version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 152
start: 1 5 117 18 16 42
data:
$ID,628
$MISSION,3
$DIVE,152
$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,-124787.34
$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,81
$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
$GPS1,050117,180230,2151.242,12333.609,28,0.8,28,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.3
$GPS2,050117,181618,2151.151,12333.420,7,1.0,7,-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,337.5,252490,-15.8,-10.104,-18.78,2952
$D_GRID,4767
$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,-194.6,111,2190,1366,1353,0.0,0.0,0,72,0.00,0.00,-54.65,0.000,16386,0.000,0.000,109,2190,3250,3252,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,109,2191,3252,3249,3.6,-8.5,8,97,8.57,2.30,-8.30,0.000,18692,0.473,0.083,2532,3523,3784,3740,3828,0,0,0,0,0,0,14.40,14.73,14.93
$GC,181,-0.78,-194.6,2533,3523,3738,3829,33.1,-21.1,27,189,0.00,2.25,0.00,0.000,3078,0.000,0.031,2532,2143,3783,3738,3829,0,0,0,0,0,0,28.83,14.75,28.83
$GC,436,-0.78,-194.6,1544,2139,3735,3828,97.7,-25.7,76,443,0.00,2.30,0.00,0.000,2564,0.000,0.054,2532,752,3783,3738,3829,0,0,0,0,0,0,28.83,14.78,28.83
$GC,475,-0.78,-194.6,1552,751,3735,3828,107.2,-22.9,83,483,0.05,2.22,0.00,0.000,3078,0.331,0.042,2541,2118,3783,3738,3828,0,0,0,0,0,0,14.57,14.78,28.83
$GC,731,-0.78,-194.6,2541,2118,3737,3830,156.5,-19.4,132,738,0.00,2.28,0.00,0.000,2564,0.000,0.054,2541,741,3783,3738,3829,0,0,0,0,0,0,28.83,14.82,28.83
$GC,801,-0.78,-194.6,1536,741,3736,3829,168.6,-14.4,145,809,0.00,2.28,0.00,0.000,3078,0.000,0.039,2533,2153,3784,3738,3830,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1055,-0.78,-194.6,1536,2151,3735,3829,205.3,-14.9,194,1062,0.00,2.35,0.00,0.000,2308,0.000,0.063,2522,3546,3784,3739,3830,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1120,-0.78,-194.6,1512,3545,3735,3829,215.4,-15.6,206,1128,0.05,2.25,0.00,0.000,3078,0.307,0.031,2544,2145,3784,3738,3830,0,0,0,0,0,0,14.64,14.85,28.83
$GC,1378,-0.78,-194.6,2544,2144,3739,3830,254.7,-14.6,253,1389,0.00,2.33,0.00,0.000,2308,0.000,0.060,2535,3550,3784,3738,3830,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1465,-0.78,-194.6,2535,3550,3739,3830,267.7,-13.5,270,1474,0.00,2.25,0.00,0.000,3078,0.000,0.031,2535,2154,3784,3739,3830,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1714,-0.78,-194.6,2535,2154,3738,3830,305.6,-15.0,295,1722,0.00,2.25,0.00,0.000,2564,0.000,0.056,2535,750,3784,3738,3830,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1804,-0.78,-194.6,2535,750,3738,3830,319.3,-14.7,313,1809,0.10,2.20,0.00,0.000,3078,0.371,0.040,2550,2149,3784,3738,3830,0,0,0,0,0,0,14.70,14.96,28.83
$GC,2049,-0.78,-194.6,2551,2148,3737,3830,352.8,-13.2,338,2053,0.00,2.30,0.00,0.000,260,0.000,0.062,2542,3555,3783,3737,3830,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2082,-0.78,-194.6,1672,3554,3733,3829,357.4,-13.2,345,2090,0.00,2.25,0.00,0.000,3078,0.000,0.028,2541,2140,3783,3736,3830,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2331,-0.78,-194.6,2542,2139,3734,3830,387.6,-11.6,370,2339,0.00,2.22,0.00,0.000,2564,0.000,0.051,2541,747,3782,3734,3830,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2411,-0.78,-194.6,2541,747,3734,3830,396.5,-10.8,386,2415,0.00,2.20,0.00,0.000,3078,0.000,0.037,2533,2157,3781,3734,3829,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2657,-0.78,-194.6,2532,2157,3731,3829,425.6,-12.1,411,2666,0.03,2.28,0.00,0.000,2308,0.598,0.057,2534,3554,3780,3731,3830,0,0,0,0,0,0,14.85,14.96,28.83
