version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 580
start: 4 16 117 2 16 47
data:
$ID,626
$MISSION,1
$DIVE,580
$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,-132680.94
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,160417,020901,2233.470,-15800.410,23,0.9,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-76.0
$GPS2,160417,021533,2233.435,-15800.445,9,0.9,9,9.8
$SPEED_LIMITS,0.221,0.231
$TGT_NAME,AC11
$TGT_LATLONG,2234.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.089,0.213
$KALMAN_X,-86805.0,-16.5,375.1,89380.5,-504.2
$KALMAN_Y,-484021.6,911.7,215.0,468674.3,-6644.5
$MHEAD_RNG_PITCHd_Wd,26.2,1294,-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,-107.1,114,2512,1021,981,0.0,0.0,0,71,0.00,0.00,-52.67,0.000,16386,0.000,0.000,114,2512,2827,2865,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.69,-107.1,114,2512,2865,2790,3.1,-5.7,6,93,8.88,0.00,-3.45,0.000,18694,0.471,0.000,2574,2512,3037,3080,2994,0,0,0,0,0,0,13.89,28.83,14.74
$GC,415,-0.69,-107.1,2574,2512,3081,2995,89.1,-19.8,56,424,0.00,2.47,0.00,0.000,260,0.000,0.075,2574,3909,3038,3081,2995,0,0,0,0,0,0,28.83,14.41,28.83
$GC,468,-0.69,-107.1,2574,3909,3081,2995,99.5,-18.6,64,478,0.00,2.40,0.00,0.000,1030,0.000,0.049,2574,2514,3037,3080,2995,0,0,0,0,0,0,28.83,14.47,28.83
$GC,770,-0.69,-107.1,2574,2513,3083,2995,153.8,-15.6,111,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2514,3038,3082,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1010,-0.69,-107.1,2574,2512,3084,2995,187.8,-13.3,135,1022,0.00,2.35,0.00,0.000,516,0.000,0.056,2574,1084,3039,3084,2995,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1067,-0.69,-107.1,2574,1084,3083,2995,195.0,-12.4,140,1076,0.00,2.40,0.00,0.000,1030,0.000,0.055,2574,2510,3039,3083,2995,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1317,-0.69,-107.1,2574,2510,3084,2995,228.2,-13.5,150,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2510,3039,3084,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1558,-0.69,-107.1,2574,2510,3084,2995,260.8,-13.2,156,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2510,3039,3084,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1797,-0.69,-107.1,2574,2510,3084,2995,288.8,-11.6,162,1803,0.00,2.38,0.00,0.000,516,0.000,0.053,2574,1076,3039,3084,2995,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1840,-0.69,-107.1,2574,1077,3084,2995,293.0,-11.3,163,1844,0.00,2.40,0.00,0.000,1030,0.000,0.056,2574,2501,3039,3084,2995,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2112,-0.69,-107.1,2574,2501,3084,2995,319.0,-9.5,170,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2501,3039,3083,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-0.69,-107.1,2574,2501,3084,2995,344.0,-10.7,176,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2501,3039,3084,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2594,-0.69,-107.1,2574,2501,3084,2992,369.4,-10.4,182,2599,0.00,2.38,0.00,0.000,260,0.000,0.077,2574,3909,3038,3084,2992,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2625,-0.69,-107.1,2574,3909,3084,2992,369.4,-10.4,182,2631,0.00,2.33,0.00,0.000,1030,0.000,0.044,2574,2484,3038,3084,2992,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2872,-0.69,-107.1,2575,2483,3084,2989,397.1,-9.8,189,2877,0.00,2.30,0.00,0.000,516,0.000,0.056,2574,1090,3036,3084,2988,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2912,-0.69,-107.1,2574,1090,3084,2988,401.2,-10.0,190,2917,0.00,2.38,0.00,0.000,1030,0.000,0.056,2574