version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 162
start: 1 7 117 18 11 21
data:
$ID,628
$MISSION,3
$DIVE,162
$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,-124875.61
$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,38
$R_STBD_OVSHOOT,87
$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
$GPS1,070117,175818,2207.937,12305.960,39,0.8,39,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.9
$GPS2,070117,181057,2207.940,12305.873,8,1.1,9,-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,319.6,196208,-15.8,-10.104,-18.78,2952
$D_GRID,4377
$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,-194.6,120,2190,1366,1352,0.0,0.0,0,72,0.00,0.00,-54.85,0.000,16386,0.000,0.000,118,2190,3187,3194,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,118,2190,3194,3181,3.1,-7.1,8,103,8.52,2.45,-10.15,0.000,18948,0.467,0.070,2541,734,3783,3738,3829,0,0,0,0,0,0,14.36,14.62,14.92
$GC,219,-0.78,-194.6,1552,734,3734,3829,34.7,-20.1,34,226,0.00,2.25,0.00,0.000,3078,0.000,0.036,2533,2121,3783,3737,3830,0,0,0,0,0,0,28.83,14.72,28.83
$GC,474,-0.78,-194.6,2533,2121,3737,3830,93.3,-21.5,83,481,0.00,2.38,0.00,0.000,2308,0.000,0.055,2522,3556,3783,3737,3830,0,0,0,0,0,0,28.83,14.78,28.83
$GC,519,-0.78,-194.6,1536,3555,3734,3829,102.7,-20.7,91,527,0.05,2.30,0.00,0.000,3078,0.301,0.031,2554,2132,3783,3737,3830,0,0,0,0,0,0,14.59,14.81,28.83
$GC,775,-0.78,-194.6,1560,2129,3734,3829,157.8,-22.3,140,782,0.00,2.38,0.00,0.000,4356,0.000,0.060,2544,3542,3783,3737,3830,0,0,0,0,0,0,28.83,14.81,28.83
$GC,815,-0.78,-194.6,1544,3541,3734,3829,166.6,-20.9,147,822,0.00,2.25,0.00,0.000,3078,0.000,0.030,2544,2153,3783,3737,3830,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1067,-0.78,-194.6,1536,2151,3734,3830,211.1,-16.0,196,1074,0.00,2.33,0.00,0.000,2564,0.000,0.054,2544,749,3784,3738,3831,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1177,-0.78,-194.6,2544,748,3738,3831,226.8,-14.6,217,1186,0.00,2.25,0.00,0.000,3078,0.000,0.037,2535,2139,3784,3738,3830,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1434,-0.78,-194.6,2536,2140,3738,3831,270.7,-18.5,256,1442,0.00,2.30,0.00,0.000,2308,0.000,0.057,2527,3556,3784,3738,3831,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1504,-0.78,-194.6,2527,3556,3737,3831,283.2,-16.1,270,1509,0.05,2.17,0.00,0.000,3078,0.290,0.028,2547,2138,3784,3738,3831,0,0,0,0,0,0,14.64,14.91,28.83
$GC,1756,-0.78,-194.6,2547,2138,3738,3831,318.2,-12.6,296,1760,0.00,2.35,0.00,0.000,2308,0.000,0.060,2538,3557,3784,3738,3831,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1795,-0.78,-194.6,2538,3558,3738,3831,323.6,-13.1,304,1802,0.00,2.20,0.00,0.000,3078,0.000,0.028,2538,2150,3784,3737,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2043,-0.78,-194.6,2538,2148,3737,3831,358.3,-15.2,329,2044,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2148,3784,3737,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2282,-0.78,-194.6,2538,2148,3737,3831,395.0,-15.3,353,2286,0.00,2.22,0.00,0.000,2564,0.000,0.050,2538,762,3783,3736,3831,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2336,-0.78,-194.6,2538,761,3735,3831,403.2,-14.2,364,2345,0.08,2.20,0.00,0.000,3078,0.365,0.035,2548,2169,3783,3735,3832,0,0,0,0,0,0,14.72,14.98,28.83
