version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 573
start: 4 14 117 22 44 38
data:
$ID,626
$MISSION,1
$DIVE,573
$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,-132627.83
$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,40
$R_STBD_OVSHOOT,44
$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
$GPS1,140417,223701,2233.373,-15800.631,16,1.0,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-75.7
$GPS2,140417,224324,2233.305,-15800.704,8,0.8,8,9.8
$SPEED_LIMITS,0.221,0.231
$TGT_NAME,AC11
$TGT_LATLONG,2234.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.033,0.229
$KALMAN_X,-89265.4,374.0,-966.9,92334.6,2617.4
$KALMAN_Y,-458641.1,906.5,640.4,442632.8,-8445.2
$MHEAD_RNG_PITCHd_Wd,33.3,1763,-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,-107.1,115,2533,1021,978,0.0,0.0,0,79,0.00,0.00,-59.53,0.000,16390,0.000,0.000,114,2533,3038,3070,3007,0,0,0,0,0,0,28.83,28.83,14.88
$GC,82,-0.69,-107.1,115,2533,3070,3007,3.4,-4.9,7,101,8.88,2.35,0.00,0.000,2308,0.476,0.053,2561,3902,3039,3071,3007,0,0,0,0,0,0,13.93,14.50,28.83
$GC,205,-0.69,-107.1,2561,3902,3074,3007,41.1,-21.2,24,215,0.00,2.38,0.00,0.000,1030,0.000,0.044,2561,2507,3040,3073,3007,0,0,0,0,0,0,28.83,14.48,28.83
$GC,530,-0.69,-107.1,2561,2506,3074,3007,111.5,-19.6,73,537,0.00,2.35,0.00,0.000,2564,0.000,0.057,2561,1090,3041,3075,3007,0,0,0,0,0,0,28.83,14.63,28.83
$GC,588,-0.69,-107.1,2561,1089,3075,3006,124.2,-20.0,82,597,0.00,2.42,0.00,0.000,3078,0.000,0.057,2561,2474,3040,3075,3006,0,0,0,0,0,0,28.83,14.48,28.83
$GC,861,-0.69,-107.1,2561,2474,3076,3007,174.4,-15.8,117,873,0.00,2.42,0.00,0.000,2308,0.000,0.072,2561,3913,3041,3076,3006,0,0,0,0,0,0,28.83,14.62,28.83
$GC,928,-0.69,-107.1,2561,3914,3076,3007,184.2,-14.2,123,940,0.00,2.30,0.00,0.000,3078,0.000,0.042,2561,2494,3041,3076,3007,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1178,-0.69,-107.1,2561,2493,3077,3006,216.2,-12.9,139,1184,0.00,2.30,0.00,0.000,2564,0.000,0.058,2561,1093,3041,3077,3006,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1226,-0.69,-107.1,2561,1093,3077,3006,221.3,-12.7,140,1230,0.00,2.38,0.00,0.000,3078,0.000,0.056,2561,2505,3041,3077,3006,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1493,-0.69,-107.1,2560,2505,3076,3006,259.1,-14.0,147,1499,0.00,2.38,0.00,0.000,2308,0.000,0.076,2561,3912,3042,3077,3007,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1541,-0.69,-107.1,2561,3912,3077,3006,264.8,-14.1,148,1545,0.00,2.28,0.00,0.000,3078,0.000,0.041,2561,2499,3040,3075,3006,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1808,-0.69,-107.1,2561,2497,3077,3006,299.2,-12.1,155,1814,0.00,2.33,0.00,0.000,2564,0.000,0.058,2561,1085,3041,3077,3006,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1861,-0.69,-107.1,2561,1085,3077,3006,304.5,-12.3,156,1865,0.00,2.38,0.00,0.000,3078,0.000,0.057,2561,2500,3041,3077,3006,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2123,-0.69,-107.1,2561,2500,3077,3005,337.9,-12.2,163,2124,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2500,3041,3077,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2363,-0.69,-107.1,2561,2500,3077,3003,366.3,-11.9,169,2364,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2500,3040,3076,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2603,-0.69,-107.1,2561,2500,3077,3001,395.0,-11.9,175,2605,0.03,0.00,0.00,0.000,2054,0.674,0.000,2571,2501,3038,3076,3001,0,0,0,0,0,0,14.72,28.83,28.83
