version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 101
start: 12 26 116 15 50 18
data:
$ID,628
$MISSION,3
$DIVE,101
$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,-124496.87
$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,41
$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
$GPS1,261216,154201,2326.318,12354.512,33,0.8,33,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-67.1
$GPS2,261216,154954,2326.258,12354.554,5,0.9,6,-3.8
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,215.8,215514,-15.8,-10.104,-18.78,2952
$D_GRID,3643
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.78,-194.6,108,2153,1358,1353,0.0,0.0,0,70,0.00,0.00,-53.75,0.000,16386,0.000,0.000,106,2153,3152,3163,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.78,-194.6,106,2153,3163,3143,3.2,-7.1,8,102,8.55,2.38,-10.93,0.000,18948,0.476,0.079,2539,743,3784,3740,3829,0,0,0,0,0,0,14.43,14.69,14.95
$GC,206,-0.78,-194.6,1536,743,3736,3829,31.9,-20.3,32,213,0.00,2.28,0.00,0.000,3078,0.000,0.041,2531,2137,3784,3739,3830,0,0,0,0,0,0,28.83,14.78,28.83
$GC,458,-0.78,-194.6,1536,2135,3735,3829,89.7,-23.0,81,467,0.05,2.35,0.00,0.000,2308,0.515,0.056,2534,3558,3784,3739,3830,0,0,0,0,0,0,14.66,14.83,28.83
$GC,515,-0.78,-194.6,1536,3557,3736,3829,102.3,-22.0,91,522,0.00,2.28,0.00,0.000,3078,0.000,0.030,2534,2144,3784,3739,3830,0,0,0,0,0,0,28.83,14.88,28.83
$GC,768,-0.78,-194.6,1536,2141,3737,3829,156.5,-19.4,140,775,0.00,2.30,0.00,0.000,2564,0.000,0.053,2533,748,3784,3739,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,807,-0.78,-194.6,1544,747,3735,3829,163.9,-17.8,147,816,0.05,2.28,0.00,0.000,3078,0.325,0.041,2543,2156,3784,3739,3830,0,0,0,0,0,0,14.66,14.87,28.83
$GC,1062,-0.78,-194.6,2544,2156,3739,3831,203.8,-15.8,196,1069,0.00,2.33,0.00,0.000,2308,0.000,0.060,2534,3553,3785,3739,3831,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1131,-0.78,-194.6,1536,3552,3736,3830,214.4,-13.9,209,1140,0.00,2.25,0.00,0.000,3078,0.000,0.029,2534,2146,3785,3739,3831,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1385,-0.78,-194.6,2534,2144,3739,3831,253.9,-16.4,256,1389,0.00,2.22,0.00,0.000,2564,0.000,0.053,2534,753,3785,3739,3831,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1456,-0.78,-194.6,2534,753,3739,3832,265.3,-15.3,270,1465,0.05,2.25,0.00,0.000,3078,0.327,0.038,2545,2156,3786,3740,3832,0,0,0,0,0,0,14.66,14.86,28.83
$GC,1705,-0.78,-194.6,2545,2156,3740,3832,302.1,-14.9,295,1713,0.00,2.25,0.00,0.000,2308,0.000,0.059,2536,3547,3785,3740,3831,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1805,-0.78,-194.6,2536,3547,3739,3831,317.5,-14.9,315,1809,0.00,2.17,0.00,0.000,3078,0.000,0.030,2536,2147,3785,3740,3831,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2051,-0.78,-194.6,2536,2144,3739,3832,355.7,-15.6,340,2060,0.00,2.30,0.00,0.000,2308,0.000,0.060,2530,3551,3785,3738,3832,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2075,-0.78,-194.6,1648,3551,3736,3831,359.9,-15.7,345,2083,0.05,2.22,0.00,0.000,3078,0.304,0.031,2551,2150,3785,3739,3832,0,0,0,0,0,0,14.75,14.97,28.83
