version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 579
start: 4 15 117 22 15 58
data:
$ID,626
$MISSION,1
$DIVE,579
$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,-132679.69
$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,39
$R_STBD_OVSHOOT,38
$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
$GPS1,150417,220800,2233.090,-15800.229,25,0.8,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.5
$GPS2,150417,221444,2233.053,-15800.286,8,0.9,8,9.8
$SPEED_LIMITS,0.221,0.231
$TGT_NAME,AC11
$TGT_LATLONG,2234.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.036,0.228
$KALMAN_X,-86349.0,46.5,-419.1,89916.8,2011.1
$KALMAN_Y,-480764.3,479.1,421.6,464953.6,-7894.7
$MHEAD_RNG_PITCHd_Wd,5.8,1821,-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,-107.1,115,2526,1018,982,0.0,0.0,0,79,0.00,0.00,-58.47,0.000,16390,0.000,0.000,114,2527,3038,3069,3007,0,0,0,0,0,0,28.83,28.83,14.88
$GC,82,-0.69,-107.1,115,2527,3069,3008,4.3,-8.7,7,100,8.82,2.40,0.00,0.000,2308,0.469,0.057,2561,3903,3039,3070,3008,0,0,0,0,0,0,13.90,14.50,28.83
$GC,287,-0.69,-107.1,2561,3903,3072,3007,56.2,-18.0,36,297,0.00,2.40,0.00,0.000,1030,0.000,0.048,2561,2510,3039,3072,3007,0,0,0,0,0,0,28.83,14.48,28.83
$GC,611,-0.69,-107.1,2561,2509,3074,3007,116.1,-17.1,85,617,0.00,2.38,0.00,0.000,2564,0.000,0.058,2561,1082,3040,3073,3007,0,0,0,0,0,0,28.83,14.64,28.83
$GC,668,-0.69,-107.1,2562,1082,3074,3007,126.3,-15.8,94,678,0.00,2.45,0.00,0.000,3078,0.000,0.056,2561,2482,3040,3073,3007,0,0,0,0,0,0,28.83,14.50,28.83
$GC,946,-0.69,-107.1,2561,2483,3075,3007,168.8,-15.6,131,947,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2483,3041,3075,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1196,-0.69,-107.1,2561,2483,3076,3008,206.5,-14.4,153,1202,0.00,2.42,0.00,0.000,2308,0.000,0.073,2561,3918,3041,3075,3007,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1249,-0.69,-107.1,2561,3918,3076,3007,212.1,-14.2,154,1254,0.00,2.33,0.00,0.000,3078,0.000,0.043,2561,2492,3041,3075,3008,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1511,-0.69,-107.1,2561,2491,3076,3007,247.6,-12.6,161,1512,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2491,3041,3075,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-0.69,-107.1,2561,2491,3076,3007,275.1,-11.3,167,1752,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2491,3041,3075,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1991,-0.69,-107.1,2561,2490,3075,3007,302.1,-11.3,173,1992,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2490,3041,3075,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.69,-107.1,2561,2490,3075,3006,329.3,-11.2,179,2232,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2490,3040,3075,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.69,-107.1,2561,2490,3075,3004,354.1,-9.8,185,2477,0.00,2.45,0.00,0.000,2308,0.000,0.074,2561,3910,3039,3075,3003,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2511,-0.69,-107.1,2561,3911,3075,3003,358.0,-9.7,186,2517,0.00,2.30,0.00,0.000,3078,0.000,0.042,2561,2496,3039,3075,3003,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2791,-0.69,-107.1,2561,2494,3075,2999,385.7,-10.0,193,2797,0.00,2.33,0.00,0.000,2564,0.000,0.056,2560,1084,3037,3075,2999,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2844,-0.69,-107.1,2561,1083,3075,2999,389.7,-10.0,194,2848,0.00,2.40,0.00,0.000,3078,0.000,0.056,2561,2505,3037,3075,2999,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3106,-0.69,-107.1,2561,2505,3075,2995,418.9,-10.9,201,3113,0.03,2.38,0.00,0.000,2308,0.675,0.069,2561,3912,3035,3075,2995,0,0,0,0,0,0,14.71,14.68,28.83
