version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 116
start: 12 29 116 15 24 55
data:
$ID,628
$MISSION,3
$DIVE,116
$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,-124555.84
$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,45
$R_STBD_OVSHOOT,44
$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
$GPS1,291216,150931,2233.527,12353.074,29,0.8,29,-3.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-60.1
$GPS2,291216,152432,2233.284,12352.943,6,1.1,6,-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,125.7,117832,-15.8,-10.104,-18.78,2952
$D_GRID,5260
$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,-194.6,80,2140,1367,1343,0.0,0.0,0,77,0.00,0.00,-60.28,0.000,16386,0.000,0.000,80,2140,3401,3407,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.78,-194.6,80,2140,3402,3399,3.2,-4.9,9,103,8.57,2.30,-6.15,0.000,18948,0.470,0.076,2536,746,3783,3739,3827,0,0,0,0,0,0,14.39,14.74,14.95
$GC,186,-0.78,-194.6,1536,745,3735,3827,32.5,-25.5,28,194,0.05,2.28,0.00,0.000,3078,0.307,0.040,2546,2147,3783,3739,3828,0,0,0,0,0,0,14.56,14.77,28.83
$GC,438,-0.78,-194.6,1536,2146,3735,3827,86.5,-21.5,77,446,0.00,2.35,0.00,0.000,2308,0.000,0.059,2537,3553,3783,3738,3828,0,0,0,0,0,0,28.83,14.80,28.83
$GC,478,-0.78,-194.6,1536,3552,3735,3826,95.1,-21.9,84,485,0.00,2.28,0.00,0.000,3078,0.000,0.031,2537,2133,3783,3738,3828,0,0,0,0,0,0,28.83,14.84,28.83
$GC,733,-0.78,-194.6,1536,2128,3735,3827,157.9,-22.8,133,741,0.00,2.38,0.00,0.000,2308,0.000,0.058,2527,3568,3782,3738,3827,0,0,0,0,0,0,28.83,14.85,28.83
$GC,758,-0.78,-194.6,2527,3568,3738,3827,163.5,-21.4,137,767,0.05,2.28,0.00,0.000,3078,0.314,0.031,2546,2139,3782,3738,3827,0,0,0,0,0,0,14.65,14.87,28.83
$GC,1011,-0.78,-194.6,1536,2135,3735,3828,205.6,-16.3,186,1019,0.00,2.25,0.00,0.000,2564,0.000,0.052,2546,762,3783,3738,3829,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1153,-0.78,-194.6,1544,762,3735,3828,224.8,-11.7,213,1161,0.00,2.22,0.00,0.000,3078,0.000,0.039,2539,2150,3783,3738,3829,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1407,-0.78,-194.6,2539,2150,3739,3829,261.9,-16.4,255,1409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2150,3783,3738,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1646,-0.78,-194.6,2538,2150,3738,3829,301.2,-15.0,279,1655,0.00,2.28,0.00,0.000,2308,0.000,0.060,2529,3555,3783,3738,3829,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1717,-0.78,-194.6,2528,3556,3738,3828,311.6,-14.2,293,1727,0.08,2.17,0.00,0.000,3078,0.368,0.030,2547,2149,3783,3738,3829,0,0,0,0,0,0,14.76,15.00,28.83
$GC,1967,-0.78,-194.6,2547,2148,3738,3829,348.7,-15.3,319,1968,0.00,0.00,0.00,0.000,2054,0.000,0.000,2548,2148,3783,3738,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2207,-0.78,-194.6,2547,2148,3737,3829,384.0,-14.0,343,2211,0.00,2.22,0.00,0.000,2564,0.000,0.056,2548,753,3783,3737,3829,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2263,-0.78,-194.6,2548,752,3737,3829,391.7,-13.4,354,2267,0.00,2.15,0.00,0.000,3078,0.000,0.040,2541,2145,3783,3737,3829,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2514,-0.78,-194.6,2541,2145,3735,3829,426.2,-14.2,380,2523,0.00,2.28,0.00,0.000,2308,0.000,0.060,2531,3555,3781,3734,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2606,-0.78,-194.6,2531,3555,3734,3829,438.9,-13.1,398,2615,0.08,2.17,0.00,0.000,3078,0.379,0.031,2550,2147,3781,3734,3829,0,0,0,0,0,0,14.80,15.04,28.83
