version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 181
start: 1 11 117 13 38 2
data:
$ID,628
$MISSION,3
$DIVE,181
$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,-124988.94
$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,61
$R_STBD_OVSHOOT,59
$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
$GPS1,110117,132948,2249.218,12157.921,36,1.1,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.5
$GPS2,110117,133739,2249.339,12157.866,8,1.1,8,-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,263.1,57489,-15.8,-10.104,-18.78,2952
$D_GRID,4266
$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,-194.6,94,2129,1360,1350,0.0,0.0,0,72,0.00,0.00,-54.22,0.000,16386,0.000,0.000,93,2129,3215,3218,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,92,2129,3218,3211,3.4,-7.1,8,97,8.57,2.33,-9.18,0.000,18948,0.461,0.075,2537,757,3785,3740,3830,0,0,0,0,0,0,14.32,14.71,14.91
$GC,222,-0.78,-194.6,1540,757,3736,3830,39.7,-20.7,35,231,0.03,2.28,0.00,0.000,3078,0.391,0.043,2540,2130,3785,3739,3831,0,0,0,0,0,0,14.44,14.70,28.83
$GC,478,-0.78,-194.6,1544,2129,3736,3830,95.7,-22.2,84,485,0.00,2.40,0.00,0.000,2308,0.000,0.060,2532,3563,3785,3739,3831,0,0,0,0,0,0,28.83,14.76,28.83
$GC,558,-0.78,-194.6,1536,3563,3735,3830,112.3,-18.9,99,566,0.03,2.30,0.00,0.000,3078,0.360,0.031,2543,2149,3785,3739,3831,0,0,0,0,0,0,14.52,14.78,28.83
$GC,815,-0.78,-194.6,2543,2148,3739,3831,157.8,-16.1,148,822,0.00,2.30,0.00,0.000,2564,0.000,0.050,2543,757,3785,3739,3832,0,0,0,0,0,0,28.83,14.76,28.83
$GC,880,-0.78,-194.6,1536,756,3736,3831,167.6,-14.8,160,887,0.00,2.28,0.00,0.000,3078,0.000,0.037,2535,2158,3785,3739,3831,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1132,-0.78,-194.6,2536,2158,3739,3832,206.1,-13.4,209,1140,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2158,3785,3739,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1386,-0.78,-194.6,1568,2156,3735,3831,242.5,-14.5,258,1392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2158,3785,3739,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1640,-0.78,-194.6,2535,2158,3739,3832,281.7,-16.3,288,1644,0.00,2.30,0.00,0.000,2308,0.000,0.059,2525,3548,3786,3739,3833,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1714,-0.78,-194.6,2525,3548,3739,3832,294.2,-16.2,303,1722,0.10,2.22,0.00,0.000,3078,0.333,0.030,2553,2137,3786,3739,3833,0,0,0,0,0,0,14.63,14.92,28.83
$GC,1961,-0.78,-194.6,2553,2136,3739,3832,326.9,-12.4,328,1965,0.00,2.22,0.00,0.000,516,0.000,0.052,2553,754,3785,3738,3833,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2057,-0.78,-194.6,2553,754,3738,3832,338.5,-12.2,347,2061,0.00,2.20,0.00,0.000,3078,0.000,0.038,2545,2153,3785,3738,3832,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2302,-0.78,-194.6,2545,2153,3737,3832,366.3,-11.2,372,2312,0.00,2.25,0.00,0.000,2564,0.000,0.053,2545,753,3784,3737,3832,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2354,-0.78,-194.6,2545,753,3736,3832,372.7,-12.7,382,2363,0.00,2.20,0.00,0.000,3078,0.000,0.039,2536,2149,3784,3736,3833,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2604,-0.78,-194.6,2536,2150,3734,3833,405.3,-13.0,408,2613,0.00,2.30,0.00,0.000,2308,0.000,0.061,2527,3557,3783,3734,3832,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2718,-0.78,-194.6,2527,3556,3733,3832,420.7,-12.5,431,2726,0.05,2.25,0.00,0.000,3078,0.286,0.031,2547,2152,3782,3732,3832,0,0,0,0,0,0,14.58,14.86,28.83
