version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 230
start: 1 21 117 13 23 16
data:
$ID,628
$MISSION,3
$DIVE,230
$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,45
$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,-125476.58
$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,71
$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
$GPS1,210117,131530,2338.770,12242.755,25,0.8,25,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.6
$GPS2,210117,132253,2338.709,12242.674,5,0.9,6,-3.8
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N2
$TGT_LATLONG,2330.000,12355.000
$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,70.0,123893,-15.8,-10.104,-18.78,2952
$D_GRID,2978
$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,-194.6,101,2173,1365,1351,0.0,0.0,0,72,0.00,0.00,-54.28,0.000,16386,0.000,0.000,99,2174,3198,3201,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,98,2174,3202,3195,3.3,-7.8,8,96,8.68,0.00,-9.80,0.000,18950,0.466,0.000,2541,2173,3783,3740,3826,0,0,0,0,0,0,14.30,28.83,14.90
$GC,342,-0.78,-194.6,1544,2172,3736,3825,59.5,-20.8,59,348,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2174,3782,3739,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,596,-0.78,-194.6,2542,2174,3739,3827,118.1,-19.6,108,602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2174,3783,3739,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-0.78,-194.6,1536,2172,3736,3828,161.9,-16.7,157,856,0.00,2.35,0.00,0.000,2308,0.000,0.063,2534,3523,3783,3739,3828,0,0,0,0,0,0,28.83,14.69,28.83
$GC,873,-0.78,-194.6,2534,3523,3739,3829,166.2,-16.4,161,882,0.00,2.28,0.00,0.000,3078,0.000,0.034,2534,2144,3784,3739,3829,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1127,-0.78,-194.6,1536,2142,3736,3829,207.8,-15.6,210,1135,0.00,2.35,0.00,0.000,2564,0.000,0.054,2534,744,3784,3740,3829,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1148,-0.78,-194.6,2533,744,3740,3830,211.1,-15.6,213,1157,0.05,2.25,0.00,0.000,3078,0.289,0.039,2545,2119,3785,3740,3830,0,0,0,0,0,0,14.45,14.73,28.83
$GC,1402,-0.78,-194.6,1540,2117,3736,3829,247.6,-14.7,262,1409,0.00,2.40,0.00,0.000,2308,0.000,0.060,2536,3552,3785,3740,3830,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1488,-0.78,-194.6,2536,3552,3740,3830,260.1,-14.5,278,1496,0.00,2.22,0.00,0.000,3078,0.000,0.031,2536,2138,3785,3740,3830,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1739,-0.78,-194.6,2536,2138,3740,3829,296.5,-14.2,304,1740,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2138,3785,3740,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1977,-0.78,-194.6,2536,2138,3740,3830,330.5,-14.6,328,1986,0.00,2.25,0.00,0.000,2564,0.000,0.057,2536,758,3784,3739,3830,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2008,-0.78,-194.6,2536,757,3739,3830,335.3,-15.6,334,2018,0.08,2.22,0.00,0.000,3078,0.369,0.042,2548,2160,3784,3739,3830,0,0,0,0,0,0,14.57,14.87,28.83
$GC,2258,-0.78,-194.6,2548,2160,3739,3830,370.5,-13.6,360,2268,0.00,2.30,0.00,0.000,516,0.000,0.053,2548,748,3784,3739,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2352,-0.78,-194.6,1680,747,3734,3829,383.3,-11.7,379,2360,0.00,2.28,0.00,0.000,3078,0.000,0.039,2541,2147,3784,3738,3830,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2601,-0.78,-194.6,2541,2148,3737,3830,412.1,-10.7,404,2605,0.00,2.33,0.00,0.000,2308,0.000,0.061,2531,3554,3784,3738,3830,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2655,-0.78,-194.6,2531,3555,3737,3830,418.2,-10.2,415,2662,0.05,2.22,0.00,0.000,3078,0.432,0.031,2546,2145,3783,3737,3830,0,0,0,0,0,0,14.62,14.92,28.83