$GC,2855,-0.78,-194.6,2549,2147,3732,3829,471.5,-12.6,424,2859,0.00,2.22,0.00,0.000,516,0.000,0.055,2550,762,3780,3731,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2919,-0.78,-194.6,2550,762,3731,3829,479.6,-11.6,437,2927,0.00,2.17,0.00,0.000,3078,0.000,0.040,2543,2158,3780,3731,3829,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3167,-0.78,-194.6,2542,2157,3730,3829,509.6,-11.9,462,3176,0.00,2.25,0.00,0.000,2308,0.000,0.060,2533,3550,3779,3729,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3198,-0.78,-194.6,2532,3550,3729,3829,513.4,-11.8,468,3202,0.00,2.17,0.00,0.000,3078,0.000,0.031,2532,2147,3778,3729,3828,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3443,-0.78,-194.6,2533,2147,3726,3829,543.0,-12.4,493,3448,0.05,2.22,0.00,0.000,2564,0.479,0.053,2545,755,3777,3726,3829,0,0,0,0,0,0,14.86,15.02,28.83
$GC,3548,-0.78,-194.6,2545,754,3725,3829,556.0,-11.8,514,3555,0.00,2.17,0.00,0.000,3078,0.000,0.040,2537,2145,3776,3724,3829,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3795,-0.78,-194.6,2538,2146,3724,3825,588.0,-13.5,539,3804,0.00,2.28,0.00,0.000,2308,0.000,0.062,2529,3548,3774,3724,3825,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3857,-0.78,-194.6,2529,3548,3723,3825,596.0,-12.7,551,3866,0.08,2.17,0.00,0.000,3078,0.363,0.031,2548,2145,3774,3723,3825,0,0,0,0,0,0,14.81,15.05,28.83
$GC,4116,-0.78,-194.6,2548,2144,3723,3823,624.3,-10.1,567,4122,0.00,2.22,0.00,0.000,516,0.000,0.057,2548,754,3772,3722,3823,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4164,-0.78,-194.6,2549,755,3722,3823,629.2,-9.5,577,4169,0.00,2.20,0.00,0.000,3078,0.000,0.041,2541,2162,3772,3722,3823,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4416,-0.78,-194.6,2541,2162,3720,3822,651.5,-8.6,591,4422,0.00,2.25,0.00,0.000,2564,0.000,0.057,2541,758,3771,3720,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4449,-0.78,-194.6,2540,757,3719,3822,654.6,-9.1,598,4457,0.00,2.22,0.00,0.000,3078,0.000,0.041,2533,2146,3770,3719,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4697,-0.78,-194.6,2533,2146,3717,3821,677.1,-9.5,611,4699,0.03,0.00,0.00,0.000,2054,0.616,0.000,2544,2146,3769,3718,3821,0,0,0,0,0,0,14.85,28.83,28.83
$GC,4937,-0.78,-194.6,2544,2146,3716,3819,700.9,-10.3,623,4943,0.00,2.28,0.00,0.000,2308,0.000,0.063,2535,3546,3768,3717,3819,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4964,-0.78,-194.6,2535,3546,3715,3819,704.2,-11.5,629,4969,0.00,2.17,0.00,0.000,3078,0.000,0.032,2535,2152,3767,3715,3819,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5216,-0.78,-194.6,2535,2151,3714,3815,735.0,-12.6,643,5220,0.00,2.30,0.00,0.000,2308,0.000,0.063,2526,3547,3765,3714,3816,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5272,-0.78,-194.6,2526,3548,3713,3816,742.1,-12.5,654,5277,0.08,2.20,0.00,0.000,3078,0.380,0.032,2546,2147,3764,3713,3816,0,0,0,0,0,0,14.80,15.07,28.83
$GC,5534,-0.78,-194.6,2546,2146,3711,3813,771.2,-10.3,670,5535,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2145,3762,3711,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5774,-0.78,-194.6,2546,2146,3710,3813,794.6,-9.5,682,5775,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2146,3761,3710,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6014,-0.78,-194.6,2546,2146,3708,3811,818.8,-10.8,694,6020,0.00,2.33,0.00,0.000,2308,0.000,0.064,2537,3549,3759,3708,3811,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6067,-0.78,-194.6,2538,3549,3707,3811,825.1,-11.6,705,6074,0.00,2.20,0.00,0.000,3078,0.000,0.032,2537,2153,3759,3707,3811,0,0,0,0,0,0,28.83,15.06,28.83
