version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 242
start: 1 23 117 23 29 50
data:
$ID,628
$MISSION,3
$DIVE,242
$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,60
$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,-125491.84
$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,77
$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
$GPS1,230117,232200,2335.236,12254.947,36,0.8,36,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.7
$GPS2,230117,232927,2335.305,12254.974,8,1.0,8,-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,83.4,102420,-15.8,-10.104,-18.78,2952
$D_GRID,2440
$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,-194.6,108,2191,1362,1348,0.0,0.0,0,78,0.00,0.00,-60.70,0.000,16386,0.000,0.000,104,2191,3446,3444,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.78,-194.6,104,2191,3445,3448,3.8,-7.7,9,102,8.65,0.00,-5.25,0.000,18694,0.464,0.000,2539,2191,3784,3739,3830,0,0,0,0,0,0,14.21,28.83,14.89
$GC,350,-0.78,-194.6,2539,2191,3739,3830,68.5,-21.6,60,357,0.00,2.33,0.00,0.000,2308,0.000,0.065,2531,3512,3784,3739,3830,0,0,0,0,0,0,28.83,14.61,28.83
$GC,380,-0.78,-194.6,1544,3511,3736,3829,75.1,-22.7,65,388,0.03,2.28,0.00,0.000,3078,0.375,0.031,2540,2131,3784,3739,3830,0,0,0,0,0,0,14.40,14.67,28.83
$GC,635,-0.78,-194.6,1552,2129,3736,3829,132.3,-24.3,114,642,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2130,3784,3739,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,887,-0.78,-194.6,1544,2128,3736,3830,186.1,-17.5,163,894,0.00,2.30,0.00,0.000,2564,0.000,0.049,2541,758,3785,3739,3831,0,0,0,0,0,0,28.83,14.68,28.83
$GC,921,-0.78,-194.6,1552,757,3736,3830,192.0,-16.0,169,930,0.00,2.22,0.00,0.000,3078,0.000,0.037,2533,2122,3785,3740,3831,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1176,-0.78,-194.6,1536,2121,3736,3831,229.4,-14.3,218,1184,0.00,2.40,0.00,0.000,2308,0.000,0.059,2522,3550,3785,3739,3832,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1287,-0.78,-194.6,1536,3550,3736,3831,248.9,-18.5,239,1295,0.05,2.28,0.00,0.000,3078,0.290,0.029,2543,2148,3786,3740,3832,0,0,0,0,0,0,14.42,14.74,28.83
$GC,1532,-0.78,-194.6,2543,2148,3740,3831,280.4,-11.6,264,1537,0.00,2.25,0.00,0.000,2564,0.000,0.051,2543,761,3786,3740,3832,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1633,-0.78,-194.6,2543,760,3740,3832,293.2,-12.8,283,1643,0.00,2.20,0.00,0.000,3078,0.000,0.037,2535,2154,3786,3741,3832,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1883,-0.78,-194.6,2535,2154,3741,3832,327.3,-12.0,309,1885,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2154,3786,3740,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2122,-0.78,-194.6,2535,2154,3741,3831,357.3,-12.7,333,2131,0.00,2.33,0.00,0.000,2308,0.000,0.061,2526,3550,3785,3739,3832,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2143,-0.78,-194.6,2526,3550,3739,3832,360.2,-13.8,337,2153,0.08,2.22,0.00,0.000,3078,0.369,0.030,2546,2141,3785,3739,3832,0,0,0,0,0,0,14.56,14.90,28.83
$GC,2393,-0.78,-194.6,2545,2141,3738,3832,386.5,-9.0,363,2403,0.00,2.35,0.00,0.000,2308,0.000,0.059,2536,3545,3785,3738,3832,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2418,-0.78,-194.6,2537,3545,3738,3832,388.9,-9.3,368,2425,0.00,2.22,0.00,0.000,3078,0.000,0.029,2537,2151,3785,3738,3832,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2666,-0.78,-194.6,2537,2151,3736,3832,414.9,-12.4,393,2674,0.00,2.28,0.00,0.000,2564,0.000,0.054,2537,761,3784,3736,3832,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2808,-0.78,-194.6,2537,762,3734,3832,433.4,-12.4,421,2817,0.05,2.20,0.00,0.000,3078,0.272,0.038,2549,2141,3783,3734,3832,0,0,0,0,0,0,14.45,14.83,28.83
