version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 123
start: 12 31 116 0 45 40
data:
$ID,628
$MISSION,3
$DIVE,123
$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,-124564.73
$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,41
$R_STBD_OVSHOOT,62
$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
$GPS1,311216,003725,2216.769,12353.802,37,0.8,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.9
$GPS2,311216,004516,2216.804,12353.638,6,1.0,7,-3.5
$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,144.8,87372,-15.8,-10.104,-18.78,2952
$D_GRID,4941
$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,-194.6,106,2161,1362,1349,0.0,0.0,0,71,0.00,0.00,-54.15,0.000,16386,0.000,0.000,104,2161,3208,3212,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.78,-194.6,104,2161,3212,3204,3.3,-6.6,8,97,8.62,2.42,-9.55,0.000,18948,0.479,0.085,2538,744,3782,3742,3823,0,0,0,0,0,0,14.40,14.73,14.94
$GC,160,-0.78,-194.6,1536,742,3737,3824,23.9,-20.6,23,168,0.03,2.28,0.00,0.000,3078,0.399,0.042,2540,2130,3782,3740,3825,0,0,0,0,0,0,14.52,14.74,28.83
$GC,413,-0.78,-194.6,2540,2130,3740,3825,79.2,-23.7,72,421,0.00,2.38,0.00,0.000,2308,0.000,0.063,2531,3554,3782,3740,3825,0,0,0,0,0,0,28.83,14.80,28.83
$GC,443,-0.78,-194.6,2530,3554,3740,3825,86.2,-23.9,77,452,0.05,2.30,0.00,0.000,3078,0.320,0.032,2563,2128,3782,3739,3825,0,0,0,0,0,0,14.62,14.83,28.83
$GC,699,-0.78,-194.6,1568,2126,3737,3825,134.2,-14.5,126,706,0.00,2.28,0.00,0.000,4612,0.000,0.058,2563,760,3783,3740,3826,0,0,0,0,0,0,28.83,14.81,28.83
$GC,764,-0.78,-194.6,1544,759,3737,3825,143.9,-15.2,138,772,0.00,2.25,0.00,0.000,5126,0.000,0.041,2554,2148,3783,3740,3826,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1017,-0.78,-194.6,1536,2147,3737,3826,184.3,-16.2,187,1024,0.00,2.35,0.00,0.000,4356,0.000,0.063,2544,3546,3783,3740,3827,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1071,-0.78,-194.6,1536,3545,3736,3826,192.5,-14.2,197,1079,0.00,2.25,0.00,0.000,3078,0.000,0.031,2544,2146,3783,3740,3827,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1327,-0.78,-194.6,2544,2146,3740,3828,231.8,-14.0,246,1334,0.00,2.30,0.00,0.000,2564,0.000,0.057,2544,753,3784,3740,3828,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1372,-0.78,-194.6,1544,753,3737,3827,238.3,-14.1,254,1379,0.00,2.25,0.00,0.000,3078,0.000,0.041,2536,2144,3784,3740,3828,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1628,-0.78,-194.6,2536,2144,3740,3828,275.1,-14.1,287,1638,0.00,2.30,0.00,0.000,2308,0.000,0.059,2527,3558,3784,3740,3828,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1682,-0.78,-194.6,2527,3559,3740,3828,282.9,-14.1,297,1693,0.08,2.20,0.00,0.000,3078,0.383,0.030,2545,2139,3784,3740,3828,0,0,0,0,0,0,14.71,14.97,28.83
$GC,1931,-0.78,-194.6,2546,2138,3740,3828,317.0,-13.2,323,1932,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2138,3784,3740,3828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2171,-0.78,-194.6,2546,2138,3739,3827,349.9,-13.1,347,2175,0.00,2.20,0.00,0.000,2564,0.000,0.054,2546,761,3783,3739,3828,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2215,-0.78,-194.6,2546,760,3739,3828,355.8,-12.5,356,2223,0.00,2.20,0.00,0.000,3078,0.000,0.039,2538,2166,3783,3739,3828,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2463,-0.78,-194.6,2538,2166,3738,3828,388.7,-14.6,381,2472,0.00,2.25,0.00,0.000,2308,0.000,0.060,2529,3556,3782,3737,3828,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2564,-0.78,-194.6,2529,3556,3737,3827,403.6,-14.4,401,2573,0.08,2.17,0.00,0.000,3078,0.373,0.029,2549,2150,3782,3737,3827,0,0,0,0,0,0,14.78,15.03,28.83
