version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 115
start: 12 29 116 10 34 14
data:
$ID,628
$MISSION,3
$DIVE,115
$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,-124554.58
$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,46
$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
$GPS1,291216,102601,2237.486,12353.762,46,0.8,46,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.0
$GPS2,291216,103350,2237.369,12353.694,7,0.8,7,-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,152.1,125239,-15.8,-10.104,-18.78,2952
$D_GRID,5608
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.78,-194.6,93,2193,1371,1345,0.0,0.0,0,77,0.00,0.00,-60.10,0.000,16386,0.000,0.000,90,2192,3452,3455,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.78,-194.6,89,2191,3454,3450,3.8,-7.3,9,101,8.60,2.42,-5.05,0.000,18948,0.472,0.077,2544,746,3784,3739,3830,0,0,0,0,0,0,14.43,14.69,14.95
$GC,200,-0.78,-194.6,1540,745,3736,3830,37.3,-18.1,31,208,0.00,2.20,0.00,0.000,3078,0.000,0.042,2536,2096,3784,3739,3830,0,0,0,0,0,0,28.83,14.73,28.83
$GC,453,-0.78,-194.6,1552,2095,3735,3830,88.6,-22.3,80,460,0.00,2.35,0.00,0.000,2308,0.000,0.063,2527,3497,3785,3739,3831,0,0,0,0,0,0,28.83,14.81,28.83
$GC,513,-0.78,-194.6,1536,3496,3735,3830,102.5,-22.5,91,522,0.05,2.17,0.00,0.000,3078,0.321,0.032,2546,2140,3785,3739,3831,0,0,0,0,0,0,14.59,14.81,28.83
$GC,767,-0.78,-194.6,1552,2138,3736,3830,155.1,-19.6,140,773,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2140,3785,3740,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1018,-0.78,-194.6,1536,2138,3736,3831,200.8,-15.3,189,1025,0.00,2.28,0.00,0.000,2564,0.000,0.056,2546,755,3785,3739,3832,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1032,-0.78,-194.6,2546,754,3739,3832,202.8,-14.8,191,1040,0.00,2.15,0.00,0.000,3078,0.000,0.041,2538,2093,3785,3739,3832,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1285,-0.78,-194.6,1536,2091,3735,3831,239.3,-15.0,240,1292,0.00,2.20,0.00,0.000,2564,0.000,0.057,2538,760,3785,3738,3832,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1359,-0.78,-194.6,1536,760,3736,3831,251.2,-15.4,254,1363,0.08,2.10,0.00,0.000,3078,0.399,0.041,2548,2101,3785,3738,3832,0,0,0,0,0,0,14.69,14.92,28.83
$GC,1606,-0.78,-194.6,2548,2102,3739,3832,285.6,-13.6,279,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2101,3786,3739,3833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1844,-0.78,-194.6,2548,2101,3739,3832,320.2,-15.3,303,1848,0.00,2.35,0.00,0.000,260,0.000,0.058,2539,3556,3785,3739,3832,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1890,-0.78,-194.6,2539,3556,3739,3832,327.2,-15.1,312,1894,0.00,2.17,0.00,0.000,3078,0.000,0.030,2539,2140,3785,3739,3832,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2142,-0.78,-194.6,2539,2140,3739,3832,365.0,-14.2,338,2151,0.00,2.30,0.00,0.000,2308,0.000,0.060,2529,3549,3785,3738,3832,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2263,-0.78,-194.6,2529,3550,3738,3832,381.3,-12.9,362,2273,0.08,2.17,0.00,0.000,3078,0.375,0.031,2548,2137,3785,3738,3832,0,0,0,0,0,0,14.79,15.03,28.83
$GC,2513,-0.78,-194.6,2548,2137,3737,3832,413.7,-12.9,388,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2137,3784,3737,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2753,-0.78,-194.6,2548,2137,3736,3832,443.1,-11.6,412,2757,0.00,2.30,0.00,0.000,260,0.000,0.060,2540,3548,3784,3736,3832,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2802,-0.78,-194.6,2540,3548,3735,3832,449.1,-12.0,422,2809,0.00,2.17,0.00,0.000,3078,0.000,0.031,2540,2149,3783,3735,3832,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3050,-0.78,-194.6,2540,2148,3733,3832,482.2,-13.8,447,3059,0.00,2.28,0.00,0.000,2308,0.000,0.060,2530,3554,3782,3732,3832,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3091,-0.78,-194.6,2530,3554,3732,3832,488.0,-13.1,455,3096,0.08,2.17,0.00,0.000,3078,0.376,0.030,2549,2141,3781,3731,3832,0,0,0,0,0,0,14.81,15.05,28.83
