version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 109
start: 12 28 116 5 58 58
data:
$ID,628
$MISSION,3
$DIVE,109
$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,-124547.04
$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,97
$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
$GPS1,281216,055025,2258.658,12353.601,44,0.8,45,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-61.3
$GPS2,281216,055835,2258.553,12353.607,6,1.3,6,-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,174.1,164370,-15.8,-10.104,-18.78,2952
$D_GRID,6342
$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,-194.6,91,2191,1356,1348,0.0,0.0,0,78,0.00,0.00,-60.45,0.000,16386,0.000,0.000,88,2190,3449,3450,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.78,-194.6,88,2190,3450,3449,3.6,-6.9,9,102,8.62,2.35,-4.97,0.000,18948,0.477,0.071,2538,750,3783,3737,3830,0,0,0,0,0,0,14.40,14.75,14.94
$GC,144,-0.78,-194.6,1552,750,3734,3829,24.9,-20.8,20,153,0.03,2.20,0.00,0.000,3078,0.400,0.043,2540,2102,3783,3737,3830,0,0,0,0,0,0,14.51,14.71,28.83
$GC,399,-0.78,-194.6,1568,2101,3734,3829,81.0,-22.7,69,406,0.00,2.38,0.00,0.000,2308,0.000,0.060,2531,3550,3783,3737,3830,0,0,0,0,0,0,28.83,14.81,28.83
$GC,464,-0.78,-194.6,1536,3550,3734,3829,95.3,-20.7,81,472,0.03,2.22,0.00,0.000,3078,0.389,0.031,2540,2148,3783,3737,3830,0,0,0,0,0,0,14.60,14.81,28.83
$GC,717,-0.78,-194.6,1536,2145,3734,3829,145.3,-20.3,130,723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2147,3783,3737,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-0.78,-194.6,1584,2145,3734,3830,196.1,-17.6,179,977,0.00,2.35,0.00,0.000,2308,0.000,0.061,2531,3546,3783,3737,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1005,-0.78,-194.6,1536,3546,3734,3830,201.6,-14.9,185,1013,0.03,2.22,0.00,0.000,3078,0.392,0.032,2542,2150,3784,3737,3831,0,0,0,0,0,0,14.64,14.86,28.83
$GC,1260,-0.78,-194.6,2542,2150,3737,3831,239.2,-14.2,234,1267,0.00,2.28,0.00,0.000,2564,0.000,0.052,2543,750,3784,3737,3831,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1321,-0.78,-194.6,2543,750,3737,3831,247.6,-13.7,245,1329,0.00,2.25,0.00,0.000,3078,0.000,0.038,2535,2158,3784,3737,3831,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1572,-0.78,-194.6,2535,2159,3737,3831,284.6,-15.2,271,1582,0.00,2.22,0.00,0.000,2308,0.000,0.059,2525,3553,3784,3737,3831,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1605,-0.78,-194.6,2525,3552,3737,3831,289.7,-15.0,277,1616,0.10,2.17,0.00,0.000,3078,0.336,0.030,2553,2134,3784,3738,3831,0,0,0,0,0,0,14.76,14.97,28.83
$GC,1854,-0.78,-194.6,2553,2133,3738,3831,325.4,-14.4,303,1858,0.00,2.17,0.00,0.000,516,0.000,0.053,2553,765,3784,3738,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1882,-0.78,-194.6,2553,764,3738,3831,329.1,-14.3,308,1891,0.00,2.15,0.00,0.000,3078,0.000,0.038,2545,2154,3784,3737,3831,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2131,-0.78,-194.6,2544,2154,3737,3831,364.5,-13.6,334,2139,0.00,2.25,0.00,0.000,2308,0.000,0.060,2534,3554,3784,3737,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2234,-0.78,-194.6,1640,3553,3734,3830,379.3,-14.1,355,2242,0.00,2.20,0.00,0.000,3078,0.000,0.030,2534,2153,3783,3736,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2482,-0.78,-194.6,2534,2153,3735,3831,413.9,-14.3,380,2492,0.03,2.28,0.00,0.000,2308,0.614,0.060,2535,3548,3783,3735,3831,0,0,0,0,0,0,14.89,14.98,28.83