$GC,2965,-0.78,-194.6,2547,2152,3731,3832,448.7,-10.4,456,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2152,3781,3731,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3205,-0.78,-194.6,2548,2152,3730,3832,475.6,-11.7,480,3209,0.00,2.25,0.00,0.000,516,0.000,0.054,2548,762,3780,3729,3832,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3291,-0.78,-194.6,2548,761,3728,3831,485.7,-11.7,497,3295,0.00,2.20,0.00,0.000,3078,0.000,0.041,2541,2155,3779,3728,3831,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3537,-0.78,-194.6,2540,2155,3726,3830,512.8,-10.4,522,3546,0.00,2.30,0.00,0.000,2308,0.000,0.062,2530,3547,3777,3725,3830,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3598,-0.78,-194.6,2530,3547,3725,3830,519.1,-9.8,534,3603,0.08,2.20,0.00,0.000,3078,0.356,0.031,2550,2149,3777,3725,3830,0,0,0,0,0,0,14.69,14.98,28.83
$GC,3843,-0.78,-194.6,2550,2148,3724,3825,543.3,-10.2,559,3847,0.00,2.25,0.00,0.000,516,0.000,0.054,2550,750,3775,3724,3826,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3941,-0.78,-194.6,1680,750,3720,3825,554.2,-11.1,579,3949,0.00,2.28,0.00,0.000,3078,0.000,0.041,2542,2147,3774,3723,3826,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4189,-0.78,-194.6,2542,2148,3722,3825,581.4,-10.7,604,4198,0.00,2.33,0.00,0.000,2308,0.000,0.063,2532,3548,3773,3721,3825,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4283,-0.78,-194.6,2533,3548,3721,3825,591.8,-10.5,623,4290,0.00,2.25,0.00,0.000,3078,0.000,0.033,2533,2144,3772,3721,3824,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4540,-0.78,-194.6,2533,2144,3719,3822,620.8,-11.3,640,4544,0.00,2.35,0.00,0.000,2308,0.000,0.064,2522,3545,3770,3719,3822,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4629,-0.78,-194.6,2523,3545,3717,3822,631.3,-11.5,658,4638,0.10,2.25,0.00,0.000,3078,0.323,0.034,2550,2137,3769,3717,3822,0,0,0,0,0,0,14.68,14.97,28.83
$GC,4877,-0.78,-194.6,2551,2135,3716,3822,654.8,-9.4,671,4883,0.00,2.25,0.00,0.000,516,0.000,0.057,2551,760,3769,3716,3822,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4939,-0.78,-194.6,1680,760,3713,3820,661.0,-9.1,684,4943,0.00,2.25,0.00,0.000,3078,0.000,0.043,2544,2141,3769,3716,3822,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5197,-0.78,-194.6,2544,2141,3714,3819,684.7,-9.2,699,5203,0.00,2.35,0.00,0.000,2308,0.000,0.065,2533,3552,3766,3714,3819,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5239,-0.78,-194.6,1664,3551,3709,3818,689.2,-9.9,708,5243,0.00,2.28,0.00,0.000,3078,0.000,0.034,2534,2153,3766,3713,3819,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5496,-0.78,-194.6,2533,2153,3711,3816,715.0,-10.2,723,5497,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2153,3764,3712,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5737,-0.78,-194.6,2533,2153,3710,3815,739.3,-10.4,735,5738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2152,3762,3710,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5976,-0.78,-194.6,2533,2152,3709,3813,765.6,-10.8,747,5978,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2153,3760,3708,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6216,-0.78,-194.6,2533,2152,3706,3812,789.7,-9.6,759,6222,0.00,2.35,0.00,0.000,2308,0.000,0.067,2524,3543,3759,3706,3812,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6239,-0.78,-194.6,1664,3542,3702,3811,792.1,-9.7,764,6244,0.05,2.28,0.00,0.000,3078,0.282,0.035,2544,2154,3759,3706,3812,0,0,0,0,0,0,14.62,14.93,28.83