$GC,2322,-0.78,-194.6,2551,2149,3738,3832,393.0,-12.1,370,2326,0.00,2.22,0.00,0.000,516,0.000,0.053,2551,759,3784,3738,3831,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2388,-0.78,-194.6,2551,758,3738,3832,400.5,-10.9,383,2397,0.00,2.17,0.00,0.000,3078,0.000,0.039,2543,2154,3785,3738,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2638,-0.78,-194.6,2544,2154,3737,3831,428.3,-11.8,409,2647,0.00,2.22,0.00,0.000,2564,0.000,0.053,2543,755,3784,3737,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2659,-0.78,-194.6,2543,755,3737,3831,430.9,-12.5,413,2663,0.00,2.17,0.00,0.000,3078,0.000,0.040,2535,2147,3784,3737,3831,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2904,-0.78,-194.6,2536,2147,3735,3831,464.5,-14.1,438,2914,0.00,2.28,0.00,0.000,2308,0.000,0.060,2529,3550,3782,3734,3831,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2956,-0.78,-194.6,2530,3550,3734,3831,471.9,-14.1,448,2965,0.08,2.17,0.00,0.000,3078,0.384,0.030,2549,2149,3782,3734,3831,0,0,0,0,0,0,14.82,15.06,28.83
$GC,3205,-0.78,-194.6,2548,2148,3732,3831,501.1,-10.4,474,3209,0.00,2.33,0.00,0.000,260,0.000,0.063,2540,3549,3781,3731,3831,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3286,-0.78,-194.6,2541,3549,3731,3831,509.7,-10.3,490,3290,0.00,2.20,0.00,0.000,3078,0.000,0.031,2541,2147,3781,3731,3831,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3537,-0.78,-194.6,2540,2146,3730,3831,536.8,-11.2,516,3546,0.00,2.22,0.00,0.000,2564,0.000,0.054,2541,760,3780,3729,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3661,-0.78,-194.6,2540,760,3727,3831,552.1,-12.7,541,3668,0.00,2.20,0.00,0.000,3078,0.000,0.039,2532,2158,3779,3727,3831,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3908,-0.78,-194.6,2532,2159,3726,3830,583.2,-12.2,566,3919,0.03,2.25,0.00,0.000,2564,0.619,0.052,2544,756,3777,3725,3830,0,0,0,0,0,0,14.86,15.02,28.83
$GC,3930,-0.78,-194.6,2544,756,3725,3830,585.8,-11.7,570,3934,0.00,2.17,0.00,0.000,3078,0.000,0.039,2538,2150,3777,3725,3830,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4176,-0.78,-194.6,2538,2150,3724,3827,609.5,-9.1,590,4182,0.00,2.28,0.00,0.000,2308,0.000,0.063,2530,3546,3775,3723,3827,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4297,-0.78,-194.6,2530,3545,3723,3827,620.4,-8.9,614,4303,0.03,2.17,0.00,0.000,3078,0.361,0.031,2541,2151,3775,3723,3827,0,0,0,0,0,0,14.81,15.07,28.83
$GC,4555,-0.78,-194.6,2541,2149,3722,3824,642.0,-8.8,630,4560,0.00,2.25,0.00,0.000,2564,0.000,0.057,2541,758,3773,3722,3824,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4611,-0.78,-194.6,2541,757,3721,3825,647.3,-9.1,641,4615,0.00,2.20,0.00,0.000,3078,0.000,0.041,2536,2154,3772,3721,3824,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4872,-0.78,-194.6,2536,2154,3720,3822,673.2,-10.4,657,4873,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2154,3771,3719,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5112,-0.78,-194.6,2536,2154,3717,3822,701.5,-12.5,669,5116,0.00,2.30,0.00,0.000,2308,0.000,0.065,2528,3551,3770,3717,3823,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5181,-0.78,-194.6,2528,3551,3716,3822,710.7,-13.0,683,5189,0.08,2.22,0.00,0.000,3078,0.369,0.032,2546,2141,3769,3716,3822,0,0,0,0,0,0,14.83,15.07,28.83
$GC,5428,-0.78,-194.6,2546,2140,3716,3821,740.5,-11.7,696,5429,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2140,3768,3715,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5668,-0.78,-194.6,2546,2140,3714,3817,765.7,-9.8,708,5672,0.00,2.35,0.00,0.000,2308,0.000,0.065,2540,3548,3765,3713,3818,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5697,-0.78,-194.6,2540,3549,3712,3818,768.7,-9.5,714,5701,0.00,2.20,0.00,0.000,3078,0.000,0.033,2540,2154,3765,3712,3818,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5949,-0.78,-194.6,2540,2153,3711,3816,790.5,-8.6,728,5950,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2152,3763,3711,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6189,-0.78,-194.6,2540,2153,3710,3815,810.0,-8.0,740,6193,0.00,2.33,0.00,0.000,2308,0.000,0.065,2531,3552,3762,3710,3814,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6225,-0.78,-194.6,2530,3553,3710,3814,813.0,-8.7,747,6230,0.08,2.22,0.00,0.000,3078,0.373,0.033,2549,2137,3761,3709,3814,0,0,0,0,0,0,14.82,15.07,28.83