$GC,2536,-0.78,-194.6,1648,3547,3731,3830,422.3,-14.7,391,2544,0.00,2.20,0.00,0.000,3078,0.000,0.032,2534,2159,3783,3735,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2784,-0.78,-194.6,2535,2159,3733,3831,460.4,-14.7,416,2788,0.00,2.28,0.00,0.000,2308,0.000,0.063,2526,3544,3781,3732,3831,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2818,-0.78,-194.6,2526,3544,3732,3831,465.7,-14.3,423,2826,0.05,2.22,0.00,0.000,3078,0.299,0.029,2547,2131,3781,3732,3830,0,0,0,0,0,0,14.78,15.02,28.83
$GC,3065,-0.78,-194.6,2547,2130,3731,3831,492.0,-10.2,448,3069,0.00,2.17,0.00,0.000,2564,0.000,0.054,2547,759,3781,3731,3831,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3133,-0.78,-194.6,1680,759,3728,3829,499.0,-10.1,462,3141,0.00,2.20,0.00,0.000,3078,0.000,0.037,2539,2151,3780,3730,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3381,-0.78,-194.6,2539,2151,3729,3831,526.1,-11.5,487,3390,0.00,2.22,0.00,0.000,2564,0.000,0.054,2539,750,3779,3728,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3403,-0.78,-194.6,2539,750,3728,3831,528.5,-11.8,491,3413,0.08,2.17,0.00,0.000,3078,0.387,0.038,2548,2156,3779,3728,3831,0,0,0,0,0,0,14.81,15.04,28.83
$GC,3652,-0.78,-194.6,2549,2156,3725,3830,557.6,-11.7,517,3661,0.00,2.25,0.00,0.000,260,0.000,0.063,2540,3545,3777,3725,3830,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3802,-0.78,-194.6,2540,3546,3724,3830,575.5,-12.0,547,3807,0.00,2.15,0.00,0.000,3078,0.000,0.031,2540,2152,3777,3724,3830,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4048,-0.78,-194.6,2540,2150,3724,3826,605.7,-12.3,570,4052,0.00,2.22,0.00,0.000,2564,0.000,0.057,2540,760,3775,3724,3826,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4077,-0.78,-194.6,2540,760,3723,3826,609.7,-12.4,576,4082,0.03,2.17,0.00,0.000,3078,0.605,0.041,2544,2155,3774,3723,3826,0,0,0,0,0,0,14.78,15.04,28.83
$GC,4329,-0.78,-194.6,2545,2156,3722,3825,635.7,-9.6,590,4333,0.00,2.25,0.00,0.000,2308,0.000,0.063,2535,3547,3773,3722,3825,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4433,-0.78,-194.6,2535,3547,3721,3824,645.6,-9.2,611,4437,0.00,2.17,0.00,0.000,3078,0.000,0.032,2535,2144,3773,3721,3825,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4685,-0.78,-194.6,2535,2144,3720,3822,670.5,-10.8,625,4689,0.00,2.33,0.00,0.000,2308,0.000,0.063,2527,3553,3771,3720,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4747,-0.78,-194.6,2527,3554,3719,3823,677.7,-12.1,637,4753,0.08,2.17,0.00,0.000,3078,0.369,0.032,2546,2146,3770,3719,3822,0,0,0,0,0,0,14.81,15.07,28.83
$GC,5006,-0.78,-194.6,2546,2145,3717,3822,707.4,-11.3,653,5010,0.00,2.22,0.00,0.000,2564,0.000,0.057,2546,760,3769,3717,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5035,-0.78,-194.6,2546,760,3717,3821,711.0,-11.7,659,5039,0.00,2.17,0.00,0.000,3078,0.000,0.041,2538,2148,3769,3716,3822,0,0,0,0,0,0,28.83,15.05,28.83
$GC,5287,-0.78,-194.6,2539,2150,3716,3821,737.3,-10.1,673,5291,0.00,2.22,0.00,0.000,2564,0.000,0.057,2539,761,3768,3716,3821,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5323,-0.78,-194.6,2539,761,3715,3821,741.1,-11.1,680,5327,0.00,2.17,0.00,0.000,3078,0.000,0.042,2533,2150,3768,3715,3821,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5578,-0.78,-194.6,2533,2151,3713,3818,768.2,-10.6,695,5583,0.00,2.28,0.00,0.000,2308,0.000,0.065,2523,3547,3765,3713,3817,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5634,-0.78,-194.6,2523,3547,3712,3817,774.3,-10.7,706,5639,0.10,2.17,0.00,0.000,3078,0.341,0.034,2551,2151,3764,3712,3817,0,0,0,0,0,0,14.82,15.07,28.83
