version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 108
start: 12 28 116 1 15 2
data:
$ID,628
$MISSION,3
$DIVE,108
$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,-124545.78
$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,38
$R_STBD_OVSHOOT,73
$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
$GPS1,281216,010649,2302.168,12353.401,36,0.9,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-60.4
$GPS2,281216,011438,2302.117,12353.347,6,1.0,6,-3.7
$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,173.0,170985,-15.8,-10.104,-18.78,2952
$D_GRID,6206
$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,-194.6,107,2176,1368,1346,0.0,0.0,0,72,0.00,0.00,-54.88,0.000,16386,0.000,0.000,103,2177,3223,3226,3220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,103,2177,3227,3220,3.3,-6.6,8,98,8.60,2.40,-9.18,0.000,18948,0.480,0.074,2537,733,3782,3742,3823,0,0,0,0,0,0,14.45,14.75,14.94
$GC,207,-0.78,-194.6,1544,732,3736,3824,33.2,-18.7,32,215,0.05,2.25,0.00,0.000,3078,0.310,0.041,2547,2120,3782,3739,3826,0,0,0,0,0,0,14.57,14.77,28.83
$GC,460,-0.78,-194.6,2548,2120,3739,3826,83.1,-20.6,81,468,0.00,2.38,0.00,0.000,260,0.000,0.059,2538,3570,3782,3739,3825,0,0,0,0,0,0,28.83,14.82,28.83
$GC,500,-0.78,-194.6,1544,3570,3736,3825,90.5,-17.7,88,508,0.00,2.28,0.00,0.000,3078,0.000,0.030,2538,2133,3782,3739,3825,0,0,0,0,0,0,28.83,14.85,28.83
$GC,754,-0.78,-194.6,1536,2129,3736,3825,143.1,-17.6,137,762,0.00,2.38,0.00,0.000,2308,0.000,0.060,2527,3574,3782,3739,3826,0,0,0,0,0,0,28.83,14.85,28.83
$GC,800,-0.78,-194.6,2527,3575,3739,3826,151.5,-18.1,145,809,0.05,2.25,0.00,0.000,3078,0.317,0.031,2547,2154,3782,3739,3826,0,0,0,0,0,0,14.66,14.87,28.83
$GC,1055,-0.78,-194.6,2547,2153,3739,3828,194.6,-16.0,194,1062,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2153,3784,3740,3828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-0.78,-194.6,1536,2151,3736,3828,236.3,-16.9,243,1314,0.00,2.35,0.00,0.000,2308,0.000,0.062,2537,3556,3784,3739,3829,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1413,-0.78,-194.6,2538,3555,3739,3829,254.5,-16.1,263,1424,0.00,2.17,0.00,0.000,3078,0.000,0.031,2537,2148,3784,3740,3829,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1664,-0.78,-194.6,2538,2148,3739,3829,297.2,-16.1,289,1674,0.00,2.20,0.00,0.000,2564,0.000,0.053,2537,752,3784,3739,3829,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1716,-0.78,-194.6,2537,752,3740,3829,305.1,-13.4,299,1720,0.08,2.17,0.00,0.000,3078,0.386,0.038,2547,2156,3784,3739,3829,0,0,0,0,0,0,14.75,14.97,28.83
$GC,1961,-0.78,-194.6,2546,2157,3739,3829,335.1,-12.5,324,1965,0.00,2.22,0.00,0.000,2564,0.000,0.054,2547,753,3784,3739,3829,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1986,-0.78,-194.6,2547,753,3739,3829,338.6,-14.3,329,1990,0.00,2.17,0.00,0.000,3078,0.000,0.038,2539,2159,3784,3739,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2232,-0.78,-194.6,2539,2159,3739,3829,372.8,-14.0,354,2242,0.00,2.22,0.00,0.000,2308,0.000,0.058,2529,3550,3784,3739,3829,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2286,-0.78,-194.6,1664,3549,3736,3828,381.0,-14.3,365,2294,0.05,2.20,0.00,0.000,3078,0.295,0.029,2549,2143,3783,3738,3829,0,0,0,0,0,0,14.75,14.97,28.83
