version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 110
start: 12 28 116 10 45 54
data:
$ID,628
$MISSION,3
$DIVE,110
$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,-124548.3
$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,69
$R_STBD_OVSHOOT,55
$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
$GPS1,281216,103755,2254.884,12353.817,68,0.8,68,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-57.2
$GPS2,281216,104530,2254.782,12353.833,6,0.9,6,-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,174.6,157375,-15.8,-10.104,-18.78,2952
$D_GRID,6359
$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,-194.6,95,2120,1356,1348,0.0,0.0,0,72,0.00,0.00,-55.03,0.000,16386,0.000,0.000,91,2120,3212,3218,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,91,2120,3218,3207,3.1,-6.1,8,98,8.57,2.28,-9.65,0.000,18948,0.472,0.080,2541,764,3783,3741,3825,0,0,0,0,0,0,14.42,14.76,14.97
$GC,207,-0.78,-194.6,1536,763,3737,3826,34.9,-20.4,32,214,0.00,2.22,0.00,0.000,3078,0.000,0.042,2533,2133,3783,3740,3827,0,0,0,0,0,0,28.83,14.76,28.83
$GC,460,-0.78,-194.6,1536,2132,3736,3826,95.9,-27.6,81,468,0.03,2.35,0.00,0.000,2308,0.626,0.060,2534,3561,3783,3740,3826,0,0,0,0,0,0,14.67,14.83,28.83
$GC,511,-0.78,-194.6,2534,3561,3739,3827,108.9,-25.1,90,520,0.00,2.22,0.00,0.000,3078,0.000,0.029,2534,2157,3783,3739,3827,0,0,0,0,0,0,28.83,14.83,28.83
$GC,768,-0.78,-194.6,1536,2154,3736,3827,159.9,-17.3,139,775,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2156,3784,3740,3828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1020,-0.78,-194.6,1536,2154,3736,3828,206.1,-19.0,188,1027,0.00,2.35,0.00,0.000,2308,0.000,0.062,2523,3557,3784,3739,3829,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1049,-0.78,-194.6,1536,3556,3736,3828,212.0,-20.6,193,1057,0.05,2.22,0.00,0.000,3078,0.313,0.031,2543,2153,3783,3739,3828,0,0,0,0,0,0,14.66,14.88,28.83
$GC,1309,-0.78,-194.6,2543,2153,3739,3830,256.0,-14.3,239,1318,0.00,2.22,0.00,0.000,2564,0.000,0.053,2543,735,3785,3740,3830,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1341,-0.78,-194.6,2543,734,3740,3829,260.8,-14.3,245,1352,0.00,2.22,0.00,0.000,3078,0.000,0.039,2535,2165,3784,3740,3829,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1592,-0.78,-194.6,2535,2166,3740,3829,298.3,-15.3,271,1602,0.00,2.22,0.00,0.000,2308,0.000,0.057,2526,3564,3784,3740,3829,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1647,-0.78,-194.6,2526,3564,3740,3829,307.6,-16.3,282,1655,0.10,2.20,0.00,0.000,3078,0.346,0.028,2552,2134,3784,3739,3830,0,0,0,0,0,0,14.76,15.00,28.83
$GC,1894,-0.78,-194.6,2553,2134,3740,3829,343.1,-13.6,307,1898,0.00,2.17,0.00,0.000,516,0.000,0.053,2553,760,3784,3739,3829,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1912,-0.78,-194.6,1664,760,3737,3829,345.8,-13.1,311,1921,0.00,2.20,0.00,0.000,3078,0.000,0.038,2545,2147,3784,3740,3829,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2160,-0.78,-194.6,2545,2147,3739,3829,375.6,-12.0,336,2169,0.00,2.25,0.00,0.000,2308,0.000,0.059,2534,3548,3783,3738,3829,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2303,-0.78,-194.6,1672,3547,3735,3829,393.2,-12.1,365,2311,0.00,2.17,0.00,0.000,3078,0.000,0.029,2535,2161,3783,3738,3829,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2551,-0.78,-194.6,2535,2161,3737,3829,426.7,-14.5,390,2555,0.00,2.25,0.00,0.000,2564,0.000,0.055,2534,749,3783,3738,3829,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2615,-0.78,-194.6,1648,748,3734,3829,435.9,-13.6,403,2623,0.05,2.22,0.00,0.000,3078,0.314,0.038,2545,2147,3783,3737,3830,0,0,0,0,0,0,14.75,14.97,28.83