$GC,2843,-0.69,-107.1,2571,2500,3077,2997,423.1,-11.5,181,2849,0.00,2.38,0.00,0.000,260,0.000,0.076,2562,3908,3037,3077,2997,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2883,-0.69,-107.1,2562,3908,3077,2996,427.6,-11.3,182,2889,0.00,2.30,0.00,0.000,3078,0.000,0.043,2562,2492,3036,3077,2996,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3163,-0.69,-107.1,2562,2492,3077,2994,457.1,-10.2,189,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2492,3035,3077,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3403,-0.69,-107.1,2562,2491,3077,2990,479.6,-9.4,195,3409,0.00,2.33,0.00,0.000,2564,0.000,0.060,2562,1091,3033,3077,2990,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3431,-0.69,-107.1,2562,1090,3077,2990,479.6,-9.4,195,3435,0.00,2.40,0.00,0.000,3078,0.000,0.058,2562,2497,3033,3077,2990,0,0,0,0,0,0,28.83,13.74,28.83
$GC,3678,-0.69,-107.1,2562,2498,3076,2987,504.5,-9.1,201,3679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2498,3032,3077,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3918,-0.69,-107.1,2562,2498,3076,2983,527.7,-9.8,207,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2498,3029,3076,2983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4158,-0.69,-107.1,2562,2498,3076,2979,552.5,-10.4,213,4164,0.00,2.42,0.00,0.000,2308,0.000,0.079,2562,3913,3028,3076,2980,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4251,-0.69,-107.1,2562,3913,3076,2979,561.0,-10.5,215,4255,0.00,2.33,0.00,0.000,3078,0.000,0.044,2562,2498,3028,3077,2979,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4513,-0.69,-107.1,2562,2497,3076,2975,590.8,-10.9,222,4519,0.00,2.35,0.00,0.000,2564,0.000,0.060,2562,1092,3025,3076,2975,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4553,-0.69,-107.1,2562,1092,3077,2975,595.4,-11.0,223,4559,0.00,2.45,0.00,0.000,3078,0.000,0.061,2562,2514,3025,3076,2975,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4833,-0.69,-107.1,2562,2514,3076,2971,626.2,-11.0,230,4834,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2514,3024,3077,2972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5075,-0.69,-107.1,2562,2514,3076,2969,650.8,-10.0,236,5076,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2514,3022,3076,2969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5313,-0.69,-107.1,2562,2514,3076,2967,671.5,-8.3,242,5314,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2514,3022,3077,2967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5553,-0.69,-107.1,2562,2514,3076,2964,688.2,-6.8,248,5554,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2514,3020,3076,2964,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5751,begin apogee
$GC,5757,-0.17,0.0,2562,2418,3076,2962,701.2,-6.5,253,5854,0.55,0.03,93.05,2.666,10246,0.305,0.306,2741,2445,2600,2678,2522,0,0,0,0,0,0,14.08,14.07,12.90
$STATE,5855,end apogee,CONTROL_FINISHED_OK
$STATE,5855,begin climb
$GC,5857,0.69,107.1,2741,2445,2678,2522,701.7,0.0,255,5966,0.75,2.65,98.00,2.644,10500,0.191,0.076,3023,3861,2163,2241,2086,0,0,0,0,0,0,14.06,14.00,12.83
$GC,5987,0.69,107.1,3023,3861,2241,2085,696.2,6.2,258,5993,0.00,2.40,0.00,0.000,1030,0.000,0.047,3033,2470,2162,2241,2084,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6234,0.69,107.1,3034,2469,2240,2076,656.9,14.2,265,6240,0.00,2.42,0.00,0.000,516,0.000,0.063,3045,1040,2157,2240,2074,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6287,0.69,107.1,3044,1037,2239,2071,651.5,14.0,266,6292,0.10,2.42,0.00,0.000,5126,0.414,0.058,3022,2448,2155,2238,2072,0,0,0,0,0,0,14.25,14.60,28.83
