version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 159
start: 1 7 117 3 57 50
data:
$ID,628
$MISSION,3
$DIVE,159
$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,-124834.61
$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,65
$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
$GPS1,070117,035000,2202.761,12314.586,28,0.8,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-65.0
$GPS2,070117,035726,2202.735,12314.576,7,1.0,7,-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,315.9,213891,-15.8,-10.104,-18.78,2952
$D_GRID,5365
$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,-194.6,114,2162,1371,1348,0.0,0.0,0,71,0.00,0.00,-54.22,0.000,16386,0.000,0.000,112,2162,3190,3195,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.78,-194.6,112,2163,3196,3187,3.4,-8.0,8,102,8.65,2.35,-9.65,0.000,18692,0.478,0.076,2529,3542,3785,3739,3831,0,0,0,0,0,0,14.37,14.71,14.92
$GC,191,-0.78,-194.6,1536,3541,3734,3830,32.3,-21.2,29,200,0.05,2.28,0.00,0.000,3078,0.301,0.029,2547,2135,3784,3738,3831,0,0,0,0,0,0,14.49,14.74,28.83
$GC,446,-0.78,-194.6,1536,2132,3735,3831,85.1,-19.9,78,454,0.00,2.28,0.00,0.000,2564,0.000,0.048,2547,757,3784,3737,3831,0,0,0,0,0,0,28.83,14.76,28.83
$GC,486,-0.78,-194.6,2547,757,3738,3832,93.2,-19.2,85,495,0.00,2.22,0.00,0.000,3078,0.000,0.036,2540,2130,3785,3738,3832,0,0,0,0,0,0,28.83,14.76,28.83
$GC,742,-0.78,-194.6,1568,2129,3735,3831,152.6,-20.9,134,749,0.00,2.38,0.00,0.000,2308,0.000,0.057,2529,3566,3785,3738,3832,0,0,0,0,0,0,28.83,14.81,28.83
$GC,833,-0.78,-194.6,2529,3566,3738,3832,171.3,-19.2,151,840,0.03,2.28,0.00,0.000,3078,0.376,0.028,2539,2149,3785,3738,3832,0,0,0,0,0,0,14.57,14.83,28.83
$GC,1087,-0.78,-194.6,2539,2148,3738,3832,208.6,-14.0,200,1093,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2148,3785,3738,3833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1338,-0.78,-194.6,1536,2146,3735,3833,244.9,-16.2,249,1346,0.00,2.38,0.00,0.000,2308,0.000,0.057,2530,3565,3786,3739,3834,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1363,-0.78,-194.6,2530,3565,3738,3834,248.9,-16.1,253,1372,0.03,2.28,0.00,0.000,3078,0.387,0.029,2541,2150,3786,3738,3834,0,0,0,0,0,0,14.59,14.85,28.83
$GC,1621,-0.78,-194.6,2542,2150,3739,3834,294.3,-18.7,279,1631,0.00,2.22,0.00,0.000,2564,0.000,0.049,2541,746,3786,3739,3834,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1656,-0.78,-194.6,2542,746,3739,3834,301.3,-17.5,286,1664,0.00,2.25,0.00,0.000,3078,0.000,0.035,2534,2148,3786,3738,3834,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1904,-0.78,-194.6,2534,2148,3739,3834,341.0,-14.6,311,1906,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2148,3786,3738,3834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2144,-0.78,-194.6,2534,2148,3737,3834,372.6,-13.6,335,2145,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2148,3786,3738,3834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2384,-0.78,-194.6,2534,2148,3737,3834,404.9,-13.4,359,2388,0.00,2.25,0.00,0.000,2564,0.000,0.053,2533,744,3785,3736,3834,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2400,-0.78,-194.6,2534,744,3736,3834,407.1,-13.7,362,2404,0.10,2.20,0.00,0.000,3078,0.344,0.037,2551,2151,3785,3737,3834,0,0,0,0,0,0,14.73,14.98,28.83
