version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 284
start: 2 1 117 9 0 59
data:
$ID,628
$MISSION,3
$DIVE,284
$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,-125678.41
$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,42
$R_STBD_OVSHOOT,81
$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
$GPS1,010217,085200,2327.359,12353.890,32,1.4,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-60.4
$GPS2,010217,090035,2327.394,12353.712,9,0.9,9,-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,196.9,217683,-15.8,-10.104,-18.78,2952
$D_GRID,3514
$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,-194.6,80,2192,1365,1345,0.0,0.0,0,78,0.00,0.00,-60.55,0.000,16386,0.000,0.000,81,2192,3424,3426,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.78,-194.6,80,2192,3425,3423,3.7,-7.9,9,103,8.65,2.45,-5.55,0.000,19204,0.453,0.075,2541,747,3780,3739,3822,0,0,0,0,0,0,14.21,14.66,14.91
$GC,266,-0.78,-194.6,1536,746,3736,3823,46.2,-18.5,43,273,0.00,2.28,0.00,0.000,3078,0.000,0.044,2533,2110,3781,3739,3823,0,0,0,0,0,0,28.83,14.62,28.83
$GC,520,-0.78,-194.6,1536,2109,3735,3822,96.7,-19.8,92,528,0.03,2.45,0.00,0.000,2308,0.610,0.057,2534,3557,3780,3738,3823,0,0,0,0,0,0,14.57,14.68,28.83
$GC,540,-0.78,-194.6,2534,3557,3738,3823,101.0,-20.4,95,548,0.00,2.33,0.00,0.000,3078,0.000,0.031,2534,2140,3780,3738,3823,0,0,0,0,0,0,28.83,14.69,28.83
$GC,795,-0.78,-194.6,1536,2137,3735,3823,154.9,-20.7,144,802,0.00,2.33,0.00,0.000,2564,0.000,0.053,2534,758,3781,3739,3823,0,0,0,0,0,0,28.83,14.65,28.83
$GC,825,-0.78,-194.6,1552,758,3735,3822,161.4,-22.5,149,834,0.05,2.30,0.00,0.000,3078,0.304,0.041,2554,2154,3781,3738,3824,0,0,0,0,0,0,14.38,14.67,28.83
$GC,1082,-0.78,-194.6,1552,2152,3735,3823,206.1,-15.2,198,1089,0.00,2.35,0.00,0.000,4612,0.000,0.054,2555,754,3781,3738,3824,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1199,-0.78,-194.6,2555,754,3739,3824,224.0,-13.5,220,1206,0.00,2.30,0.00,0.000,1030,0.000,0.041,2546,2154,3781,3738,3824,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1456,-0.78,-194.6,2546,2155,3738,3825,261.7,-13.3,262,1464,0.00,2.28,0.00,0.000,2564,0.000,0.053,2546,752,3781,3738,3825,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1499,-0.78,-194.6,1664,752,3736,3824,268.0,-13.3,271,1506,0.00,2.28,0.00,0.000,3078,0.000,0.040,2537,2151,3782,3739,3825,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1747,-0.78,-194.6,2537,2151,3739,3825,305.0,-15.7,296,1756,0.00,2.30,0.00,0.000,2308,0.000,0.059,2527,3547,3781,3738,3825,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1779,-0.78,-194.6,2527,3547,3739,3825,310.0,-15.8,302,1788,0.08,2.22,0.00,0.000,3078,0.353,0.030,2545,2135,3782,3739,3825,0,0,0,0,0,0,14.52,14.85,28.83
$GC,2028,-0.78,-194.6,2546,2133,3739,3825,348.3,-14.4,328,2037,0.00,2.25,0.00,0.000,2564,0.000,0.054,2546,752,3781,3738,3825,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2102,-0.78,-194.6,1664,752,3736,3824,358.5,-13.3,343,2109,0.00,2.28,0.00,0.000,3078,0.000,0.040,2538,2151,3781,3738,3825,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2350,-0.78,-194.6,2539,2151,3738,3825,392.9,-14.7,368,2354,0.00,2.33,0.00,0.000,2308,0.000,0.060,2529,3552,3781,3738,3825,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2414,-0.78,-194.6,2529,3552,3738,3825,402.6,-13.7,381,2423,0.08,2.22,0.00,0.000,3078,0.351,0.030,2548,2149,3781,3738,3825,0,0,0,0,0,0,14.54,14.88,28.83