,2501,3036,3084,2988,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3192,-0.69,-107.1,2574,2501,3084,2986,433.7,-12.4,197,3198,0.00,2.40,0.00,0.000,260,0.000,0.078,2574,3915,3035,3084,2986,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3235,-0.69,-107.1,2574,3915,3084,2985,439.0,-12.8,198,3239,0.00,2.33,0.00,0.000,1030,0.000,0.044,2574,2496,3034,3084,2984,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3507,-0.69,-107.1,2574,2495,3084,2981,477.1,-14.0,205,3512,0.00,2.33,0.00,0.000,516,0.000,0.055,2574,1084,3032,3084,2980,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3540,-0.69,-107.1,2574,1084,3084,2980,477.1,-14.0,205,3546,0.00,2.42,0.00,0.000,1030,0.000,0.056,2574,2510,3032,3084,2980,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3787,-0.69,-107.1,2574,2510,3084,2978,513.2,-12.2,212,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2510,3030,3083,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4027,-0.69,-107.1,2574,2510,3084,2974,535.2,-8.5,218,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2510,3029,3084,2974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4267,-0.69,-107.1,2574,2510,3084,2971,552.7,-7.1,224,4273,0.00,2.38,0.00,0.000,516,0.000,0.055,2574,1087,3027,3084,2970,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4290,-0.69,-107.1,2574,1087,3084,2970,552.7,-7.1,224,4294,0.00,2.42,0.00,0.000,1030,0.000,0.057,2574,2508,3027,3084,2970,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4544,-0.69,-107.1,2574,2508,3083,2968,573.2,-7.5,231,4549,0.00,2.40,0.00,0.000,260,0.000,0.080,2574,3912,3026,3084,2968,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4560,-0.69,-107.1,2574,3912,3084,2968,573.2,-7.5,231,4565,0.00,2.33,0.00,0.000,1030,0.000,0.045,2574,2499,3025,3084,2967,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4818,-0.69,-107.1,2574,2497,3083,2965,594.2,-7.8,238,4823,0.00,2.35,0.00,0.000,516,0.000,0.057,2574,1084,3023,3084,2963,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4857,-0.69,-107.1,2574,1084,3083,2964,597.7,-8.0,239,4863,0.00,2.42,0.00,0.000,1030,0.000,0.057,2574,2500,3024,3084,2964,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5137,-0.69,-107.1,2574,2500,3080,2964,622.0,-8.9,246,5143,0.00,2.38,0.00,0.000,516,0.000,0.054,2574,1081,3021,3079,2964,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5180,-0.69,-107.1,1672,1080,3053,2959,625.9,-9.3,247,5184,0.00,2.45,0.00,0.000,1030,0.000,0.057,2574,2507,3021,3079,2964,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5452,-0.69,-107.1,2574,2507,3076,2964,654.8,-10.8,254,5458,0.00,2.42,0.00,0.000,260,0.000,0.080,2574,3915,3020,3076,2964,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5485,-0.69,-107.1,2574,3915,3076,2964,654.8,-10.8,254,5492,0.00,2.35,0.00,0.000,1030,0.000,0.044,2574,2496,3020,3076,2964,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5732,-0.69,-107.1,2574,2494,3075,2960,686.3,-11.2,261,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2495,3017,3075,2960,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5890,begin apogee
$GC,5896,-0.17,0.0,2574,2436,3075,2959,703.8,-11.0,265,5992,0.52,0.00,92.75,2.642,10246,0.300,0.000,2747,2435,2599,2680,2519,0,0,0,0,0,0,14.09,28.83,12.90
$STATE,5993,end apogee,CONTROL_FINISHED_OK
$STATE,5993,begin climb
$GC,5995,0.69,107.1,2747,2435,2680,2519,708.0,0.0,267,6103,0.73,2.62,98.30,2.639,10500,0.187,0.076,3023,3862,2162,2241,2083,0,0,0,0,0,0,14.07,14.00,12.81
