version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 170
start: 1 9 117 8 38 5
data:
$ID,628
$MISSION,3
$DIVE,170
$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,-124931.66
$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,43
$R_STBD_OVSHOOT,74
$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
$GPS1,090117,082200,2224.094,12237.471,36,0.9,36,-3.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-61.5
$GPS2,090117,083741,2224.197,12237.144,7,1.3,7,-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,317.3,138735,-15.8,-10.104,-18.78,2952
$D_GRID,4932
$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,14,-0.78,-194.6,80,2177,1374,1343,0.0,0.0,0,71,0.00,0.00,-54.00,0.000,16386,0.000,0.000,80,2177,3152,3160,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.78,-194.6,81,2178,3160,3146,3.1,-7.2,8,102,8.55,2.28,-10.80,0.000,18692,0.458,0.077,2531,3521,3782,3738,3827,0,0,0,0,0,0,14.38,14.62,14.95
$GC,181,-0.78,-194.6,1552,3519,3735,3828,27.8,-21.1,27,189,0.00,2.25,0.00,0.000,3078,0.000,0.031,2531,2147,3783,3738,3829,0,0,0,0,0,0,28.83,14.73,28.83
$GC,436,-0.78,-194.6,2531,2145,3738,3829,85.0,-24.5,76,444,0.05,2.30,0.00,0.000,2564,0.509,0.050,2543,741,3784,3738,3830,0,0,0,0,0,0,14.60,14.79,28.83
$GC,472,-0.78,-194.6,1568,741,3735,3829,93.2,-21.7,82,480,0.00,2.25,0.00,0.000,3078,0.000,0.041,2535,2116,3783,3738,3829,0,0,0,0,0,0,28.83,14.77,28.83
$GC,727,-0.78,-194.6,1560,2115,3735,3828,149.2,-19.0,131,734,0.00,2.38,0.00,0.000,2308,0.000,0.057,2526,3556,3783,3738,3829,0,0,0,0,0,0,28.83,14.81,28.83
$GC,766,-0.78,-194.6,1536,3557,3734,3828,156.3,-16.7,138,775,0.05,2.28,0.00,0.000,3078,0.306,0.028,2546,2135,3783,3738,3829,0,0,0,0,0,0,14.57,14.83,28.83
$GC,1023,-0.78,-194.6,1544,2134,3735,3829,197.3,-15.0,187,1030,0.00,2.28,0.00,0.000,2564,0.000,0.050,2546,753,3784,3738,3830,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1140,-0.78,-194.6,2546,753,3738,3829,214.2,-14.0,209,1148,0.00,2.25,0.00,0.000,3078,0.000,0.037,2539,2147,3784,3738,3830,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1394,-0.78,-194.6,2539,2147,3738,3830,253.5,-15.6,256,1398,0.00,2.30,0.00,0.000,2308,0.000,0.056,2527,3560,3784,3739,3830,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1452,-0.78,-194.6,2528,3561,3738,3830,262.1,-13.9,267,1463,0.08,2.20,0.00,0.000,3078,0.356,0.027,2547,2140,3784,3738,3830,0,0,0,0,0,0,14.65,14.92,28.83
$GC,1703,-0.78,-194.6,2547,2139,3738,3829,296.7,-14.0,293,1713,0.00,2.35,0.00,0.000,2308,0.000,0.059,2538,3558,3784,3738,3830,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1778,-0.78,-194.6,2539,3558,3738,3830,307.5,-13.2,308,1785,0.00,2.20,0.00,0.000,3078,0.000,0.029,2539,2158,3784,3738,3830,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2026,-0.78,-194.6,2539,2158,3738,3830,343.0,-14.0,333,2035,0.00,2.25,0.00,0.000,2564,0.000,0.049,2539,748,3783,3737,3829,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2047,-0.78,-194.6,2539,748,3737,3830,346.1,-14.6,337,2052,0.08,2.20,0.00,0.000,3078,0.380,0.036,2548,2157,3783,3737,3830,0,0,0,0,0,0,14.69,14.96,28.83
$GC,2292,-0.78,-194.6,2548,2157,3736,3830,377.8,-12.9,362,2296,0.00,2.25,0.00,0.000,516,0.000,0.051,2548,746,3783,3736,3830,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2358,-0.78,-194.6,2548,746,3736,3830,386.6,-12.8,375,2362,0.00,2.20,0.00,0.000,3078,0.000,0.036,2540,2159,3782,3735,3829,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2604,-0.78,-194.6,2541,2160,3734,3830,420.2,-13.3,400,2613,0.00,2.25,0.00,0.000,2308,0.000,0.057,2530,3548,3781,3733,3830,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2648,-0.78,-194.6,2530,3548,3733,3829,426.1,-12.1,409,2657,0.08,2.20,0.00,0.000,3078,0.364,0.027,2550,2136,3781,3733,3830,0,0,0,0,0,0,14.71,15.00,28.83
