version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 153
start: 1 5 117 23 6 47
data:
$ID,628
$MISSION,3
$DIVE,153
$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,-124788.59
$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,47
$R_STBD_OVSHOOT,100
$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
$GPS1,050117,225825,2153.146,12331.186,38,0.9,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.6
$GPS2,050117,230624,2153.139,12331.135,9,1.2,9,-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,317.3,247237,-15.8,-10.104,-18.78,2952
$D_GRID,4788
$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,-194.6,104,2190,1359,1351,0.0,0.0,0,71,0.00,0.00,-53.80,0.000,16386,0.000,0.000,103,2191,3207,3209,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.78,-194.6,102,2191,3210,3205,3.3,-6.7,8,97,8.57,2.42,-9.32,0.000,19204,0.469,0.072,2539,747,3783,3740,3826,0,0,0,0,0,0,14.39,14.74,14.94
$GC,246,-0.78,-194.6,1544,747,3736,3828,45.3,-20.9,40,254,0.03,2.20,0.00,0.000,3078,0.367,0.041,2541,2093,3783,3738,3828,0,0,0,0,0,0,14.51,14.73,28.83
$GC,499,-0.78,-194.6,1536,2091,3736,3828,103.0,-22.7,89,507,0.00,2.35,0.00,0.000,2308,0.000,0.055,2532,3497,3783,3739,3827,0,0,0,0,0,0,28.83,14.80,28.83
$GC,530,-0.78,-194.6,1536,3497,3735,3828,109.3,-20.6,94,538,0.00,2.17,0.00,0.000,3078,0.000,0.030,2532,2144,3784,3739,3829,0,0,0,0,0,0,28.83,14.80,28.83
$GC,783,-0.78,-194.6,1536,2141,3735,3828,164.6,-21.2,143,791,0.05,2.25,0.00,0.000,2564,0.506,0.045,2544,747,3784,3739,3829,0,0,0,0,0,0,14.67,14.85,28.83
$GC,818,-0.78,-194.6,2544,747,3739,3829,171.4,-17.4,149,826,0.00,2.17,0.00,0.000,3078,0.000,0.037,2535,2098,3784,3739,3829,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1073,-0.78,-194.6,1536,2097,3736,3829,212.2,-14.5,198,1080,0.00,2.35,0.00,0.000,2308,0.000,0.058,2527,3499,3784,3739,3830,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1174,-0.78,-194.6,1536,3498,3735,3829,226.8,-15.2,217,1183,0.05,2.17,0.00,0.000,3078,0.307,0.029,2546,2135,3784,3739,3830,0,0,0,0,0,0,14.61,14.84,28.83
$GC,1433,-0.78,-194.6,2546,2134,3739,3830,265.8,-15.9,257,1444,0.00,2.20,0.00,0.000,2564,0.000,0.050,2547,756,3784,3739,3830,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1573,-0.78,-194.6,2547,756,3739,3830,286.5,-13.6,284,1581,0.00,2.15,0.00,0.000,3078,0.000,0.037,2539,2102,3785,3739,3831,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1821,-0.78,-194.6,2539,2102,3739,3830,318.5,-12.1,309,1830,0.00,2.35,0.00,0.000,2308,0.000,0.057,2529,3547,3784,3739,3830,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1854,-0.78,-194.6,2529,3546,3739,3830,322.3,-10.1,316,1862,0.03,2.22,0.00,0.000,3078,0.360,0.028,2541,2150,3784,3739,3830,0,0,0,0,0,0,14.66,14.91,28.83
$GC,2102,-0.78,-194.6,2541,2150,3737,3830,350.3,-12.6,341,2111,0.00,2.22,0.00,0.000,2564,0.000,0.052,2540,757,3784,3738,3830,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2223,-0.78,-194.6,2541,757,3738,3830,365.6,-11.4,365,2227,0.00,2.17,0.00,0.000,3078,0.000,0.037,2533,2150,3784,3738,3830,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2468,-0.78,-194.6,2534,2150,3736,3830,399.9,-14.2,390,2477,0.00,2.28,0.00,0.000,2308,0.000,0.058,2523,3547,3782,3735,3830,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2542,-0.78,-194.6,1664,3546,3732,3829,410.5,-13.8,405,2550,0.05,2.22,0.00,0.000,3078,0.285,0.029,2544,2150,3782,3735,3830,0,0,0,0,0,0,14.73,14.94,28.83