$GC,2663,-0.78,-194.6,2548,2148,3737,3825,434.4,-13.3,406,2671,0.00,2.25,0.00,0.000,516,0.000,0.054,2548,763,3780,3736,3825,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2713,-0.78,-194.6,2548,763,3736,3825,441.3,-12.5,416,2717,0.00,2.20,0.00,0.000,3078,0.000,0.041,2541,2149,3780,3736,3825,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2959,-0.78,-194.6,2542,2149,3734,3825,472.7,-12.4,441,2968,0.00,2.33,0.00,0.000,2308,0.000,0.060,2531,3551,3779,3733,3825,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3064,-0.78,-194.6,2531,3551,3732,3825,486.0,-12.0,462,3071,0.05,2.22,0.00,0.000,3078,0.424,0.031,2545,2150,3779,3733,3825,0,0,0,0,0,0,14.57,14.88,28.83
$GC,3312,-0.78,-194.6,2545,2149,3731,3825,514.2,-11.0,487,3313,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2149,3778,3731,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3551,-0.78,-194.6,2545,2149,3730,3825,538.8,-10.0,511,3552,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2149,3777,3730,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3791,-0.78,-194.6,2545,2149,3727,3825,562.7,-10.4,535,3800,0.00,2.35,0.00,0.000,2308,0.000,0.060,2536,3544,3775,3726,3825,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3832,-0.78,-194.6,2536,3544,3726,3825,567.4,-11.3,543,3841,0.00,2.22,0.00,0.000,3078,0.000,0.031,2536,2148,3775,3726,3825,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4083,-0.78,-194.6,2535,2148,3725,3823,596.2,-11.5,569,4091,0.00,2.35,0.00,0.000,2308,0.000,0.061,2527,3544,3774,3725,3823,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4125,-0.78,-194.6,2527,3544,3723,3822,601.2,-11.7,577,4131,0.05,2.22,0.00,0.000,3078,0.271,0.032,2548,2142,3773,3724,3823,0,0,0,0,0,0,14.47,14.85,28.83
$GC,4384,-0.78,-194.6,2548,2142,3723,3822,627.2,-9.8,593,4389,0.00,2.30,0.00,0.000,516,0.000,0.057,2548,752,3772,3723,3822,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4443,-0.78,-194.6,2548,752,3723,3822,633.3,-10.0,605,4448,0.00,2.25,0.00,0.000,3078,0.000,0.043,2541,2144,3772,3723,3822,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4705,-0.78,-194.6,2541,2143,3722,3821,659.0,-9.7,621,4706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2144,3771,3722,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.78,-194.6,2541,2144,3720,3818,682.2,-9.6,633,4951,0.00,2.38,0.00,0.000,2308,0.000,0.063,2531,3558,3769,3721,3818,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4993,-0.78,-194.6,2531,3558,3718,3818,687.2,-9.7,643,4998,0.05,2.28,0.00,0.000,3078,0.422,0.034,2546,2146,3768,3719,3818,0,0,0,0,0,0,14.54,14.87,28.83
$GC,5245,-0.78,-194.6,2546,2145,3718,3815,710.9,-9.8,657,5251,0.00,2.40,0.00,0.000,2308,0.000,0.064,2538,3557,3766,3717,3815,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5298,-0.78,-194.6,2538,3557,3716,3815,716.1,-9.3,668,5306,0.00,2.30,0.00,0.000,3078,0.000,0.034,2538,2146,3765,3716,3815,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5546,-0.78,-194.6,2538,2145,3716,3813,740.5,-10.4,681,5547,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2145,3764,3716,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5785,-0.78,-194.6,2538,2145,3713,3813,766.1,-10.6,693,5787,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2144,3763,3714,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6026,-0.78,-194.6,2537,2145,3712,3810,790.3,-9.9,705,6030,0.00,2.40,0.00,0.000,2308,0.000,0.065,2529,3546,3761,3711,3811,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6067,-0.78,-194.6,2529,3546,3711,3811,794.6,-10.2,713,6073,0.08,2.28,0.00,0.000,3078,0.336,0.035,2549,2144,3761,3711,3811,0,0,0,0,0,0,14.52,14.85,28.83
