version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 158
start: 1 6 117 23 20 50
data:
$ID,628
$MISSION,3
$DIVE,158
$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,-124833.35
$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,79
$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
$GPS1,060117,231100,2200.878,12316.710,38,0.9,38,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.6
$GPS2,060117,232026,2200.870,12316.784,8,0.9,8,-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,325.1,218911,-15.8,-10.104,-18.78,2952
$D_GRID,5273
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.78,-194.6,108,2180,1372,1347,0.0,0.0,0,70,0.00,0.00,-53.17,0.000,16386,0.000,0.000,108,2180,3176,3182,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.78,-194.6,108,2180,3182,3171,3.4,-7.9,8,101,8.52,2.28,-9.88,0.000,18692,0.465,0.082,2533,3517,3784,3740,3828,0,0,0,0,0,0,14.38,14.64,14.93
$GC,190,-0.78,-194.6,2533,3517,3739,3829,31.9,-18.4,29,198,0.00,2.22,0.00,0.000,3078,0.000,0.030,2533,2148,3784,3739,3830,0,0,0,0,0,0,28.83,14.72,28.83
$GC,443,-0.78,-194.6,1536,2146,3736,3829,88.2,-23.4,78,451,0.00,2.33,0.00,0.000,2564,0.000,0.053,2533,747,3784,3739,3829,0,0,0,0,0,0,28.83,14.78,28.83
$GC,504,-0.78,-194.6,1536,745,3736,3829,101.6,-20.6,89,513,0.05,2.22,0.00,0.000,3078,0.320,0.040,2543,2114,3784,3739,3830,0,0,0,0,0,0,14.54,14.76,28.83
$GC,759,-0.78,-194.6,1544,2112,3736,3829,153.5,-18.5,138,766,0.00,2.38,0.00,0.000,2308,0.000,0.057,2534,3553,3784,3739,3830,0,0,0,0,0,0,28.83,14.83,28.83
$GC,804,-0.78,-194.6,1536,3553,3736,3828,161.4,-17.2,146,812,0.00,2.25,0.00,0.000,3078,0.000,0.029,2534,2149,3784,3739,3829,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1058,-0.78,-194.6,1536,2146,3736,3829,209.5,-17.9,195,1065,0.00,2.30,0.00,0.000,2564,0.000,0.050,2534,752,3784,3739,3830,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1107,-0.78,-194.6,1536,751,3736,3829,218.7,-18.2,204,1116,0.05,2.25,0.00,0.000,3078,0.302,0.034,2545,2154,3784,3739,3830,0,0,0,0,0,0,14.60,14.84,28.83
$GC,1366,-0.78,-194.6,2545,2154,3739,3831,259.2,-14.4,248,1370,0.00,2.28,0.00,0.000,2308,0.000,0.056,2536,3551,3785,3739,3831,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1498,-0.78,-194.6,2536,3550,3739,3831,276.8,-12.6,273,1507,0.00,2.17,0.00,0.000,3078,0.000,0.028,2536,2144,3785,3739,3831,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1747,-0.78,-194.6,2536,2144,3740,3831,312.0,-13.8,299,1757,0.00,2.30,0.00,0.000,2308,0.000,0.058,2528,3545,3785,3739,3831,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1768,-0.78,-194.6,2528,3545,3739,3831,315.2,-14.5,303,1773,0.08,2.17,0.00,0.000,3078,0.363,0.029,2548,2147,3785,3739,3831,0,0,0,0,0,0,14.70,14.96,28.83
$GC,2014,-0.78,-194.6,2548,2147,3739,3830,348.4,-13.1,328,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2147,3785,3739,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2254,-0.78,-194.6,2548,2147,3738,3831,379.6,-12.6,352,2258,0.00,2.20,0.00,0.000,516,0.000,0.050,2548,757,3784,3738,3831,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2297,-0.78,-194.6,1664,756,3735,3830,385.4,-12.7,361,2305,0.00,2.22,0.00,0.000,3078,0.000,0.035,2541,2146,3784,3737,3831,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2545,-0.78,-194.6,2541,2146,3736,3831,419.0,-13.9,386,2554,0.00,2.30,0.00,0.000,2308,0.000,0.057,2531,3558,3783,3736,3831,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2576,-0.78,-194.6,2530,3558,3735,3831,423.4,-13.8,392,2581,0.05,2.20,0.00,0.000,3078,0.441,0.028,2546,2138,3783,3735,3831,0,0,0,0,0,0,14.73,15.02,28.83