$GC,2813,-0.78,-194.6,2548,2150,3736,3827,436.3,-12.0,427,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2150,3781,3736,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3054,-0.78,-194.6,2549,2150,3734,3827,465.8,-11.9,451,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2150,3780,3734,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3294,-0.78,-194.6,2548,2150,3731,3827,492.7,-10.3,475,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2150,3779,3732,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3534,-0.78,-194.6,2548,2148,3730,3827,517.4,-10.2,499,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2149,3778,3730,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3774,-0.78,-194.6,2549,2148,3726,3827,543.0,-11.4,523,3778,0.00,2.25,0.00,0.000,516,0.000,0.055,2549,756,3776,3726,3827,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3825,-0.78,-194.6,2548,756,3725,3826,548.9,-11.4,533,3834,0.00,2.20,0.00,0.000,3078,0.000,0.040,2541,2156,3776,3725,3827,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4075,-0.78,-194.6,2541,2157,3725,3824,577.1,-11.1,559,4084,0.00,2.28,0.00,0.000,2308,0.000,0.063,2531,3551,3774,3725,3824,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4146,-0.78,-194.6,2531,3551,3724,3823,584.8,-10.3,573,4156,0.05,2.17,0.00,0.000,3078,0.443,0.031,2545,2154,3774,3724,3824,0,0,0,0,0,0,14.79,15.04,28.83
$GC,4406,-0.78,-194.6,2545,2153,3723,3822,611.0,-10.2,595,4412,0.00,2.30,0.00,0.000,2308,0.000,0.062,2537,3550,3772,3723,3822,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4499,-0.78,-194.6,2537,3551,3722,3822,621.0,-10.1,614,4506,0.00,2.20,0.00,0.000,3078,0.000,0.031,2537,2147,3771,3721,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4745,-0.78,-194.6,2537,2147,3722,3822,645.9,-10.0,627,4750,0.00,2.25,0.00,0.000,2564,0.000,0.057,2536,751,3771,3721,3822,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4769,-0.78,-194.6,2537,751,3721,3822,648.6,-10.4,632,4774,0.08,2.22,0.00,0.000,3078,0.388,0.041,2546,2158,3771,3721,3822,0,0,0,0,0,0,14.78,15.04,28.83
$GC,5022,-0.78,-194.6,2546,2159,3719,3820,671.6,-9.6,646,5028,0.00,2.28,0.00,0.000,2308,0.000,0.063,2537,3548,3769,3718,3820,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5069,-0.78,-194.6,2537,3548,3718,3820,676.7,-10.2,656,5074,0.00,2.25,0.00,0.000,3078,0.000,0.031,2537,2147,3769,3718,3820,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5321,-0.78,-194.6,2537,2146,3716,3816,702.6,-10.0,670,5325,0.00,2.25,0.00,0.000,2564,0.000,0.057,2537,749,3766,3717,3816,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5418,-0.78,-194.6,2537,749,3716,3816,712.5,-10.0,689,5424,0.08,2.22,0.00,0.000,3078,0.379,0.041,2546,2157,3765,3715,3816,0,0,0,0,0,0,14.78,15.03,28.83
$GC,5677,-0.78,-194.6,2547,2158,3714,3815,735.8,-9.1,705,5681,0.00,2.25,0.00,0.000,2308,0.000,0.064,2539,3542,3764,3714,3814,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5746,-0.78,-194.6,2539,3542,3713,3814,742.4,-9.2,719,5750,0.00,2.20,0.00,0.000,3078,0.000,0.032,2539,2147,3763,3713,3814,0,0,0,0,0,0,28.83,15.05,28.83
