version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 520
start: 4 6 117 5 11 41
data:
$ID,626
$MISSION,1
$DIVE,520
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,750
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$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,290
$T_MISSION,450
$T_ABORT,400
$T_TURN,250
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54941
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,3
$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,-132327.45
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,158
$PITCH_MAX,3905
$C_PITCH,2800
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$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,286
$ROLL_MAX,3922
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-177.80853
$PRESSURE_SLOPE,0.000140886
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,5
$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
$DEVICE2,20
$DEVICE3,133
$DEVICE4,163
$DEVICE5,150
$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,0.0043901233
$SEABIRD_T_H,0.00063526275
$SEABIRD_T_I,2.50098e-05
$SEABIRD_T_J,2.985784e-06
$SEABIRD_C_G,-9.6502161
$SEABIRD_C_H,1.0763537
$SEABIRD_C_I,-0.002494992
$SEABIRD_C_J,0.00024128702
$GPS1,060417,050124,2232.944,-15800.437,35,0.8,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-75.7
$GPS2,060417,051026,2232.787,-15800.485,7,0.8,7,9.8
$SPEED_LIMITS,0.221,0.231
$TGT_NAME,AC11
$TGT_LATLONG,2234.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.137,0.186
$KALMAN_X,-144398.6,-1093.7,-127.8,148503.5,4735.7
$KALMAN_Y,-272492.4,904.7,-880.7,257045.7,-3078.2
$MHEAD_RNG_PITCHd_Wd,10.5,2396,-16.8,-8.046,-20.00,2265
$D_GRID,700
$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,16,-0.69,-107.1,113,2534,1023,974,0.0,0.0,0,79,0.00,0.00,-58.95,0.000,16390,0.000,0.000,114,2535,3038,3070,3006,0,0,0,0,0,0,28.83,28.83,14.88
$GC,82,-0.69,-107.1,114,2535,3070,3007,3.9,-7.6,7,101,8.90,2.35,0.00,0.000,2308,0.482,0.056,2561,3895,3039,3072,3007,0,0,0,0,0,0,13.96,14.52,28.83
$GC,240,-0.69,-107.1,2561,3896,3074,3007,45.2,-18.5,29,249,0.00,2.35,0.00,0.000,3078,0.000,0.042,2561,2505,3040,3074,3007,0,0,0,0,0,0,28.83,14.50,28.83
$GC,562,-0.69,-107.1,2561,2505,3074,3007,101.3,-16.0,78,572,0.00,2.40,0.00,0.000,2564,0.000,0.052,2561,1090,3040,3074,3007,0,0,0,0,0,0,28.83,14.52,28.83
$GC,603,-0.69,-107.1,2561,1090,3074,3006,108.0,-16.2,84,613,0.00,2.40,0.00,0.000,3078,0.000,0.049,2561,2478,3040,3074,3006,0,0,0,0,0,0,28.83,14.52,28.83
$GC,900,-0.69,-107.1,2561,2478,3075,3006,157.3,-17.8,129,901,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2478,3040,3075,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1140,-0.69,-107.1,2561,2478,3076,3006,196.6,-14.6,153,1152,0.00,2.42,0.00,0.000,2308,0.000,0.075,2561,3906,3041,3076,3006,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1177,-0.69,-107.1,2561,3906,3077,3006,200.3,-14.3,155,1184,0.00,2.30,0.00,0.000,3078,0.000,0.041,2561,2494,3041,3076,3006,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1424,-0.69,-107.1,2561,2492,3076,3006,234.3,-12.7,162,1430,0.00,2.28,0.00,0.000,2564,0.000,0.049,2560,1085,3041,3076,3006,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1507,-0.69,-107.1,1632,1085,3048,3002,243.9,-12.2,164,1511,0.00,2.35,0.00,0.000,3078,0.000,0.049,2561,2498,3041,3076,3006,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1779,-0.69,-107.1,2561,2498,3076,3006,276.1,-12.2,171,1785,0.00,2.38,0.00,0.000,2308,0.000,0.075,2561,3909,3041,3077,3006,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1837,-0.69,-107.1,2560,3909,3076,3006,280.7,-12.4,172,1841,0.00,2.28,0.00,0.000,3078,0.000,0.038,2561,2490,3041,3076,3006,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2094,-0.69,-107.1,2561,2488,3076,3006,314.0,-12.4,179,2101,0.03,2.42,0.00,0.000,2308,0.619,0.068,2561,3914,3041,3076,3006,0,0,0,0,0,0,14.77,14.71,28.83