$GC,2863,-0.78,-194.6,2545,2147,3735,3829,470.4,-13.6,428,2872,0.00,2.25,0.00,0.000,2308,0.000,0.059,2536,3548,3781,3734,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2913,-0.78,-194.6,2536,3547,3734,3829,477.3,-13.1,438,2917,0.00,2.15,0.00,0.000,3078,0.000,0.029,2536,2137,3781,3734,3829,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3165,-0.78,-194.6,2536,2135,3732,3829,508.8,-10.8,464,3174,0.00,2.20,0.00,0.000,2564,0.000,0.055,2536,750,3780,3731,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3226,-0.78,-194.6,2536,750,3731,3829,515.9,-11.7,476,3230,0.00,2.17,0.00,0.000,3078,0.000,0.041,2535,2147,3780,3731,3829,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3471,-0.78,-194.6,2535,2148,3730,3829,546.1,-13.2,501,3480,0.00,2.25,0.00,0.000,2308,0.000,0.060,2526,3550,3779,3729,3829,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3525,-0.78,-194.6,2527,3551,3729,3829,553.8,-13.9,512,3534,0.10,2.17,0.00,0.000,3078,0.330,0.030,2556,2141,3778,3728,3829,0,0,0,0,0,0,14.83,15.06,28.83
$GC,3772,-0.78,-194.6,2556,2140,3726,3827,583.4,-11.3,537,3773,0.00,0.00,0.00,0.000,4102,0.000,0.000,2556,2140,3776,3726,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4012,-0.78,-194.6,2556,2140,3725,3825,605.7,-8.5,558,4016,0.00,2.30,0.00,0.000,4356,0.000,0.063,2547,3548,3774,3724,3825,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4051,-0.78,-194.6,2546,3548,3724,3825,609.2,-8.5,566,4055,0.00,2.17,0.00,0.000,3078,0.000,0.031,2547,2147,3774,3724,3825,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4308,-0.78,-194.6,2547,2147,3722,3823,635.3,-10.8,581,4314,0.00,2.30,0.00,0.000,2308,0.000,0.063,2538,3557,3773,3723,3823,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4388,-0.78,-194.6,2538,3557,3722,3823,644.1,-10.8,597,4394,0.00,2.17,0.00,0.000,3078,0.000,0.031,2538,2149,3772,3722,3823,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4648,-0.78,-194.6,2538,2149,3721,3822,672.2,-10.4,613,4654,0.00,2.22,0.00,0.000,2564,0.000,0.057,2537,756,3772,3721,3823,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4696,-0.78,-194.6,2538,755,3720,3822,677.3,-10.0,623,4701,0.08,2.17,0.00,0.000,3078,0.385,0.041,2547,2153,3771,3720,3822,0,0,0,0,0,0,14.81,15.05,28.83
$GC,4948,-0.78,-194.6,2547,2154,3717,3821,699.7,-9.1,637,4949,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2154,3769,3718,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5188,-0.78,-194.6,2547,2154,3716,3819,723.7,-10.6,649,5189,0.00,0.00,0.00,0.000,2054,0.000,0.000,2548,2154,3767,3716,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5428,-0.78,-194.6,2547,2154,3715,3816,747.6,-9.2,661,5434,0.00,2.28,0.00,0.000,2308,0.000,0.065,2540,3551,3765,3714,3816,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5521,-0.78,-194.6,2540,3551,3713,3816,755.7,-8.2,680,5528,0.00,2.20,0.00,0.000,3078,0.000,0.033,2541,2144,3764,3712,3816,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5767,-0.78,-194.6,2540,2144,3712,3814,777.7,-9.6,693,5772,0.00,2.22,0.00,0.000,2564,0.000,0.058,2540,757,3763,3712,3814,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5829,-0.78,-194.6,2540,757,3711,3814,784.2,-10.7,705,5835,0.00,2.17,0.00,0.000,3078,0.000,0.043,2534,2147,3762,3711,3814,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6088,-0.78,-194.6,2534,2147,3709,3813,812.2,-10.6,721,6092,0.00,2.30,0.00,0.000,2308,0.000,0.066,2525,3554,3760,3709,3812,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6129,-0.78,-194.6,2526,3554,3709,3813,816.4,-10.2,729,6134,0.10,2.20,0.00,0.000,3078,0.342,0.034,2553,2135,3761,3709,3813,0,0,0,0,0,0,14.81,15.06,28.83