$GC,2902,-0.78,-194.6,2546,2145,3735,3830,445.2,-11.6,440,2906,0.00,2.25,0.00,0.000,2564,0.000,0.055,2546,761,3782,3735,3830,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2931,-0.78,-194.6,2546,761,3735,3830,448.9,-12.3,446,2938,0.00,2.22,0.00,0.000,3078,0.000,0.040,2538,2155,3782,3735,3830,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3179,-0.78,-194.6,2538,2155,3733,3830,481.5,-13.4,471,3187,0.00,2.30,0.00,0.000,2308,0.000,0.061,2528,3547,3781,3732,3830,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3280,-0.78,-194.6,2528,3548,3731,3830,494.5,-12.6,491,3290,0.08,2.20,0.00,0.000,3078,0.349,0.032,2547,2152,3780,3731,3830,0,0,0,0,0,0,14.62,14.92,28.83
$GC,3529,-0.78,-194.6,2547,2152,3730,3830,519.7,-9.4,517,3533,0.00,2.28,0.00,0.000,2564,0.000,0.056,2547,760,3780,3730,3830,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3628,-0.78,-194.6,1664,760,3725,3829,529.6,-9.6,537,3636,0.00,2.25,0.00,0.000,3078,0.000,0.042,2540,2165,3778,3728,3829,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3876,-0.78,-194.6,2540,2165,3726,3826,551.6,-9.5,562,3886,0.00,2.30,0.00,0.000,2308,0.000,0.063,2530,3551,3775,3725,3826,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3970,-0.78,-194.6,1664,3550,3722,3825,561.1,-9.6,581,3978,0.03,2.28,0.00,0.000,3078,0.369,0.033,2542,2157,3775,3725,3826,0,0,0,0,0,0,14.55,14.84,28.83
$GC,4218,-0.78,-194.6,2542,2157,3724,3824,584.1,-9.1,606,4222,0.00,2.30,0.00,0.000,2564,0.000,0.057,2542,753,3773,3724,3823,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4281,-0.78,-194.6,1672,752,3720,3823,590.2,-8.8,619,4290,0.00,2.28,0.00,0.000,3078,0.000,0.043,2535,2134,3774,3724,3824,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4539,-0.78,-194.6,2535,2134,3722,3823,614.6,-10.2,638,4540,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2133,3772,3722,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4779,-0.78,-194.6,2536,2134,3721,3822,641.0,-11.3,650,4785,0.00,2.38,0.00,0.000,2308,0.000,0.065,2526,3556,3771,3721,3822,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4827,-0.78,-194.6,2526,3556,3720,3822,646.9,-11.8,660,4832,0.08,2.28,0.00,0.000,3078,0.361,0.034,2546,2138,3771,3720,3822,0,0,0,0,0,0,14.59,14.92,28.83
$GC,5079,-0.78,-194.6,2546,2138,3719,3819,674.7,-11.0,674,5085,0.00,2.28,0.00,0.000,2564,0.000,0.059,2546,757,3768,3718,3819,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5140,-0.78,-194.6,2546,757,3717,3819,681.3,-10.7,686,5146,0.00,2.25,0.00,0.000,3078,0.000,0.044,2539,2160,3768,3717,3819,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5399,-0.78,-194.6,2539,2160,3716,3817,708.2,-10.0,702,5400,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2161,3766,3716,3817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5639,-0.78,-194.6,2539,2160,3714,3815,731.2,-9.6,714,5645,0.00,2.33,0.00,0.000,2308,0.000,0.067,2529,3545,3764,3714,3815,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5682,-0.78,-194.6,2529,3546,3713,3815,735.8,-10.2,723,5687,0.08,2.25,0.00,0.000,3078,0.359,0.035,2548,2147,3764,3714,3815,0,0,0,0,0,0,14.58,14.91,28.83
$GC,5939,-0.78,-194.6,2548,2146,3712,3813,757.2,-8.0,738,5946,0.00,2.38,0.00,0.000,260,0.000,0.066,2540,3546,3762,3711,3813,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5972,-0.78,-194.6,2539,3546,3712,3813,760.0,-8.1,745,5979,0.00,2.25,0.00,0.000,3078,0.000,0.034,2540,2151,3762,3711,3813,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6219,-0.78,-194.6,2539,2151,3711,3811,779.9,-8.1,758,6225,0.00,2.38,0.00,0.000,2308,0.000,0.066,2530,3548,3761,3710,3812,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6267,-0.78,-194.6,2530,3548,3710,3812,784.0,-8.1,768,6272,0.08,2.25,0.00,0.000,3078,0.359,0.033,2549,2148,3761,3710,3812,0,0,0,0,0,0,14.57,14.91,28.83
