version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 111
start: 12 28 116 15 29 58
data:
$ID,628
$MISSION,3
$DIVE,111
$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,-124549.55
$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,42
$R_STBD_OVSHOOT,48
$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
$GPS1,281216,152125,2250.662,12353.290,39,0.8,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-59.5
$GPS2,281216,152935,2250.477,12353.233,7,0.8,7,-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,154.9,149498,-15.8,-10.104,-18.78,2952
$D_GRID,6156
$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,14,begin dive
$GC,15,-0.78,-194.6,95,2148,1367,1348,0.0,0.0,0,72,0.00,0.00,-54.67,0.000,16386,0.000,0.000,92,2148,3180,3188,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,92,2148,3188,3173,3.1,-7.0,8,104,8.62,2.35,-10.15,0.000,18948,0.477,0.079,2538,744,3783,3741,3825,0,0,0,0,0,0,14.43,14.66,14.95
$GC,220,-0.78,-194.6,1544,743,3736,3825,33.8,-18.1,34,228,0.05,2.28,0.00,0.000,3078,0.314,0.040,2548,2149,3782,3738,3826,0,0,0,0,0,0,14.57,14.78,28.83
$GC,474,-0.78,-194.6,1568,2147,3736,3825,84.9,-18.3,83,481,0.00,2.33,0.00,0.000,260,0.000,0.060,2540,3549,3783,3740,3826,0,0,0,0,0,0,28.83,14.81,28.83
$GC,519,-0.78,-194.6,1544,3548,3736,3825,94.1,-21.1,91,526,0.00,2.25,0.00,0.000,3078,0.000,0.031,2539,2141,3783,3740,3826,0,0,0,0,0,0,28.83,14.84,28.83
$GC,774,-0.78,-194.6,2539,2140,3739,3827,143.5,-18.7,140,781,0.00,2.28,0.00,0.000,2564,0.000,0.053,2539,747,3783,3740,3826,0,0,0,0,0,0,28.83,14.84,28.83
$GC,845,-0.78,-194.6,1544,748,3736,3826,157.1,-18.6,153,854,0.03,2.25,0.00,0.000,3078,0.393,0.038,2540,2154,3783,3740,3827,0,0,0,0,0,0,14.64,14.85,28.83
$GC,1102,-0.78,-194.6,1568,2152,3737,3828,207.8,-20.2,202,1110,0.00,2.30,0.00,0.000,2308,0.000,0.059,2531,3542,3784,3740,3829,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1127,-0.78,-194.6,1544,3541,3736,3828,212.5,-18.9,206,1135,0.00,2.22,0.00,0.000,3078,0.000,0.029,2531,2140,3784,3740,3829,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1384,-0.78,-194.6,2531,2138,3740,3829,256.8,-15.3,252,1389,0.05,2.20,0.00,0.000,2564,0.481,0.052,2544,754,3784,3740,3829,0,0,0,0,0,0,14.75,14.91,28.83
$GC,1425,-0.78,-194.6,2544,754,3740,3829,263.4,-15.2,260,1433,0.00,2.22,0.00,0.000,3078,0.000,0.039,2535,2147,3785,3740,3830,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1674,-0.78,-194.6,2536,2148,3740,3829,303.5,-17.3,285,1683,0.00,2.25,0.00,0.000,2308,0.000,0.060,2528,3551,3784,3740,3829,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1777,-0.78,-194.6,1664,3551,3737,3829,320.9,-15.2,306,1785,0.05,2.20,0.00,0.000,3078,0.289,0.028,2549,2148,3784,3740,3829,0,0,0,0,0,0,14.71,14.94,28.83
$GC,2025,-0.78,-194.6,2548,2147,3740,3829,352.4,-11.8,331,2029,0.00,2.30,0.00,0.000,260,0.000,0.062,2539,3554,3784,3739,3829,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2085,-0.78,-194.6,2539,3554,3739,3829,359.7,-11.9,343,2090,0.00,2.17,0.00,0.000,3078,0.000,0.031,2539,2149,3784,3739,3829,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2331,-0.78,-194.6,2539,2147,3739,3829,394.0,-15.7,368,2340,0.00,2.22,0.00,0.000,2564,0.000,0.054,2539,744,3783,3738,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2432,-0.78,-194.6,2539,744,3738,3829,409.7,-14.7,388,2437,0.08,2.20,0.00,0.000,3078,0.396,0.039,2548,2154,3783,3738,3829,0,0,0,0,0,0,14.78,15.02,28.83