$GC,2122,-0.69,-107.1,2561,3914,3076,3007,314.0,-12.4,179,2126,0.00,2.28,0.00,0.000,3078,0.000,0.038,2561,2495,3041,3076,3006,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2369,-0.69,-107.1,2562,2493,3076,3004,346.5,-11.9,185,2375,0.00,2.28,0.00,0.000,2564,0.000,0.048,2562,1090,3040,3076,3004,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2452,-0.69,-107.1,1648,1088,3049,2999,356.2,-12.1,187,2456,0.00,2.35,0.00,0.000,3078,0.000,0.050,2561,2500,3040,3076,3004,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2729,-0.69,-107.1,2561,2500,3076,3001,391.0,-12.7,194,2730,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2500,3038,3076,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2969,-0.69,-107.1,2561,2501,3076,2998,419.2,-11.5,200,2970,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2501,3037,3076,2998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3211,-0.69,-107.1,2561,2501,3076,2995,442.8,-9.5,206,3216,0.00,2.38,0.00,0.000,2308,0.000,0.077,2561,3909,3035,3076,2995,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3262,-0.69,-107.1,2561,3909,3076,2994,446.7,-9.5,207,3266,0.00,2.28,0.00,0.000,3078,0.000,0.039,2561,2496,3035,3076,2994,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3524,-0.69,-107.1,2561,2495,3076,2990,472.9,-9.5,214,3525,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2495,3033,3076,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3764,-0.69,-107.1,2562,2495,3076,2987,495.8,-9.6,220,3770,0.00,2.30,0.00,0.000,2564,0.000,0.050,2561,1088,3031,3075,2987,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3812,-0.69,-107.1,2561,1088,3076,2987,499.8,-9.8,221,3816,0.00,2.38,0.00,0.000,3078,0.000,0.051,2561,2503,3031,3076,2987,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4079,-0.69,-107.1,2561,2503,3076,2982,526.7,-10.0,228,4080,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2503,3029,3076,2982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4319,-0.69,-107.1,2561,2503,3076,2979,551.7,-10.5,234,4325,0.00,2.42,0.00,0.000,2308,0.000,0.080,2561,3909,3028,3076,2980,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4339,-0.69,-107.1,2561,3909,3076,2978,551.7,-10.5,234,4345,0.00,2.30,0.00,0.000,3078,0.000,0.041,2561,2496,3027,3076,2979,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4599,-0.69,-107.1,2561,2495,3076,2976,583.6,-11.6,241,4600,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2495,3026,3076,2976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4839,-0.69,-107.1,2561,2495,3076,2972,610.3,-11.0,247,4845,0.00,2.45,0.00,0.000,2308,0.000,0.078,2561,3906,3024,3076,2972,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4867,-0.69,-107.1,2562,3906,3076,2972,610.3,-11.0,247,4871,0.00,2.30,0.00,0.000,3078,0.000,0.041,2562,2497,3023,3075,2972,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5114,-0.69,-107.1,2562,2496,3076,2969,638.3,-9.8,253,5115,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2497,3022,3076,2969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5354,-0.69,-107.1,2561,2496,3075,2967,659.6,-8.7,259,5355,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2496,3021,3076,2967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5595,-0.69,-107.1,2561,2496,3075,2964,679.0,-7.9,265,5596,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2496,3019,3075,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5836,-0.69,-107.1,2561,2496,3075,2961,696.8,-7.3,271,5837,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2496,3018,3076,2961,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5912,begin apogee
$GC,5917,-0.17,0.0,2562,2496,3076,2960,702.7,-7.4,273,6012,0.55,0.00,91.38,2.604,10246,0.301,0.000,2741,2495,2600,2678,2522,0,0,0,0,0,0,14.12,28.83,13.00
$STATE,6013,end apogee,CONTROL_FINISHED_OK
$STATE,6013,begin climb
$GC,6015,0.69,107.1,2742,2495,2678,2521,703.9,0.0,275,6121,0.75,2.50,96.78,2.598,10500,0.194,0.072,3024,3856,2162,2239,2085,0,0,0,0,0,0,14.08,13.98,12.87
