version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 114
start: 12 29 116 5 57 34
data:
$ID,628
$MISSION,3
$DIVE,114
$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,-124553.32
$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,80
$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
$GPS1,291216,054932,2241.077,12353.644,29,0.8,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-58.2
$GPS2,291216,055710,2240.981,12353.584,7,1.0,7,-3.6
$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,155.0,131920,-15.8,-10.104,-18.78,2952
$D_GRID,5737
$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,-194.6,110,2111,1363,1350,0.0,0.0,0,71,0.00,0.00,-54.10,0.000,16386,0.000,0.000,107,2109,3216,3224,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.78,-194.6,107,2109,3223,3212,3.5,-7.5,8,97,8.57,2.22,-9.43,0.000,18948,0.476,0.076,2540,777,3782,3741,3823,0,0,0,0,0,0,14.44,14.76,14.95
$GC,201,-0.78,-194.6,1552,776,3736,3824,33.4,-18.0,31,208,0.00,2.20,0.00,0.000,3078,0.000,0.040,2533,2132,3782,3740,3825,0,0,0,0,0,0,28.83,14.75,28.83
$GC,454,-0.78,-194.6,1536,2131,3736,3824,93.7,-25.1,80,462,0.00,2.38,0.00,0.000,2308,0.000,0.060,2522,3571,3782,3739,3825,0,0,0,0,0,0,28.83,14.82,28.83
$GC,499,-0.78,-194.6,1536,3569,3736,3824,103.8,-21.0,88,507,0.08,2.25,0.00,0.000,3078,0.285,0.031,2550,2164,3782,3740,3825,0,0,0,0,0,0,14.64,14.83,28.83
$GC,755,-0.78,-194.6,1552,2161,3736,3824,157.0,-19.5,137,762,0.00,2.33,0.00,0.000,260,0.000,0.063,2541,3547,3782,3739,3826,0,0,0,0,0,0,28.83,14.83,28.83
$GC,805,-0.78,-194.6,1544,3547,3736,3824,166.2,-16.9,146,813,0.00,2.22,0.00,0.000,3078,0.000,0.031,2541,2157,3782,3739,3825,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1061,-0.78,-194.6,2541,2159,3739,3826,206.6,-14.5,195,1069,0.00,2.35,0.00,0.000,2308,0.000,0.061,2531,3556,3782,3739,3826,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1096,-0.78,-194.6,2530,3557,3739,3826,212.0,-15.2,201,1104,0.03,2.25,0.00,0.000,3078,0.379,0.032,2542,2151,3782,3739,3826,0,0,0,0,0,0,14.65,14.88,28.83
$GC,1355,-0.78,-194.6,2542,2150,3739,3827,255.4,-17.1,248,1359,0.00,2.22,0.00,0.000,2564,0.000,0.052,2542,751,3783,3739,3827,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1445,-0.78,-194.6,2542,750,3739,3827,270.5,-16.9,265,1455,0.00,2.20,0.00,0.000,3078,0.000,0.038,2534,2160,3783,3739,3827,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1695,-0.78,-194.6,2534,2160,3739,3827,309.0,-13.7,291,1704,0.00,2.25,0.00,0.000,2564,0.000,0.055,2534,753,3783,3739,3827,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1739,-0.78,-194.6,2534,753,3740,3827,315.4,-13.1,300,1746,0.10,2.20,0.00,0.000,3078,0.353,0.041,2551,2155,3783,3739,3827,0,0,0,0,0,0,14.76,14.97,28.83
$GC,1985,-0.78,-194.6,2551,2156,3739,3827,351.6,-16.0,325,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2155,3783,3739,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2225,-0.78,-194.6,2551,2156,3738,3827,386.0,-12.4,349,2230,0.00,2.25,0.00,0.000,260,0.000,0.060,2542,3553,3782,3738,3827,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2332,-0.78,-194.6,2542,3553,3738,3827,398.4,-10.8,370,2336,0.00,2.17,0.00,0.000,3078,0.000,0.031,2543,2144,3782,3738,3827,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2577,-0.78,-194.6,2542,2144,3737,3827,427.4,-12.7,395,2586,0.00,2.20,0.00,0.000,2564,0.000,0.053,2542,756,3781,3736,3827,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2640,-0.78,-194.6,1664,755,3733,3826,435.8,-12.6,408,2648,0.00,2.22,0.00,0.000,3078,0.000,0.037,2534,2151,3781,3736,3827,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2888,-0.78,-194.6,2533,2151,3734,3826,468.4,-13.3,433,2897,0.00,2.28,0.00,0.000,2308,0.000,0.060,2523,3558,3779,3731,3827,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2959,-0.78,-194.6,2524,3558,3733,3827,477.8,-13.2,447,2964,0.10,2.17,0.00,0.000,3078,0.334,0.030,2552,2146,3780,3733,3827,0,0,0,0,0,0,14.82,15.04,28.83
