version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 280
start: 1 31 117 13 25 27
data:
$ID,628
$MISSION,3
$DIVE,280
$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,-9
$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,50
$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,-125601.38
$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,46
$R_STBD_OVSHOOT,67
$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
$GPS1,310117,131630,2330.138,12354.385,32,0.8,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-64.5
$GPS2,310117,132503,2330.212,12354.400,9,0.8,9,-3.8
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,210.3,222842,-15.8,-10.104,-18.78,2952
$D_GRID,3147
$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,-194.6,81,2163,1363,1348,0.0,0.0,0,72,0.00,0.00,-54.22,0.000,16386,0.000,0.000,81,2163,3189,3195,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,81,2163,3195,3184,3.3,-7.7,8,103,8.68,2.40,-9.90,0.000,18948,0.454,0.073,2540,744,3782,3743,3822,0,0,0,0,0,0,14.26,14.54,14.91
$GC,227,-0.78,-194.6,1576,743,3740,3821,33.4,-17.4,36,235,0.00,2.28,0.00,0.000,3078,0.000,0.039,2531,2122,3782,3742,3823,0,0,0,0,0,0,28.83,14.63,28.83
$GC,483,-0.78,-194.6,1536,2121,3739,3822,86.6,-20.3,85,491,0.05,0.00,0.00,0.000,2054,0.490,0.000,2543,2123,3782,3742,3823,0,0,0,0,0,0,14.56,28.83,28.83
$GC,738,-0.78,-194.6,2543,2122,3742,3823,138.8,-20.2,134,746,0.00,2.30,0.00,0.000,2564,0.000,0.051,2543,750,3782,3742,3823,0,0,0,0,0,0,28.83,14.66,28.83
$GC,789,-0.78,-194.6,2543,750,3742,3823,148.7,-18.6,143,797,0.00,2.30,0.00,0.000,3078,0.000,0.039,2534,2152,3782,3742,3823,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1043,-0.78,-194.6,1536,2150,3738,3823,198.1,-19.7,192,1050,0.00,2.38,0.00,0.000,2308,0.000,0.061,2524,3564,3783,3742,3824,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1108,-0.78,-194.6,1536,3563,3739,3823,209.9,-18.3,204,1116,0.03,2.33,0.00,0.000,3078,0.216,0.031,2547,2136,3782,3741,3824,0,0,0,0,0,0,14.43,14.73,28.83
$GC,1363,-0.78,-194.6,1560,2133,3739,3824,248.7,-15.7,253,1371,0.00,2.40,0.00,0.000,260,0.000,0.059,2538,3554,3783,3742,3825,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1409,-0.78,-194.6,2539,3554,3742,3825,255.9,-15.5,261,1419,0.00,2.22,0.00,0.000,3078,0.000,0.030,2538,2132,3783,3742,3825,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1660,-0.78,-194.6,2539,2132,3742,3825,294.2,-15.0,287,1661,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2132,3783,3742,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,-0.78,-194.6,2538,2132,3742,3825,328.5,-14.5,311,1899,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2132,3783,3742,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2138,-0.78,-194.6,2538,2131,3743,3825,359.9,-13.4,335,2147,0.00,2.38,0.00,0.000,2308,0.000,0.063,2528,3546,3783,3741,3825,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2189,-0.78,-194.6,2528,3546,3741,3824,366.9,-13.7,345,2199,0.08,2.22,0.00,0.000,3078,0.344,0.033,2548,2139,3783,3741,3825,0,0,0,0,0,0,14.56,14.88,28.83
$GC,2439,-0.78,-194.6,2548,2139,3741,3825,398.2,-12.5,371,2449,0.00,2.25,0.00,0.000,2564,0.000,0.053,2548,757,3783,3741,3825,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2572,-0.78,-194.6,2548,757,3740,3826,414.5,-11.4,397,2581,0.00,2.20,0.00,0.000,3078,0.000,0.038,2540,2144,3782,3740,3825,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2821,-0.78,-194.6,2540,2144,3739,3825,445.2,-11.9,423,2830,0.00,2.25,0.00,0.000,2564,0.000,0.054,2540,754,3781,3738,3825,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2855,-0.78,-194.6,1664,753,3735,3825,449.7,-12.3,430,2863,0.03,2.28,0.00,0.000,3078,0.338,0.040,2544,2148,3781,3738,3825,0,0,0,0,0,0,14.49,14.79,28.83