$GC,2645,-0.78,-194.6,2551,2151,3735,3834,436.0,-12.4,387,2649,0.00,2.22,0.00,0.000,516,0.000,0.049,2552,753,3784,3735,3834,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2660,-0.78,-194.6,2552,753,3734,3834,438.0,-12.4,390,2665,0.00,2.20,0.00,0.000,3078,0.000,0.037,2544,2157,3784,3734,3834,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2912,-0.78,-194.6,2544,2157,3732,3834,466.9,-11.8,416,2921,0.00,2.25,0.00,0.000,2308,0.000,0.057,2534,3546,3782,3731,3834,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2983,-0.78,-194.6,2534,3546,3731,3833,475.5,-11.6,430,2987,0.00,2.17,0.00,0.000,3078,0.000,0.028,2534,2146,3782,3731,3833,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3229,-0.78,-194.6,2534,2144,3730,3833,505.9,-12.0,455,3238,0.00,2.22,0.00,0.000,2564,0.000,0.051,2534,756,3782,3730,3834,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3263,-0.78,-194.6,2534,756,3729,3834,510.4,-11.9,462,3271,0.10,2.20,0.00,0.000,3078,0.353,0.036,2550,2156,3781,3729,3834,0,0,0,0,0,0,14.72,15.00,28.83
$GC,3511,-0.78,-194.6,2551,2156,3727,3832,535.2,-10.1,487,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2156,3779,3727,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3750,-0.78,-194.6,2550,2156,3726,3831,563.0,-12.0,511,3754,0.00,2.28,0.00,0.000,260,0.000,0.057,2542,3549,3778,3725,3831,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3808,-0.78,-194.6,2542,3549,3725,3831,569.7,-11.7,522,3816,0.00,2.20,0.00,0.000,3078,0.000,0.028,2541,2140,3777,3724,3831,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4057,-0.78,-194.6,2541,2139,3724,3829,599.1,-11.3,548,4065,0.00,2.33,0.00,0.000,2308,0.000,0.060,2532,3545,3776,3723,3829,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4105,-0.78,-194.6,2532,3545,3723,3829,604.9,-10.7,558,4110,0.05,2.20,0.00,0.000,3078,0.432,0.028,2545,2141,3776,3723,3829,0,0,0,0,0,0,14.73,15.02,28.83
$GC,4357,-0.78,-194.6,2545,2141,3722,3826,631.1,-10.7,572,4358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2141,3774,3722,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4597,-0.78,-194.6,2545,2141,3721,3825,660.4,-13.1,584,4601,0.00,2.33,0.00,0.000,2308,0.000,0.060,2537,3545,3773,3721,3825,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4646,-0.78,-194.6,2537,3545,3719,3825,667.4,-13.8,594,4654,0.00,2.20,0.00,0.000,3078,0.000,0.028,2537,2151,3772,3719,3825,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4894,-0.78,-194.6,2537,2151,3718,3823,699.6,-12.5,607,4895,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2150,3770,3717,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5134,-0.78,-194.6,2537,2150,3716,3822,726.5,-10.5,619,5140,0.00,2.33,0.00,0.000,2308,0.000,0.060,2528,3549,3769,3716,3822,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5186,-0.78,-194.6,2528,3549,3715,3822,732.2,-10.5,630,5194,0.08,2.22,0.00,0.000,3078,0.353,0.029,2548,2141,3768,3715,3822,0,0,0,0,0,0,14.74,15.02,28.83
$GC,5433,-0.78,-194.6,2548,2141,3714,3822,756.8,-10.4,643,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2141,3768,3714,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5673,-0.78,-194.6,2548,2141,3712,3818,785.5,-12.7,655,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2141,3765,3712,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5913,-0.78,-194.6,2548,2141,3710,3816,816.6,-12.8,667,5917,0.00,2.35,0.00,0.000,260,0.000,0.061,2539,3546,3763,3710,3817,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5957,-0.78,-194.6,2539,3546,3710,3816,822.5,-12.7,676,5962,0.00,2.20,0.00,0.000,3078,0.000,0.030,2539,2151,3763,3710,3816,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6209,-0.78,-194.6,2539,2151,3709,3814,853.0,-11.8,690,6214,0.00,2.28,0.00,0.000,2564,0.000,0.054,2539,754,3761,3708,3815,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6239,-0.78,-194.6,2540,753,3708,3815,856.7,-12.2,696,6247,0.05,2.22,0.00,0.000,3078,0.454,0.040,2544,2154,3761,3708,3814,0,0,0,0,0,0,14.71,14.99,28.83