$GC,2533,-0.78,-194.6,2550,2141,3738,3830,411.6,-11.8,390,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2141,3783,3738,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2773,-0.78,-194.6,2550,2141,3737,3829,443.9,-13.6,414,2777,0.00,2.28,0.00,0.000,260,0.000,0.060,2541,3547,3783,3737,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2829,-0.78,-194.6,2541,3547,3736,3829,451.1,-12.6,425,2833,0.00,2.15,0.00,0.000,3078,0.000,0.030,2541,2146,3782,3736,3829,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3075,-0.78,-194.6,2541,2144,3734,3829,481.3,-11.3,450,3079,0.00,2.20,0.00,0.000,2564,0.000,0.054,2541,758,3781,3734,3829,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3156,-0.78,-194.6,2541,758,3733,3829,489.7,-9.1,466,3160,0.03,2.15,0.00,0.000,3078,0.599,0.039,2545,2149,3781,3733,3829,0,0,0,0,0,0,14.80,15.04,28.83
$GC,3401,-0.78,-194.6,2544,2150,3731,3829,513.1,-10.2,491,3405,0.00,2.25,0.00,0.000,2308,0.000,0.060,2536,3546,3780,3731,3829,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3542,-0.78,-194.6,2536,3545,3730,3829,527.1,-10.0,519,3551,0.00,2.15,0.00,0.000,3078,0.000,0.031,2536,2150,3779,3730,3829,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3792,-0.78,-194.6,2536,2149,3727,3829,558.0,-12.7,545,3801,0.00,2.30,0.00,0.000,2308,0.000,0.064,2530,3554,3777,3726,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3912,-0.78,-194.6,2529,3554,3725,3829,573.0,-11.7,569,3917,0.08,2.17,0.00,0.000,3078,0.374,0.033,2549,2143,3777,3725,3829,0,0,0,0,0,0,14.82,15.05,28.83
$GC,4157,-0.78,-194.6,2549,2141,3725,3826,596.0,-8.8,594,4161,0.00,2.20,0.00,0.000,516,0.000,0.055,2549,759,3774,3724,3825,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4206,-0.78,-194.6,1680,758,3721,3825,600.4,-8.3,604,4214,0.00,2.22,0.00,0.000,3078,0.000,0.040,2542,2153,3774,3724,3825,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4453,-0.78,-194.6,2542,2153,3723,3823,624.0,-10.6,617,4457,0.00,2.25,0.00,0.000,2308,0.000,0.063,2533,3547,3773,3723,3824,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4572,-0.78,-194.6,1648,3546,3719,3822,637.4,-11.2,641,4577,0.00,2.20,0.00,0.000,3078,0.000,0.032,2533,2156,3772,3721,3823,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4829,-0.78,-194.6,2533,2154,3721,3822,666.2,-10.9,656,4833,0.00,2.22,0.00,0.000,2564,0.000,0.057,2533,759,3771,3721,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4887,-0.78,-194.6,1672,759,3717,3821,673.3,-11.9,668,4893,0.05,2.22,0.00,0.000,3078,0.330,0.041,2543,2150,3771,3720,3822,0,0,0,0,0,0,14.77,15.02,28.83
$GC,5145,-0.78,-194.6,2543,2150,3718,3821,702.7,-11.4,683,5149,0.00,2.28,0.00,0.000,2308,0.000,0.064,2534,3552,3769,3718,3821,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5241,-0.78,-194.6,2534,3552,3716,3821,713.3,-11.0,702,5245,0.00,2.17,0.00,0.000,3078,0.000,0.033,2534,2151,3768,3716,3821,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5497,-0.78,-194.6,2534,2150,3716,3817,742.7,-11.2,717,5501,0.00,2.22,0.00,0.000,2564,0.000,0.057,2534,756,3766,3716,3817,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5546,-0.78,-194.6,2534,756,3715,3817,748.5,-11.2,727,5553,0.08,2.20,0.00,0.000,3078,0.404,0.042,2544,2153,3766,3715,3817,0,0,0,0,0,0,14.79,15.04,28.83
$GC,5793,-0.78,-194.6,2544,2153,3713,3815,773.4,-10.1,740,5797,0.00,2.28,0.00,0.000,2308,0.000,0.066,2535,3550,3764,3713,3815,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5891,-0.78,-194.6,1664,3549,3708,3814,783.0,-9.1,760,5896,0.00,2.22,0.00,0.000,3078,0.000,0.033,2535,2150,3763,3711,3815,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6149,-0.78,-194.6,2536,2150,3711,3813,806.7,-9.0,775,6155,0.00,2.25,0.00,0.000,2564,0.000,0.058,2535,747,3762,3711,3813,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6196,-0.78,-194.6,2535,746,3710,3813,811.2,-8.8,785,6201,0.08,2.20,0.00,0.000,3078,0.399,0.043,2548,2149,3761,3710,3813,0,0,0,0,0,0,14.78,15.04,28.83
