version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 172
start: 1 9 117 18 12 4
data:
$ID,628
$MISSION,3
$DIVE,172
$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,-124934.28
$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,40
$R_STBD_OVSHOOT,89
$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
$GPS1,090117,180400,2229.278,12229.541,36,0.9,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.6
$GPS2,090117,181140,2229.398,12229.451,7,1.1,7,-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,302.4,122526,-15.8,-10.104,-18.78,2952
$D_GRID,4935
$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,-194.6,109,2195,1369,1349,0.0,0.0,0,77,0.00,0.00,-60.45,0.000,16386,0.000,0.000,106,2194,3404,3405,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.78,-194.6,106,2193,3405,3404,3.8,-8.8,9,102,8.65,2.20,-5.90,0.000,18692,0.476,0.070,2529,3509,3783,3736,3831,0,0,0,0,0,0,14.37,14.71,14.93
$GC,181,-0.78,-194.6,1552,3508,3733,3830,31.0,-24.3,27,189,0.05,2.22,0.00,0.000,3078,0.308,0.027,2547,2130,3783,3735,3831,0,0,0,0,0,0,14.50,14.71,28.83
$GC,438,-0.78,-194.6,2547,2127,3736,3831,91.7,-22.1,76,445,0.00,2.35,0.00,0.000,260,0.000,0.053,2539,3509,3783,3735,3831,0,0,0,0,0,0,28.83,14.74,28.83
$GC,458,-0.78,-194.6,1568,3508,3732,3830,95.9,-22.1,79,465,0.00,2.20,0.00,0.000,3078,0.000,0.027,2539,2149,3783,3735,3831,0,0,0,0,0,0,28.83,14.76,28.83
$GC,712,-0.78,-194.6,1568,2145,3733,3830,155.0,-23.0,128,719,0.00,2.33,0.00,0.000,2564,0.000,0.052,2539,748,3784,3736,3832,0,0,0,0,0,0,28.83,14.78,28.83
$GC,824,-0.78,-194.6,1544,748,3733,3830,175.0,-15.9,149,832,0.03,2.20,0.00,0.000,3078,0.375,0.037,2541,2113,3784,3736,3832,0,0,0,0,0,0,14.53,14.77,28.83
$GC,1077,-0.78,-194.6,1536,2111,3733,3831,216.1,-15.8,198,1085,0.00,2.38,0.00,0.000,2308,0.000,0.056,2531,3545,3784,3737,3832,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1119,-0.78,-194.6,2531,3545,3737,3832,223.1,-16.9,205,1127,0.03,2.25,0.00,0.000,3078,0.362,0.028,2541,2144,3784,3737,3832,0,0,0,0,0,0,14.58,14.83,28.83
$GC,1374,-0.78,-194.6,2541,2144,3737,3832,265.1,-16.6,245,1384,0.00,2.22,0.00,0.000,2564,0.000,0.049,2541,757,3784,3737,3832,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1439,-0.78,-194.6,2542,757,3738,3832,275.8,-15.7,257,1448,0.00,2.17,0.00,0.000,3078,0.000,0.034,2533,2150,3784,3736,3832,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1687,-0.78,-194.6,2533,2150,3738,3832,318.0,-16.7,283,1689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2150,3784,3737,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1927,-0.78,-194.6,2533,2150,3738,3832,356.4,-15.0,307,1931,0.00,2.28,0.00,0.000,2308,0.000,0.057,2523,3543,3784,3736,3832,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1956,-0.78,-194.6,2523,3543,3737,3832,361.2,-15.3,313,1965,0.10,2.20,0.00,0.000,3078,0.334,0.027,2551,2134,3784,3737,3832,0,0,0,0,0,0,14.69,14.97,28.83
$GC,2203,-0.78,-194.6,2551,2134,3736,3832,392.3,-11.2,338,2212,0.00,2.20,0.00,0.000,516,0.000,0.049,2551,759,3784,3736,3832,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2234,-0.78,-194.6,2551,759,3735,3832,395.9,-11.7,344,2238,0.00,2.17,0.00,0.000,3078,0.000,0.035,2544,2151,3784,3736,3832,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2480,-0.78,-194.6,2543,2151,3734,3832,426.2,-12.1,369,2489,0.00,2.28,0.00,0.000,2308,0.000,0.057,2533,3549,3783,3734,3832,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2641,-0.78,-194.6,2533,3550,3733,3832,447.1,-13.0,401,2645,0.00,2.17,0.00,0.000,3078,0.000,0.028,2533,2153,3782,3733,3832,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2887,-0.78,-194.6,2533,2152,3731,3832,480.5,-14.4,426,2896,0.00,2.25,0.00,0.000,2564,0.000,0.051,2533,751,3781,3731,3832,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2938,-0.78,-194.6,2533,752,3731,3832,487.9,-14.1,436,2948,0.10,2.20,0.00,0.000,3078,0.353,0.035,2550,2155,3781,3731,3832,0,0,0,0,0,0,14.69,14.98,28.83
