version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 621
start: 4 22 117 19 45 17
data:
$ID,626
$MISSION,1
$DIVE,621
$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,-132772.38
$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,2530
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,47
$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
$GPS1,220417,193442,2233.418,-15800.114,23,1.4,23,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.0
$GPS2,220417,194400,2233.407,-15800.300,27,0.8,27,9.8
$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,-83384.6,-168.0,246.4,86483.8,1561.0
$KALMAN_Y,-633453.6,233.8,479.1,618497.6,-7413.0
$MHEAD_RNG_PITCHd_Wd,15.2,1211,-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,-107.1,103,2553,1033,963,0.0,0.0,0,79,0.00,0.00,-58.97,0.000,16390,0.000,0.000,103,2553,3037,3066,3009,0,0,0,0,0,0,28.83,28.83,14.88
$GC,82,-0.69,-107.1,103,2553,3065,3009,3.8,-6.4,7,101,8.98,2.33,0.00,0.000,2308,0.476,0.051,2561,3903,3038,3068,3009,0,0,0,0,0,0,13.87,14.49,28.83
$GC,245,-0.69,-107.1,2562,3903,3069,3008,49.0,-19.0,30,255,0.00,2.35,0.00,0.000,1030,0.000,0.042,2561,2520,3038,3069,3008,0,0,0,0,0,0,28.83,14.43,28.83
$GC,572,-0.69,-107.1,2561,2520,3070,3008,110.9,-16.6,79,579,0.00,2.38,0.00,0.000,2308,0.000,0.070,2561,3895,3039,3070,3008,0,0,0,0,0,0,28.83,14.54,28.83
$GC,602,-0.69,-107.1,2561,3895,3071,3009,115.6,-16.1,83,608,0.00,2.25,0.00,0.000,3078,0.000,0.040,2561,2517,3039,3070,3008,0,0,0,0,0,0,28.83,14.64,28.83
$GC,893,-0.69,-107.1,2561,2515,3071,3008,163.7,-16.2,124,901,0.00,2.28,0.00,0.000,2564,0.000,0.054,2561,1126,3039,3071,3008,0,0,0,0,0,0,28.83,14.49,28.83
$GC,938,-0.69,-107.1,2561,1126,3071,3008,171.0,-15.9,128,946,0.00,2.30,0.00,0.000,3078,0.000,0.051,2561,2506,3039,3071,3008,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1216,-0.69,-107.1,2561,2506,3073,3008,211.8,-14.4,150,1222,0.00,2.38,0.00,0.000,2308,0.000,0.074,2561,3915,3040,3072,3008,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1296,-0.69,-107.1,2561,3915,3072,3009,222.7,-14.0,152,1302,0.00,2.22,0.00,0.000,3078,0.000,0.038,2561,2531,3040,3072,3008,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1576,-0.69,-107.1,2561,2531,3072,3008,259.6,-13.3,159,1582,0.00,2.30,0.00,0.000,2564,0.000,0.051,2561,1117,3040,3072,3008,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1659,-0.69,-107.1,1640,1115,3045,3004,270.0,-13.2,161,1663,0.00,2.38,0.00,0.000,3078,0.000,0.053,2561,2532,3040,3072,3008,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1936,-0.69,-107.1,2561,2531,3072,3008,304.8,-12.6,168,1942,0.00,2.33,0.00,0.000,2564,0.000,0.050,2561,1122,3040,3072,3008,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1959,-0.69,-107.1,2561,1122,3073,3008,304.8,-12.6,168,1963,0.00,2.38,0.00,0.000,3078,0.000,0.053,2561,2539,3040,3072,3008,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2211,-0.69,-107.1,2561,2540,3072,3008,337.8,-12.0,175,2212,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2540,3040,3072,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2451,-0.69,-107.1,2561,2540,3072,3005,364.9,-11.2,181,2453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2540,3038,3072,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-0.69,-107.1,2561,2540,3072,3003,388.5,-9.6,187,2697,0.00,2.38,0.00,0.000,2564,0.000,0.053,2561,1120,3037,3072,3003,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2714,-0.69,-107.1,2561,1120,3072,3003,388.5,-9.6,187,2718,0.00,2.38,0.00,0.000,3078,0.000,0.055,2561,2530,3037,3072,3002,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2966,-0.69,-107.1,2561,2530,3072,2999,415.0,-9.7,194,2972,0.00,2.35,