$GC,6550,0.69,107.1,3022,2448,2238,2071,621.0,10.4,273,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2449,2155,2239,2071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6790,0.69,107.1,3022,2449,2239,2069,598.8,9.0,279,6796,0.00,2.40,0.00,0.000,516,0.000,0.058,3030,1030,2153,2238,2069,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6858,0.69,107.1,3031,1029,2238,2066,595.4,8.8,280,6862,0.00,2.42,0.00,0.000,1030,0.000,0.057,3031,2450,2152,2238,2066,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7107,0.69,107.1,3031,2449,2238,2066,571.9,8.7,286,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2450,2152,2238,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7345,0.69,107.1,3031,2451,2238,2064,549.7,9.4,292,7351,0.00,2.42,0.00,0.000,260,0.000,0.078,3031,3862,2151,2238,2064,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7398,0.69,107.1,3031,3862,2238,2064,545.2,9.9,293,7403,0.08,2.35,0.00,0.000,5126,0.505,0.048,3029,2445,2151,2238,2065,0,0,0,0,0,0,14.26,14.71,28.83
$GC,7661,0.69,107.1,3029,2443,2238,2064,514.6,11.2,300,7667,0.00,2.45,0.00,0.000,260,0.000,0.073,3028,3860,2151,2238,2064,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7720,0.69,107.1,3028,3860,2238,2064,509.7,11.6,301,7726,0.00,2.35,0.00,0.000,1030,0.000,0.047,3037,2445,2151,2238,2064,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7980,0.69,107.1,3038,2443,2238,2062,479.9,10.2,308,7987,0.05,2.35,0.00,0.000,4612,0.557,0.054,3037,1033,2150,2238,2062,0,0,0,0,0,0,14.57,14.69,28.83
$GC,8020,0.69,107.1,3036,1034,2235,2062,476.4,9.7,309,8026,0.00,2.40,0.00,0.000,1030,0.000,0.054,3037,2451,2149,2236,2062,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8301,0.70,114.2,3037,2451,2235,2061,453.8,7.7,316,8312,0.00,2.45,4.88,1.808,8708,0.000,0.057,3048,1041,2133,2220,2047,0,0,0,0,0,0,28.83,14.76,13.34
$GC,8374,0.72,133.3,3048,1040,2220,2048,451.1,7.2,317,8398,0.05,2.40,18.33,2.256,13318,0.485,0.056,3037,2451,2056,2142,1970,0,0,0,0,0,0,14.42,14.69,13.42
$GC,8661,0.75,150.9,3037,2451,2142,1966,427.7,7.2,325,8683,0.00,2.45,16.55,2.189,8452,0.000,0.076,3037,3865,1985,2077,1893,0,0,0,0,0,0,28.83,14.58,13.41
$GC,8724,0.77,173.4,3036,3865,2076,1893,425.3,7.0,326,8752,0.00,2.38,21.38,2.198,9222,0.000,0.048,3046,2451,1892,1992,1793,0,0,0,0,0,0,28.83,14.57,13.31
$GC,9016,0.77,173.4,3046,2451,1992,1783,390.7,12.0,334,9021,0.00,2.40,0.00,0.000,516,0.000,0.060,3057,1032,1888,1993,1783,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9096,0.77,173.4,3057,1031,1992,1781,380.9,12.4,336,9102,0.00,2.45,0.00,0.000,1030,0.000,0.055,3057,2458,1886,1992,1781,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9376,0.77,173.4,3057,2458,1992,1781,345.5,12.8,343,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2458,1886,1992,1781,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,13043,end climb,SURFACE_DEPTH_REACHED
$STATE,13043,begin surface coast
$FINISH,0.1,1.021381
$STATE,13078,end surface coast,CONTROL_FINISHED_OK
$STATE,13079,begin surface
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$TT8_MAMPS,0.019474,0.019474
$HUMID,44.88
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,23.70
$XPDR_PINGS,5
$24V_AH,12.8,183.889
$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.700,134.675,316.750,79.675,0.000,28.230,46.090,179.730,1.250,0.000,9.306,1845.354,8441.033,482.687,2588.752,218.251,33.254,1417.101,0.000,1705.346,0.000,0.550,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
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$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353008
$DATA_FILE_SIZE,60780,679
$CAP_FILE_SIZE,125798,0
$CFSIZE,2097086464,2028765184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,150417,022511,2233.420,-15800.316,19,1.7,19,9.8