$GC,6496,-0.78,-194.6,2546,2154,3705,3810,812.7,-7.8,779,6497,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2154,3757,3705,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6736,-0.78,-194.6,2546,2154,3704,3809,832.9,-8.7,791,6742,0.00,2.35,0.00,0.000,2308,0.000,0.068,2537,3543,3756,3703,3809,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6797,-0.78,-194.6,2537,3543,3702,3809,838.4,-9.5,803,6803,0.00,2.25,0.00,0.000,3078,0.000,0.036,2537,2142,3756,3703,3809,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7056,-0.78,-194.6,2536,2142,3702,3807,863.1,-9.5,819,7060,0.00,2.30,0.00,0.000,2564,0.000,0.060,2536,750,3754,3701,3807,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7095,-0.78,-194.6,1672,749,3698,3805,867.0,-9.5,827,7100,0.05,2.30,0.00,0.000,3078,0.277,0.044,2549,2141,3754,3701,3807,0,0,0,0,0,0,14.59,14.89,28.83
$GC,7353,-0.78,-194.6,2549,2142,3700,3806,887.7,-8.0,842,7359,0.00,2.38,0.00,0.000,260,0.000,0.067,2540,3558,3753,3700,3806,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7415,-0.78,-194.6,1672,3557,3695,3805,893.1,-8.2,855,7420,0.00,2.30,0.00,0.000,3078,0.000,0.036,2540,2154,3752,3699,3806,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7673,-0.78,-194.6,2540,2154,3699,3804,915.7,-9.2,870,7677,0.00,2.38,0.00,0.000,2308,0.000,0.069,2530,3552,3752,3699,3805,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7737,-0.78,-194.6,2531,3552,3698,3804,922.1,-9.4,883,7742,0.08,2.28,0.00,0.000,3078,0.353,0.037,2549,2137,3751,3698,3804,0,0,0,0,0,0,14.64,14.94,28.83
$GC,7995,-0.78,-194.6,2549,2136,3697,3804,943.7,-8.2,898,8001,0.00,2.28,0.00,0.000,516,0.000,0.060,2550,756,3750,3697,3803,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8047,-0.78,-194.6,2550,756,3697,3803,948.5,-8.7,909,8054,0.00,2.28,0.00,0.000,3078,0.000,0.045,2543,2160,3749,3696,3803,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8294,-0.78,-194.6,2543,2160,3695,3802,969.7,-8.6,922,8298,0.00,2.10,0.00,0.000,2307,0.000,0.068,2535,3418,3749,3695,3803,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8299,begin apogee
$GC,8305,-0.17,0.0,2534,1955,3696,3802,970.1,-8.7,923,8597,0.55,0.00,287.95,1.554,10246,0.244,0.000,2739,1953,2988,3024,2952,0,0,0,0,0,0,14.62,28.83,13.57
$STATE,8598,end apogee,CONTROL_FINISHED_OK
$STATE,8598,begin climb
$GC,8600,0.78,194.6,2739,1954,3017,2944,982.2,0.0,940,8827,0.80,2.60,216.20,1.758,10756,0.141,0.074,3057,558,2183,2213,2153,0,0,0,0,0,0,14.14,13.98,13.38
$GC,8854,0.78,194.6,3057,558,2198,2141,962.9,13.8,992,8859,0.00,2.38,0.00,0.000,5126,0.000,0.044,3057,1943,2169,2198,2140,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9111,0.78,194.6,3057,1943,2197,2130,928.0,13.2,1007,9117,0.00,2.38,0.00,0.000,4612,0.000,0.073,3067,555,2163,2197,2130,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,16643,end climb,SURFACE_DEPTH_REACHED
$STATE,16643,begin surface coast
$FINISH,-0.0,1.019646
$STATE,16665,end surface coast,CONTROL_FINISHED_OK
$STATE,16665,begin surface
$SM_CCo,16680,41.47,0.156,0,0,1354,400.08
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$TT8_MAMPS,0.019474,0.019474
$HUMID,40.43
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,13.4,69.523
$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322956
$DATA_FILE_SIZE,150923,2006
$CAP_FILE_SIZE,201480,0
$CFSIZE,2097086464,2063892480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.258,346.8,1
$GPS,110117,181800,2251.383,12155.066,40,0.8,40,-3.5