$GC,3154,-0.69,-107.1,2561,3913,3075,2995,423.1,-10.8,202,3158,0.00,2.30,0.00,0.000,3078,0.000,0.042,2562,2500,3035,3075,2995,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3421,-0.69,-107.1,2562,2499,3075,2991,451.4,-10.5,209,3422,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2499,3033,3075,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3661,-0.69,-107.1,2562,2498,3075,2988,475.5,-10.0,215,3662,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2498,3031,3075,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3903,-0.69,-107.1,2561,2499,3075,2986,500.0,-10.0,221,3908,0.00,2.33,0.00,0.000,2564,0.000,0.057,2562,1087,3029,3075,2984,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3944,-0.69,-107.1,1664,1087,3049,2980,504.4,-10.2,222,3948,0.00,2.40,0.00,0.000,3078,0.000,0.056,2561,2500,3029,3075,2984,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4221,-0.69,-107.1,2561,2501,3075,2981,532.9,-10.0,229,4222,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2501,3028,3075,2981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.69,-107.1,2562,2501,3075,2978,556.1,-9.6,235,4462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2501,3026,3074,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4703,-0.69,-107.1,2561,2501,3075,2975,577.1,-8.6,241,4704,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2501,3025,3075,2975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4941,-0.69,-107.1,2562,2501,3075,2972,597.0,-8.1,247,4947,0.00,2.38,0.00,0.000,2564,0.000,0.055,2561,1089,3023,3074,2972,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4981,-0.69,-107.1,2562,1089,3075,2971,600.3,-8.1,248,4987,0.00,2.42,0.00,0.000,3078,0.000,0.057,2562,2501,3023,3075,2971,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5262,-0.69,-107.1,2561,2502,3074,2968,621.9,-7.4,255,5268,0.00,2.38,0.00,0.000,2564,0.000,0.055,2561,1084,3021,3075,2968,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5295,-0.69,-107.1,2561,1084,3074,2968,621.9,-7.4,255,5301,0.00,2.45,0.00,0.000,3078,0.000,0.058,2562,2504,3021,3075,2968,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5542,-0.69,-107.1,2562,2504,3075,2966,641.6,-7.1,262,5547,0.00,2.42,0.00,0.000,2308,0.000,0.079,2561,3915,3020,3075,2966,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5582,-0.69,-107.1,2562,3915,3074,2966,644.4,-7.1,263,5587,0.00,2.35,0.00,0.000,1030,0.000,0.044,2561,2491,3020,3074,2966,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5862,-0.69,-107.1,2561,2490,3073,2963,664.9,-7.5,270,5863,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2490,3018,3074,2963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6101,-0.69,-107.1,2561,2490,3071,2963,684.7,-8.4,276,6102,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2490,3017,3071,2963,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6299,begin apogee
$GC,6304,-0.17,0.0,2562,2490,3069,2963,702.8,-9.1,281,6400,0.55,0.00,92.53,2.642,10246,0.304,0.000,2741,2489,2599,2675,2524,0,0,0,0,0,0,14.07,28.83,12.91
$STATE,6401,end apogee,CONTROL_FINISHED_OK
$STATE,6401,begin climb
$GC,6403,0.69,107.1,2741,2490,2676,2524,705.6,0.0,283,6511,0.75,2.53,98.62,2.647,10500,0.197,0.074,3020,3866,2161,2237,2086,0,0,0,0,0,0,14.06,13.99,12.81
$GC,6552,0.69,107.1,3020,3866,2237,2086,700.9,4.6,287,6556,0.00,2.42,0.00,0.000,1030,0.000,0.050,3031,2453,2161,2237,2085,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6814,0.69,107.1,3030,2452,2237,2076,672.6,10.2,294,6820,0.00,2.40,0.00,0.000,516,0.000,0.062,3042,1032,2156,2237,2075,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6953,0.69,107.1,3042,1032,2236,2071,660.2,10.3,297,6960,0.08,2.45,0.00,0.000,5126,0.440,0.057,3027,2458,2153,2236,2071,0,0,0,0,0,0,14.30,14.62,28.83
