version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 576
start: 4 15 117 10 21 40
data:
$ID,626
$MISSION,1
$DIVE,576
$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,-132675.94
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,150417,101400,2233.922,-15800.401,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.0
$GPS2,150417,102026,2233.808,-15800.515,8,0.8,8,9.8
$SPEED_LIMITS,0.221,0.231
$TGT_NAME,AC11
$TGT_LATLONG,2234.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.028,0.229
$KALMAN_X,-87495.2,-448.5,-464.7,91201.7,1983.6
$KALMAN_Y,-468726.1,745.5,753.6,453693.2,-8444.2
$MHEAD_RNG_PITCHd_Wd,58.2,949,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-107.1,115,2517,1020,978,0.0,0.0,0,78,0.00,0.00,-58.60,0.000,16390,0.000,0.000,115,2517,3037,3066,3008,0,0,0,0,0,0,28.83,28.83,14.88
$GC,82,-0.69,-107.1,114,2517,3066,3008,3.9,-6.7,7,100,8.88,0.00,0.00,0.000,2054,0.474,0.000,2566,2517,3038,3069,3008,0,0,0,0,0,0,13.95,28.83,28.83
$GC,426,-0.69,-107.1,2566,2517,3070,3008,88.0,-19.5,57,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2518,3039,3070,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,731,-0.69,-107.1,2566,2517,3071,3008,143.9,-16.9,106,740,0.00,2.47,0.00,0.000,516,0.000,0.059,2566,1094,3039,3071,3008,0,0,0,0,0,0,28.83,14.49,28.83
$GC,768,-0.69,-107.1,2566,1093,3071,3008,149.9,-17.6,111,775,0.00,2.38,0.00,0.000,3078,0.000,0.056,2562,2490,3040,3072,3008,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1017,-0.69,-107.1,2562,2492,3073,3008,189.0,-15.2,136,1026,0.00,2.33,0.00,0.000,2564,0.000,0.057,2562,1091,3040,3073,3008,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1051,-0.69,-107.1,2562,1091,3072,3008,194.2,-14.6,139,1060,0.00,2.38,0.00,0.000,1030,0.000,0.057,2562,2502,3040,3073,3007,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1298,-0.69,-107.1,2562,2502,3074,3008,229.3,-14.1,149,1304,0.00,2.35,0.00,0.000,2564,0.000,0.057,2562,1088,3041,3074,3008,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1326,-0.69,-107.1,2562,1088,3074,3008,229.3,-14.1,149,1331,0.00,2.40,0.00,0.000,3078,0.000,0.057,2562,2511,3041,3074,3008,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1573,-0.69,-107.1,2562,2512,3074,3008,264.7,-12.0,155,1579,0.00,2.38,0.00,0.000,2564,0.000,0.057,2562,1085,3040,3073,3008,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1601,-0.69,-107.1,2562,1084,3074,3008,264.7,-12.0,155,1606,0.00,2.38,0.00,0.000,3078,0.000,0.057,2562,2499,3040,3073,3008,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1848,-0.69,-107.1,2562,2499,3074,3008,293.4,-10.2,161,1854,0.00,2.38,0.00,0.000,2308,0.000,0.076,2562,3909,3041,3074,3008,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1896,-0.69,-107.1,2562,3909,3074,3008,297.8,-10.6,162,1901,0.00,2.30,0.00,0.000,3078,0.000,0.042,2562,2492,3041,3074,3008,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2163,-0.69,-107.1,2562,2492,3074,3007,327.1,-10.8,169,2169,0.00,2.33,0.00,0.000,2564,0.000,0.057,2562,1079,3040,3073,3007,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2246,-0.69,-107.1,2562,1078,3074,3006,337.0,-11.7,171,2251,0.00,2.40,0.00,0.000,3078,0.000,0.057,2562,2501,3040,3074,3006,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2518,-0.69,-107.1,2562,2502,3073,3004,371.8,-12.1,178,2524,0.00,2.38,0.00,0.000,2564,0.000,0.057,2562,1080,3038,3073,3004,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2541,-0.69,-107.1,2562,1079,3073,3004,371.8,-12.1,178,2546,0.00,2.40,0.00,0.000,3078,0.000,0.057,2562,2499,3038,3074,3003,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2793,-0.69,-107.1,2562,2499,3073,3001,403.7,-11.2,185,2795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2499,3037,3074,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