$GC,3102,-0.78,-194.6,2544,2148,3738,3825,479.1,-12.2,455,3111,0.00,2.33,0.00,0.000,2308,0.000,0.063,2534,3551,3780,3736,3825,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3206,-0.78,-194.6,2535,3551,3735,3825,491.6,-11.3,476,3214,0.00,2.22,0.00,0.000,3078,0.000,0.032,2534,2152,3780,3735,3825,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3456,-0.78,-194.6,2534,2152,3732,3825,520.3,-11.8,501,3465,0.00,2.33,0.00,0.000,2308,0.000,0.061,2525,3546,3778,3731,3825,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3490,-0.78,-194.6,2525,3546,3731,3825,524.8,-11.3,508,3498,0.10,2.25,0.00,0.000,3078,0.309,0.032,2553,2141,3778,3731,3825,0,0,0,0,0,0,14.54,14.89,28.83
$GC,3738,-0.78,-194.6,2553,2141,3730,3825,551.0,-10.9,533,3747,0.00,2.25,0.00,0.000,516,0.000,0.055,2554,763,3777,3730,3825,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3839,-0.78,-194.6,2554,763,3728,3825,561.8,-10.0,553,3843,0.00,2.22,0.00,0.000,3078,0.000,0.040,2546,2149,3776,3728,3825,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4091,-0.78,-194.6,2546,2149,3727,3822,587.3,-10.0,579,4100,0.00,2.35,0.00,0.000,2308,0.000,0.064,2536,3553,3774,3726,3822,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4165,-0.78,-194.6,1664,3552,3722,3821,595.5,-10.5,594,4172,0.00,2.30,0.00,0.000,3078,0.000,0.033,2536,2132,3773,3725,3822,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4413,-0.78,-194.6,2536,2132,3724,3822,621.7,-10.3,609,4419,0.00,2.28,0.00,0.000,2564,0.000,0.057,2537,756,3773,3724,3822,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4466,-0.78,-194.6,2537,755,3724,3821,627.6,-10.6,620,4474,0.08,2.28,0.00,0.000,3078,0.373,0.041,2546,2165,3772,3724,3821,0,0,0,0,0,0,14.50,14.84,28.83
$GC,4713,-0.78,-194.6,2546,2166,3722,3819,651.4,-9.8,633,4719,0.00,2.33,0.00,0.000,2308,0.000,0.065,2537,3550,3771,3722,3820,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4821,-0.78,-194.6,2537,3550,3721,3819,661.6,-8.9,655,4825,0.00,2.28,0.00,0.000,3078,0.000,0.034,2537,2140,3770,3721,3819,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5068,-0.78,-194.6,2537,2140,3721,3815,685.7,-10.2,668,5074,0.00,2.30,0.00,0.000,2564,0.000,0.057,2537,759,3767,3720,3815,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5141,-0.78,-194.6,2537,758,3719,3815,693.5,-10.2,683,5148,0.08,2.25,0.00,0.000,3078,0.358,0.042,2548,2151,3767,3719,3815,0,0,0,0,0,0,14.50,14.83,28.83
$GC,5388,-0.78,-194.6,2548,2151,3718,3814,715.6,-9.0,696,5394,0.00,2.35,0.00,0.000,260,0.000,0.066,2539,3545,3765,3717,3814,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5410,-0.78,-194.6,1664,3544,3714,3813,717.8,-9.0,701,5415,0.00,2.30,0.00,0.000,3078,0.000,0.034,2539,2152,3765,3717,3813,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5668,-0.78,-194.6,2538,2151,3716,3812,742.0,-9.7,716,5672,0.00,2.35,0.00,0.000,2564,0.000,0.058,2539,755,3763,3715,3812,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5722,-0.78,-194.6,2539,756,3716,3812,747.7,-9.8,727,5729,0.08,2.28,0.00,0.000,3078,0.360,0.044,2549,2152,3764,3716,3812,0,0,0,0,0,0,14.50,14.82,28.83
$GC,5969,-0.78,-194.6,2549,2153,3713,3811,770.1,-9.3,740,5975,0.00,2.38,0.00,0.000,260,0.000,0.067,2540,3552,3762,3713,3811,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6029,-0.78,-194.6,2540,3552,3712,3810,775.7,-9.4,752,6033,0.00,2.30,0.00,0.000,3078,0.000,0.037,2540,2146,3761,3712,3811,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6290,-0.78,-194.6,2540,2145,3711,3808,801.0,-9.6,768,6296,0.00,2.42,0.00,0.000,2308,0.000,0.067,2530,3554,3759,3711,3807,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6358,-0.78,-194.6,2530,3554,3710,3807,807.8,-9.7,782,6363,0.08,2.30,0.00,0.000,3078,0.350,0.036,2549,2143,3759,3711,3808,0,0,0,0,0,0,14.49,14.84,28.83