$GC,2583,-0.78,-194.6,2548,2169,3734,3831,433.8,-11.8,389,2592,0.00,2.25,0.00,0.000,260,0.000,0.057,2540,3551,3782,3733,3831,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2674,-0.78,-194.6,2539,3551,3733,3831,444.7,-11.5,407,2678,0.00,2.17,0.00,0.000,3078,0.000,0.028,2539,2146,3781,3732,3831,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2921,-0.78,-194.6,2539,2145,3731,3831,473.5,-12.4,432,2930,0.00,2.22,0.00,0.000,2564,0.000,0.050,2539,746,3781,3731,3831,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2975,-0.78,-194.6,2539,746,3731,3831,481.1,-12.9,443,2983,0.08,2.20,0.00,0.000,3078,0.377,0.035,2549,2145,3780,3730,3831,0,0,0,0,0,0,14.73,15.00,28.83
$GC,3222,-0.78,-194.6,2548,2145,3729,3831,510.0,-10.9,468,3226,0.00,2.30,0.00,0.000,260,0.000,0.057,2540,3555,3780,3729,3831,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3321,-0.78,-194.6,1664,3554,3723,3830,521.1,-11.1,488,3328,0.00,2.20,0.00,0.000,3078,0.000,0.028,2540,2144,3778,3726,3831,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3569,-0.78,-194.6,2540,2143,3725,3830,549.7,-11.0,513,3577,0.00,2.33,0.00,0.000,2308,0.000,0.057,2530,3555,3777,3725,3830,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3609,-0.78,-194.6,2530,3555,3724,3830,554.1,-11.0,521,3614,0.08,2.20,0.00,0.000,3078,0.372,0.028,2550,2140,3777,3724,3830,0,0,0,0,0,0,14.72,15.02,28.83
$GC,3854,-0.78,-194.6,2549,2139,3724,3827,580.8,-11.3,546,3858,0.00,2.22,0.00,0.000,516,0.000,0.052,2550,760,3775,3724,3827,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3940,-0.78,-194.6,2550,760,3723,3827,590.7,-11.6,563,3944,0.00,2.20,0.00,0.000,3078,0.000,0.036,2542,2167,3775,3723,3827,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4185,-0.78,-194.6,2542,2168,3721,3825,617.6,-11.1,580,4189,0.00,2.25,0.00,0.000,2308,0.000,0.060,2533,3538,3773,3722,3825,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4242,-0.78,-194.6,2533,3538,3722,3825,623.8,-10.8,591,4246,0.00,2.17,0.00,0.000,3078,0.000,0.028,2533,2150,3773,3721,3825,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4503,-0.78,-194.6,2533,2149,3721,3823,651.6,-10.3,607,4504,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2148,3771,3720,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4743,-0.78,-194.6,2533,2148,3717,3822,677.8,-11.6,619,4747,0.00,2.25,0.00,0.000,2564,0.000,0.052,2532,762,3769,3717,3822,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4767,-0.78,-194.6,2533,761,3717,3822,680.9,-12.6,624,4772,0.10,2.20,0.00,0.000,3078,0.360,0.037,2550,2153,3769,3717,3822,0,0,0,0,0,0,14.71,15.01,28.83
$GC,5019,-0.78,-194.6,2550,2153,3717,3821,708.3,-11.0,638,5023,0.00,2.30,0.00,0.000,260,0.000,0.060,2541,3547,3769,3716,3822,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5133,-0.78,-194.6,2541,3548,3714,3822,721.0,-10.2,661,5140,0.00,2.20,0.00,0.000,3078,0.000,0.028,2541,2148,3767,3714,3821,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5380,-0.78,-194.6,2541,2148,3713,3818,745.4,-9.0,674,5384,0.00,2.25,0.00,0.000,2564,0.000,0.053,2541,761,3765,3713,3818,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5456,-0.78,-194.6,2541,760,3712,3818,751.9,-8.2,689,5460,0.00,2.20,0.00,0.000,3078,0.000,0.038,2533,2160,3765,3712,3818,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5712,-0.78,-194.6,2534,2160,3710,3816,772.7,-8.4,704,5716,0.00,2.28,0.00,0.000,2308,0.000,0.062,2523,3539,3763,3710,3816,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5854,-0.78,-194.6,2523,3539,3709,3816,786.3,-10.0,732,5861,0.10,2.17,0.00,0.000,3078,0.328,0.029,2551,2147,3762,3708,3816,0,0,0,0,0,0,14.71,15.02,28.83