3033,-0.69,-107.1,2562,2499,3074,2998,429.2,-10.4,191,3039,0.00,2.38,0.00,0.000,2564,0.000,0.057,2562,1083,3035,3074,2997,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3091,-0.69,-107.1,2562,1082,3074,2996,433.2,-10.2,192,3096,0.00,2.40,0.00,0.000,3078,0.000,0.058,2562,2499,3035,3074,2996,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3348,-0.69,-107.1,2562,2499,3073,2994,457.6,-8.6,199,3350,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2499,3033,3073,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3588,-0.69,-107.1,2562,2499,3073,2991,478.8,-8.9,205,3590,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2499,3032,3074,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,-0.69,-107.1,2562,2499,3073,2988,501.1,-9.3,211,3835,0.00,2.35,0.00,0.000,2564,0.000,0.056,2562,1092,3030,3074,2987,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3886,-0.69,-107.1,2562,1091,3074,2987,505.1,-9.5,212,3891,0.00,2.40,0.00,0.000,3078,0.000,0.060,2562,2498,3030,3074,2987,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4143,-0.69,-107.1,2562,2498,3073,2983,532.2,-10.0,219,4149,0.00,2.42,0.00,0.000,2308,0.000,0.078,2562,3917,3028,3073,2983,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4166,-0.69,-107.1,2562,3917,3073,2983,532.2,-10.0,219,4171,0.00,2.33,0.00,0.000,3078,0.000,0.043,2562,2498,3028,3073,2983,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4418,-0.69,-107.1,2562,2496,3073,2980,558.9,-9.7,226,4424,0.00,2.35,0.00,0.000,2564,0.000,0.059,2562,1086,3026,3073,2979,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4461,-0.69,-107.1,2562,1087,3073,2979,563.0,-9.9,227,4466,0.00,2.42,0.00,0.000,3078,0.000,0.057,2562,2508,3026,3074,2979,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4733,-0.69,-107.1,2562,2509,3073,2976,589.2,-9.5,234,4735,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2509,3024,3073,2976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4973,-0.69,-107.1,2562,2509,3073,2974,609.9,-8.4,240,4975,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2509,3023,3073,2973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5214,-0.69,-107.1,2562,2509,3073,2971,629.7,-8.3,246,5215,0.00,0.00,0.00,0.000,2054,0.000,0.000,2563,2509,3021,3073,2970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5453,-0.69,-107.1,2562,2509,3073,2968,649.9,-8.3,252,5455,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2509,3020,3073,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5693,-0.69,-107.1,2562,2509,3072,2967,669.6,-8.1,258,5700,0.00,2.40,0.00,0.000,2564,0.000,0.060,2562,1091,3019,3073,2965,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5716,-0.69,-107.1,2562,1091,3073,2966,669.6,-8.1,258,5721,0.00,2.42,0.00,0.000,3078,0.000,0.061,2562,2499,3019,3073,2966,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5969,-0.69,-107.1,2562,2499,3073,2963,692.3,-8.3,265,5975,0.00,2.45,0.00,0.000,2308,0.000,0.081,2562,3915,3018,3073,2963,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6028,-0.69,-107.1,2562,3915,3072,2962,695.9,-8.5,266,6034,0.00,2.35,0.00,0.000,3078,0.000,0.043,2562,2489,3017,3071,2963,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,6086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6086,begin apogee
$GC,6091,-0.17,0.0,2562,2488,3071,2963,702.9,-8.8,268,6187,0.55,0.00,92.55,2.638,10246,0.299,0.000,2739,2488,2599,2673,2525,0,0,0,0,0,0,14.04,28.83,12.90
$STATE,6188,end apogee,CONTROL_FINISHED_OK
$STATE,6188,begin climb
$GC,6191,0.69,107.1,2739,2488,2673,2525,705.0,0.0,270,6298,0.75,2.53,98.45,2.632,10500,0.196,0.073,3023,3865,2163,2237,2089,0,0,0,0,0,0,14.05,13.99,12.82