$GC,2684,-0.78,-194.6,2548,2154,3737,3829,440.7,-10.0,414,2688,0.00,2.25,0.00,0.000,260,0.000,0.060,2540,3551,3783,3737,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2763,-0.78,-194.6,2540,3553,3736,3829,449.1,-9.6,430,2770,0.00,2.17,0.00,0.000,3078,0.000,0.029,2540,2138,3782,3736,3829,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3010,-0.78,-194.6,2540,2137,3735,3829,479.4,-12.8,455,3011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2137,3781,3734,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,-0.78,-194.6,2539,2137,3732,3829,507.2,-10.7,479,3254,0.00,2.20,0.00,0.000,2564,0.000,0.055,2539,754,3780,3732,3829,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3288,-0.78,-194.6,1664,753,3728,3828,511.7,-11.0,487,3296,0.03,2.22,0.00,0.000,3078,0.367,0.041,2542,2145,3780,3731,3829,0,0,0,0,0,0,14.74,14.97,28.83
$GC,3535,-0.78,-194.6,2542,2146,3730,3829,537.9,-10.6,512,3539,0.00,2.28,0.00,0.000,2308,0.000,0.060,2533,3555,3779,3729,3829,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3662,-0.78,-194.6,2533,3555,3728,3829,552.0,-11.5,537,3671,0.00,2.17,0.00,0.000,3078,0.000,0.031,2533,2147,3778,3727,3829,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3912,-0.78,-194.6,2533,2146,3726,3827,582.4,-13.0,563,3916,0.00,2.30,0.00,0.000,2308,0.000,0.061,2524,3550,3776,3726,3826,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3963,-0.78,-194.6,2524,3550,3725,3826,589.1,-12.9,573,3973,0.10,2.17,0.00,0.000,3078,0.324,0.031,2553,2140,3776,3725,3827,0,0,0,0,0,0,14.84,15.05,28.83
$GC,4223,-0.78,-194.6,2553,2139,3723,3824,617.7,-10.6,592,4227,0.00,2.20,0.00,0.000,516,0.000,0.057,2553,763,3774,3724,3824,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4298,-0.78,-194.6,2553,762,3723,3824,625.8,-10.4,607,4303,0.00,2.17,0.00,0.000,3078,0.000,0.042,2546,2155,3773,3723,3824,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4554,-0.78,-194.6,2547,2156,3722,3823,654.3,-11.6,622,4558,0.00,2.28,0.00,0.000,2308,0.000,0.063,2537,3550,3772,3722,3823,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4604,-0.78,-194.6,2537,3551,3720,3823,660.2,-11.3,632,4608,0.00,2.17,0.00,0.000,3078,0.000,0.031,2537,2153,3772,3721,3823,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4855,-0.78,-194.6,2537,2151,3720,3822,687.0,-9.8,646,4859,0.00,2.25,0.00,0.000,2564,0.000,0.057,2537,747,3771,3720,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4884,-0.78,-194.6,2537,747,3720,3821,689.9,-9.8,652,4893,0.08,2.20,0.00,0.000,3078,0.379,0.042,2546,2147,3771,3720,3822,0,0,0,0,0,0,14.81,15.05,28.83
$GC,5132,-0.78,-194.6,2547,2147,3717,3820,711.0,-9.1,665,5136,0.00,2.30,0.00,0.000,2308,0.000,0.064,2537,3556,3768,3717,3820,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5246,-0.78,-194.6,2537,3557,3716,3820,722.5,-10.1,688,5253,0.00,2.20,0.00,0.000,3078,0.000,0.032,2537,2149,3768,3716,3820,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5493,-0.78,-194.6,2537,2148,3715,3816,748.3,-10.6,701,5494,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2148,3765,3715,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5732,-0.78,-194.6,2537,2148,3713,3815,771.9,-9.8,713,5734,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2148,3764,3713,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5972,-0.78,-194.6,2537,2148,3711,3813,795.7,-10.2,725,5974,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2148,3762,3711,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6212,-0.78,-194.6,2537,2148,3710,3812,820.8,-10.6,737,6217,0.00,2.33,0.00,0.000,2308,0.000,0.069,2528,3551,3761,3710,3812,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6261,-0.78,-194.6,2528,3551,3709,3812,826.4,-10.8,747,6269,0.08,2.20,0.00,0.000,3078,0.360,0.034,2548,2144,3760,3709,3812,0,0,0,0,0,0,14.81,15.06,28.83
