030,2547,2134,3785,3739,3832,0,0,0,0,0,0,14.81,15.04,28.83
$GC,2379,-0.78,-194.6,2547,2133,3738,3833,410.1,-13.3,364,2383,0.00,2.20,0.00,0.000,2564,0.000,0.054,2548,753,3785,3738,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2408,-0.78,-194.6,2548,753,3738,3832,414.4,-13.8,370,2415,0.00,2.20,0.00,0.000,3078,0.000,0.038,2540,2159,3785,3738,3832,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2655,-0.78,-194.6,2540,2159,3737,3832,447.9,-13.2,395,2664,0.00,2.25,0.00,0.000,2564,0.000,0.054,2540,756,3784,3737,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2686,-0.78,-194.6,2540,756,3737,3832,451.9,-12.8,401,2690,0.05,2.17,0.00,0.000,3078,0.470,0.040,2545,2150,3784,3737,3832,0,0,0,0,0,0,14.81,15.04,28.83
$GC,2931,-0.78,-194.6,2545,2150,3734,3832,477.9,-9.9,426,2935,0.00,2.28,0.00,0.000,2308,0.000,0.060,2535,3554,3783,3734,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2985,-0.78,-194.6,2536,3555,3734,3832,483.9,-10.6,437,2992,0.00,2.17,0.00,0.000,3078,0.000,0.029,2535,2153,3782,3733,3832,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3232,-0.78,-194.6,2534,2152,3731,3832,514.4,-13.4,462,3241,0.00,2.25,0.00,0.000,2564,0.000,0.056,2536,752,3781,3731,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3266,-0.78,-194.6,1664,751,3728,3831,519.3,-13.3,469,3273,0.00,2.25,0.00,0.000,3078,0.000,0.041,2533,2147,3781,3731,3832,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3514,-0.78,-194.6,2533,2147,3729,3832,549.0,-11.6,494,3515,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2147,3780,3729,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3753,-0.78,-194.6,2533,2147,3727,3830,576.5,-11.2,518,3757,0.00,2.30,0.00,0.000,2308,0.000,0.061,2523,3560,3778,3726,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3779,-0.78,-194.6,2524,3560,3726,3830,579.4,-11.1,523,3784,0.10,2.20,0.00,0.000,3078,0.340,0.031,2552,2146,3778,3726,3830,0,0,0,0,0,0,14.85,15.07,28.83
$GC,4024,-0.78,-194.6,2552,2145,3725,3828,602.9,-9.5,547,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2145,3776,3725,3828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4264,-0.78,-194.6,2552,2145,3723,3827,627.2,-10.4,559,4270,0.00,2.25,0.00,0.000,516,0.000,0.057,2552,752,3774,3723,3826,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4332,-0.78,-194.6,2552,751,3723,3826,634.9,-11.1,573,4337,0.00,2.22,0.00,0.000,3078,0.000,0.042,2546,2161,3774,3723,3826,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4584,-0.78,-194.6,2546,2161,3720,3824,662.3,-10.6,587,4590,0.00,2.25,0.00,0.000,2564,0.000,0.057,2546,761,3772,3721,3823,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4604,-0.78,-194.6,2546,760,3721,3824,664.5,-10.8,591,4608,0.00,2.20,0.00,0.000,3078,0.000,0.042,2537,2158,3772,3721,3824,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4860,-0.78,-194.6,2538,2159,3718,3823,691.0,-10.0,606,4864,0.00,2.28,0.00,0.000,2308,0.000,0.064,2528,3552,3770,3718,3822,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4916,-0.78,-194.6,2528,3552,3717,3822,696.8,-10.4,617,4921,0.08,2.20,0.00,0.000,3078,0.368,0.032,2548,2151,3769,3717,3822,0,0,0,0,0,0,14.83,15.07,28.83
$GC,5177,-0.78,-194.6,2548,2150,3716,3822,722.7,-9.7,633,5181,0.00,2.22,0.00,0.000,516,0.000,0.058,2548,760,3768,3716,3821,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5206,-0.78,-194.6,2548,759,3716,3822,725.8,-10.1,639,5214,0.00,2.20,0.00,0.000,3078,0.000,0.044,2542,2149,3769,3716,3822,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5454,-0.78,-194.6,2542,2149,3715,3819,750.3,-10.1,652,5455,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2148,3767,3715,3820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5694,-0.78,-194.6,2542,2149,3712,3817,773.1,-9.1,664,5695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2149,3764,3712,3817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5934,-0.78,-194.6,2542,2149,3711,3816,794.7,-9.0,676,5940