$GC,6114,-0.78,-194.6,2551,2147,3708,3813,811.3,-9.9,748,6120,0.00,2.33,0.00,0.000,260,0.000,0.061,2542,3540,3760,3707,3813,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6181,-0.78,-194.6,2542,3541,3706,3813,818.6,-10.4,762,6186,0.00,2.22,0.00,0.000,3078,0.000,0.029,2542,2156,3759,3706,3813,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6433,-0.78,-194.6,2542,2155,3706,3812,844.9,-10.4,776,6437,0.00,2.33,0.00,0.000,2308,0.000,0.061,2533,3545,3758,3705,3812,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6472,-0.78,-194.6,1680,3544,3701,3811,849.2,-10.6,784,6476,0.00,2.25,0.00,0.000,3078,0.000,0.028,2533,2152,3758,3705,3812,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6730,-0.78,-194.6,2533,2152,3703,3809,876.1,-10.1,799,6736,0.00,2.28,0.00,0.000,2564,0.000,0.055,2533,760,3756,3703,3809,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6749,-0.78,-194.6,2533,760,3703,3810,878.1,-10.5,803,6754,0.10,2.20,0.00,0.000,3078,0.350,0.039,2550,2146,3756,3703,3810,0,0,0,0,0,0,14.68,14.98,28.83
$GC,7006,-0.78,-194.6,2551,2146,3701,3808,901.9,-9.4,818,7010,0.00,2.33,0.00,0.000,260,0.000,0.063,2542,3544,3754,3700,3809,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7103,-0.78,-194.6,2541,3545,3700,3808,911.4,-10.0,837,7109,0.00,2.20,0.00,0.000,3078,0.000,0.030,2541,2150,3754,3700,3808,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7362,-0.78,-194.6,2542,2149,3699,3806,937.8,-10.2,853,7366,0.00,2.28,0.00,0.000,2564,0.000,0.055,2541,760,3752,3699,3806,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7426,-0.78,-194.6,2541,761,3699,3806,944.7,-10.6,866,7431,0.00,2.22,0.00,0.000,3078,0.000,0.040,2537,2149,3752,3699,3806,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7679,-0.78,-194.6,2537,2149,3698,3805,969.7,-9.9,880,7683,0.00,2.10,0.00,0.000,2307,0.000,0.063,2530,3421,3751,3697,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7684,begin apogee
$GC,7690,-0.17,0.0,2529,1955,3697,3804,970.2,-9.8,881,7979,0.57,0.00,281.65,1.568,10246,0.239,0.000,2743,1954,2981,3018,2945,0,0,0,0,0,0,14.66,28.83,13.64
$STATE,7980,end apogee,CONTROL_FINISHED_OK
$STATE,7980,begin climb
$GC,7982,0.78,194.6,2743,1954,3016,2942,983.2,0.0,898,8200,0.80,2.58,209.20,1.790,10756,0.142,0.070,3066,556,2187,2217,2157,0,0,0,0,0,0,14.18,14.04,13.45
$GC,8235,0.78,194.6,3066,556,2197,2142,965.0,14.0,949,8243,0.05,2.35,0.00,0.000,5126,0.462,0.039,3056,1952,2169,2198,2141,0,0,0,0,0,0,14.07,14.26,28.83
$GC,8482,0.78,194.6,3056,1952,2197,2132,932.5,13.1,962,8486,0.00,2.35,0.00,0.000,4612,0.000,0.067,3065,557,2164,2197,2132,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8511,0.78,194.6,3065,557,2195,2132,928.4,13.3,968,8519,0.00,2.30,0.00,0.000,5126,0.000,0.039,3065,1962,2163,2194,2132,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,16133,end climb,SURFACE_DEPTH_REACHED
$STATE,16134,begin surface coast
$FINISH,-0.0,1.023359
$STATE,16156,end surface coast,CONTROL_FINISHED_OK
$STATE,16156,begin surface
$SM_CCo,16170,52.62,0.152,0,0,1354,400.08
$SM_GC,0.93,7.18,0.28,52.62,0.083,0.058,0.152,146,2178,1354,-8.23,-1.78,400.08,0,0,0,0,0,0,14.71,14.88,14.66
$IRIDIUM_FIX,2157.39,12240.76,041109,070709
$TT8_MAMPS,0.020223,0.020223
$HUMID,39.56
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,13.4,62.085
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,18.700,205.450,575.125,52.625,0.000,0.000,0.000,529.350,0.500,0.000,10.097,4020.723,7997.023,804.145,3941.001,197.583,0.000,2879.062,0.000,3393.815,0.000,0.552,0.000
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$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,328708
$DATA_FILE_SIZE,147365,1941
$CAP_FILE_SIZE,204073,0
$CFSIZE,2097086464,2067005440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.188,271.3,1
$GPS,070117,224300,2209.680,12302.439,40,0.9,40,-3.4