$GC,7214,0.69,107.1,3027,2459,2235,2070,632.4,10.0,304,7220,0.00,2.40,0.00,0.000,260,0.000,0.073,3027,3862,2153,2236,2070,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7267,0.69,107.1,3027,3862,2235,2070,627.8,10.4,305,7271,0.00,2.38,0.00,0.000,1030,0.000,0.049,3036,2445,2152,2235,2070,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7529,0.69,107.1,3036,2444,2235,2069,596.8,11.2,312,7535,0.00,2.35,0.00,0.000,516,0.000,0.059,3048,1037,2151,2235,2068,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7577,0.69,107.1,3047,1037,2234,2066,592.6,10.9,313,7582,0.10,2.42,0.00,0.000,5126,0.410,0.056,3024,2456,2150,2234,2066,0,0,0,0,0,0,14.24,14.67,28.83
$GC,7845,0.69,107.1,3025,2455,2235,2066,564.3,10.3,320,7851,0.00,2.40,0.00,0.000,516,0.000,0.058,3034,1038,2150,2234,2066,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7868,0.69,107.1,3033,1038,2234,2064,564.3,10.3,320,7872,0.00,2.40,0.00,0.000,1030,0.000,0.056,3033,2449,2149,2234,2064,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8120,0.69,107.1,3034,2449,2234,2064,536.6,10.3,327,8126,0.00,2.40,0.00,0.000,260,0.000,0.072,3033,3857,2149,2235,2064,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8153,0.69,107.1,3033,3858,2234,2065,536.6,10.3,327,8160,0.10,2.35,0.00,0.000,5126,0.456,0.045,3023,2442,2149,2235,2064,0,0,0,0,0,0,14.17,14.70,28.83
$GC,8400,0.69,107.1,3023,2441,2234,2064,511.6,8.5,334,8406,0.00,2.35,0.00,0.000,516,0.000,0.058,3032,1043,2149,2234,2064,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8503,0.69,107.1,3032,1043,2233,2062,505.0,8.3,336,8507,0.00,2.40,0.00,0.000,1030,0.000,0.054,3032,2450,2147,2232,2062,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8755,0.69,107.1,3031,2450,2233,2062,483.2,8.0,343,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2450,2147,2233,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8995,0.69,107.1,3032,2450,2233,2063,463.0,8.6,349,9001,0.00,2.40,0.00,0.000,516,0.000,0.057,3042,1035,2147,2233,2062,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9058,0.69,107.1,3043,1034,2233,2061,459.3,8.9,350,9063,0.08,2.42,0.00,0.000,5126,0.422,0.054,3027,2456,2147,2233,2061,0,0,0,0,0,0,14.28,14.64,28.83
$GC,9311,0.69,107.1,3027,2456,2233,2061,433.5,9.2,357,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2455,2147,2233,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9550,0.69,107.1,3027,2455,2233,2061,411.6,8.8,363,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2455,2147,2233,2061,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,11476,0.78,182.7,3062,1035,1974,1762,217.6,7.8,410,11487,0.00,2.40,4.88,1.550,9222,0.000,0.053,3062,2450,1855,1965,1746,0,0,0,0,0,0,28.83,14.62,13.45
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$STATE,13791,end climb,SURFACE_DEPTH_REACHED
$STATE,13791,begin surface coast
$FINISH,0.1,1.016773
$STATE,13829,end surface coast,CONTROL_FINISHED_OK
$STATE,13829,begin surface
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$TT8_MAMPS,0.019474,0.019474
$HUMID,45.74
$INTERNAL_PRESSURE,7.2659
$TCM_TEMP,23.60
$XPDR_PINGS,5
$24V_AH,12.8,185.808
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.975,139.150,322.425,68.000,0.000,33.013,55.331,182.533,1.250,0.000,9.289,1915.452,9043.457,470.639,2682.489,223.357,33.254,1432.458,0.000,1759.877,0.000,0.550,0.000
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$MEM,353032
$DATA_FILE_SIZE,64099,705
$CAP_FILE_SIZE,129799,0
$CFSIZE,2097086464,2027978752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,160417,020901,2233.470,-15800.410,23,0.9,28,9.8