,0.00,2.25,0.00,0.000,2564,0.000,0.058,2542,757,3763,3711,3815,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5981,-0.78,-194.6,2542,757,3711,3815,799.5,-9.7,686,5986,0.00,2.22,0.00,0.000,3078,0.000,0.044,2536,2156,3762,3710,3815,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6233,-0.78,-194.6,2536,2156,3709,3814,822.2,-9.2,700,6235,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2157,3761,3709,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6473,-0.78,-194.6,2536,2156,3707,3813,846.0,-10.3,712,6474,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2157,3760,3707,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6713,-0.78,-194.6,2536,2156,3706,3812,872.0,-10.9,724,6717,0.00,2.28,0.00,0.000,2564,0.000,0.059,2536,751,3758,3705,3812,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6737,-0.78,-194.6,2536,752,3706,3812,875.0,-11.8,729,6741,0.00,2.22,0.00,0.000,3078,0.000,0.046,2536,2147,3758,3705,3812,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6989,-0.78,-194.6,2536,2149,3705,3811,901.2,-10.2,743,6993,0.00,2.33,0.00,0.000,2308,0.000,0.069,2535,3558,3757,3704,3811,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7025,-0.78,-194.6,2534,3558,3704,3811,904.8,-10.0,750,7029,0.00,2.22,0.00,0.000,3078,0.000,0.034,2534,2146,3757,3704,3811,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7281,-0.78,-194.6,2534,2144,3703,3808,929.9,-9.7,765,7287,0.00,2.35,0.00,0.000,2308,0.000,0.067,2525,3557,3755,3703,3808,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7321,-0.78,-194.6,2526,3557,3702,3809,933.7,-9.8,773,7326,0.10,2.22,0.00,0.000,3078,0.339,0.034,2554,2146,3755,3702,3808,0,0,0,0,0,0,14.82,15.06,28.83
$GC,7577,-0.78,-194.6,2554,2145,3702,3807,954.8,-7.8,788,7582,0.00,2.35,0.00,0.000,4356,0.000,0.067,2544,3555,3754,3701,3807,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7613,-0.78,-194.6,2544,3555,3701,3807,957.9,-8.7,795,7618,0.00,2.22,0.00,0.000,3078,0.000,0.034,2544,2148,3754,3701,3807,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,7768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7768,begin apogee
$GC,7772,-0.17,0.0,2544,1928,3701,3806,970.3,-7.9,805,8050,0.55,0.00,271.33,1.567,10246,0.247,0.000,2742,1927,2981,3021,2942,0,0,0,0,0,0,14.82,28.83,13.72
$STATE,8051,end apogee,CONTROL_FINISHED_OK
$STATE,8051,begin climb
$GC,8053,0.78,194.6,2741,1927,3018,2938,978.7,0.0,819,8262,0.80,0.00,203.93,1.779,11014,0.151,0.000,3053,1927,2193,2228,2158,0,0,0,0,0,0,14.21,28.83,13.56
$GC,8489,0.78,194.6,3053,1927,2206,2126,930.7,14.2,859,8494,0.00,2.42,0.00,0.000,4356,0.000,0.064,3053,3351,2165,2205,2126,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8614,0.78,194.6,3054,3351,2206,2124,912.3,14.8,884,8618,0.00,2.28,0.00,0.000,5126,0.000,0.042,3063,1981,2164,2205,2124,0,0,0,0,0,0,28.83,14.71,28.83
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$STATE,16426,end climb,SURFACE_DEPTH_REACHED
$STATE,16427,begin surface coast
$FINISH,0.1,1.023205
$STATE,16449,end surface coast,CONTROL_FINISHED_OK
$STATE,16449,begin surface
$SM_CCo,16463,51.40,0.154,0,0,1355,400.08
$SM_GC,0.81,7.10,0.30,51.40,0.096,0.063,0.154,133,2173,1355,-8.24,-1.41,400.08,0,0,0,0,0,0,14.83,14.92,14.76
$IRIDIUM_FIX,2321.52,12340.75,221009,101052
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.34
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,13.6,36.133
$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
$DEVICE_SECS,18.525,187.075,566.350,51.400,0.000,0.000,0.000,390.150,0.500,0.000,6.120,4103.196,8139.618,816.120,3752.768,171.150,0.000,2696.830,0.000,3354.505,0.000,0.553,0.000
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$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,328664
$DATA_FILE_SIZE,143942,1886
$CAP_FILE_SIZE,198166,0
$CFSIZE,2097086464,2077655040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.168,112.6,1
$GPS,261216,012949,2329.582,12346.296,37,0.8,38,-3.8