$GC,2708,-0.78,-194.6,2534,3554,3731,3830,431.9,-11.7,421,2712,0.00,2.20,0.00,0.000,3078,0.000,0.031,2534,2149,3780,3731,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2954,-0.78,-194.6,2534,2149,3729,3830,464.5,-13.8,446,2958,0.00,2.25,0.00,0.000,2564,0.000,0.054,2534,746,3779,3729,3830,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3017,-0.78,-194.6,2534,745,3728,3830,473.0,-12.2,459,3025,0.05,2.25,0.00,0.000,3078,0.332,0.040,2544,2137,3778,3728,3829,0,0,0,0,0,0,14.65,14.93,28.83
$GC,3265,-0.78,-194.6,2544,2137,3726,3828,499.1,-10.0,484,3269,0.00,2.33,0.00,0.000,2308,0.000,0.064,2534,3557,3776,3725,3828,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3314,-0.78,-194.6,2534,3557,3725,3828,504.0,-9.5,494,3321,0.00,2.22,0.00,0.000,3078,0.000,0.032,2534,2146,3776,3725,3828,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3561,-0.78,-194.6,2534,2146,3724,3825,528.1,-10.6,519,3566,0.00,2.33,0.00,0.000,2308,0.000,0.065,2524,3555,3774,3723,3825,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3612,-0.78,-194.6,2524,3555,3723,3825,533.8,-11.0,529,3617,0.10,2.22,0.00,0.000,3078,0.321,0.033,2552,2137,3774,3723,3825,0,0,0,0,0,0,14.79,15.02,28.83
$GC,3857,-0.78,-194.6,2552,2137,3722,3824,559.6,-11.0,554,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2137,3772,3722,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4097,-0.78,-194.6,2553,2137,3721,3822,585.5,-10.6,578,4102,0.00,2.38,0.00,0.000,260,0.000,0.067,2543,3560,3771,3720,3822,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4134,-0.78,-194.6,2543,3559,3720,3821,589.5,-11.0,585,4138,0.00,2.22,0.00,0.000,3078,0.000,0.030,2544,2140,3770,3719,3822,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4379,-0.78,-194.6,2544,2139,3717,3821,615.5,-10.1,603,4383,0.00,2.22,0.00,0.000,2564,0.000,0.054,2544,759,3769,3717,3821,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4458,-0.78,-194.6,2543,759,3716,3821,623.5,-9.8,619,4462,0.00,2.22,0.00,0.000,3078,0.000,0.041,2534,2163,3768,3716,3821,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4715,-0.78,-194.6,2535,2163,3715,3818,648.9,-9.8,634,4719,0.00,2.28,0.00,0.000,2308,0.000,0.063,2525,3545,3766,3715,3818,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4839,-0.78,-194.6,1632,3544,3709,3816,661.0,-9.4,659,4844,0.10,2.20,0.00,0.000,3078,0.325,0.031,2553,2141,3765,3713,3817,0,0,0,0,0,0,14.78,15.04,28.83
$GC,5096,-0.78,-194.6,2553,2140,3711,3814,682.7,-8.6,674,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2140,3762,3711,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5336,-0.78,-194.6,2553,2140,3710,3813,703.8,-8.9,686,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2139,3761,3710,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5576,-0.78,-194.6,2553,2140,3708,3812,726.4,-9.5,698,5580,0.00,2.25,0.00,0.000,516,0.000,0.056,2553,757,3759,3708,3811,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5612,-0.78,-194.6,2553,758,3707,3812,730.0,-9.8,705,5616,0.00,2.22,0.00,0.000,3078,0.000,0.042,2546,2156,3759,3707,3812,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5868,-0.78,-194.6,2546,2156,3705,3809,755.5,-10.2,720,5872,0.00,2.33,0.00,0.000,2308,0.000,0.067,2535,3551,3757,3705,3809,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5905,-0.78,-194.6,2536,3551,3705,3809,759.3,-10.5,727,5911,0.00,2.20,0.00,0.000,3078,0.000,0.031,2535,2154,3756,3704,3809,