version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 145
start: 1 4 117 9 7 57
data:
$ID,628
$MISSION,3
$DIVE,145
$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,-124708.86
$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,40
$R_STBD_OVSHOOT,71
$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
$GPS1,040117,084948,2141.169,12353.933,39,0.9,39,-3.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.0
$GPS2,040117,090733,2141.237,12353.870,8,0.9,8,-3.4
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12127.900
$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,309.6,291782,-15.8,-10.104,-18.78,2952
$D_GRID,5108
$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,-194.6,80,2162,1379,1352,0.0,0.0,0,71,0.00,0.00,-53.78,0.000,16386,0.000,0.000,80,2162,3220,3223,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.78,-194.6,80,2163,3223,3218,3.5,-7.4,8,96,8.55,2.35,-9.15,0.000,18692,0.467,0.082,2530,3530,3785,3741,3829,0,0,0,0,0,0,14.43,14.76,14.97
$GC,197,-0.78,-194.6,1536,3529,3736,3829,36.5,-21.4,30,205,0.05,2.28,0.00,0.000,3078,0.327,0.032,2549,2128,3784,3739,3830,0,0,0,0,0,0,14.56,14.79,28.83
$GC,452,-0.78,-194.6,1552,2125,3735,3829,98.6,-23.9,79,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2127,3784,3738,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,705,-0.78,-194.6,2548,2127,3739,3830,157.3,-18.6,128,712,0.00,2.25,0.00,0.000,516,0.000,0.050,2549,757,3784,3739,3830,0,0,0,0,0,0,28.83,14.81,28.83
$GC,724,-0.78,-194.6,2548,757,3739,3830,160.7,-17.6,131,731,0.00,2.20,0.00,0.000,3078,0.000,0.037,2541,2124,3784,3739,3830,0,0,0,0,0,0,28.83,14.83,28.83
$GC,977,-0.78,-194.6,2541,2125,3739,3830,203.6,-16.4,180,984,0.00,2.38,0.00,0.000,2308,0.000,0.062,2530,3556,3784,3739,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1046,-0.78,-194.6,1536,3555,3736,3829,215.6,-17.7,193,1055,0.03,2.25,0.00,0.000,3078,0.388,0.031,2541,2153,3785,3740,3831,0,0,0,0,0,0,14.64,14.86,28.83
$GC,1303,-0.78,-194.6,2541,2153,3739,3831,256.8,-12.5,237,1313,0.00,2.30,0.00,0.000,2308,0.000,0.062,2532,3548,3785,3739,3831,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1336,-0.78,-194.6,2532,3549,3739,3831,261.1,-12.8,243,1346,0.05,2.20,0.00,0.000,3078,0.438,0.032,2545,2144,3785,3739,3831,0,0,0,0,0,0,14.69,14.93,28.83
$GC,1586,-0.78,-194.6,2545,2144,3739,3831,291.9,-14.2,269,1596,0.00,2.22,0.00,0.000,2564,0.000,0.052,2546,746,3784,3739,3829,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1673,-0.78,-194.6,2546,747,3739,3831,305.1,-14.6,286,1681,0.00,2.20,0.00,0.000,3078,0.000,0.037,2538,2151,3784,3739,3830,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1921,-0.78,-194.6,2538,2152,3738,3830,339.7,-13.4,311,1930,0.00,2.25,0.00,0.000,2308,0.000,0.058,2528,3549,3784,3738,3830,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1982,-0.78,-194.6,2528,3549,3738,3831,348.0,-13.7,323,1991,0.08,2.17,0.00,0.000,3078,0.362,0.029,2548,2141,3784,3738,3831,0,0,0,0,0,0,14.76,15.01,28.83
$GC,2232,-0.78,-194.6,2547,2140,3737,3830,382.1,-13.3,349,2233,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2140,3784,3737,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2472,-0.78,-194.6,2547,2140,3735,3831,409.1,-9.8,373,2476,0.00,2.35,0.00,0.000,2308,0.000,0.064,2539,3556,3782,3734,3830,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2568,-0.78,-194.6,2539,3556,3733,3831,418.4,-9.9,392,2577,0.00,2.17,0.00,0.000,3078,0.000,0.028,2539,2151,3781,3732,3830,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2820,-0.78,-194.6,2539,2150,3731,3831,446.9,-12.4,418,2828,0.00,2.22,0.00,0.000,2564,0.000,0.052,2539,746,3780,3730,3831,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2843,-0.78,-194.6,1664,745,3728,3829,450.3,-13.2,423,2852,0.03,2.25,0.00,0.000,3078,0.383,0.037,2542,2150,3780,3730,3831,0,0,0,0,0,0,14.69,14.95,28.83