$GC,6148,0.69,107.1,3024,3856,2239,2084,699.0,5.7,278,6154,0.00,2.42,0.00,0.000,1030,0.000,0.047,3034,2453,2161,2240,2082,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6395,0.69,107.1,3034,2451,2239,2073,662.9,12.7,285,6401,0.00,2.47,0.00,0.000,260,0.000,0.073,3035,3863,2156,2239,2074,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6428,0.69,107.1,3034,3864,2239,2074,662.9,12.7,285,6435,0.10,2.38,0.00,0.000,5126,0.466,0.046,3025,2443,2156,2239,2074,0,0,0,0,0,0,14.21,14.64,28.83
$GC,6675,0.69,107.1,3024,2442,2239,2070,630.2,11.2,292,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2442,2154,2239,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6915,0.69,107.1,3025,2442,2239,2068,605.4,10.1,298,6921,0.00,2.35,0.00,0.000,516,0.000,0.055,3034,1034,2152,2239,2066,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6963,0.69,107.1,3034,1034,2237,2065,601.7,9.8,299,6967,0.00,2.40,0.00,0.000,1030,0.000,0.051,3034,2454,2150,2237,2064,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7230,0.69,107.1,3034,2454,2238,2065,575.8,9.4,306,7236,0.00,2.40,0.00,0.000,260,0.000,0.074,3034,3860,2151,2238,2065,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7272,0.69,107.1,2088,3860,2192,2058,571.8,9.5,307,7277,0.10,2.33,0.00,0.000,5126,0.461,0.044,3023,2445,2151,2237,2065,0,0,0,0,0,0,14.24,14.74,28.83
$GC,7545,0.69,107.1,3023,2444,2237,2064,548.7,8.2,314,7551,0.00,2.33,0.00,0.000,516,0.000,0.054,3032,1044,2150,2237,2063,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7625,0.69,108.4,3032,1044,2235,2062,542.3,8.0,316,7631,0.00,2.38,0.00,0.000,1030,0.000,0.052,3032,2453,2148,2234,2062,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7905,0.69,108.9,3032,2453,2235,2062,519.4,8.0,323,7911,0.00,2.40,0.00,0.000,260,0.000,0.074,3032,3860,2148,2235,2062,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7933,0.69,109.5,3032,3861,2235,2063,519.4,8.0,323,7938,0.08,2.33,0.00,0.000,5126,0.490,0.044,3029,2449,2148,2234,2063,0,0,0,0,0,0,14.28,14.73,28.83
$GC,8180,0.70,111.1,3029,2447,2235,2062,496.7,8.0,329,8186,0.00,2.45,0.00,0.000,260,0.000,0.071,3029,3859,2148,2235,2062,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8208,0.70,112.8,3029,3859,2235,2062,496.7,8.0,329,8212,0.00,2.33,0.00,0.000,1030,0.000,0.044,3038,2451,2148,2235,2062,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8455,0.70,112.8,3039,2449,2235,2061,470.9,9.8,335,8464,0.03,2.33,3.30,1.418,12804,0.661,0.052,3039,1046,2141,2229,2053,0,0,0,0,0,0,14.64,14.78,13.35
$GC,8574,0.70,112.8,3039,1045,2228,2052,459.1,10.1,338,8579,0.00,2.38,0.00,0.000,1030,0.000,0.052,3039,2452,2140,2228,2052,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8847,0.70,112.8,3039,2452,2229,2052,429.6,10.9,345,8852,0.00,2.40,0.00,0.000,260,0.000,0.073,3039,3854,2140,2229,2052,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8869,0.70,112.8,3040,3854,2228,2053,429.6,10.9,345,8874,0.10,2.33,0.00,0.000,5126,0.448,0.045,3028,2442,2140,2228,2053,0,0,0,0,0,0,14.21,14.73,28.83
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$STATE,13854,end climb,SURFACE_DEPTH_REACHED
$STATE,13854,begin surface coast
$FINISH,0.3,1.023287
$STATE,13883,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.018725,0.018725
$HUMID,44.05
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$TCM_TEMP,23.80
$XPDR_PINGS,4
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$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.900,151.850,287.800,86.175,0.000,30.485,48.679,336.870,1.000,0.000,8.111,1981.106,8873.383,482.002,2954.340,258.697,33.254,1486.313,0.000,1885.437,0.000,0.550,0.000
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$MEM,353108
$DATA_FILE_SIZE,64005,721
$CAP_FILE_SIZE,137455,0
$CFSIZE,2097086464,2035679232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060417,090601,2233.114,-15800.394,27,0.9,33,9.8