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6164,-0.78,-194.6,2536,2153,3703,3807,785.8,-9.8,743,6165,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2153,3755,3703,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6404,-0.78,-194.6,2536,2153,3702,3805,808.2,-9.0,755,6405,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2153,3753,3702,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6644,-0.78,-194.6,2536,2153,3700,3804,828.7,-8.3,767,6645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2153,3752,3700,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6884,-0.78,-194.6,2536,2153,3699,3802,848.1,-7.9,779,6888,0.00,2.30,0.00,0.000,2564,0.000,0.059,2536,751,3751,3699,3803,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6940,-0.78,-194.6,2536,752,3698,3802,852.9,-8.7,790,6945,0.00,2.25,0.00,0.000,3078,0.000,0.045,2535,2151,3750,3698,3802,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7201,-0.78,-194.6,2535,2153,3696,3801,876.2,-9.2,806,7203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2153,3748,3696,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7441,-0.78,-194.6,2536,2153,3695,3799,899.6,-9.8,818,7446,0.00,2.35,0.00,0.000,2308,0.000,0.068,2525,3556,3747,3695,3799,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7498,-0.78,-194.6,2526,3556,3694,3800,905.4,-10.4,829,7503,0.08,2.22,0.00,0.000,3078,0.362,0.033,2546,2151,3747,3694,3800,0,0,0,0,0,0,14.71,15.01,28.83
$GC,7760,-0.78,-194.6,2546,2150,3695,3797,930.8,-9.8,845,7764,0.00,2.30,0.00,0.000,2564,0.000,0.059,2546,751,3745,3693,3797,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7796,-0.78,-194.6,2546,749,3693,3797,934.4,-10.2,852,7800,0.00,2.25,0.00,0.000,3078,0.000,0.044,2538,2154,3745,3693,3797,0,0,0,0,0,0,28.83,14.98,28.83
$GC,8052,-0.78,-194.6,2538,2155,3692,3796,958.8,-9.2,867,8059,0.00,2.35,0.00,0.000,2308,0.000,0.069,2528,3555,3743,3691,3796,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8092,-0.78,-194.6,2528,3555,3691,3796,962.5,-9.5,875,8096,0.05,2.20,0.00,0.000,3078,0.260,0.033,2549,2155,3744,3692,3797,0,0,0,0,0,0,14.69,14.98,28.83
$STATE,8192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8192,begin apogee
$GC,8196,-0.17,0.0,2549,1932,3692,3796,971.0,-8.2,883,8404,0.55,0.00,198.98,2.705,10246,0.244,0.000,2746,1932,2988,3026,2950,0,0,0,0,1,0,14.61,28.83,13.00
$STATE,8405,end apogee,CONTROL_FINISHED_OK
$STATE,8405,begin climb
$GC,8406,0.78,194.6,2746,1932,3027,2957,978.3,0.0,893,8635,0.80,2.58,217.90,1.809,10500,0.140,0.061,3050,3346,2184,2218,2150,0,0,0,0,0,0,13.96,13.94,13.33
$GC,8700,0.78,194.6,3050,3345,2207,2134,951.7,15.7,945,8705,0.00,2.38,0.00,0.000,5126,0.000,0.041,3060,1996,2170,2207,2133,0,0,0,0,0,0,28.83,14.26,28.83
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$STATE,16687,end climb,SURFACE_DEPTH_REACHED
$STATE,16687,begin surface coast
$FINISH,0.2,1.022819
$STATE,16714,end surface coast,CONTROL_FINISHED_OK
$STATE,16714,begin surface
$SM_CCo,16729,99.78,0.153,0,0,1355,400.08
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$TT8_MAMPS,0.020223,0.020223
$HUMID,37.67
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,23.70
$XPDR_PINGS,11
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$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,328660
$DATA_FILE_SIZE,153631,2010
$CAP_FILE_SIZE,212309,0
$CFSIZE,2097086464,2068643840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.112,271.9,1
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