$GC,3056,-0.78,-194.6,2548,2141,3731,3832,465.4,-13.4,447,3065,0.00,2.38,0.00,0.000,260,0.000,0.062,2539,3559,3781,3731,3832,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3130,-0.78,-194.6,2539,3559,3731,3831,475.8,-13.7,462,3137,0.00,2.30,0.00,0.000,3078,0.000,0.031,2540,2152,3781,3731,3832,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3378,-0.78,-194.6,2540,2151,3730,3830,509.2,-13.4,487,3379,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2151,3780,3730,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3617,-0.78,-194.6,2539,2151,3728,3829,536.5,-10.8,511,3619,0.00,0.00,0.00,0.000,2054,0.000,0.000,2540,2151,3778,3728,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3857,-0.78,-194.6,2540,2151,3725,3826,558.4,-9.5,535,3859,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2151,3776,3726,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4097,-0.78,-194.6,2540,2151,3724,3825,586.2,-12.7,559,4106,0.00,2.30,0.00,0.000,2564,0.000,0.055,2539,760,3774,3724,3825,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4138,-0.78,-194.6,2540,760,3724,3825,591.6,-13.1,567,4143,0.05,2.25,0.00,0.000,3078,0.442,0.041,2546,2165,3774,3723,3825,0,0,0,0,0,0,14.57,14.85,28.83
$GC,4393,-0.78,-194.6,2546,2165,3722,3823,618.1,-8.8,584,4399,0.00,2.33,0.00,0.000,2308,0.000,0.064,2537,3548,3772,3722,3823,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4493,-0.78,-194.6,2537,3548,3721,3823,626.1,-7.9,604,4497,0.00,2.25,0.00,0.000,3078,0.000,0.032,2537,2144,3772,3721,3823,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4749,-0.78,-194.6,2537,2143,3720,3822,648.2,-9.9,619,4755,0.00,2.30,0.00,0.000,2564,0.000,0.056,2537,753,3771,3720,3822,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4778,-0.78,-194.6,2537,753,3720,3822,651.5,-11.0,625,4783,0.08,2.25,0.00,0.000,3078,0.359,0.042,2548,2151,3771,3720,3822,0,0,0,0,0,0,14.56,14.88,28.83
$GC,5025,-0.78,-194.6,2548,2152,3718,3821,679.6,-12.2,638,5031,0.00,2.35,0.00,0.000,260,0.000,0.065,2541,3550,3769,3717,3821,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5094,-0.78,-194.6,2541,3550,3717,3821,688.0,-11.6,652,5098,0.00,2.25,0.00,0.000,3078,0.000,0.034,2541,2151,3768,3716,3821,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5339,-0.78,-194.6,2541,2150,3716,3817,712.8,-9.1,665,5345,0.00,2.33,0.00,0.000,2564,0.000,0.057,2541,747,3766,3716,3817,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5382,-0.78,-194.6,1664,746,3712,3816,716.8,-8.8,674,5386,0.00,2.30,0.00,0.000,3078,0.000,0.042,2532,2144,3767,3716,3818,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5639,-0.78,-194.6,2532,2145,3714,3816,739.2,-9.2,689,5646,0.05,2.30,0.00,0.000,2564,0.464,0.054,2546,747,3764,3713,3815,0,0,0,0,0,0,14.72,14.81,28.83
$GC,5682,-0.78,-194.6,2546,746,3713,3815,743.4,-9.2,698,5687,0.00,2.30,0.00,0.000,3078,0.000,0.043,2538,2149,3764,3713,3815,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5939,-0.78,-194.6,2539,2149,3711,3814,769.0,-10.5,713,5941,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2149,3762,3711,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6180,-0.78,-194.6,2539,2149,3710,3813,793.4,-9.8,725,6186,0.00,2.35,0.00,0.000,2308,0.000,0.067,2529,3547,3761,3710,3813,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6259,-0.78,-194.6,2529,3548,3710,3813,800.5,-8.1,741,6266,0.08,2.28,0.00,0.000,3078,0.336,0.034,2549,2139,3761,3710,3813,0,0,0,0,0,0,14.56,14.88,28.83