$GC,3336,-0.78,-194.6,2549,2141,3731,3832,516.0,-10.4,480,3340,0.00,2.20,0.00,0.000,516,0.000,0.055,2549,761,3781,3731,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3375,-0.78,-194.6,2549,760,3731,3832,520.3,-10.5,488,3382,0.00,2.17,0.00,0.000,3078,0.000,0.039,2542,2156,3781,3730,3832,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3622,-0.78,-194.6,2542,2156,3728,3832,548.4,-11.4,513,3631,0.00,2.25,0.00,0.000,2308,0.000,0.062,2532,3542,3779,3727,3832,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3673,-0.78,-194.6,2532,3542,3726,3832,554.4,-11.7,523,3678,0.03,2.15,0.00,0.000,3078,0.552,0.031,2545,2151,3779,3726,3832,0,0,0,0,0,0,14.81,15.06,28.83
$GC,3918,-0.78,-194.6,2545,2150,3726,3830,581.8,-10.4,548,3922,0.00,2.22,0.00,0.000,2564,0.000,0.056,2545,758,3778,3726,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3964,-0.78,-194.6,2545,757,3725,3830,586.6,-10.6,557,3968,0.00,2.17,0.00,0.000,3078,0.000,0.040,2538,2147,3777,3725,3830,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4219,-0.78,-194.6,2538,2148,3724,3828,613.2,-10.9,577,4223,0.00,2.30,0.00,0.000,2308,0.000,0.063,2528,3555,3776,3724,3828,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4303,-0.78,-194.6,2529,3555,3723,3829,623.4,-11.9,594,4308,0.08,2.17,0.00,0.000,3078,0.367,0.031,2548,2151,3775,3723,3828,0,0,0,0,0,0,14.81,15.06,28.83
$GC,4560,-0.78,-194.6,2548,2151,3723,3825,652.5,-11.4,609,4564,0.00,2.30,0.00,0.000,260,0.000,0.062,2540,3550,3773,3722,3825,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4615,-0.78,-194.6,2540,3551,3722,3825,658.5,-10.6,620,4620,0.00,2.17,0.00,0.000,3078,0.000,0.031,2539,2153,3774,3723,3825,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4871,-0.78,-194.6,2540,2153,3721,3823,683.8,-9.4,635,4876,0.00,2.25,0.00,0.000,2564,0.000,0.057,2540,752,3771,3720,3823,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4940,-0.78,-194.6,2540,751,3719,3823,690.4,-8.8,649,4948,0.03,2.25,0.00,0.000,3078,0.369,0.041,2543,2149,3771,3719,3823,0,0,0,0,0,0,14.77,15.03,28.83
$GC,5187,-0.78,-194.6,2542,2149,3717,3822,711.0,-8.9,662,5191,0.00,2.30,0.00,0.000,2308,0.000,0.064,2533,3557,3769,3717,3822,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5216,-0.78,-194.6,2533,3557,3717,3822,713.9,-9.3,668,5223,0.00,2.20,0.00,0.000,3078,0.000,0.032,2534,2151,3769,3717,3822,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5463,-0.78,-194.6,2534,2151,3716,3821,738.2,-10.4,681,5464,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2151,3768,3716,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5703,-0.78,-194.6,2533,2151,3714,3818,763.6,-10.2,693,5707,0.00,2.33,0.00,0.000,2308,0.000,0.064,2525,3554,3766,3714,3819,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5737,-0.78,-194.6,2525,3554,3713,3818,767.2,-10.2,700,5745,0.10,2.20,0.00,0.000,3078,0.331,0.033,2553,2148,3766,3714,3819,0,0,0,0,0,0,14.83,15.07,28.83