$GC,3188,-0.78,-194.6,2550,2156,3730,3832,518.1,-12.1,462,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2156,3780,3729,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3428,-0.78,-194.6,2550,2156,3726,3832,543.7,-9.6,486,3432,0.00,2.25,0.00,0.000,516,0.000,0.053,2550,759,3779,3726,3832,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3484,-0.78,-194.6,2550,759,3725,3831,549.0,-9.2,497,3488,0.00,2.20,0.00,0.000,3078,0.000,0.037,2542,2158,3778,3725,3832,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3730,-0.78,-194.6,2542,2159,3725,3830,574.5,-11.6,522,3739,0.00,2.28,0.00,0.000,2308,0.000,0.057,2532,3548,3777,3724,3830,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3753,-0.78,-194.6,1668,3547,3721,3829,577.7,-11.9,527,3761,0.00,2.25,0.00,0.000,3078,0.000,0.028,2532,2148,3776,3723,3830,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4001,-0.78,-194.6,2532,2148,3723,3828,608.6,-12.5,549,4005,0.03,2.33,0.00,0.000,2308,0.571,0.054,2535,3555,3775,3723,3827,0,0,0,0,0,0,14.81,14.93,28.83
$GC,4031,-0.78,-194.6,2535,3555,3722,3828,612.4,-11.7,555,4039,0.00,2.22,0.00,0.000,3078,0.000,0.028,2535,2141,3775,3723,3828,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4278,-0.78,-194.6,2535,2141,3722,3826,636.8,-9.2,568,4284,0.00,2.25,0.00,0.000,2564,0.000,0.053,2535,751,3773,3722,3825,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4337,-0.78,-194.6,2536,751,3722,3825,642.3,-9.2,580,4342,0.08,2.20,0.00,0.000,3078,0.389,0.037,2545,2154,3773,3721,3825,0,0,0,0,0,0,14.68,14.97,28.83
$GC,4595,-0.78,-194.6,2544,2154,3719,3823,665.9,-9.8,595,4601,0.00,2.28,0.00,0.000,2564,0.000,0.054,2545,757,3771,3719,3823,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4642,-0.78,-194.6,2545,757,3719,3823,671.2,-10.7,605,4647,0.00,2.20,0.00,0.000,3078,0.000,0.038,2538,2146,3771,3719,3823,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4894,-0.78,-194.6,2538,2147,3716,3823,699.8,-11.5,619,4898,0.00,2.25,0.00,0.000,2564,0.000,0.053,2538,753,3769,3717,3822,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4930,-0.78,-194.6,2536,753,3716,3822,703.9,-11.4,626,4935,0.08,2.22,0.00,0.000,3078,0.376,0.039,2548,2161,3769,3716,3822,0,0,0,0,0,0,14.69,14.98,28.83
$GC,5187,-0.78,-194.6,2548,2162,3715,3821,728.4,-9.0,641,5191,0.00,2.28,0.00,0.000,260,0.000,0.060,2540,3545,3768,3715,3822,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5296,-0.78,-194.6,2540,3546,3713,3822,738.4,-9.2,663,5304,0.00,2.25,0.00,0.000,3078,0.000,0.029,2540,2156,3767,3713,3822,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5543,-0.78,-194.6,2540,2155,3712,3818,760.9,-9.3,676,5549,0.00,2.33,0.00,0.000,2308,0.000,0.060,2530,3553,3765,3712,3818,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5583,-0.78,-194.6,2530,3553,3711,3818,764.7,-9.6,684,5588,0.08,2.22,0.00,0.000,3078,0.358,0.029,2549,2141,3764,3711,3818,0,0,0,0,0,0,14.70,15.00,28.83