$GC,3091,-0.78,-194.6,2542,2151,3727,3830,479.2,-11.7,448,3095,0.00,2.30,0.00,0.000,2308,0.000,0.061,2533,3556,3778,3727,3830,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3155,-0.78,-194.6,1664,3556,3722,3829,486.6,-10.8,461,3162,0.00,2.25,0.00,0.000,3078,0.000,0.030,2533,2147,3777,3725,3830,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3403,-0.78,-194.6,2533,2146,3725,3827,515.9,-12.4,486,3413,0.00,2.22,0.00,0.000,2564,0.000,0.053,2533,756,3776,3725,3827,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3515,-0.78,-194.6,2533,756,3724,3826,530.1,-12.5,508,3520,0.10,2.20,0.00,0.000,3078,0.350,0.038,2550,2156,3774,3723,3826,0,0,0,0,0,0,14.78,15.02,28.83
$GC,3760,-0.78,-194.6,2551,2157,3723,3825,556.2,-10.5,533,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2157,3774,3723,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4000,-0.78,-194.6,2551,2157,3721,3823,581.5,-10.4,557,4004,0.00,2.30,0.00,0.000,260,0.000,0.063,2542,3557,3772,3721,3823,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4056,-0.78,-194.6,2542,3557,3721,3823,587.3,-10.0,568,4066,0.00,2.22,0.00,0.000,3078,0.000,0.030,2542,2137,3771,3720,3823,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4316,-0.78,-194.6,2542,2136,3719,3822,616.6,-11.7,588,4317,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2136,3770,3719,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-0.78,-194.6,2542,2136,3717,3821,640.7,-8.8,600,4560,0.00,2.35,0.00,0.000,2308,0.000,0.063,2533,3550,3769,3717,3821,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4660,-0.78,-194.6,2533,3551,3716,3821,649.6,-8.2,621,4664,0.00,2.20,0.00,0.000,3078,0.000,0.031,2533,2153,3768,3716,3821,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4913,-0.78,-194.6,2533,2152,3714,3817,670.5,-8.4,635,4914,0.00,0.00,0.00,0.000,2054,0.000,0.000,2532,2152,3765,3714,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5153,-0.78,-194.6,2532,2152,3712,3815,692.4,-9.4,647,5159,0.03,2.28,0.00,0.000,2564,0.582,0.054,2545,753,3763,3711,3815,0,0,0,0,0,0,14.88,15.00,28.83
$GC,5220,-0.78,-194.6,2544,753,3711,3815,699.1,-9.5,661,5224,0.00,2.22,0.00,0.000,3078,0.000,0.041,2538,2156,3763,3711,3815,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5472,-0.78,-194.6,2538,2157,3710,3813,721.6,-8.9,675,5478,0.00,2.30,0.00,0.000,2308,0.000,0.065,2528,3547,3761,3709,3813,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5565,-0.78,-194.6,2529,3548,3708,3813,730.4,-9.4,694,5573,0.08,2.22,0.00,0.000,3078,0.359,0.032,2549,2139,3760,3707,3813,0,0,0,0,0,0,14.77,15.04,28.83
$GC,5812,-0.78,-194.6,2548,2138,3707,3811,751.5,-8.5,707,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2138,3759,3707,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6052,-0.78,-194.6,2549,2139,3705,3809,774.9,-10.3,719,6056,0.00,2.25,0.00,0.000,516,0.000,0.057,2549,761,3756,3705,3808,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6081,-0.78,-194.6,2549,760,3705,3809,778.2,-10.6,725,6088,0.00,2.22,0.00,0.000,3078,0.000,0.042,2541,2156,3756,3705,3808,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6328,-0.78,-194.6,2541,2155,3702,3807,805.3,-11.2,738,6332,0.00,2.30,0.00,0.000,2308,0.000,0.067,2531,3544,3754,3702,3807,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6387,-0.78,-194.6,2532,3544,3701,3807,812.2,-11.4,750,6392,0.00,2.25,0.00,0.000,3078,0.000,0.033,2532,2157,3754,3702,3807,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6644,-0.78,-194.6,2531,2156,3700,3805,841.5,-11.4,765,6649,0.05,2.30,0.00,0.000,2564,0.445,0.056,2545,747,3753,3701,3805,0,0,0,0,0,0,14.85,14.98,28.83