$GC,6520,-0.78,-194.6,2549,2140,3709,3812,819.9,-7.3,757,6525,0.00,2.33,0.00,0.000,516,0.000,0.058,2549,751,3760,3709,3811,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6641,-0.78,-194.6,2549,750,3708,3811,828.6,-7.2,781,6647,0.00,2.22,0.00,0.000,3078,0.000,0.044,2542,2145,3759,3707,3811,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6900,-0.78,-194.6,2541,2145,3706,3810,847.6,-7.5,797,6906,0.00,2.38,0.00,0.000,2308,0.000,0.068,2532,3546,3757,3704,3810,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6972,-0.78,-194.6,2532,3546,3705,3809,853.9,-8.4,812,6980,0.05,2.28,0.00,0.000,3078,0.418,0.035,2545,2149,3758,3706,3810,0,0,0,0,0,0,14.56,14.87,28.83
$GC,7219,-0.78,-194.6,2545,2149,3705,3807,874.9,-9.5,825,7221,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2149,3756,3705,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7459,-0.78,-194.6,2545,2149,3704,3806,898.7,-9.7,837,7461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2149,3755,3704,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7699,-0.78,-194.6,2545,2149,3702,3805,920.6,-9.2,849,7705,0.00,2.33,0.00,0.000,2564,0.000,0.060,2546,758,3753,3702,3805,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7752,-0.78,-194.6,2545,759,3702,3805,926.1,-10.2,860,7760,0.00,2.28,0.00,0.000,3078,0.000,0.044,2539,2148,3753,3701,3805,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8000,-0.78,-194.6,2539,2148,3701,3804,951.6,-10.6,873,8006,0.00,2.33,0.00,0.000,2564,0.000,0.061,2539,752,3752,3701,3804,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8059,-0.78,-194.6,2539,753,3700,3804,958.3,-11.3,885,8066,0.05,2.28,0.00,0.000,3078,0.447,0.045,2546,2154,3752,3700,3804,0,0,0,0,0,0,14.51,14.82,28.83
$STATE,8178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8178,begin apogee
$GC,8183,-0.17,0.0,2546,1935,3700,3803,971.0,-10.5,894,8480,0.55,0.00,293.45,1.357,10246,0.236,0.000,2743,1935,2987,3028,2947,0,0,0,0,0,0,14.57,28.83,13.55
$STATE,8481,end apogee,CONTROL_FINISHED_OK
$STATE,8481,begin climb
$GC,8483,0.78,194.6,2743,1935,3021,2940,989.1,0.0,909,8721,0.80,2.45,225.23,1.714,10756,0.143,0.075,3062,578,2182,2214,2150,0,0,0,0,0,0,14.12,13.97,13.36
$GC,8856,0.78,194.6,3063,578,2199,2139,960.2,11.4,984,8863,0.00,2.30,0.00,0.000,5126,0.000,0.045,3063,1945,2169,2199,2139,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9103,0.78,194.6,3063,1944,2198,2134,932.0,11.0,997,9104,0.00,0.00,0.00,0.000,4102,0.000,0.000,3063,1945,2166,2199,2134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9343,0.78,194.6,3063,1944,2198,2132,904.9,11.4,1009,9349,0.00,2.38,0.00,0.000,4356,0.000,0.067,3063,3354,2165,2198,2132,0,0,0,0,0,0,28.83,14.67,28.83
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$STATE,16047,end climb,SURFACE_DEPTH_REACHED
$STATE,16047,begin surface coast
$FINISH,0.3,1.023507
$STATE,16065,end surface coast,CONTROL_FINISHED_OK
$STATE,16065,begin surface
$SM_CCo,16080,26.10,0.158,0,0,1356,400.08
$SM_GC,1.15,7.25,0.32,26.10,0.073,0.057,0.158,138,2179,1356,-8.25,-1.58,400.08,0,0,0,0,0,0,14.64,14.78,14.53
$IRIDIUM_FIX,2323.87,12232.24,201109,080847
$TT8_MAMPS,0.020223,0.020223
$HUMID,42.16
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,21.60
$XPDR_PINGS,3
$24V_AH,13.4,93.428
$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.825,177.275,672.100,26.100,0.000,0.000,0.000,334.175,0.750,0.000,9.294,3781.709,8154.432,852.458,3525.731,215.965,0.000,2686.264,0.000,3184.248,0.000,0.550,0.000
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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,322920
$DATA_FILE_SIZE,140539,1850
$CAP_FILE_SIZE,188677,0
$CFSIZE,2097086464,2053931008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050,109.4,1
$GPS,240117,035931,2335.597,12257.872,30,0.8,39,-3.8