$GC,3204,-0.78,-194.6,2552,2145,3730,3827,507.8,-11.1,472,3208,0.00,2.20,0.00,0.000,516,0.000,0.054,2553,762,3779,3731,3827,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3270,-0.78,-194.6,2553,762,3731,3827,515.2,-10.9,485,3274,0.00,2.17,0.00,0.000,3078,0.000,0.039,2544,2160,3779,3731,3827,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3515,-0.78,-194.6,2545,2160,3729,3827,540.7,-10.1,510,3516,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2160,3778,3729,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3755,-0.78,-194.6,2544,2160,3725,3827,566.5,-10.7,534,3759,0.00,2.28,0.00,0.000,2308,0.000,0.062,2534,3554,3776,3725,3827,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3805,-0.78,-194.6,2534,3554,3724,3826,572.4,-11.3,544,3810,0.00,2.17,0.00,0.000,3078,0.000,0.031,2534,2149,3775,3724,3827,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4051,-0.78,-194.6,2534,2149,3724,3824,599.8,-11.1,569,4052,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2148,3774,3724,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4301,-0.78,-194.6,2534,2148,3724,3823,629.3,-12.7,582,4305,0.00,2.30,0.00,0.000,2308,0.000,0.065,2525,3544,3772,3722,3822,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4361,-0.78,-194.6,2525,3545,3722,3822,637.2,-13.0,594,4366,0.10,2.17,0.00,0.000,3078,0.325,0.031,2554,2143,3772,3721,3823,0,0,0,0,0,0,14.83,15.07,28.83
$GC,4613,-0.78,-194.6,2554,2141,3721,3822,665.5,-10.8,608,4617,0.00,2.30,0.00,0.000,4356,0.000,0.062,2545,3543,3771,3721,3822,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4642,-0.78,-194.6,2545,3544,3721,3822,668.9,-11.4,614,4649,0.00,2.17,0.00,0.000,3078,0.000,0.031,2545,2153,3770,3720,3821,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4889,-0.78,-194.6,2544,2153,3718,3819,695.1,-10.1,627,4893,0.00,2.25,0.00,0.000,2564,0.000,0.057,2545,752,3769,3718,3820,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4965,-0.78,-194.6,2545,752,3717,3819,703.0,-10.5,642,4969,0.00,2.20,0.00,0.000,3078,0.000,0.041,2537,2156,3768,3717,3819,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5220,-0.78,-194.6,2537,2156,3716,3817,727.4,-9.3,657,5224,0.00,2.28,0.00,0.000,2308,0.000,0.065,2528,3547,3767,3717,3817,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5309,-0.78,-194.6,2528,3546,3714,3817,735.7,-9.3,675,5314,0.08,2.20,0.00,0.000,3078,0.369,0.032,2547,2141,3765,3714,3817,0,0,0,0,0,0,14.81,15.06,28.83
$GC,5561,-0.78,-194.6,2546,2140,3714,3814,759.3,-10.1,689,5565,0.00,2.33,0.00,0.000,2308,0.000,0.064,2536,3549,3764,3714,3814,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5600,-0.78,-194.6,1664,3548,3709,3813,763.5,-10.2,697,5605,0.00,2.22,0.00,0.000,3078,0.000,0.031,2537,2157,3763,3713,3814,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5857,-0.78,-194.6,2538,2156,3711,3813,791.0,-10.6,712,5861,0.00,2.25,0.00,0.000,2564,0.000,0.057,2538,757,3762,3711,3813,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5886,-0.78,-194.6,2538,757,3711,3813,794.4,-10.9,718,5891,0.08,2.20,0.00,0.000,3078,0.387,0.041,2547,2156,3761,3711,3812,0,0,0,0,0,0,14.78,15.04,28.83