$GC,6314,-0.78,-194.6,2537,2153,3705,3808,853.6,-11.2,718,6318,0.00,2.28,0.00,0.000,2564,0.000,0.060,2538,747,3757,3705,3809,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6350,-0.78,-194.6,2538,747,3704,3809,857.7,-11.5,725,6355,0.08,2.22,0.00,0.000,3078,0.386,0.044,2546,2152,3757,3705,3809,0,0,0,0,0,0,14.78,15.04,28.83
$GC,6607,-0.78,-194.6,2547,2153,3704,3807,881.0,-8.4,740,6608,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2153,3755,3704,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6847,-0.78,-194.6,2547,2153,3702,3806,899.9,-7.7,752,6853,0.00,2.30,0.00,0.000,2308,0.000,0.067,2539,3549,3754,3702,3806,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6934,-0.78,-194.6,2539,3549,3701,3806,907.1,-8.3,770,6939,0.00,2.20,0.00,0.000,3078,0.000,0.034,2539,2151,3753,3700,3806,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7186,-0.78,-194.6,2539,2150,3700,3804,929.3,-9.2,784,7188,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2150,3751,3700,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7426,-0.78,-194.6,2539,2150,3699,3802,951.4,-9.1,796,7431,0.00,2.33,0.00,0.000,2308,0.000,0.066,2529,3548,3750,3699,3802,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7450,-0.78,-194.6,2529,3548,3699,3802,953.7,-9.2,801,7455,0.08,2.20,0.00,0.000,3078,0.362,0.034,2548,2150,3750,3699,3802,0,0,0,0,0,0,14.78,15.04,28.83
$STATE,7661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7661,begin apogee
$GC,7665,-0.17,0.0,2549,1923,3698,3801,970.0,-7.3,813,7945,0.55,0.00,275.58,1.564,10246,0.244,0.000,2749,1923,2988,3028,2948,0,0,0,0,0,0,14.79,28.83,13.69
$STATE,7946,end apogee,CONTROL_FINISHED_OK
$STATE,7946,begin climb
$GC,7947,0.78,194.6,2749,1923,3021,2940,976.1,0.0,827,8164,0.77,2.35,206.38,1.772,10756,0.155,0.070,3053,591,2185,2220,2150,0,0,0,0,0,0,14.19,14.10,13.57
$GC,8174,0.78,194.6,3053,590,2208,2143,957.2,13.6,873,8178,0.00,2.28,0.00,0.000,5126,0.000,0.041,3053,1944,2175,2208,2142,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8426,0.78,194.6,3053,1944,2206,2130,921.5,14.0,887,8430,0.00,2.38,0.00,0.000,4356,0.000,0.064,3053,3358,2168,2206,2131,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8482,0.78,194.6,3053,3358,2206,2130,913.6,13.9,898,8486,0.00,2.28,0.00,0.000,5126,0.000,0.043,3060,1991,2168,2206,2130,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8743,0.78,194.6,3061,1991,2206,2127,879.2,13.1,914,8747,0.00,2.30,0.00,0.000,4356,0.000,0.065,3060,3361,2165,2205,2126,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8787,0.78,194.6,3061,3361,2206,2127,872.8,13.9,923,8792,0.08,2.33,0.00,0.000,5126,0.471,0.043,3053,1943,2166,2206,2126,0,0,0,0,0,0,14.58,14.82,28.83
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$STATE,15939,end climb,SURFACE_DEPTH_REACHED
$STATE,15939,begin surface coast
$FINISH,0.1,1.023260
$STATE,15952,end surface coast,CONTROL_FINISHED_OK
$STATE,15952,begin surface
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$TT8_MAMPS,0.020223,0.020223
$HUMID,40.27
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,22.10
$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,328664
$DATA_FILE_SIZE,140773,1850
$CAP_FILE_SIZE,195953,0
$CFSIZE,2097086464,2074574848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.247,244.6,1
$GPS,291216,195232,2231.106,12352.886,24,0.9,24,-3.6