$GC,6519,-0.78,-194.6,2549,2148,3709,3810,803.1,-7.7,782,6523,0.00,2.33,0.00,0.000,516,0.000,0.059,2549,749,3759,3708,3810,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6555,-0.78,-194.6,2549,749,3708,3810,806.2,-8.4,789,6559,0.00,2.28,0.00,0.000,3078,0.000,0.045,2542,2155,3759,3709,3810,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6812,-0.78,-194.6,2541,2156,3706,3809,827.2,-8.7,804,6813,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2156,3757,3706,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7052,-0.78,-194.6,2541,2156,3705,3807,849.1,-9.4,816,7058,0.00,2.38,0.00,0.000,2308,0.000,0.069,2532,3557,3756,3705,3807,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7099,-0.78,-194.6,2532,3558,3705,3807,854.1,-9.9,826,7104,0.05,2.28,0.00,0.000,3078,0.423,0.037,2546,2152,3756,3705,3807,0,0,0,0,0,0,14.59,14.90,28.83
$GC,7351,-0.78,-194.6,2546,2152,3704,3806,878.3,-9.7,840,7358,0.00,2.33,0.00,0.000,2564,0.000,0.060,2546,757,3754,3704,3805,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7404,-0.78,-194.6,2546,757,3703,3806,884.0,-10.3,851,7411,0.00,2.28,0.00,0.000,3078,0.000,0.046,2539,2150,3754,3703,3806,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7652,-0.78,-194.6,2539,2150,3702,3804,909.0,-9.9,864,7653,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2150,3753,3702,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7891,-0.78,-194.6,2539,2150,3701,3804,931.4,-9.1,876,7892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2150,3752,3701,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8131,-0.78,-194.6,2539,2150,3700,3802,952.0,-8.3,888,8132,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2150,3751,3700,3803,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8370,begin apogee
$GC,8374,-0.17,0.0,2539,1933,3699,3801,971.0,-7.7,900,8671,0.57,0.00,288.48,1.545,10246,0.236,0.000,2743,1932,2980,3021,2939,0,0,0,0,0,0,14.61,28.83,13.54
$STATE,8672,end apogee,CONTROL_FINISHED_OK
$STATE,8672,begin climb
$GC,8674,0.78,194.6,2743,1932,3019,2936,980.4,0.0,915,8900,0.80,2.58,215.20,1.765,11012,0.138,0.067,3056,3349,2182,2216,2148,0,0,0,0,0,0,14.13,13.98,13.33
$GC,8926,0.78,194.6,3056,3349,2205,2134,959.4,15.1,954,8933,0.05,2.40,0.00,0.000,5126,0.502,0.046,3057,1982,2169,2205,2133,0,0,0,0,0,0,13.95,14.15,28.83
$GC,9172,0.78,194.6,3057,1981,2201,2124,923.4,14.6,967,9179,0.00,2.50,0.00,0.000,4612,0.000,0.077,3065,543,2162,2200,2124,0,0,0,0,0,0,28.83,14.54,28.83
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$STATE,16552,end climb,SURFACE_DEPTH_REACHED
$STATE,16552,begin surface coast
$FINISH,0.1,1.023463
$STATE,16574,end surface coast,CONTROL_FINISHED_OK
$STATE,16574,begin surface
$SM_CCo,16589,36.45,0.153,0,0,1356,400.08
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$IRIDIUM_FIX,2328.57,12240.72,171109,212155
$TT8_MAMPS,0.020223,0.020223
$HUMID,40.62
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,13.3,88.689
$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.725,191.275,671.500,36.450,0.000,0.000,0.000,334.875,0.500,0.000,7.123,4056.257,8144.110,921.463,3700.254,224.894,0.000,2791.032,0.000,3364.682,0.000,0.552,0.000
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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,322920
$DATA_FILE_SIZE,144002,1922
$CAP_FILE_SIZE,197979,0
$CFSIZE,2097086464,2055864320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.200,220.7,1
$GPS,210117,180130,2338.288,12243.776,31,1.0,32,-3.8