$GC,5998,-0.78,-194.6,2539,2146,3711,3813,766.0,-9.3,733,6002,0.00,2.25,0.00,0.000,2564,0.000,0.057,2539,755,3762,3711,3813,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6042,-0.78,-194.6,2538,754,3711,3813,770.3,-9.4,742,6047,0.08,2.22,0.00,0.000,3078,0.399,0.042,2548,2161,3762,3711,3813,0,0,0,0,0,0,14.76,15.02,28.83
$GC,6295,-0.78,-194.6,2548,2161,3710,3812,790.0,-7.4,756,6299,0.00,2.28,0.00,0.000,260,0.000,0.065,2541,3545,3761,3710,3812,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6338,-0.78,-194.6,1672,3544,3705,3811,793.6,-8.1,765,6343,0.00,2.25,0.00,0.000,3078,0.000,0.032,2540,2151,3760,3709,3812,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6595,-0.78,-194.6,2540,2150,3708,3809,818.3,-10.2,780,6596,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2150,3758,3707,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6835,-0.78,-194.6,2540,2150,3706,3807,846.6,-12.8,792,6839,0.00,2.33,0.00,0.000,2308,0.000,0.066,2531,3545,3756,3705,3807,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6914,-0.78,-194.6,1664,3544,3701,3806,857.4,-13.4,808,6919,0.03,2.25,0.00,0.000,3078,0.347,0.033,2543,2148,3756,3705,3807,0,0,0,0,0,0,14.74,15.01,28.83
$GC,7172,-0.78,-194.6,2543,2148,3705,3806,891.0,-13.1,823,7176,0.00,2.28,0.00,0.000,2564,0.000,0.060,2544,753,3755,3704,3806,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7236,-0.78,-194.6,2543,753,3703,3805,899.9,-12.7,836,7240,0.00,2.22,0.00,0.000,3078,0.000,0.043,2537,2150,3754,3703,3805,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7493,-0.78,-194.6,2538,2150,3702,3804,928.8,-10.7,851,7494,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2150,3753,3702,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7733,-0.78,-194.6,2538,2150,3701,3803,950.0,-7.8,863,7739,0.00,2.33,0.00,0.000,2308,0.000,0.068,2529,3551,3751,3700,3803,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7801,-0.78,-194.6,2529,3551,3700,3803,955.1,-7.0,877,7806,0.08,2.22,0.00,0.000,3078,0.356,0.034,2548,2144,3751,3700,3803,0,0,0,0,0,0,14.76,15.03,28.83
$GC,8048,-0.78,-194.6,2549,2143,3699,3801,969.9,-6.2,890,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2143,3750,3699,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8067,begin apogee
$GC,8071,-0.17,0.0,2548,1923,3699,3801,971.2,-6.2,891,8355,0.55,0.00,280.38,1.554,10246,0.242,0.000,2748,1923,2988,3028,2948,0,0,0,0,0,0,14.77,28.83,13.67
$STATE,8356,end apogee,CONTROL_FINISHED_OK
$STATE,8357,begin climb
$GC,8358,0.78,194.6,2748,1923,3021,2941,978.3,0.0,905,8576,0.77,2.45,207.20,1.784,10756,0.153,0.071,3059,585,2182,2216,2148,0,0,0,0,0,0,14.19,14.07,13.51
$GC,8632,0.78,194.6,2112,585,2156,2128,953.4,15.3,962,8636,0.00,2.28,0.00,0.000,5126,0.000,0.043,3059,1942,2166,2199,2134,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8883,0.78,194.6,3059,1944,2199,2127,914.3,15.9,976,8887,0.00,2.35,0.00,0.000,4356,0.000,0.066,3059,3350,2162,2199,2126,0,0,0,0,0,0,28.83,14.64,28.83
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$STATE,16076,end climb,SURFACE_DEPTH_REACHED
$STATE,16077,begin surface coast
$FINISH,0.0,0.998697
$STATE,16093,end surface coast,CONTROL_FINISHED_OK
$STATE,16093,begin surface
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$TT8_MAMPS,0.019474,0.019474
$HUMID,39.60
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,22.40
$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,143791,1887
$CAP_FILE_SIZE,196123,0
$CFSIZE,2097086464,2073427968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.132,264.7,1
$GPS,311216,051528,2214.880,12353.986,22,1.9,23,-3.5