version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 326
start: 2 10 117 2 44 34
data:
$ID,628
$MISSION,3
$DIVE,326
$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,-126014.39
$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,66
$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,48
$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
$GPS1,100217,023348,2241.831,12355.587,38,1.1,38,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-60.4
$GPS2,100217,024409,2241.860,12355.518,6,1.7,7,-3.6
$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,178.4,133309,-15.8,-10.104,-18.78,2952
$D_GRID,5685
$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,-194.6,80,2165,1381,1338,0.0,0.0,0,71,0.00,0.00,-53.70,0.000,16386,0.000,0.000,80,2165,3169,3174,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,80,2165,3179,3161,3.1,-6.5,8,103,8.70,2.45,-10.62,0.000,19204,0.453,0.077,2537,742,3784,3741,3828,0,0,0,0,0,0,14.19,14.52,14.90
$GC,224,-0.78,-194.6,1552,742,3737,3828,30.6,-12.0,35,232,0.03,2.30,0.00,0.000,3078,0.353,0.044,2542,2119,3784,3740,3829,0,0,0,0,0,0,14.33,14.59,28.83
$GC,481,-0.78,-194.6,2542,2119,3739,3829,73.8,-18.8,84,488,0.00,2.45,0.00,0.000,2308,0.000,0.063,2533,3556,3784,3739,3829,0,0,0,0,0,0,28.83,14.63,28.83
$GC,520,-0.78,-194.6,1552,3554,3736,3828,81.5,-19.3,91,528,0.00,2.35,0.00,0.000,3078,0.000,0.033,2532,2136,3784,3739,3829,0,0,0,0,0,0,28.83,14.66,28.83
$GC,776,-0.78,-194.6,2533,2135,3738,3829,131.2,-19.7,140,783,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2135,3784,3740,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1028,-0.78,-194.6,1536,2133,3736,3829,178.1,-18.5,189,1036,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2135,3785,3740,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1281,-0.78,-194.6,1536,2133,3736,3829,218.1,-15.5,238,1289,0.00,2.35,0.00,0.000,2564,0.000,0.051,2533,750,3785,3740,3830,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1322,-0.78,-194.6,2533,750,3740,3830,223.6,-12.5,245,1331,0.05,2.30,0.00,0.000,3078,0.280,0.038,2555,2151,3785,3740,3830,0,0,0,0,0,0,14.38,14.66,28.83
$GC,1576,-0.78,-194.6,2555,2151,3740,3830,259.0,-14.0,288,1577,0.00,0.00,0.00,0.000,4102,0.000,0.000,2555,2151,3785,3740,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1816,-0.78,-194.6,2555,2151,3740,3830,295.4,-15.0,312,1817,0.00,0.00,0.00,0.000,4102,0.000,0.000,2555,2151,3785,3740,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2056,-0.78,-194.6,2555,2151,3740,3830,325.9,-11.9,336,2065,0.00,2.28,0.00,0.000,4612,0.000,0.052,2555,749,3785,3740,3830,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2070,-0.78,-194.6,2555,750,3740,3830,327.9,-12.5,339,2078,0.00,2.25,0.00,0.000,1030,0.000,0.039,2548,2154,3785,3740,3830,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2318,-0.78,-194.6,2547,2155,3740,3830,360.6,-12.7,364,2327,0.00,2.30,0.00,0.000,260,0.000,0.060,2537,3545,3785,3740,3830,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2383,-0.78,-194.6,2538,3545,3740,3830,369.1,-12.6,377,2389,0.00,2.25,0.00,0.000,3078,0.000,0.031,2538,2138,3785,3740,3830,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2630,-0.78,-194.6,2538,2138,3739,3830,400.4,-12.3,402,2639,0.00,2.25,0.00,0.000,2564,0.000,0.053,2537,755,3784,3739,3830,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2682,-0.78,-194.6,2537,755,3739,3830,406.9,-11.7,412,2692,0.08,2.22,0.00,0.000,3078,0.351,0.039,2548,2156,3784,3739,3830,0,0,0,0,0,0,14.50,14.81,28.83