$GC,5896,-0.78,-194.6,2551,2150,3711,3815,799.7,-9.5,722,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2150,3763,3711,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6136,-0.78,-194.6,2551,2150,3710,3814,821.9,-9.1,734,6140,0.00,2.30,0.00,0.000,260,0.000,0.066,2543,3551,3761,3709,3813,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6174,-0.78,-194.6,1696,3550,3705,3813,825.6,-9.1,742,6179,0.00,2.22,0.00,0.000,3078,0.000,0.034,2542,2157,3761,3709,3813,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6432,-0.78,-194.6,2542,2156,3708,3812,850.2,-9.8,757,6433,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2156,3760,3708,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6672,-0.78,-194.6,2542,2156,3706,3810,873.9,-9.8,769,6676,0.00,2.30,0.00,0.000,2308,0.000,0.067,2534,3547,3758,3706,3811,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6728,-0.78,-194.6,2534,3548,3705,3811,879.6,-10.2,780,6734,0.00,2.20,0.00,0.000,3078,0.000,0.034,2534,2141,3758,3705,3811,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6987,-0.78,-194.6,2534,2141,3704,3808,906.2,-10.2,796,6992,0.00,2.25,0.00,0.000,2564,0.000,0.060,2534,749,3756,3704,3808,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7026,-0.78,-194.6,1664,748,3700,3807,910.6,-10.9,804,7031,0.05,2.25,0.00,0.000,3078,0.321,0.043,2546,2143,3755,3703,3808,0,0,0,0,0,0,14.73,15.01,28.83
$GC,7284,-0.78,-194.6,2545,2143,3702,3807,936.6,-10.1,819,7290,0.00,2.30,0.00,0.000,2308,0.000,0.067,2537,3549,3754,3702,3807,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7351,-0.78,-194.6,2537,3549,3701,3807,943.8,-10.0,833,7356,0.00,2.20,0.00,0.000,3078,0.000,0.035,2536,2147,3754,3701,3807,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7604,-0.78,-194.6,2537,2146,3701,3805,969.6,-10.4,847,7605,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2146,3753,3701,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7622,begin apogee
$GC,7626,-0.17,0.0,2536,1921,3700,3805,971.7,-10.4,848,7904,0.57,0.00,267.75,1.549,10246,0.250,0.000,2741,1920,2986,3025,2947,0,0,0,0,1,0,14.69,28.83,13.80
$STATE,7905,end apogee,CONTROL_FINISHED_OK
$STATE,7905,begin climb
$GC,7907,0.78,194.6,2741,1920,3025,2951,983.3,0.0,862,8125,0.80,0.00,212.10,1.790,10758,0.166,0.000,3048,1919,2193,2229,2158,0,0,0,0,0,0,14.25,28.83,13.58
$GC,8363,0.78,194.6,3048,1920,2209,2132,936.8,14.1,912,8368,0.00,2.42,0.00,0.000,260,0.000,0.063,3048,3346,2170,2209,2132,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8440,0.78,194.6,3048,3347,2209,2131,925.5,15.3,927,8444,0.00,2.25,0.00,0.000,5126,0.000,0.044,3054,1981,2170,2209,2131,0,0,0,0,0,0,28.83,14.69,28.83
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$STATE,16488,end climb,SURFACE_DEPTH_REACHED
$STATE,16488,begin surface coast
$FINISH,0.1,1.002006
$STATE,16520,end surface coast,CONTROL_FINISHED_OK
$STATE,16520,begin surface
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$TT8_MAMPS,0.018725,0.018725
$HUMID,37.83
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,23.00
$XPDR_PINGS,3
$24V_AH,13.6,40.682
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,328708
$DATA_FILE_SIZE,150322,1993
$CAP_FILE_SIZE,206570,0
$CFSIZE,2097086464,2075688960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.152,185.5,1
$GPS,281216,103755,2254.884,12353.817,68,0.8,68,-3.7