$GC,2896,-0.78,-194.6,2550,2135,3731,3829,451.1,-9.8,434,2900,0.00,2.20,0.00,0.000,516,0.000,0.051,2550,762,3780,3731,3829,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2956,-0.78,-194.6,2550,762,3731,3829,457.0,-9.6,446,2961,0.00,2.17,0.00,0.000,3078,0.000,0.037,2542,2150,3780,3731,3830,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3202,-0.78,-194.6,2542,2151,3729,3830,484.1,-11.6,471,3211,0.00,2.28,0.00,0.000,2308,0.000,0.057,2532,3549,3778,3727,3829,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3376,-0.78,-194.6,1664,3548,3722,3829,504.6,-11.4,506,3384,0.00,2.22,0.00,0.000,3078,0.000,0.028,2532,2158,3777,3725,3830,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3626,-0.78,-194.6,2532,2157,3724,3826,532.7,-10.3,531,3635,0.05,2.22,0.00,0.000,2564,0.454,0.049,2545,762,3775,3724,3826,0,0,0,0,0,0,14.81,14.88,28.83
$GC,3657,-0.78,-194.6,2545,762,3724,3826,536.1,-9.8,537,3661,0.00,2.20,0.00,0.000,3078,0.000,0.037,2538,2157,3775,3724,3826,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3909,-0.78,-194.6,2538,2158,3723,3825,560.2,-10.1,563,3910,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2158,3774,3723,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4149,-0.78,-194.6,2538,2158,3721,3823,586.2,-11.0,587,4150,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2158,3773,3722,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4398,-0.78,-194.6,2538,2158,3720,3822,611.7,-9.6,606,4402,0.00,2.28,0.00,0.000,2564,0.000,0.052,2537,745,3770,3719,3822,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4442,-0.78,-194.6,2538,746,3719,3822,616.1,-9.6,615,4447,0.08,2.22,0.00,0.000,3078,0.385,0.039,2548,2151,3770,3719,3822,0,0,0,0,0,0,14.69,15.00,28.83
$GC,4694,-0.78,-194.6,2548,2152,3717,3822,637.9,-8.7,629,4698,0.00,2.30,0.00,0.000,2308,0.000,0.059,2539,3553,3769,3717,3822,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4790,-0.78,-194.6,2540,3554,3716,3822,646.8,-9.6,648,4796,0.00,2.20,0.00,0.000,3078,0.000,0.028,2539,2148,3769,3716,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5051,-0.78,-194.6,2539,2147,3715,3818,675.1,-11.3,664,5057,0.00,2.25,0.00,0.000,2564,0.000,0.054,2540,757,3766,3714,3818,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5093,-0.78,-194.6,2539,758,3714,3818,680.6,-11.8,673,5098,0.05,2.22,0.00,0.000,3078,0.454,0.040,2544,2161,3766,3715,3817,0,0,0,0,0,0,14.70,14.97,28.83
$GC,5350,-0.78,-194.6,2544,2161,3712,3816,706.4,-9.7,688,5354,0.00,2.28,0.00,0.000,2308,0.000,0.060,2536,3543,3764,3712,3816,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5419,-0.78,-194.6,2535,3544,3711,3816,712.9,-8.9,702,5426,0.00,2.20,0.00,0.000,3078,0.000,0.029,2536,2150,3763,3711,3816,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5666,-0.78,-194.6,2536,2150,3710,3813,733.3,-8.1,715,5670,0.00,2.28,0.00,0.000,2564,0.000,0.054,2535,750,3761,3710,3813,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5710,-0.78,-194.6,2534,750,3710,3813,737.5,-9.0,724,5715,0.00,2.22,0.00,0.000,3078,0.000,0.040,2535,2145,3761,3710,3813,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5962,-0.78,-194.6,2535,2145,3708,3812,759.5,-9.1,738,5966,0.00,2.33,0.00,0.000,2308,0.000,0.060,2527,3553,3760,3708,3813,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6071,-0.78,-194.6,2527,3553,3706,3812,771.0,-10.9,760,6080,0.08,2.25,0.00,0.000,3078,0.371,0.030,2545,2143,3759,3706,3813,0,0,0,0,0,0,14.68,14.98,28.83
