version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 169
start: 1 9 117 3 41 46
data:
$ID,628
$MISSION,3
$DIVE,169
$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,-8
$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,-124930.41
$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,53
$R_STBD_OVSHOOT,61
$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
$GPS1,090117,033330,2222.158,12241.545,27,0.8,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.6
$GPS2,090117,034122,2222.220,12241.463,8,1.2,8,-3.5
$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,306.6,146922,-15.8,-10.104,-18.78,2952
$D_GRID,4776
$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,-194.6,99,2069,1365,1346,0.0,0.0,0,78,0.00,0.00,-61.30,0.000,16386,0.000,0.000,96,2068,3466,3463,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.78,-194.6,95,2068,3463,3470,3.8,-7.3,9,103,8.52,2.50,-5.00,0.000,18692,0.461,0.082,2529,3528,3785,3738,3832,0,0,0,0,0,0,14.34,14.64,14.94
$GC,208,-0.78,-194.6,2529,3529,3737,3832,34.5,-18.3,32,216,0.05,2.22,0.00,0.000,3078,0.311,0.028,2547,2145,3784,3737,3832,0,0,0,0,0,0,14.47,14.72,28.83
$GC,463,-0.78,-194.6,1536,2142,3734,3831,92.4,-22.3,81,471,0.00,2.30,0.00,0.000,2564,0.000,0.049,2548,755,3784,3737,3832,0,0,0,0,0,0,28.83,14.76,28.83
$GC,488,-0.78,-194.6,1568,754,3734,3831,98.2,-22.2,85,496,0.00,2.22,0.00,0.000,3078,0.000,0.037,2540,2129,3784,3737,3832,0,0,0,0,0,0,28.83,14.76,28.83
$GC,742,-0.78,-194.6,1536,2127,3734,3831,153.7,-18.8,134,750,0.00,2.38,0.00,0.000,2308,0.000,0.054,2528,3565,3784,3737,3832,0,0,0,0,0,0,28.83,14.81,28.83
$GC,772,-0.78,-194.6,1540,3564,3734,3831,158.8,-16.3,139,780,0.03,2.28,0.00,0.000,3078,0.378,0.029,2540,2147,3784,3737,3832,0,0,0,0,0,0,14.57,14.83,28.83
$GC,1027,-0.78,-194.6,2540,2147,3738,3833,204.4,-16.3,188,1034,0.00,2.30,0.00,0.000,2564,0.000,0.050,2540,756,3785,3738,3833,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1157,-0.78,-194.6,2540,755,3737,3833,225.5,-15.6,213,1165,0.00,2.25,0.00,0.000,3078,0.000,0.036,2532,2150,3785,3738,3833,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1414,-0.78,-194.6,2532,2150,3737,3834,269.1,-17.0,252,1419,0.00,2.25,0.00,0.000,2564,0.000,0.048,2532,752,3786,3738,3834,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1432,-0.78,-194.6,2532,752,3737,3834,271.8,-16.9,255,1443,0.10,2.20,0.00,0.000,3078,0.359,0.036,2548,2158,3786,3738,3834,0,0,0,0,0,0,14.62,14.90,28.83
$GC,1681,-0.78,-194.6,2548,2158,3738,3834,311.8,-15.9,281,1690,0.00,2.28,0.00,0.000,516,0.000,0.053,2548,753,3786,3738,3834,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1715,-0.78,-194.6,2549,753,3738,3834,317.4,-15.7,288,1723,0.00,2.20,0.00,0.000,3078,0.000,0.039,2542,2153,3786,3738,3834,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1963,-0.78,-194.6,2542,2154,3737,3833,350.4,-13.5,313,1971,0.00,2.28,0.00,0.000,2308,0.000,0.057,2533,3550,3785,3737,3833,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2023,-0.78,-194.6,2533,3551,3737,3833,358.5,-12.7,325,2028,0.05,2.17,0.00,0.000,3078,0.432,0.028,2546,2146,3785,3737,3833,0,0,0,0,0,0,14.70,14.98,28.83
$GC,2268,-0.78,-194.6,2546,2145,3737,3833,390.5,-12.8,350,2272,0.00,2.22,0.00,0.000,2564,0.000,0.050,2546,751,3785,3737,3833,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2367,-0.78,-194.6,2546,751,3736,3833,403.0,-12.0,370,2375,0.00,2.20,0.00,0.000,3078,0.000,0.037,2538,2154,3783,3734,3833,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2615,-0.78,-194.6,2538,2154,3734,3833,434.1,-13.2,395,2619,0.00,2.22,0.00,0.000,2308,0.000,0.056,2529,3539,3783,3734,3833,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2638,-0.78,-194.6,2529,3539,3734,3833,437.0,-13.1,399,2647,0.08,2.15,0.00,0.000,3078,0.364,0.028,2549,2148,3783,3734,3833,0,0,0,0,0,0,14.71,15.01,28.83