$GC,6386,-0.78,-194.6,2553,2136,3708,3811,837.5,-7.8,744,6392,0.00,2.20,0.00,0.000,516,0.000,0.059,2553,765,3759,3707,3811,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6419,-0.78,-194.6,2553,765,3707,3811,840.5,-8.6,751,6426,0.00,2.20,0.00,0.000,1030,0.000,0.043,2549,2157,3758,3706,3811,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6666,-0.78,-194.6,2549,2158,3705,3809,861.7,-9.2,764,6670,0.00,2.28,0.00,0.000,260,0.000,0.067,2541,3548,3757,3705,3809,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6704,-0.78,-194.6,1696,3547,3701,3808,865.5,-9.4,772,6709,0.00,2.22,0.00,0.000,3078,0.000,0.034,2541,2156,3756,3705,3808,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6962,-0.78,-194.6,2541,2156,3704,3807,890.7,-9.9,787,6966,0.00,2.30,0.00,0.000,2308,0.000,0.067,2532,3548,3755,3704,3807,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6981,-0.78,-194.6,2532,3549,3703,3807,892.8,-10.2,791,6986,0.05,2.20,0.00,0.000,3078,0.444,0.033,2545,2143,3755,3703,3807,0,0,0,0,0,0,14.79,15.04,28.83
$GC,7238,-0.78,-194.6,2545,2143,3702,3805,915.5,-8.5,806,7242,0.00,2.25,0.00,0.000,2564,0.000,0.060,2545,750,3754,3702,3806,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7294,-0.78,-194.6,2546,750,3702,3806,920.3,-8.5,817,7298,0.00,2.22,0.00,0.000,3078,0.000,0.044,2538,2158,3754,3702,3806,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7549,-0.78,-194.6,2538,2159,3700,3804,941.3,-8.0,832,7554,0.00,2.28,0.00,0.000,2308,0.000,0.068,2530,3549,3752,3700,3805,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7585,-0.78,-194.6,2530,3549,3700,3804,944.2,-8.3,839,7590,0.08,2.20,0.00,0.000,3078,0.378,0.034,2548,2143,3752,3700,3804,0,0,0,0,0,0,14.76,15.04,28.83
$GC,7842,-0.78,-194.6,2548,2142,3699,3803,963.1,-7.3,854,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2142,3751,3699,3803,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7941,begin apogee
$GC,7945,-0.17,0.0,2549,1917,3699,3802,970.6,-7.5,859,8217,0.55,0.00,268.02,1.592,10246,0.244,0.000,2748,1917,2988,3028,2949,0,0,0,0,0,0,14.78,28.83,13.70
$STATE,8218,end apogee,CONTROL_FINISHED_OK
$STATE,8218,begin climb
$GC,8219,0.78,194.6,2748,1917,3020,2941,981.1,0.0,872,8435,0.77,0.00,209.00,1.770,10758,0.155,0.000,3049,1917,2191,2225,2157,0,0,0,0,0,0,14.19,28.83,13.57
$GC,8682,0.78,194.6,3049,1917,2205,2129,937.0,12.8,932,8689,0.00,2.45,0.00,0.000,260,0.000,0.065,3049,3354,2167,2205,2129,0,0,0,0,0,0,28.83,14.62,28.83
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$STATE,16366,end climb,SURFACE_DEPTH_REACHED
$STATE,16366,begin surface coast
$FINISH,0.2,1.023287
$STATE,16393,end surface coast,CONTROL_FINISHED_OK
$STATE,16393,begin surface
$SM_CCo,16409,46.55,0.155,0,0,1354,400.08
$SM_GC,0.98,7.28,2.58,46.55,0.103,0.038,0.155,130,2143,1354,-8.26,-1.67,400.08,0,0,0,0,0,0,14.82,14.87,14.73
$IRIDIUM_FIX,2241.69,12352.43,251009,000058
$TT8_MAMPS,0.020223,0.020223
$HUMID,39.09
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,13.6,41.074
$10V_AH,13.2,0.000
$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
$DEVICE_SECS,18.625,194.850,574.900,46.550,0.000,0.000,0.000,351.150,0.250,0.000,7.307,3998.820,8242.426,800.936,3670.615,176.439,0.000,2672.496,0.000,3306.167,0.000,0.554,0.000
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$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,328728
$DATA_FILE_SIZE,143795,1885
$CAP_FILE_SIZE,200254,0
$CFSIZE,2097086464,2075525120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.219,205.7,1
$GPS,281216,152125,2250.662,12353.290,39,0.8,39,-3.7