$GC,2821,-0.78,-194.6,2546,2137,3734,3831,452.3,-11.2,417,2825,0.00,2.35,0.00,0.000,2308,0.000,0.060,2537,3556,3782,3733,3831,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2894,-0.78,-194.6,2537,3555,3732,3831,461.4,-11.9,432,2902,0.00,2.22,0.00,0.000,3078,0.000,0.027,2537,2154,3781,3732,3831,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3144,-0.78,-194.6,2537,2154,3731,3831,490.2,-11.2,457,3153,0.00,2.25,0.00,0.000,2564,0.000,0.050,2537,743,3781,3731,3831,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3244,-0.78,-194.6,2537,743,3730,3831,501.7,-11.1,477,3249,0.08,2.20,0.00,0.000,3078,0.374,0.035,2547,2156,3780,3730,3831,0,0,0,0,0,0,14.74,15.01,28.83
$GC,3489,-0.78,-194.6,2546,2155,3726,3831,526.3,-9.9,502,3494,0.00,2.28,0.00,0.000,2308,0.000,0.059,2537,3545,3778,3726,3830,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3566,-0.78,-194.6,2537,3545,3726,3831,533.9,-9.9,517,3570,0.00,2.17,0.00,0.000,3078,0.000,0.028,2538,2148,3777,3725,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3811,-0.78,-194.6,2537,2148,3725,3828,559.6,-10.1,542,3820,0.00,2.30,0.00,0.000,2308,0.000,0.058,2528,3544,3776,3724,3828,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3845,-0.78,-194.6,2528,3544,3724,3828,563.5,-10.5,549,3853,0.08,2.17,0.00,0.000,3078,0.353,0.028,2547,2147,3776,3724,3828,0,0,0,0,0,0,14.74,15.02,28.83
$GC,4092,-0.78,-194.6,2547,2146,3723,3826,589.7,-10.9,574,4096,0.00,2.33,0.00,0.000,2308,0.000,0.059,2539,3551,3774,3723,3826,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4151,-0.78,-194.6,2538,3551,3723,3825,596.4,-10.8,586,4159,0.00,2.20,0.00,0.000,3078,0.000,0.028,2539,2152,3774,3722,3826,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4408,-0.78,-194.6,2539,2151,3721,3823,624.2,-10.6,601,4409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2151,3772,3721,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4648,-0.78,-194.6,2539,2151,3718,3822,647.5,-9.4,613,4652,0.00,2.30,0.00,0.000,2308,0.000,0.060,2529,3542,3770,3719,3822,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4784,-0.78,-194.6,2529,3542,3716,3822,660.2,-9.1,640,4791,0.08,2.20,0.00,0.000,3078,0.360,0.028,2548,2137,3769,3716,3822,0,0,0,0,0,0,14.74,15.02,28.83
$GC,5044,-0.78,-194.6,2548,2136,3716,3821,684.3,-9.8,656,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2137,3768,3716,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5284,-0.78,-194.6,2547,2137,3714,3817,707.5,-9.1,668,5288,0.00,2.22,0.00,0.000,2564,0.000,0.053,2548,765,3765,3714,3817,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5303,-0.78,-194.6,2548,765,3713,3817,709.4,-9.1,672,5307,0.00,2.20,0.00,0.000,3078,0.000,0.037,2542,2156,3765,3713,3817,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5560,-0.78,-194.6,2542,2156,3711,3815,730.6,-8.0,687,5564,0.00,2.30,0.00,0.000,2308,0.000,0.062,2532,3547,3763,3711,3816,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5663,-0.78,-194.6,2531,3548,3710,3815,738.8,-8.2,707,5669,0.05,2.20,0.00,0.000,3078,0.437,0.029,2545,2146,3763,3710,3816,0,0,0,0,0,0,14.73,15.02,28.83