$GC,6118,0.69,107.1,3023,3862,2241,2082,708.2,1.6,270,6123,0.00,2.42,0.00,0.000,1030,0.000,0.049,3033,2468,2161,2241,2082,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6366,0.69,107.1,3033,2466,2241,2072,676.5,12.6,276,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2466,2156,2241,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6606,0.69,107.1,3033,2466,2241,2069,643.6,13.8,282,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2466,2155,2241,2069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,0.69,107.1,3033,2466,2241,2065,610.9,13.5,288,6852,0.00,2.42,0.00,0.000,516,0.000,0.059,3044,1033,2153,2241,2065,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6905,0.69,107.1,3044,1034,2238,2064,605.6,13.3,289,6912,0.10,2.42,0.00,0.000,5126,0.404,0.055,3021,2455,2151,2238,2064,0,0,0,0,0,0,14.27,14.67,28.83
$GC,7166,0.69,107.1,3022,2455,2238,2064,573.9,11.4,296,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2456,2151,2238,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7406,0.69,107.1,3021,2455,2238,2063,550.0,9.6,302,7412,0.00,2.40,0.00,0.000,260,0.000,0.073,3021,3863,2150,2238,2063,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7459,0.69,107.1,3021,3863,2238,2063,545.5,9.8,303,7463,0.00,2.38,0.00,0.000,1030,0.000,0.045,3030,2444,2150,2238,2063,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7721,0.69,107.1,3030,2442,2238,2062,517.3,10.0,310,7727,0.00,2.35,0.00,0.000,516,0.000,0.057,3042,1032,2149,2238,2061,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7769,0.69,107.1,3042,1032,2236,2061,513.8,9.6,311,7774,0.08,2.42,0.00,0.000,5126,0.432,0.054,3026,2460,2148,2236,2060,0,0,0,0,0,0,14.31,14.66,28.83
$GC,8037,0.72,132.0,3026,2460,2236,2060,493.6,6.9,318,8059,0.00,0.00,20.55,2.304,8198,0.000,0.000,3026,2460,2061,2148,1975,0,0,0,0,0,0,28.83,28.83,13.40
$GC,8277,0.73,138.9,3025,2460,2149,1970,476.0,7.7,324,8286,0.00,0.00,7.50,1.999,8198,0.000,0.000,3026,2460,2033,2124,1942,0,0,0,0,0,0,28.83,28.83,13.38
$GC,8516,0.73,138.9,3026,2460,2122,1941,455.2,8.9,330,8522,0.00,2.42,0.00,0.000,516,0.000,0.057,3035,1037,2031,2123,1940,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8556,0.73,138.9,3035,1037,2124,1939,451.4,9.1,331,8562,0.00,2.40,0.00,0.000,1030,0.000,0.054,3035,2450,2031,2123,1939,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8836,0.73,138.9,3035,2450,2124,1938,423.2,10.1,338,8842,0.00,2.38,0.00,0.000,516,0.000,0.056,3046,1039,2030,2123,1938,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8864,0.73,138.9,3045,1038,2124,1937,423.2,10.1,338,8869,0.00,2.40,0.00,0.000,1030,0.000,0.054,3046,2450,2030,2123,1937,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9111,0.73,138.9,3046,2450,2123,1937,393.9,10.9,344,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2450,2030,2124,1936,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,13370,end climb,SURFACE_DEPTH_REACHED
$STATE,13370,begin surface coast
$FINISH,2.1,1.022981
$STATE,13378,end surface coast,CONTROL_FINISHED_OK
$STATE,13378,begin surface
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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,18.000,134.925,298.350,86.375,0.000,37.150,47.431,177.594,1.500,0.000,10.295,1869.638,8736.180,488.671,2574.294,226.042,33.254,1387.745,0.000,1681.475,0.000,0.550,0.000
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$MEM,352992
$DATA_FILE_SIZE,60637,689
$CAP_FILE_SIZE,124053,0
$CFSIZE,2097086464,2027847680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,160417,060246,2233.240,-15800.076,15,5.9,35,9.8