$GC,6482,-0.78,-194.6,2549,2137,3708,3813,833.6,-7.9,762,6486,0.00,2.25,0.00,0.000,516,0.000,0.059,2550,760,3760,3708,3813,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6543,-0.78,-194.6,2550,760,3707,3813,838.7,-8.5,774,6547,0.00,2.20,0.00,0.000,3078,0.000,0.043,2543,2148,3759,3707,3812,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6799,-0.78,-194.6,2544,2149,3705,3812,860.3,-8.3,789,6806,0.00,2.33,0.00,0.000,2308,0.000,0.067,2533,3555,3758,3705,3812,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6842,-0.78,-194.6,2533,3555,3705,3812,864.2,-8.5,798,6846,0.00,2.28,0.00,0.000,3078,0.000,0.034,2533,2150,3758,3705,3812,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7098,-0.78,-194.6,2533,2150,3704,3809,888.2,-10.1,813,7100,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2150,3756,3704,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7339,-0.78,-194.6,2533,2150,3703,3809,912.9,-10.4,825,7343,0.00,2.35,0.00,0.000,2308,0.000,0.067,2524,3555,3755,3702,3808,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7383,-0.78,-194.6,2524,3556,3702,3808,917.9,-10.9,834,7388,0.10,2.22,0.00,0.000,3078,0.339,0.034,2551,2146,3755,3702,3808,0,0,0,0,0,0,14.81,15.06,28.83
$GC,7635,-0.78,-194.6,2552,2146,3701,3807,942.3,-9.5,848,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2146,3754,3702,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7874,-0.78,-194.6,2552,2146,3700,3806,963.4,-8.4,860,7879,0.00,2.35,0.00,0.000,260,0.000,0.067,2542,3551,3753,3700,3806,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7923,-0.78,-194.6,2542,3551,3700,3806,967.7,-8.5,870,7931,0.00,2.22,0.00,0.000,3078,0.000,0.034,2542,2153,3753,3700,3806,0,0,0,0,0,0,28.83,15.05,28.83
$STATE,7969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7969,begin apogee
$GC,7973,-0.17,0.0,2542,1928,3700,3805,971.6,-8.6,873,8251,0.57,0.00,270.20,1.574,10246,0.249,0.000,2749,1927,2980,3020,2941,0,0,0,0,0,0,14.81,28.83,13.70
$STATE,8252,end apogee,CONTROL_FINISHED_OK
$STATE,8252,begin climb
$GC,8253,0.78,194.6,2749,1928,3018,2938,981.2,0.0,887,8464,0.77,0.00,204.90,1.772,10758,0.142,0.000,3053,1927,2193,2228,2159,0,0,0,0,0,0,14.21,28.83,13.54
$GC,8705,0.78,194.6,3053,1927,2204,2127,930.9,14.5,942,8710,0.00,2.42,0.00,0.000,4356,0.000,0.063,3053,3345,2165,2204,2127,0,0,0,0,0,0,28.83,14.61,28.83
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$STATE,16545,end climb,SURFACE_DEPTH_REACHED
$STATE,16545,begin surface coast
$FINISH,0.3,1.023246
$STATE,16571,end surface coast,CONTROL_FINISHED_OK
$STATE,16571,begin surface
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$TT8_MAMPS,0.020223,0.020223
$HUMID,37.55
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.90
$XPDR_PINGS,1
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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,328692
$DATA_FILE_SIZE,151012,1990
$CAP_FILE_SIZE,207155,0
$CFSIZE,2097086464,2076999680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.182,137.8,1
$GPS,261216,202931,2323.176,12354.485,34,0.8,34,-3.8