$GC,5840,-0.78,-194.6,2550,2141,3710,3816,788.1,-9.2,699,5844,0.00,2.25,0.00,0.000,516,0.000,0.054,2550,762,3763,3710,3816,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5869,-0.78,-194.6,2550,762,3710,3815,791.1,-10.0,705,5876,0.00,2.25,0.00,0.000,3078,0.000,0.040,2542,2143,3763,3710,3816,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6116,-0.78,-194.6,2543,2143,3708,3814,815.5,-10.1,718,6120,0.00,2.33,0.00,0.000,2308,0.000,0.061,2532,3545,3760,3707,3814,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6172,-0.78,-194.6,2533,3545,3707,3814,821.2,-10.4,729,6178,0.00,2.20,0.00,0.000,3078,0.000,0.029,2532,2152,3760,3707,3814,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6432,-0.78,-194.6,2533,2151,3706,3813,848.1,-10.0,745,6436,0.00,2.28,0.00,0.000,2564,0.000,0.056,2533,760,3759,3706,3813,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6521,-0.78,-194.6,2533,760,3705,3813,857.6,-10.2,763,6528,0.10,2.22,0.00,0.000,3078,0.363,0.041,2549,2153,3759,3705,3813,0,0,0,0,0,0,14.63,14.95,28.83
$GC,6768,-0.78,-194.6,2550,2153,3704,3811,879.3,-8.8,776,6772,0.00,2.33,0.00,0.000,260,0.000,0.061,2540,3554,3757,3704,3811,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6804,-0.78,-194.6,2540,3554,3703,3811,882.6,-9.4,783,6810,0.00,2.22,0.00,0.000,3078,0.000,0.030,2540,2150,3757,3703,3811,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7064,-0.78,-194.6,2541,2148,3702,3809,907.4,-9.9,799,7068,0.00,2.35,0.00,0.000,2308,0.000,0.061,2531,3550,3755,3702,3809,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7089,-0.78,-194.6,2530,3549,3702,3808,910.1,-10.4,804,7094,0.05,2.22,0.00,0.000,3078,0.431,0.030,2546,2147,3756,3702,3810,0,0,0,0,0,0,14.68,14.99,28.83
$GC,7335,-0.78,-194.6,2547,2147,3700,3806,933.9,-9.4,817,7336,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2147,3754,3701,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7575,-0.78,-194.6,2546,2147,3700,3806,955.1,-8.5,829,7579,0.00,2.35,0.00,0.000,2308,0.000,0.062,2537,3549,3752,3699,3806,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7611,-0.78,-194.6,2538,3549,3699,3806,958.2,-8.7,836,7617,0.00,2.22,0.00,0.000,3078,0.000,0.031,2537,2150,3752,3699,3806,0,0,0,0,0,0,28.83,14.98,28.83
$STATE,7749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7749,begin apogee
$GC,7754,-0.17,0.0,2537,1925,3699,3805,970.2,-8.5,846,8042,0.57,0.00,284.08,1.553,10246,0.244,0.000,2741,1924,2988,3024,2952,0,0,0,0,0,0,14.66,28.83,13.62
$STATE,8043,end apogee,CONTROL_FINISHED_OK
$STATE,8043,begin climb
$GC,8044,0.78,194.6,2741,1924,3018,2944,979.7,0.0,860,8279,0.80,2.40,223.32,1.700,10756,0.148,0.068,3056,586,2184,2214,2154,0,0,0,0,0,0,14.14,14.07,13.52
$GC,8299,0.78,194.6,3056,586,2205,2146,959.3,13.4,914,8303,0.00,2.30,0.00,0.000,5126,0.000,0.038,3056,1942,2175,2205,2146,0,0,0,0,0,0,28.83,14.23,28.83
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$STATE,16406,end climb,SURFACE_DEPTH_REACHED
$STATE,16407,begin surface coast
$FINISH,0.7,1.023381
$STATE,16423,end surface coast,CONTROL_FINISHED_OK
$STATE,16424,begin surface
$SM_CCo,16441,103.18,0.154,0,0,1354,400.08
$SM_GC,0.96,7.62,2.55,103.18,0.122,0.032,0.154,136,2129,1354,-8.23,-2.01,400.08,0,0,0,0,0,0,14.76,14.85,14.65
$IRIDIUM_FIX,2216.01,12233.46,061109,020257
$TT8_MAMPS,0.019474,0.019474
$HUMID,38.42
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,13.5,65.980
$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
$DEVICE_SECS,19.675,210.050,507.400,103.175,0.000,0.000,0.000,354.425,0.500,0.000,8.143,4155.438,7955.043,839.671,3832.261,201.646,0.000,2746.287,0.000,3467.490,0.000,0.551,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1080.706,2117.481,1556.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322972
$DATA_FILE_SIZE,147135,1956
$CAP_FILE_SIZE,207702,0
$CFSIZE,2097086464,2065367040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.264,340.1,1
$GPS,090117,224901,2232.591,12226.357,35,1.0,35,-3.5