0.00,0.000,2564,0.000,0.053,2561,1124,3035,3072,2998,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3019,-0.69,-107.1,2561,1124,3072,2998,419.1,-9.9,195,3023,0.00,2.40,0.00,0.000,3078,0.000,0.056,2561,2536,3035,3072,2998,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3281,-0.69,-107.1,2561,2536,3073,2995,448.0,-10.6,202,3282,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2536,3033,3072,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-0.69,-107.1,2561,2536,3072,2992,473.4,-10.6,208,3522,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2536,3032,3072,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3761,-0.69,-107.1,2561,2536,3072,2988,498.0,-10.2,214,3762,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2536,3030,3072,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4001,-0.69,-107.1,2561,2536,3072,2986,522.7,-10.2,220,4002,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2536,3029,3072,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4243,-0.69,-107.1,2561,2536,3072,2982,547.3,-10.2,226,4244,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2536,3027,3072,2982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4481,-0.69,-107.1,2562,2536,3072,2979,571.8,-10.1,232,4482,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2536,3026,3072,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4721,-0.69,-107.1,2561,2536,3072,2977,597.3,-10.5,238,4722,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2536,3024,3072,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4961,-0.69,-107.1,2561,2536,3071,2974,622.5,-10.4,244,4967,0.00,2.40,0.00,0.000,2564,0.000,0.054,2561,1119,3022,3071,2974,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4994,-0.69,-107.1,2561,1119,3071,2974,622.5,-10.4,244,5001,0.00,2.42,0.00,0.000,3078,0.000,0.057,2561,2530,3022,3071,2974,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5241,-0.69,-107.1,2561,2530,3072,2971,651.3,-10.3,251,5242,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2530,3021,3071,2971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5481,-0.69,-107.1,2561,2530,3071,2969,675.1,-9.8,257,5482,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2531,3019,3071,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5721,-0.69,-107.1,2561,2530,3072,2967,696.6,-8.8,263,5723,0.03,0.00,0.00,0.000,2054,0.683,0.000,2570,2530,3018,3071,2966,0,0,0,0,0,0,14.66,28.83,28.83
$STATE,5799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5799,begin apogee
$GC,5805,-0.17,0.0,2571,2376,3071,2966,703.1,-8.4,265,5902,0.52,0.00,94.30,2.707,10246,0.294,0.000,2743,2375,2599,2673,2526,0,0,0,0,0,0,14.05,28.83,12.85
$STATE,5903,end apogee,CONTROL_FINISHED_OK
$STATE,5903,begin climb
$GC,5906,0.69,107.1,2744,2375,2673,2527,704.9,0.0,267,6010,0.75,0.00,100.72,2.678,10246,0.187,0.000,3021,2375,2163,2236,2090,0,0,0,0,0,0,14.08,28.83,12.79
$GC,6243,0.69,107.1,3020,2375,2237,2078,676.1,11.4,276,6248,0.00,2.47,0.00,0.000,260,0.000,0.075,3021,3809,2157,2236,2078,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6304,0.69,107.1,3021,3809,2236,2078,671.1,11.6,277,6309,0.00,2.33,0.00,0.000,1030,0.000,0.047,3032,2417,2157,2236,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6556,0.69,107.1,3032,2415,2236,2074,641.8,10.0,284,6562,0.00,2.40,0.00,0.000,516,0.000,0.058,3042,984,2154,2236,2073,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6604,0.69,107.1,3042,984,2234,2072,637.8,9.9,285,6609,0.08,2.42,0.00,0.000,5126,0.440,0.054,3028,2412,2153,2234,2072,0,0,0,0,0,0,14.30,14.64,28.83