$GC,2790,-0.78,-194.6,2545,2149,3732,3830,442.7,-13.4,430,2791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2149,3781,3732,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3029,-0.78,-194.6,2544,2149,3731,3830,473.2,-12.3,454,3033,0.00,2.22,0.00,0.000,2564,0.000,0.053,2545,759,3780,3730,3830,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3108,-0.78,-194.6,1680,759,3727,3829,482.7,-11.3,470,3115,0.00,2.22,0.00,0.000,3078,0.000,0.038,2537,2142,3779,3729,3830,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3356,-0.78,-194.6,2537,2143,3726,3829,512.5,-11.9,495,3365,0.00,2.30,0.00,0.000,2308,0.000,0.060,2527,3548,3777,3726,3829,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3469,-0.78,-194.6,1664,3547,3722,3828,526.4,-11.6,518,3478,0.05,2.22,0.00,0.000,3078,0.282,0.029,2547,2152,3776,3724,3829,0,0,0,0,0,0,14.70,14.95,28.83
$GC,3717,-0.78,-194.6,2547,2151,3724,3825,553.0,-10.0,543,3721,0.00,2.25,0.00,0.000,2564,0.000,0.055,2547,761,3774,3724,3825,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3741,-0.78,-194.6,1672,760,3720,3824,555.7,-10.5,548,3749,0.00,2.25,0.00,0.000,3078,0.000,0.040,2540,2149,3774,3724,3825,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3989,-0.78,-194.6,2540,2149,3722,3823,581.4,-11.0,573,3993,0.00,2.33,0.00,0.000,2308,0.000,0.062,2530,3556,3772,3722,3823,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4050,-0.78,-194.6,2530,3556,3721,3823,588.7,-11.6,585,4055,0.08,2.20,0.00,0.000,3078,0.365,0.030,2549,2147,3772,3721,3823,0,0,0,0,0,0,14.76,15.03,28.83
$GC,4295,-0.78,-194.6,2549,2147,3720,3822,616.7,-11.3,603,4299,0.00,2.25,0.00,0.000,516,0.000,0.055,2549,757,3771,3720,3822,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4331,-0.78,-194.6,2549,757,3719,3822,620.6,-10.5,610,4336,0.00,2.20,0.00,0.000,3078,0.000,0.040,2542,2156,3770,3719,3822,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4587,-0.78,-194.6,2541,2156,3717,3821,642.8,-7.4,625,4591,0.00,2.28,0.00,0.000,2564,0.000,0.055,2542,754,3769,3717,3821,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4651,-0.78,-194.6,1664,754,3713,3820,647.6,-7.1,638,4656,0.00,2.25,0.00,0.000,3078,0.000,0.041,2533,2148,3768,3716,3821,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4910,-0.78,-194.6,2534,2147,3715,3817,666.6,-8.2,653,4916,0.00,2.22,0.00,0.000,2564,0.000,0.054,2533,757,3766,3715,3817,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4931,-0.78,-194.6,1664,756,3711,3816,668.9,-9.9,658,4936,0.05,2.25,0.00,0.000,3078,0.321,0.042,2544,2144,3765,3714,3817,0,0,0,0,0,0,14.69,14.98,28.83
$GC,5189,-0.78,-194.6,2544,2145,3712,3815,695.2,-11.1,673,5195,0.00,2.33,0.00,0.000,2308,0.000,0.064,2535,3556,3763,3711,3815,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5288,-0.78,-194.6,2535,3556,3711,3815,706.7,-11.4,693,5293,0.00,2.20,0.00,0.000,3078,0.000,0.031,2535,2153,3763,3711,3815,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5544,-0.78,-194.6,2534,2151,3710,3813,736.5,-11.3,708,5548,0.00,2.33,0.00,0.000,2308,0.000,0.063,2526,3549,3760,3708,3813,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5630,-0.78,-194.6,2526,3549,3709,3813,746.3,-11.2,725,5635,0.10,2.22,0.00,0.000,3078,0.324,0.032,2553,2137,3760,3707,3813,0,0,0,0,0,0,14.76,15.03,28.83