$GC,6508,-0.78,-194.6,2548,2143,3708,3811,849.5,-8.9,760,6513,0.00,2.22,0.00,0.000,516,0.000,0.058,2548,760,3758,3707,3810,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6537,-0.78,-194.6,2548,759,3707,3811,852.3,-9.0,766,6545,0.00,2.25,0.00,0.000,3078,0.000,0.044,2541,2149,3759,3707,3811,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6784,-0.78,-194.6,2541,2148,3706,3809,875.0,-9.5,779,6788,0.00,2.30,0.00,0.000,2308,0.000,0.067,2531,3549,3757,3705,3809,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6860,-0.78,-194.6,2531,3549,3705,3809,882.5,-9.9,794,6865,0.05,2.20,0.00,0.000,3078,0.442,0.034,2545,2140,3757,3705,3809,0,0,0,0,0,0,14.78,15.05,28.83
$GC,7118,-0.78,-194.6,2545,2139,3702,3807,908.1,-10.1,809,7124,0.00,2.33,0.00,0.000,2308,0.000,0.067,2536,3546,3755,3704,3807,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7145,-0.78,-194.6,2537,3547,3703,3807,911.2,-10.8,815,7149,0.00,2.20,0.00,0.000,3078,0.000,0.034,2537,2148,3755,3704,3807,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7397,-0.78,-194.6,2537,2147,3702,3806,935.8,-9.4,829,7401,0.00,2.25,0.00,0.000,2564,0.000,0.060,2536,758,3753,3702,3805,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7440,-0.78,-194.6,1680,757,3698,3805,940.2,-9.5,838,7446,0.05,2.25,0.00,0.000,3078,0.299,0.044,2548,2145,3754,3702,3806,0,0,0,0,0,0,14.71,15.00,28.83
$GC,7698,-0.78,-194.6,2548,2146,3701,3804,960.8,-8.0,853,7702,0.00,2.33,0.00,0.000,2308,0.000,0.070,2539,3558,3753,3701,3805,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7742,-0.78,-194.6,2540,3558,3700,3805,964.6,-8.5,862,7746,0.00,2.22,0.00,0.000,3078,0.000,0.035,2540,2147,3752,3700,3805,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,7813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7813,begin apogee
$GC,7817,-0.17,0.0,2539,1922,3700,3804,970.7,-8.7,867,8096,0.57,0.00,275.42,1.562,10246,0.246,0.000,2745,1921,2988,3027,2949,0,0,0,0,0,0,14.78,28.83,13.70
$STATE,8097,end apogee,CONTROL_FINISHED_OK
$STATE,8097,begin climb
$GC,8099,0.78,194.6,2744,1922,3020,2941,980.4,0.0,881,8317,0.80,2.40,203.88,1.795,10756,0.151,0.072,3064,594,2177,2210,2144,0,0,0,0,0,0,14.18,14.06,13.54
$GC,8326,0.78,194.6,3064,594,2203,2138,960.5,14.7,927,8331,0.00,2.28,0.00,0.000,5126,0.000,0.042,3064,1944,2169,2202,2137,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8578,0.78,194.6,3064,1945,2200,2124,921.2,15.5,941,8583,0.00,2.38,0.00,0.000,4356,0.000,0.066,3063,3361,2162,2200,2124,0,0,0,0,0,0,28.83,14.62,28.83
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$STATE,16450,end climb,SURFACE_DEPTH_REACHED
$STATE,16450,begin surface coast
$FINISH,0.7,1.023284
$STATE,16471,end surface coast,CONTROL_FINISHED_OK
$STATE,16472,begin surface
$SM_CCo,16486,99.18,0.155,0,0,1354,400.08
$SM_GC,0.87,7.45,0.28,99.18,0.122,0.057,0.155,133,2174,1354,-8.23,-1.87,400.08,0,0,0,0,0,0,14.83,14.95,14.71
$IRIDIUM_FIX,2241.69,12352.43,251009,000012
$TT8_MAMPS,0.020223,0.020223
$HUMID,37.16
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,13.5,41.450
$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
$DEVICE_SECS,19.325,185.975,479.300,99.175,0.000,0.000,0.000,387.775,0.500,0.000,8.300,4236.256,7905.243,784.949,3942.262,185.275,0.000,2720.365,0.000,3542.667,0.000,0.552,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1099.355,2152.377,1586.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328640
$DATA_FILE_SIZE,150779,2001
$CAP_FILE_SIZE,204786,0
$CFSIZE,2097086464,2075361280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.206,228.1,1
$GPS,281216,200731,2247.270,12352.851,33,1.0,33,-3.7