$GC,6872,0.69,107.1,3028,2412,2234,2071,612.2,9.2,292,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2412,2153,2234,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7112,0.69,107.1,3028,2412,2234,2070,591.7,8.7,298,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2412,2152,2234,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7352,0.69,107.1,3028,2412,2234,2069,570.3,9.1,304,7358,0.00,2.42,0.00,0.000,516,0.000,0.057,3037,972,2151,2234,2069,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7400,0.69,107.1,3036,972,2234,2066,566.3,9.5,305,7404,0.00,2.42,0.00,0.000,1030,0.000,0.054,3037,2398,2150,2234,2066,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7667,0.69,107.1,3036,2399,2234,2066,537.9,10.5,312,7673,0.00,2.42,0.00,0.000,260,0.000,0.073,3037,3812,2150,2234,2066,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7709,0.69,107.1,2096,3811,2188,2060,533.2,10.7,313,7715,0.10,2.35,0.00,0.000,5126,0.437,0.047,3025,2394,2150,2234,2066,0,0,0,0,0,0,14.16,14.69,28.83
$GC,7982,0.69,107.1,3025,2392,2233,2064,506.3,9.6,320,7988,0.00,2.35,0.00,0.000,516,0.000,0.057,3034,990,2148,2233,2064,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8040,0.69,107.1,3034,989,2231,2064,502.5,9.6,321,8045,0.00,2.42,0.00,0.000,1030,0.000,0.053,3034,2404,2147,2230,2064,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8297,0.69,107.1,3034,2404,2231,2064,476.5,9.6,328,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2404,2147,2231,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8537,0.69,107.1,3034,2403,2231,2064,455.2,8.8,334,8543,0.00,2.40,0.00,0.000,260,0.000,0.073,3034,3808,2147,2231,2064,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8570,0.69,107.1,3034,3809,2230,2064,455.2,8.8,334,8577,0.10,2.35,0.00,0.000,5126,0.437,0.045,3023,2393,2147,2230,2064,0,0,0,0,0,0,14.13,14.67,28.83
$GC,8818,0.69,109.6,3022,2393,2231,2064,432.0,7.9,341,8824,0.00,2.35,0.00,0.000,516,0.000,0.056,3032,976,2147,2231,2063,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8886,0.70,112.7,3032,976,2229,2062,428.8,7.9,342,8890,0.00,2.42,0.00,0.000,1030,0.000,0.052,3032,2405,2146,2229,2063,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9132,0.70,112.7,3031,2405,2229,2063,406.8,8.2,348,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2404,2146,2229,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9373,0.70,113.3,3032,2404,2229,2063,388.2,8.0,354,9378,0.00,2.38,0.00,0.000,516,0.000,0.055,3042,991,2145,2228,2063,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9440,0.70,113.3,3042,991,2228,2062,384.7,8.5,355,9445,0.08,2.40,0.00,0.000,5126,0.421,0.054,3027,2402,2145,2229,2062,0,0,0,0,0,0,14.23,14.59,28.83
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$STATE,13687,end climb,SURFACE_DEPTH_REACHED
$STATE,13687,begin surface coast
$FINISH,0.5,1.023274
$STATE,13709,end surface coast,CONTROL_FINISHED_OK
$STATE,13709,begin surface
$SM_CCo,13728,76.18,0.828,0,0,1008,390.02
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$IRIDIUM_FIX,2223.01,-15758.91,170210,090905
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.10
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,12.8,199.336
$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.525,124.600,314.425,76.175,0.000,65.944,90.171,184.501,0.750,0.000,29.003,1922.536,8912.719,497.554,2812.511,237.562,33.253,1423.000,0.000,1770.461,0.000,0.550,0.000
$DEVICE_MAMPS,683.145,76.500,2706.570,827.730,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,480.739,390.869,666.057,646.215,1337.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353012
$DATA_FILE_SIZE,64288,711
$CAP_FILE_SIZE,126055,0
$CFSIZE,2097086464,2022473728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220417,233622,2234.652,-15801.021,21,1.5,21,9.8