$GC,2932,-0.78,-194.6,2548,2157,3738,3830,434.6,-11.1,438,2940,0.00,2.33,0.00,0.000,260,0.000,0.060,2539,3548,3784,3738,3830,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2975,-0.78,-194.6,1648,3547,3735,3829,439.7,-11.2,447,2982,0.00,2.25,0.00,0.000,3078,0.000,0.031,2539,2146,3784,3738,3830,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3224,-0.78,-194.6,2539,2147,3737,3830,472.1,-13.8,472,3232,0.00,2.35,0.00,0.000,2308,0.000,0.062,2530,3545,3783,3736,3830,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3335,-0.78,-194.6,2530,3546,3735,3830,486.9,-12.4,494,3345,0.08,2.22,0.00,0.000,3078,0.351,0.032,2550,2148,3782,3735,3830,0,0,0,0,0,0,14.50,14.85,28.83
$GC,3585,-0.78,-194.6,2551,2147,3734,3830,513.8,-9.4,520,3593,0.00,2.30,0.00,0.000,516,0.000,0.054,2550,757,3781,3733,3830,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3666,-0.78,-194.6,2550,757,3732,3830,520.8,-8.4,536,3670,0.00,2.20,0.00,0.000,3078,0.000,0.040,2542,2144,3781,3732,3830,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3920,-0.78,-194.6,2542,2144,3731,3830,545.6,-10.6,562,3929,0.00,2.35,0.00,0.000,2308,0.000,0.063,2532,3547,3780,3730,3830,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3974,-0.78,-194.6,1664,3546,3727,3829,551.7,-10.0,573,3982,0.03,2.25,0.00,0.000,3078,0.532,0.033,2545,2148,3780,3730,3830,0,0,0,0,0,0,14.52,14.80,28.83
$GC,4221,-0.78,-194.6,2545,2148,3730,3829,575.7,-9.3,598,4222,0.00,0.00,0.00,0.000,2054,0.000,0.000,2545,2148,3779,3729,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.78,-194.6,2545,2148,3728,3827,599.2,-10.1,622,4471,0.00,2.38,0.00,0.000,2308,0.000,0.063,2537,3547,3776,3725,3827,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4491,-0.78,-194.6,2537,3547,3726,3827,602.5,-10.2,628,4495,0.00,2.25,0.00,0.000,3078,0.000,0.034,2537,2150,3776,3726,3827,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4738,-0.78,-194.6,2536,2150,3725,3825,630.1,-11.7,641,4739,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2150,3775,3725,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4978,-0.78,-194.6,2537,2150,3724,3824,658.3,-11.4,653,4979,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2150,3774,3724,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5218,-0.78,-194.6,2537,2150,3723,3823,682.3,-9.5,665,5219,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2149,3773,3723,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5458,-0.78,-194.6,2537,2149,3722,3822,706.0,-10.0,677,5459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2537,2150,3772,3722,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5698,-0.78,-194.6,2537,2149,3720,3822,728.0,-8.5,689,5699,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2150,3770,3720,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5938,-0.78,-194.6,2537,2149,3718,3820,747.2,-8.3,701,5944,0.00,2.42,0.00,0.000,2308,0.000,0.066,2528,3550,3768,3717,3820,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5991,-0.78,-194.6,2528,3550,3717,3820,751.9,-8.6,712,5998,0.08,2.30,0.00,0.000,3078,0.339,0.035,2547,2144,3768,3717,3820,0,0,0,0,0,0,14.46,14.81,28.83
$GC,6238,-0.78,-194.6,2547,2143,3716,3817,772.1,-8.3,725,6244,0.00,2.35,0.00,0.000,2564,0.000,0.059,2547,748,3766,3716,3817,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6286,-0.78,-194.6,2547,748,3716,3817,776.5,-8.7,735,6290,0.00,2.28,0.00,0.000,3078,0.000,0.044,2540,2140,3766,3715,3817,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6533,-0.78,-194.6,2540,2141,3714,3815,797.9,-8.8,748,6539,0.00,2.30,0.00,0.000,2564,0.000,0.059,2540,758,3764,3713,3815,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6566,-0.78,-194.6,2540,757,3713,3815,801.2,-9.4,755,6573,0.05,2.30,0.00,0.000,3078,0.437,0.044,2545,2160,3764,3713,3815,0,0,0,0,0,0,14.45,14.73,28.83