$GC,2886,-0.78,-194.6,2549,2148,3732,3833,465.1,-11.0,425,2890,0.00,2.22,0.00,0.000,516,0.000,0.050,2549,757,3782,3731,3833,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2983,-0.78,-194.6,2549,757,3731,3833,475.2,-9.8,444,2992,0.00,2.17,0.00,0.000,3078,0.000,0.037,2540,2151,3782,3731,3833,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3233,-0.78,-194.6,2541,2152,3729,3833,503.8,-12.0,470,3241,0.00,2.28,0.00,0.000,2308,0.000,0.057,2531,3548,3780,3728,3833,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3364,-0.78,-194.6,2530,3547,3726,3833,519.8,-12.2,496,3374,0.05,2.17,0.00,0.000,3078,0.437,0.028,2546,2148,3779,3726,3833,0,0,0,0,0,0,14.72,15.01,28.83
$GC,3613,-0.78,-194.6,2546,2148,3726,3832,550.8,-11.5,522,3617,0.00,2.22,0.00,0.000,2564,0.000,0.051,2546,760,3778,3725,3831,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3679,-0.78,-194.6,2546,761,3725,3831,558.1,-10.8,535,3684,0.00,2.17,0.00,0.000,3078,0.000,0.037,2539,2153,3778,3725,3831,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3925,-0.78,-194.6,2539,2153,3724,3830,585.2,-11.2,560,3926,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2153,3777,3724,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4165,-0.78,-194.6,2539,2153,3722,3828,611.5,-10.7,579,4171,0.00,2.28,0.00,0.000,2308,0.000,0.058,2529,3542,3775,3722,3828,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4212,-0.78,-194.6,2529,3541,3722,3828,617.0,-10.8,589,4217,0.08,2.20,0.00,0.000,3078,0.362,0.028,2549,2141,3775,3722,3828,0,0,0,0,0,0,14.71,15.01,28.83
$GC,4464,-0.78,-194.6,2549,2141,3721,3825,643.1,-10.4,603,4469,0.00,2.33,0.00,0.000,260,0.000,0.058,2540,3546,3773,3721,3825,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4494,-0.78,-194.6,2540,3546,3720,3826,646.3,-10.6,609,4501,0.00,2.20,0.00,0.000,3078,0.000,0.028,2541,2147,3772,3720,3825,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4740,-0.78,-194.6,2540,2147,3718,3823,671.7,-10.0,622,4742,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2147,3770,3718,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4980,-0.78,-194.6,2540,2147,3717,3822,692.5,-8.0,634,4984,0.00,2.25,0.00,0.000,2564,0.000,0.053,2540,759,3769,3716,3822,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5009,-0.78,-194.6,2540,759,3716,3822,695.1,-8.8,640,5017,0.05,2.20,0.00,0.000,3078,0.458,0.040,2545,2147,3769,3716,3822,0,0,0,0,0,0,14.71,14.97,28.83
$GC,5256,-0.78,-194.6,2545,2147,3715,3822,713.9,-8.0,653,5261,0.00,2.30,0.00,0.000,2308,0.000,0.060,2536,3545,3768,3715,3822,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5338,-0.78,-194.6,2536,3543,3714,3822,720.9,-8.7,669,5342,0.00,2.20,0.00,0.000,3078,0.000,0.029,2536,2147,3767,3713,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5594,-0.78,-194.6,2536,2145,3712,3819,744.2,-9.4,684,5595,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2146,3765,3712,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5834,-0.78,-194.6,2536,2145,3711,3817,767.9,-10.2,696,5835,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2145,3764,3711,3817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6074,-0.78,-194.6,2536,2146,3710,3815,793.8,-11.3,708,6075,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2146,3762,3710,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6314,-0.78,-194.6,2536,2146,3707,3814,819.0,-9.7,720,6320,0.00,2.28,0.00,0.000,2564,0.000,0.054,2536,751,3760,3706,3814,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6337,-0.78,-194.6,2536,752,3707,3814,821.4,-10.0,725,6342,0.08,2.22,0.00,0.000,3078,0.385,0.041,2548,2143,3760,3707,3814,0,0,0,0,0,0,14.68,15.00,28.83