$GC,6139,-0.78,-194.6,2547,2157,3709,3812,818.1,-9.3,732,6144,0.00,2.25,0.00,0.000,2564,0.000,0.057,2547,759,3760,3709,3812,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6171,-0.78,-194.6,2548,759,3709,3810,821.5,-9.8,739,6178,0.00,2.20,0.00,0.000,3078,0.000,0.042,2540,2154,3760,3709,3812,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6418,-0.78,-194.6,2540,2154,3707,3809,846.2,-10.7,752,6422,0.00,2.28,0.00,0.000,2308,0.000,0.067,2530,3542,3757,3707,3807,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6462,-0.78,-194.6,2531,3543,3706,3809,851.3,-11.1,761,6467,0.08,2.20,0.00,0.000,3078,0.369,0.033,2550,2140,3758,3706,3810,0,0,0,0,0,0,14.80,15.05,28.83
$GC,6714,-0.78,-194.6,2550,2138,3705,3807,877.5,-10.4,775,6718,0.00,2.22,0.00,0.000,516,0.000,0.059,2550,753,3756,3706,3807,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6750,-0.78,-194.6,2550,753,3705,3807,881.4,-10.9,782,6754,0.00,2.20,0.00,0.000,3078,0.000,0.043,2543,2148,3756,3705,3807,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7006,-0.78,-194.6,2543,2149,3703,3806,907.2,-9.6,797,7012,0.00,2.30,0.00,0.000,2308,0.000,0.067,2533,3547,3754,3703,3806,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7094,-0.78,-194.6,2533,3546,3703,3806,915.5,-8.9,815,7098,0.00,2.20,0.00,0.000,3078,0.000,0.034,2533,2152,3754,3702,3806,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7346,-0.78,-194.6,2533,2151,3702,3804,937.2,-8.4,829,7350,0.00,2.33,0.00,0.000,2308,0.000,0.066,2524,3546,3752,3701,3804,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7387,-0.78,-194.6,2524,3547,3701,3804,940.7,-8.4,837,7391,0.10,2.20,0.00,0.000,3078,0.334,0.034,2551,2147,3752,3701,3804,0,0,0,0,0,0,14.78,15.04,28.83
$GC,7644,-0.78,-194.6,2551,2145,3700,3802,958.5,-6.8,852,7650,0.00,2.25,0.00,0.000,516,0.000,0.060,2551,760,3751,3700,3803,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7676,-0.78,-194.6,2551,760,3700,3802,961.1,-7.6,859,7684,0.00,2.20,0.00,0.000,3078,0.000,0.043,2545,2148,3751,3700,3803,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,7802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7803,begin apogee
$GC,7807,-0.17,0.0,2545,1930,3700,3802,970.4,-7.5,866,8085,0.55,0.00,274.77,1.567,10246,0.246,0.000,2742,1930,2987,3026,2948,0,0,0,0,0,0,14.78,28.83,13.71
$STATE,8086,end apogee,CONTROL_FINISHED_OK
$STATE,8086,begin climb
$GC,8088,0.78,194.6,2742,1930,3019,2940,979.7,0.0,880,8305,0.80,2.42,204.52,1.792,10756,0.148,0.074,3059,590,2179,2213,2146,0,0,0,0,0,0,14.19,14.08,13.54
$GC,8355,0.78,194.6,3059,590,2198,2134,959.1,13.4,934,8359,0.00,2.28,0.00,0.000,5126,0.000,0.043,3059,1947,2166,2198,2134,0,0,0,0,0,0,28.83,14.35,28.83
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$STATE,15943,end climb,SURFACE_DEPTH_REACHED
$STATE,15943,begin surface coast
$FINISH,0.2,1.023260
$STATE,15961,end surface coast,CONTROL_FINISHED_OK
$STATE,15961,begin surface
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$TT8_MAMPS,0.019474,0.019474
$HUMID,38.85
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.60
$XPDR_PINGS,1
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$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,144236,1910
$CAP_FILE_SIZE,202596,0
$CFSIZE,2097086464,2074869760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.196,212.4,1
$GPS,291216,102601,2237.486,12353.762,46,0.8,46,-3.6