$GC,6326,0.69,107.1,3023,3865,2235,2088,698.9,5.5,274,6332,0.00,2.45,0.00,0.000,1030,0.000,0.049,3035,2445,2160,2235,2086,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6606,0.69,107.1,3034,2444,2235,2077,668.8,10.5,281,6612,0.00,2.47,0.00,0.000,260,0.000,0.075,3034,3860,2156,2235,2077,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6686,0.69,107.1,3034,3860,2236,2077,659.3,10.9,283,6693,0.10,2.38,0.00,0.000,5126,0.461,0.051,3024,2444,2156,2235,2077,0,0,0,0,0,0,14.20,14.63,28.83
$GC,6966,0.69,107.1,3024,2442,2235,2073,630.2,10.4,290,6972,0.00,2.35,0.00,0.000,516,0.000,0.060,3033,1038,2153,2235,2072,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7060,0.69,107.1,3033,1038,2234,2069,622.0,10.3,292,7064,0.00,2.42,0.00,0.000,1030,0.000,0.057,3033,2459,2151,2234,2069,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7321,0.69,107.1,3033,2459,2234,2069,593.8,10.2,299,7327,0.00,2.40,0.00,0.000,260,0.000,0.075,3033,3866,2152,2234,2070,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7441,0.69,107.1,3033,3866,2234,2070,579.5,11.5,302,7448,0.10,2.35,0.00,0.000,5126,0.461,0.049,3022,2449,2152,2234,2070,0,0,0,0,0,0,14.20,14.69,28.83
$GC,7721,0.69,107.1,3023,2447,2234,2068,553.8,9.0,309,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2448,2151,2234,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7961,0.69,107.1,3022,2447,2234,2066,532.6,8.8,315,7967,0.00,2.38,0.00,0.000,516,0.000,0.058,3032,1028,2149,2234,2065,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8069,0.69,107.1,3031,1027,2232,2064,525.5,8.9,317,8074,0.00,2.42,0.00,0.000,1030,0.000,0.054,3031,2453,2148,2232,2064,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8316,0.69,107.1,3032,2453,2232,2064,501.3,8.8,323,8322,0.00,2.40,0.00,0.000,260,0.000,0.073,3032,3863,2148,2232,2064,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8369,0.69,107.1,3032,3864,2232,2064,497.0,9.2,324,8375,0.08,2.35,0.00,0.000,5126,0.500,0.047,3029,2447,2148,2232,2064,0,0,0,0,0,0,14.21,14.69,28.83
$GC,8632,0.69,107.1,3029,2445,2232,2064,472.4,8.6,331,8638,0.00,2.35,0.00,0.000,516,0.000,0.058,3038,1040,2148,2232,2064,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8685,0.69,107.1,3038,1040,2230,2062,469.1,8.5,332,8690,0.03,2.40,0.00,0.000,5126,0.588,0.054,3028,2451,2146,2230,2063,0,0,0,0,0,0,14.35,14.64,28.83
$GC,8948,0.69,107.1,3028,2451,2230,2062,445.4,8.5,339,8954,0.00,2.40,0.00,0.000,260,0.000,0.073,3028,3858,2146,2230,2063,0,0,0,0,0,0,28.83,14.58,28.83
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$GC,11342,0.76,160.0,3066,1035,2040,1842,227.8,9.2,399,11347,0.10,2.42,0.00,0.000,5126,0.373,0.054,3041,2458,1941,2040,1842,0,0,0,0,0,0,14.21,14.60,28.83
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$STATE,13890,end climb,SURFACE_DEPTH_REACHED
$STATE,13891,begin surface coast
$FINISH,0.1,1.011019
$STATE,13928,end surface coast,CONTROL_FINISHED_OK
$STATE,13928,begin surface
$SM_CCo,13945,63.58,0.838,0,0,1008,390.02
$SM_GC,1.07,6.95,0.08,63.58,0.086,0.176,0.838,126,2501,1008,-8.21,-0.85,390.02,0,0,0,0,0,0,14.64,14.64,13.86
$IRIDIUM_FIX,2223.01,-15758.91,090210,232301
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.55
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,23.80
$XPDR_PINGS,4
$24V_AH,12.8,184.847
$10V_AH,11.7,0.000
$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
$DEVICE_SECS,17.675,153.725,327.875,63.575,0.000,29.323,47.162,179.757,1.000,0.000,9.325,1947.642,8921.350,480.277,2829.051,234.153,33.254,1511.831,0.000,1899.911,0.000,0.550,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,476.043,372.618,650.120,631.196,1306.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353028
$DATA_FILE_SIZE,60875,705
$CAP_FILE_SIZE,136851,0
$CFSIZE,2097086464,2028339200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,150417,141623,2233.256,-15759.709,14,3.1,35,9.8