$GC,5984,-0.78,-194.6,2553,2148,3712,3816,788.0,-8.1,713,5988,0.00,2.25,0.00,0.000,516,0.000,0.057,2554,753,3764,3712,3816,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6023,-0.78,-194.6,2554,752,3711,3816,791.5,-8.7,721,6027,0.00,2.22,0.00,0.000,1030,0.000,0.042,2550,2158,3763,3711,3816,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6280,-0.78,-194.6,2550,2159,3710,3815,812.9,-8.4,736,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2158,3762,3710,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6520,-0.78,-194.6,2550,2159,3708,3813,833.0,-8.6,748,6525,0.00,2.30,0.00,0.000,516,0.000,0.058,2550,752,3760,3708,3813,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6562,-0.78,-194.6,2550,752,3708,3813,836.9,-9.5,756,6568,0.00,2.22,0.00,0.000,1030,0.000,0.044,2549,2153,3760,3708,3813,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6821,-0.78,-194.6,2549,2154,3706,3812,860.7,-9.0,772,6825,0.00,2.30,0.00,0.000,260,0.000,0.068,2546,3551,3759,3706,3812,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6878,-0.78,-194.6,2546,3551,3705,3812,865.6,-8.7,783,6884,0.00,2.20,0.00,0.000,3078,0.000,0.034,2546,2150,3758,3705,3812,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7137,-0.78,-194.6,2546,2150,3704,3810,887.2,-8.0,799,7141,0.00,2.33,0.00,0.000,2308,0.000,0.067,2536,3551,3757,3704,3810,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7173,-0.78,-194.6,2536,3551,3704,3810,890.1,-8.3,806,7177,0.00,2.20,0.00,0.000,3078,0.000,0.034,2536,2150,3757,3704,3810,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7429,-0.78,-194.6,2536,2150,3703,3808,912.5,-9.1,821,7435,0.00,2.25,0.00,0.000,2564,0.000,0.060,2536,759,3755,3702,3808,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7472,-0.78,-194.6,2536,759,3703,3808,917.0,-10.0,830,7476,0.00,2.22,0.00,0.000,3078,0.000,0.044,2533,2161,3755,3702,3808,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7729,-0.78,-194.6,2533,2161,3701,3807,944.2,-11.3,845,7730,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2162,3754,3701,3807,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7968,begin apogee
$GC,7972,-0.17,0.0,2533,1926,3699,3806,970.7,-10.9,857,8253,0.60,0.00,277.48,1.567,10246,0.257,0.000,2745,1926,2987,3027,2948,0,0,0,0,0,0,14.77,28.83,13.68
$STATE,8254,end apogee,CONTROL_FINISHED_OK
$STATE,8254,begin climb
$GC,8256,0.78,194.6,2744,1926,3020,2940,983.8,0.0,871,8473,0.82,2.60,206.75,1.792,10500,0.151,0.064,3057,3351,2183,2219,2148,0,0,0,0,0,0,14.19,14.08,13.52
$GC,8528,0.78,194.6,3057,3351,2206,2131,958.0,16.6,911,8535,0.03,2.30,0.00,0.000,5126,0.614,0.043,3056,1995,2168,2206,2130,0,0,0,0,0,0,14.17,14.35,28.83
$GC,8775,0.78,194.6,3056,1995,2203,2122,919.5,15.6,924,8781,0.00,2.45,0.00,0.000,4612,0.000,0.073,3062,545,2162,2203,2122,0,0,0,0,0,0,28.83,14.65,28.83
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$STATE,16314,end climb,SURFACE_DEPTH_REACHED
$STATE,16314,begin surface coast
$FINISH,0.1,1.023250
$STATE,16337,end surface coast,CONTROL_FINISHED_OK
$STATE,16337,begin surface
$SM_CCo,16353,100.03,0.152,0,0,1354,400.08
$SM_GC,0.88,7.40,2.55,100.03,0.093,0.033,0.152,134,2135,1354,-8.26,-1.81,400.08,0,0,0,0,0,0,14.79,14.89,14.71
$IRIDIUM_FIX,2227.67,12351.77,251009,232301
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.26
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,13.5,43.001
$10V_AH,13.6,0.000
$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
$DEVICE_SECS,19.175,195.675,484.225,100.025,0.000,0.000,0.000,365.650,0.500,0.000,8.319,4152.102,7994.835,808.140,3767.540,179.088,0.000,2653.395,0.000,3396.461,0.000,0.552,0.000
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$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,143950,1908
$CAP_FILE_SIZE,200437,0
$CFSIZE,2097086464,2074705920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.278,223.4,1
$GPS,291216,150931,2233.527,12353.074,29,0.8,29,-3.6