$GC,5875,-0.78,-194.6,2553,2135,3707,3811,769.9,-9.3,738,5879,0.00,2.22,0.00,0.000,516,0.000,0.057,2554,760,3758,3706,3811,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5924,-0.78,-194.6,2553,759,3706,3811,774.9,-9.5,748,5929,0.00,2.22,0.00,0.000,3078,0.000,0.043,2547,2160,3759,3707,3811,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6176,-0.78,-194.6,2546,2160,3705,3809,797.3,-8.8,762,6177,0.00,0.00,0.00,0.000,2054,0.000,0.000,2547,2160,3757,3705,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6416,-0.78,-194.6,2547,2160,3703,3807,817.7,-8.6,774,6420,0.00,2.30,0.00,0.000,2308,0.000,0.065,2536,3543,3755,3703,3807,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6466,-0.78,-194.6,2537,3543,3702,3805,822.2,-9.0,784,6473,0.00,2.22,0.00,0.000,3078,0.000,0.031,2537,2144,3754,3702,3807,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6713,-0.78,-194.6,2537,2143,3701,3805,844.4,-9.0,797,6719,0.00,2.28,0.00,0.000,2564,0.000,0.058,2537,753,3753,3701,3805,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6755,-0.78,-194.6,1672,752,3697,3804,848.4,-9.1,806,6760,0.05,2.28,0.00,0.000,3078,0.316,0.043,2548,2143,3753,3701,3805,0,0,0,0,0,0,14.66,14.96,28.83
$GC,7012,-0.78,-194.6,2548,2143,3699,3804,868.0,-7.4,821,7017,0.00,2.35,0.00,0.000,260,0.000,0.066,2539,3558,3751,3699,3804,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7041,-0.78,-194.6,2540,3556,3699,3804,870.3,-7.4,827,7048,0.00,2.25,0.00,0.000,3078,0.000,0.032,2540,2150,3751,3699,3804,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7289,-0.78,-194.6,2540,2148,3698,3802,887.2,-6.7,840,7293,0.00,2.28,0.00,0.000,2564,0.000,0.058,2540,759,3750,3698,3802,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7378,-0.78,-194.6,2540,759,3697,3802,894.0,-7.6,858,7383,0.05,2.25,0.00,0.000,3078,0.466,0.044,2544,2160,3749,3697,3802,0,0,0,0,0,0,14.69,14.99,28.83
$GC,7630,-0.78,-194.6,2544,2160,3695,3800,913.5,-8.5,872,7634,0.00,2.33,0.00,0.000,2308,0.000,0.067,2535,3556,3747,3695,3800,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7668,-0.78,-194.6,1696,3555,3691,3799,917.3,-9.4,880,7673,0.00,2.28,0.00,0.000,3078,0.000,0.033,2536,2154,3747,3695,3800,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7926,-0.78,-194.6,2535,2154,3695,3799,945.3,-11.6,895,7927,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2153,3746,3694,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8145,begin apogee
$GC,8149,-0.17,0.0,2535,1916,3693,3798,970.6,-11.4,906,8431,0.60,0.00,278.00,1.598,10246,0.242,0.000,2749,1915,2986,3026,2947,0,0,0,0,0,0,14.70,28.83,13.64
$STATE,8432,end apogee,CONTROL_FINISHED_OK
$STATE,8432,begin climb
$GC,8434,0.78,194.6,2748,1915,3020,2940,986.8,0.0,920,8660,0.77,2.40,217.25,1.757,10756,0.141,0.072,3058,582,2187,2221,2153,0,0,0,0,0,0,14.17,14.06,13.52
$GC,8690,0.78,194.6,3058,583,2204,2141,968.7,14.4,973,8695,0.00,2.30,0.00,0.000,5126,0.000,0.042,3058,1942,2172,2204,2141,0,0,0,0,0,0,28.83,14.24,28.83
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$STATE,16415,end climb,SURFACE_DEPTH_REACHED
$STATE,16415,begin surface coast
$FINISH,0.5,1.022761
$STATE,16433,end surface coast,CONTROL_FINISHED_OK
$STATE,16433,begin surface
$SM_CCo,16447,35.65,0.155,0,0,1354,400.08
$SM_GC,1.31,7.38,0.28,35.65,0.098,0.057,0.155,142,2190,1354,-8.23,-1.87,400.08,0,0,0,0,0,0,14.73,14.87,14.66
$IRIDIUM_FIX,2143.45,12358.80,021109,070734
$TT8_MAMPS,0.020223,0.020223
$HUMID,39.60
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,22.90
$XPDR_PINGS,3
$24V_AH,13.5,58.501
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.250,206.200,608.250,35.650,0.000,0.000,0.000,367.950,0.750,0.000,10.313,4115.108,7967.105,817.080,3844.055,195.449,0.000,2746.641,0.000,3463.066,0.000,0.552,0.000
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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,328704
$DATA_FILE_SIZE,150808,1957
$CAP_FILE_SIZE,206262,0
$CFSIZE,2097086464,2068480000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.117,269.5,1
$GPS,060117,034230,2154.513,12328.413,25,0.8,25,-3.4