$GC,6694,-0.78,-194.6,2545,747,3700,3805,847.4,-11.1,775,6701,0.00,2.25,0.00,0.000,3078,0.000,0.042,2537,2153,3752,3700,3805,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6941,-0.78,-194.6,2537,2153,3699,3804,872.7,-9.9,788,6947,0.00,2.33,0.00,0.000,2308,0.000,0.068,2529,3551,3751,3698,3804,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7034,-0.78,-194.6,2529,3552,3697,3804,881.6,-9.0,807,7042,0.08,2.25,0.00,0.000,3078,0.355,0.033,2548,2136,3751,3698,3804,0,0,0,0,0,0,14.75,15.02,28.83
$GC,7281,-0.78,-194.6,2548,2136,3697,3801,900.4,-7.3,820,7285,0.00,2.38,0.00,0.000,260,0.000,0.067,2540,3552,3748,3697,3800,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7325,-0.78,-194.6,2540,3552,3695,3802,903.7,-7.1,829,7330,0.00,2.25,0.00,0.000,3078,0.000,0.034,2539,2144,3748,3695,3801,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7572,-0.78,-194.6,2540,2143,3695,3799,921.9,-7.7,842,7573,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2143,3747,3695,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7812,-0.78,-194.6,2540,2142,3694,3799,942.3,-9.1,854,7818,0.00,2.38,0.00,0.000,2308,0.000,0.068,2530,3554,3746,3693,3799,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7852,-0.78,-194.6,2530,3554,3693,3799,946.1,-9.8,862,7857,0.08,2.25,0.00,0.000,3078,0.359,0.034,2549,2139,3746,3693,3799,0,0,0,0,0,0,14.73,15.01,28.83
$GC,8109,-0.78,-194.6,2549,2138,3693,3797,969.4,-8.8,877,8113,0.00,2.28,0.00,0.000,516,0.000,0.060,2549,759,3744,3692,3797,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,8116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8117,begin apogee
$GC,8122,-0.17,0.0,2543,1953,3692,3797,970.4,-8.8,879,8331,0.52,0.00,195.12,2.666,10246,0.249,0.000,2740,1952,2992,3025,2959,0,0,0,0,1,0,14.72,28.83,13.12
$STATE,8332,end apogee,CONTROL_FINISHED_OK
$STATE,8332,begin climb
$GC,8333,0.78,194.6,2740,1952,3026,2962,977.5,0.0,891,8561,0.82,2.38,218.65,1.823,11012,0.138,0.063,3056,3342,2186,2218,2154,0,0,0,0,0,0,14.04,13.97,13.40
$GC,8588,0.78,194.6,3056,3343,2206,2138,956.1,16.9,936,8592,0.00,2.38,0.00,0.000,5126,0.000,0.043,3065,1975,2172,2206,2138,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8844,0.78,194.6,3065,1975,2202,2130,915.1,16.2,951,8846,0.00,0.00,0.00,0.000,4102,0.000,0.000,3065,1975,2166,2203,2130,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15924,end climb,SURFACE_DEPTH_REACHED
$STATE,15924,begin surface coast
$FINISH,0.0,1.022563
$STATE,15946,end surface coast,CONTROL_FINISHED_OK
$STATE,15946,begin surface
$SM_CCo,15961,37.55,0.155,0,0,1356,400.08
$SM_GC,1.41,7.22,0.28,37.55,0.090,0.067,0.155,134,2165,1356,-8.25,-1.75,400.08,0,0,0,0,0,0,14.78,14.88,14.70
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$TT8_MAMPS,0.020223,0.020223
$HUMID,39.36
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,22.90
$XPDR_PINGS,14
$24V_AH,13.1,55.223
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.675,183.250,527.550,37.550,0.000,0.000,0.000,715.825,3.500,0.000,9.412,3901.979,8251.908,756.428,3940.635,191.318,0.000,2943.121,0.000,3215.735,0.000,0.552,0.000
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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,328668
$DATA_FILE_SIZE,140948,1842
$CAP_FILE_SIZE,198511,0
$CFSIZE,2097086464,2069790720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.028,182.9,1
$GPS,040117,133548,2142.275,12351.933,37,0.8,37,-3.4