$GC,6448,-0.78,-194.6,2548,2149,3709,3812,829.5,-7.2,799,6453,0.00,2.28,0.00,0.000,2308,0.000,0.066,2541,3545,3760,3708,3812,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6512,-0.78,-194.6,2542,3546,3707,3812,834.6,-7.8,812,6517,0.00,2.17,0.00,0.000,3078,0.000,0.034,2542,2149,3759,3707,3812,0,0,0,0,0,0,28.83,15.06,28.83
$GC,6765,-0.78,-194.6,2542,2148,3707,3810,858.1,-9.8,826,6770,0.00,2.30,0.00,0.000,2308,0.000,0.065,2533,3549,3758,3706,3810,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6792,-0.78,-194.6,2533,3549,3706,3810,861.1,-10.3,832,6797,0.00,2.20,0.00,0.000,3078,0.000,0.034,2533,2141,3758,3706,3810,0,0,0,0,0,0,28.83,15.06,28.83
$GC,7044,-0.78,-194.6,2533,2140,3705,3808,885.6,-9.6,846,7048,0.00,2.33,0.00,0.000,2308,0.000,0.067,2523,3549,3756,3705,3808,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7088,-0.78,-194.6,2523,3550,3705,3808,889.9,-9.2,855,7093,0.10,2.20,0.00,0.000,3078,0.338,0.034,2551,2138,3756,3705,3808,0,0,0,0,0,0,14.80,15.05,28.83
$GC,7341,-0.78,-194.6,2551,2137,3703,3806,909.2,-7.5,869,7345,0.00,2.22,0.00,0.000,516,0.000,0.059,2551,762,3754,3703,3806,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7362,-0.78,-194.6,2551,762,3703,3807,910.9,-8.0,873,7366,0.00,2.17,0.00,0.000,3078,0.000,0.044,2545,2146,3755,3703,3807,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7618,-0.78,-194.6,2545,2147,3702,3806,931.4,-8.5,888,7619,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2147,3753,3701,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7857,-0.78,-194.6,2545,2147,3701,3805,954.2,-10.3,900,7862,0.00,2.30,0.00,0.000,2308,0.000,0.068,2536,3550,3752,3700,3805,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7913,-0.78,-194.6,2536,3551,3700,3805,960.4,-11.3,911,7918,0.00,2.20,0.00,0.000,3078,0.000,0.035,2536,2144,3752,3700,3805,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,8008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8008,begin apogee
$GC,8012,-0.17,0.0,2535,1916,3700,3804,971.5,-11.5,918,8291,0.57,0.00,272.88,1.565,10246,0.246,0.000,2741,1914,2984,3023,2945,0,0,0,0,0,0,14.40,28.83,13.71
$STATE,8292,end apogee,CONTROL_FINISHED_OK
$STATE,8292,begin climb
$GC,8293,0.78,194.6,2741,1914,3018,2939,984.0,0.0,932,8511,0.80,2.40,204.55,1.788,10756,0.162,0.073,3054,591,2178,2211,2146,0,0,0,0,0,0,14.19,14.07,13.57
$GC,8526,0.78,194.6,3054,591,2202,2138,964.8,13.8,979,8534,0.00,2.28,0.00,0.000,5126,0.000,0.042,3053,1952,2169,2202,2137,0,0,0,0,0,0,28.83,14.24,28.83
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$STATE,16314,end climb,SURFACE_DEPTH_REACHED
$STATE,16314,begin surface coast
$FINISH,0.5,1.023276
$STATE,16331,end surface coast,CONTROL_FINISHED_OK
$STATE,16331,begin surface
$SM_CCo,16346,97.97,0.158,0,0,1354,400.08
$SM_GC,0.78,7.47,0.28,97.97,0.101,0.060,0.158,130,2187,1354,-8.25,-1.81,400.08,0,0,0,0,0,0,14.85,14.94,14.71
$IRIDIUM_FIX,2255.72,12353.10,241009,141451
$TT8_MAMPS,0.019474,0.019474
$HUMID,37.32
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,13.6,40.304
$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
$DEVICE_SECS,19.400,212.600,477.425,97.975,0.000,0.000,0.000,368.275,0.500,0.000,7.292,4187.081,7830.984,806.018,3887.917,180.750,0.000,2734.305,0.000,3505.665,0.000,0.552,0.000
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$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328680
$DATA_FILE_SIZE,150594,1986
$CAP_FILE_SIZE,210244,0
$CFSIZE,2097086464,2075852800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.148,186.6,1
$GPS,281216,055025,2258.658,12353.601,44,0.8,45,-3.7