$GC,6319,-0.78,-194.6,2545,2143,3705,3810,798.2,-11.3,773,6325,0.00,2.25,0.00,0.000,2564,0.000,0.055,2545,760,3757,3705,3810,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6358,-0.78,-194.6,2546,760,3705,3810,802.8,-11.7,781,6362,0.00,2.22,0.00,0.000,3078,0.000,0.040,2538,2161,3757,3705,3810,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6614,-0.78,-194.6,2538,2161,3703,3809,831.4,-11.0,796,6618,0.00,2.30,0.00,0.000,2308,0.000,0.061,2529,3546,3755,3703,3808,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6648,-0.78,-194.6,2529,3546,3703,3808,835.4,-11.2,803,6656,0.08,2.22,0.00,0.000,3078,0.356,0.030,2548,2143,3755,3703,3808,0,0,0,0,0,0,14.69,15.00,28.83
$GC,6895,-0.78,-194.6,2548,2143,3703,3807,859.3,-9.5,816,6899,0.00,2.25,0.00,0.000,516,0.000,0.054,2549,760,3754,3702,3807,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6924,-0.78,-194.6,2548,759,3702,3807,862.4,-9.9,822,6932,0.00,2.28,0.00,0.000,3078,0.000,0.041,2541,2171,3754,3701,3807,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7171,-0.78,-194.6,2542,2171,3700,3805,885.3,-9.2,835,7175,0.00,2.28,0.00,0.000,2308,0.000,0.063,2532,3549,3752,3700,3805,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7210,-0.78,-194.6,2532,3549,3700,3805,889.0,-8.8,843,7215,0.05,2.22,0.00,0.000,3078,0.431,0.030,2546,2142,3752,3700,3805,0,0,0,0,0,0,14.69,15.00,28.83
$GC,7468,-0.78,-194.6,2545,2141,3699,3804,910.0,-8.2,858,7469,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2141,3751,3699,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7707,-0.78,-194.6,2545,2141,3698,3802,929.6,-8.5,870,7708,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2141,3750,3698,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7947,-0.78,-194.6,2545,2141,3696,3801,950.6,-8.8,882,7949,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2142,3748,3696,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8186,begin apogee
$GC,8190,-0.17,0.0,2545,1933,3695,3800,971.6,-8.6,894,8479,0.55,0.00,284.40,1.553,10246,0.243,0.000,2742,1933,2988,3024,2952,0,0,0,0,0,0,14.66,28.83,13.64
$STATE,8479,end apogee,CONTROL_FINISHED_OK
$STATE,8480,begin climb
$GC,8481,0.78,194.6,2742,1933,3018,2944,982.1,0.0,908,8702,0.80,2.55,211.82,1.766,11012,0.151,0.059,3051,3347,2186,2218,2154,0,0,0,0,0,0,14.08,14.04,13.45
$GC,8744,0.78,194.6,3051,3347,2203,2135,959.2,15.2,957,8748,0.00,2.33,0.00,0.000,5126,0.000,0.038,3061,1996,2169,2204,2134,0,0,0,0,0,0,28.83,14.28,28.83
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$STATE,16812,end climb,SURFACE_DEPTH_REACHED
$STATE,16812,begin surface coast
$FINISH,0.1,0.999988
$STATE,16840,end surface coast,CONTROL_FINISHED_OK
$STATE,16840,begin surface
$SM_CCo,16855,102.07,0.152,0,0,1356,400.08
$SM_GC,0.99,7.65,0.30,102.07,0.127,0.058,0.152,138,2160,1356,-8.23,-1.67,400.08,0,0,0,0,0,0,14.76,14.88,14.65
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$TT8_MAMPS,0.020223,0.020223
$HUMID,37.91
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.90
$XPDR_PINGS,2
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$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.875,205.950,496.225,102.075,0.000,0.000,0.000,593.425,0.500,0.000,8.066,4309.426,8347.375,832.904,4179.725,207.602,0.000,2991.930,0.000,3578.042,0.000,0.553,0.000
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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,322912
$DATA_FILE_SIZE,150705,2007
$CAP_FILE_SIZE,213402,0
$CFSIZE,2097086464,2065694720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.228,307.6,1
$GPS,090117,132154,2227.022,12233.626,35,0.9,35,-3.5