$GC,6813,-0.78,-194.6,2545,2160,3711,3813,820.6,-7.8,768,6817,0.00,2.40,0.00,0.000,2308,0.000,0.068,2536,3553,3762,3711,3813,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6867,-0.78,-194.6,2537,3553,3711,3813,825.4,-8.9,779,6874,0.00,2.33,0.00,0.000,3078,0.000,0.037,2536,2151,3761,3710,3813,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7114,-0.78,-194.6,2536,2151,3710,3812,847.3,-9.2,792,7115,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2150,3761,3710,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7354,-0.78,-194.6,2536,2150,3708,3811,868.5,-8.7,804,7360,0.00,2.38,0.00,0.000,2564,0.000,0.061,2536,750,3759,3707,3811,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7422,-0.78,-194.6,2536,750,3708,3811,875.0,-9.1,818,7427,0.08,2.30,0.00,0.000,3078,0.357,0.046,2546,2148,3759,3707,3811,0,0,0,0,0,0,14.38,14.71,28.83
$GC,7669,-0.78,-194.6,2546,2148,3706,3809,894.7,-8.1,831,7676,0.00,2.42,0.00,0.000,2308,0.000,0.070,2538,3558,3757,3705,3809,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7717,-0.78,-194.6,2538,3558,3705,3809,898.9,-8.5,841,7721,0.00,2.33,0.00,0.000,3078,0.000,0.038,2537,2145,3757,3705,3809,0,0,0,0,0,0,28.83,14.75,28.83
$GC,7964,-0.78,-194.6,2538,2145,3705,3807,921.1,-9.2,854,7965,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2145,3756,3705,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8204,-0.78,-194.6,2538,2145,3703,3806,944.6,-10.1,866,8205,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2145,3754,3703,3806,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8442,begin apogee
$GC,8447,-0.17,0.0,2538,1928,3702,3805,970.1,-10.7,878,8744,0.57,0.00,288.50,1.535,10246,0.223,0.000,2741,1928,2981,3019,2944,0,0,0,0,0,0,14.37,28.83,13.46
$STATE,8745,end apogee,CONTROL_FINISHED_OK
$STATE,8745,begin climb
$GC,8747,0.78,194.6,2741,1928,3017,2940,988.4,0.0,893,8970,0.82,2.67,212.20,1.778,10500,0.146,0.066,3051,3350,2182,2212,2153,0,0,0,0,0,0,14.14,14.00,13.30
$GC,9010,0.78,194.6,2128,3348,2161,2129,970.0,13.7,931,9015,0.00,2.40,0.00,0.000,5126,0.000,0.047,3062,1983,2168,2202,2135,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9268,0.78,194.6,3062,1983,2199,2128,933.1,14.9,946,9269,0.00,0.00,0.00,0.000,4102,0.000,0.000,3062,1983,2163,2199,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9508,0.78,194.6,3062,1983,2199,2124,898.0,14.5,958,9514,0.00,2.38,0.00,0.000,4356,0.000,0.066,3061,3360,2161,2199,2124,0,0,0,0,0,0,28.83,14.65,28.83
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$STATE,17366,end climb,SURFACE_DEPTH_REACHED
$STATE,17366,begin surface coast
$FINISH,0.5,1.023716
$STATE,17393,end surface coast,CONTROL_FINISHED_OK
$STATE,17394,begin surface
$SM_CCo,17409,102.40,0.151,0,0,1354,400.08
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$IRIDIUM_FIX,2232.34,12353.07,071209,161617
$TT8_MAMPS,0.020223,0.020223
$HUMID,39.84
$INTERNAL_PRESSURE,8.09601
$TCM_TEMP,22.50
$XPDR_PINGS,3
$24V_AH,13.3,126.954
$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,328716
$DATA_FILE_SIZE,150709,1996
$CAP_FILE_SIZE,206113,0
$CFSIZE,2097086464,2040135680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.102,318.9,1
$GPS,100217,073730,2240.196,12355.102,27,0.9,27,-3.6