$GC,6327,-0.78,-194.6,2549,2144,3711,3808,818.0,-8.6,729,6333,0.00,2.35,0.00,0.000,516,0.000,0.060,2549,747,3759,3711,3808,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6370,-0.78,-194.6,2549,745,3710,3808,822.1,-9.4,738,6374,0.00,2.30,0.00,0.000,3078,0.000,0.045,2542,2150,3759,3710,3808,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6622,-0.78,-194.6,2542,2151,3708,3807,846.0,-10.3,752,6628,0.00,2.40,0.00,0.000,2308,0.000,0.067,2531,3561,3756,3707,3806,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6645,-0.78,-194.6,2531,3561,3707,3806,848.6,-10.9,757,6650,0.05,2.30,0.00,0.000,3078,0.412,0.036,2545,2149,3756,3707,3806,0,0,0,0,0,0,14.53,14.84,28.83
$GC,6898,-0.78,-194.6,2545,2148,3706,3805,872.9,-9.3,771,6904,0.00,2.35,0.00,0.000,2564,0.000,0.060,2546,748,3755,3706,3805,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6945,-0.78,-194.6,2546,748,3706,3805,877.7,-9.7,781,6950,0.00,2.30,0.00,0.000,3078,0.000,0.047,2539,2160,3755,3705,3805,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7192,-0.78,-194.6,2539,2159,3705,3803,900.6,-9.1,794,7193,0.00,0.00,0.00,0.000,2054,0.000,0.000,2539,2159,3753,3704,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7432,-0.78,-194.6,2539,2160,3703,3802,920.5,-8.4,806,7438,0.00,2.35,0.00,0.000,2564,0.000,0.061,2538,754,3752,3703,3802,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7455,-0.78,-194.6,2539,754,3703,3802,922.8,-9.7,811,7460,0.08,2.28,0.00,0.000,3078,0.379,0.047,2549,2147,3752,3703,3802,0,0,0,0,0,0,14.43,14.78,28.83
$GC,7708,-0.78,-194.6,2548,2148,3702,3801,942.7,-8.2,825,7714,0.00,2.40,0.00,0.000,260,0.000,0.068,2540,3557,3751,3701,3801,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7740,-0.78,-194.6,2540,3557,3701,3801,945.7,-8.5,832,7747,0.00,2.33,0.00,0.000,3078,0.000,0.037,2540,2145,3750,3700,3801,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7987,-0.78,-194.6,2540,2144,3700,3799,968.1,-9.4,845,7993,0.00,2.38,0.00,0.000,2564,0.000,0.062,2540,745,3749,3700,3799,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,8006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8006,begin apogee
$GC,8012,-0.17,0.0,2533,1953,3700,3799,970.1,-9.9,849,8307,0.60,0.00,286.17,1.512,10246,0.233,0.000,2744,1954,2979,3021,2938,0,0,0,0,0,0,14.52,28.83,13.53
$STATE,8308,end apogee,CONTROL_FINISHED_OK
$STATE,8308,begin climb
$GC,8310,0.78,194.6,2744,1954,3020,2936,985.4,0.0,864,8537,0.82,2.53,217.98,1.723,11012,0.143,0.066,3057,3354,2187,2221,2154,0,0,0,0,0,0,14.16,14.04,13.43
$GC,8585,0.78,194.6,3057,3353,2211,2140,964.3,13.8,907,8593,0.08,2.42,0.00,0.000,5126,0.444,0.046,3053,1965,2175,2211,2139,0,0,0,0,0,0,14.02,14.28,28.83
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$STATE,16984,end climb,SURFACE_DEPTH_REACHED
$STATE,16984,begin surface coast
$FINISH,0.6,1.023697
$STATE,17007,end surface coast,CONTROL_FINISHED_OK
$STATE,17008,begin surface
$SM_CCo,17023,104.82,0.152,0,0,1353,400.08
$SM_GC,1.01,7.30,0.30,104.82,0.091,0.062,0.152,115,2192,1353,-8.26,-1.50,400.08,0,0,0,0,0,0,14.69,14.79,14.56
$IRIDIUM_FIX,2319.18,12354.44,281109,171721
$TT8_MAMPS,0.020223,0.020223
$HUMID,40.15
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.40
$XPDR_PINGS,3
$24V_AH,13.4,110.162
$10V_AH,13.5,0.000
$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
$DEVICE_SECS,18.825,210.750,504.150,104.825,0.000,0.000,0.000,394.825,0.750,0.000,10.300,4297.260,8194.110,895.011,3977.161,254.900,0.000,2863.772,0.000,3579.364,0.000,0.553,0.000
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$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,328712
$DATA_FILE_SIZE,150439,2002
$CAP_FILE_SIZE,208205,0
$CFSIZE,2097086464,2047016960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.168, 11.3,1
$GPS,010217,134730,2326.574,12353.498,27,1.0,27,-3.8