$GC,6594,-0.78,-194.6,2548,2144,3705,3813,841.0,-7.5,740,6598,0.00,2.33,0.00,0.000,260,0.000,0.061,2540,3549,3759,3705,3813,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6638,-0.78,-194.6,2541,3549,3705,3813,844.5,-7.7,749,6642,0.00,2.22,0.00,0.000,3078,0.000,0.030,2541,2147,3759,3705,3813,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6890,-0.78,-194.6,2540,2146,3703,3811,865.4,-8.7,763,6896,0.00,2.35,0.00,0.000,2308,0.000,0.061,2531,3553,3757,3703,3811,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6938,-0.78,-194.6,2531,3552,3702,3811,870.1,-9.4,773,6943,0.05,2.22,0.00,0.000,3078,0.428,0.029,2546,2146,3757,3703,3811,0,0,0,0,0,0,14.70,15.00,28.83
$GC,7190,-0.78,-194.6,2545,2145,3702,3809,893.1,-9.5,787,7192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2145,3755,3702,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7431,-0.78,-194.6,2546,2145,3701,3808,915.6,-9.2,799,7437,0.00,2.25,0.00,0.000,2564,0.000,0.055,2546,762,3754,3701,3807,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7498,-0.78,-194.6,2546,760,3700,3808,921.8,-8.7,813,7502,0.00,2.22,0.00,0.000,3078,0.000,0.041,2539,2153,3753,3700,3807,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7751,-0.78,-194.6,2539,2152,3699,3806,941.3,-7.8,827,7756,0.00,2.33,0.00,0.000,2308,0.000,0.063,2529,3546,3752,3699,3806,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7853,-0.78,-194.6,2530,3546,3697,3806,949.9,-7.9,848,7858,0.08,2.22,0.00,0.000,3078,0.362,0.031,2549,2140,3752,3698,3807,0,0,0,0,0,0,14.66,14.98,28.83
$STATE,8108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8108,begin apogee
$GC,8113,-0.17,0.0,2549,1931,3697,3804,970.8,-8.5,863,8391,0.55,0.00,270.60,1.596,10246,0.243,0.000,2746,1931,2981,3017,2946,0,0,0,0,0,0,14.65,28.83,13.64
$STATE,8392,end apogee,CONTROL_FINISHED_OK
$STATE,8392,begin climb
$GC,8393,0.78,194.6,2746,1931,3015,2943,984.9,0.0,877,8615,0.80,2.42,212.27,1.765,10756,0.155,0.068,3055,581,2187,2217,2157,0,0,0,0,0,0,14.17,14.05,13.49
$GC,8650,0.78,194.6,3056,580,2197,2142,969.0,12.7,929,8654,0.00,2.30,0.00,0.000,5126,0.000,0.039,3056,1941,2169,2197,2142,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8907,0.78,194.6,3055,1942,2197,2134,936.7,12.5,944,8911,0.00,2.40,0.00,0.000,4356,0.000,0.060,3055,3364,2165,2197,2134,0,0,0,0,0,0,28.83,14.63,28.83
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$STATE,16641,end climb,SURFACE_DEPTH_REACHED
$STATE,16641,begin surface coast
$FINISH,0.2,1.023415
$STATE,16669,end surface coast,CONTROL_FINISHED_OK
$STATE,16669,begin surface
$SM_CCo,16683,57.67,0.153,0,0,1355,400.08
$SM_GC,0.79,7.38,0.30,57.67,0.109,0.063,0.153,135,2173,1355,-8.23,-1.64,400.08,0,0,0,0,0,0,14.72,14.87,14.66
$IRIDIUM_FIX,2209.02,12244.53,051109,121204
$TT8_MAMPS,0.019474,0.019474
$HUMID,38.97
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,22.60
$XPDR_PINGS,3
$24V_AH,13.5,64.811
$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
$DEVICE_SECS,18.900,192.350,574.075,57.675,0.000,0.000,0.000,361.575,0.750,0.000,8.481,4138.986,8247.064,816.374,3785.893,201.555,0.000,2720.089,0.000,3416.257,0.000,0.552,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1087.132,2130.251,1507.416,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322956
$DATA_FILE_SIZE,147267,1934
$CAP_FILE_SIZE,202844,0
$CFSIZE,2097086464,2065858560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.208,286.1,1
$GPS,090117,082200,2224.094,12237.471,36,0.9,36,-3.5