$GC,6486,-0.78,-194.6,2545,2154,3706,3813,880.0,-8.4,709,6487,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2154,3759,3706,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6726,-0.78,-194.6,2544,2154,3705,3812,895.2,-5.9,721,6727,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2154,3758,3704,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6966,-0.78,-194.6,2544,2154,3703,3811,910.7,-7.2,733,6972,0.00,2.30,0.00,0.000,2308,0.000,0.063,2536,3545,3756,3702,3811,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7008,-0.78,-194.6,1672,3543,3698,3810,914.2,-7.8,742,7013,0.00,2.25,0.00,0.000,3078,0.000,0.030,2536,2156,3756,3702,3811,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7265,-0.78,-194.6,2536,2155,3701,3809,938.0,-10.0,757,7270,0.00,2.30,0.00,0.000,2564,0.000,0.055,2536,749,3755,3701,3809,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7330,-0.78,-194.6,2536,750,3701,3809,945.0,-11.1,770,7335,0.08,2.22,0.00,0.000,3078,0.389,0.040,2548,2148,3755,3701,3809,0,0,0,0,0,0,14.66,14.97,28.83
$STATE,7580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7580,begin apogee
$GC,7585,-0.17,0.0,2548,1907,3700,3807,970.7,-10.6,784,7872,0.55,0.00,283.38,1.561,10246,0.242,0.000,2746,1906,2988,3024,2952,0,0,0,0,0,0,14.68,28.83,13.64
$STATE,7873,end apogee,CONTROL_FINISHED_OK
$STATE,7873,begin climb
$GC,7874,0.78,194.6,2746,1906,3017,2944,988.0,0.0,798,8094,0.80,2.38,208.50,1.786,10756,0.143,0.067,3062,593,2182,2211,2154,0,0,0,0,0,0,14.16,14.04,13.46
$GC,8165,0.78,194.6,2152,592,2151,2131,967.1,12.4,859,8169,0.00,2.25,0.00,0.000,5126,0.000,0.037,3062,1941,2165,2194,2137,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8422,0.78,194.6,3062,1940,2194,2131,931.2,14.4,874,8423,0.00,0.00,0.00,0.000,4102,0.000,0.000,3062,1940,2162,2194,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8661,0.78,194.6,3062,1941,2194,2128,895.0,15.9,886,8666,0.00,2.38,0.00,0.000,4356,0.000,0.062,3062,3359,2161,2194,2128,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8706,0.78,194.6,3062,3360,2194,2128,887.3,16.8,895,8711,0.08,2.25,0.00,0.000,5126,0.473,0.039,3054,1989,2160,2193,2128,0,0,0,0,0,0,14.52,14.79,28.83
$GC,8958,0.78,194.6,3054,1990,2194,2125,849.6,14.9,909,8964,0.00,2.42,0.00,0.000,4612,0.000,0.070,3063,543,2158,2193,2124,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9066,0.78,194.6,3063,543,2192,2124,833.1,15.5,931,9070,0.00,2.28,0.00,0.000,5126,0.000,0.040,3063,1957,2158,2192,2124,0,0,0,0,0,0,28.83,14.87,28.83
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$GC,12266,0.85,194.6,3054,1947,2190,2118,436.2,11.9,1230,12270,0.00,2.33,0.00,0.000,2308,0.000,0.055,3054,3354,2154,2191,2118,0,0,0,0,0,0,28.83,14.88,28.83
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$STATE,16135,end climb,SURFACE_DEPTH_REACHED
$STATE,16136,begin surface coast
$FINISH,0.1,1.022855
$STATE,16153,end surface coast,CONTROL_FINISHED_OK
$STATE,16153,begin surface
$SM_CCo,16170,62.25,0.154,0,0,1354,400.08
$SM_GC,0.81,7.55,2.58,62.25,0.098,0.034,0.154,137,2126,1354,-8.23,-2.09,400.08,0,0,0,0,0,0,14.77,14.83,14.66
$IRIDIUM_FIX,2152.74,12319.47,031109,121228
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.54
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,13.5,60.870
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.250,174.100,534.025,62.250,0.000,0.000,0.000,341.450,0.500,0.000,8.305,4068.260,7972.872,774.978,3647.281,195.510,0.000,2570.859,0.000,3303.643,0.000,0.551,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
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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,140554,1844
$CAP_FILE_SIZE,192930,0
$CFSIZE,2097086464,2067529728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.196,255.3,1
$GPS,070117,082930,2203.994,12311.242,32,0.9,32,-3.4