$GC,5921,-0.78,-194.6,2545,2146,3709,3813,758.2,-7.2,723,5925,0.00,2.25,0.00,0.000,2564,0.000,0.054,2545,761,3761,3709,3813,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5981,-0.78,-194.6,1624,760,3704,3812,762.9,-7.8,735,5985,0.00,2.20,0.00,0.000,3078,0.000,0.037,2538,2153,3760,3708,3813,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6232,-0.78,-194.6,2538,2153,3706,3812,784.7,-9.0,749,6237,0.00,2.30,0.00,0.000,2308,0.000,0.063,2528,3544,3759,3706,3812,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6288,-0.78,-194.6,2529,3544,3705,3812,790.0,-9.6,760,6293,0.08,2.20,0.00,0.000,3078,0.357,0.029,2548,2144,3758,3705,3812,0,0,0,0,0,0,14.72,15.02,28.83
$GC,6545,-0.78,-194.6,2548,2143,3704,3809,812.2,-8.4,775,6549,0.00,2.25,0.00,0.000,516,0.000,0.054,2548,764,3757,3705,3809,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6604,-0.78,-194.6,2548,763,3703,3809,817.9,-9.2,787,6608,0.00,2.20,0.00,0.000,3078,0.000,0.038,2542,2149,3756,3704,3809,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6861,-0.78,-194.6,2542,2149,3702,3807,843.7,-10.6,802,6862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2150,3754,3702,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7101,-0.78,-194.6,2542,2149,3701,3806,868.5,-10.1,814,7102,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2149,3753,3700,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7341,-0.78,-194.6,2542,2149,3700,3805,892.0,-9.6,826,7345,0.00,2.33,0.00,0.000,2308,0.000,0.064,2533,3543,3751,3698,3805,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7383,-0.78,-194.6,2533,3543,3699,3805,896.0,-9.8,834,7389,0.00,2.20,0.00,0.000,3078,0.000,0.030,2533,2150,3752,3699,3805,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7642,-0.78,-194.6,2533,2150,3698,3804,921.4,-9.7,850,7646,0.00,2.35,0.00,0.000,2308,0.000,0.063,2522,3549,3751,3698,3804,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7691,-0.78,-194.6,2522,3549,3698,3804,926.5,-10.0,860,7699,0.10,2.22,0.00,0.000,3078,0.327,0.030,2549,2147,3751,3698,3804,0,0,0,0,0,0,14.69,15.00,28.83
$GC,7939,-0.78,-194.6,2549,2146,3696,3803,947.6,-8.5,873,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2146,3749,3696,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8179,-0.78,-194.6,2549,2145,3695,3801,968.1,-8.7,885,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2146,3748,3695,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8217,begin apogee
$GC,8221,-0.17,0.0,2550,1917,3695,3801,971.5,-8.7,887,8509,0.55,0.00,284.80,1.577,10246,0.243,0.000,2747,1917,2987,3023,2952,0,0,0,0,0,0,14.70,28.83,13.64
$STATE,8510,end apogee,CONTROL_FINISHED_OK
$STATE,8511,begin climb
$GC,8512,0.78,194.6,2746,1917,3017,2944,982.9,0.0,901,8731,0.80,0.00,212.50,1.782,10758,0.143,0.000,3054,1917,2193,2223,2164,0,0,0,0,0,0,14.16,28.83,13.44
$GC,8958,0.78,194.6,3054,1917,2198,2129,929.6,17.0,951,8964,0.00,2.45,0.00,0.000,4356,0.000,0.060,3054,3343,2163,2197,2129,0,0,0,0,0,0,28.83,14.55,28.83
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$STATE,15994,end climb,SURFACE_DEPTH_REACHED
$STATE,15994,begin surface coast
$FINISH,0.4,1.022919
$STATE,16016,end surface coast,CONTROL_FINISHED_OK
$STATE,16017,begin surface
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$HUMID,39.88
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$XPDR_PINGS,4
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$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,328660
$DATA_FILE_SIZE,140788,1858
$CAP_FILE_SIZE,195401,0
$CFSIZE,2097086464,2067693568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.089,267.9,1
$GPS,070117,035000,2202.761,12314.586,28,0.8,29,-3.4