$GC,6605,-0.78,-194.6,2549,2143,3710,3806,829.2,-8.6,795,6611,0.00,2.35,0.00,0.000,516,0.000,0.060,2549,748,3757,3709,3806,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6645,-0.78,-194.6,2549,748,3709,3806,832.9,-9.3,803,6649,0.00,2.28,0.00,0.000,3078,0.000,0.044,2542,2148,3757,3709,3806,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6902,-0.78,-194.6,2542,2148,3707,3805,857.3,-9.2,818,6903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2542,2148,3756,3707,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7142,-0.78,-194.6,2542,2148,3706,3804,879.6,-9.4,830,7148,0.00,2.40,0.00,0.000,2308,0.000,0.070,2532,3552,3754,3705,3803,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7169,-0.78,-194.6,2532,3553,3705,3803,882.6,-10.1,836,7174,0.05,2.30,0.00,0.000,3078,0.419,0.037,2545,2151,3754,3705,3803,0,0,0,0,0,0,14.52,14.83,28.83
$GC,7416,-0.78,-194.6,2545,2150,3705,3801,905.6,-9.3,849,7422,0.00,2.42,0.00,0.000,2308,0.000,0.069,2536,3557,3753,3705,3801,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7449,-0.78,-194.6,2536,3557,3704,3801,908.9,-9.5,856,7456,0.00,2.33,0.00,0.000,3078,0.000,0.037,2536,2151,3752,3704,3801,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7696,-0.78,-194.6,2536,2151,3703,3800,931.4,-9.0,869,7697,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2151,3751,3703,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7936,-0.78,-194.6,2536,2151,3702,3799,952.0,-8.4,881,7943,0.00,2.38,0.00,0.000,2564,0.000,0.061,2536,756,3750,3702,3799,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7971,-0.78,-194.6,2536,754,3702,3799,955.1,-8.9,888,7978,0.08,2.30,0.00,0.000,3078,0.366,0.046,2547,2157,3750,3702,3799,0,0,0,0,0,0,14.45,14.78,28.83
$STATE,8174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8175,begin apogee
$GC,8179,-0.17,0.0,2548,1924,3701,3798,970.2,-7.1,899,8470,0.55,0.00,286.80,1.505,10246,0.230,0.000,2743,1923,2988,3030,2946,0,0,0,0,0,0,14.53,28.83,13.52
$STATE,8471,end apogee,CONTROL_FINISHED_OK
$STATE,8471,begin climb
$GC,8473,0.78,194.6,2744,1923,3023,2938,977.0,0.0,913,8698,0.80,2.45,212.77,1.737,10756,0.138,0.076,3066,579,2180,2213,2148,0,0,0,0,0,0,14.13,14.02,13.36
$GC,8728,0.78,194.6,3066,579,2199,2140,952.9,15.9,967,8733,0.05,2.33,0.00,0.000,5126,0.431,0.045,3056,1945,2169,2199,2140,0,0,0,0,0,0,14.02,14.22,28.83
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$STATE,16348,end climb,SURFACE_DEPTH_REACHED
$STATE,16348,begin surface coast
$FINISH,-0.0,1.023413
$STATE,16371,end surface coast,CONTROL_FINISHED_OK
$STATE,16371,begin surface
$SM_CCo,16386,49.00,0.154,0,0,1355,400.08
$SM_GC,0.92,7.25,0.28,49.00,0.076,0.070,0.154,117,2172,1355,-8.26,-1.33,400.08,0,0,0,0,0,0,14.66,14.76,14.54
$IRIDIUM_FIX,2321.52,12121.64,271109,212113
$TT8_MAMPS,0.020223,0.020223
$HUMID,41.53
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,22.10
$XPDR_PINGS,3
$24V_AH,13.4,108.625
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,19.500,201.250,593.825,49.000,0.000,0.000,0.000,392.725,0.750,0.000,10.311,3984.154,8098.985,857.990,3742.392,241.101,0.000,2800.669,0.000,3342.115,0.000,0.552,0.000
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$MEM,328652
$DATA_FILE_SIZE,143902,1913
$CAP_FILE_SIZE,201503,0
$CFSIZE,2097086464,2047672320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.154, 47.9,1
$GPS,310117,180030,2329.176,12354.345,30,1.9,30,-3.8