version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 82
start: 2 1 117 21 36 23
data:
$ID,626
$MISSION,1
$DIVE,82
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,550
$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,148
$T_MISSION,300
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54941
$MASS_COMP,0
$NAV_MODE,1
$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,360
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-129955.77
$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,33
$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,2310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,31
$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
$GPS1,010217,213031,2251.495,-15804.962,10,0.9,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.8
$GPS2,010217,213527,2251.568,-15804.985,6,1.4,6,9.8
$SPEED_LIMITS,0.193,0.251
$TGT_NAME,T3
$TGT_LATLONG,2252.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.101,-0.230
$KALMAN_X,-56577.7,-709.3,-394.6,52866.4,659.6
$KALMAN_Y,48263.0,-609.7,67.7,-28321.2,3071.6
$MHEAD_RNG_PITCHd_Wd,146.4,1862,-16.7,-9.009,-19.72,2479
$D_GRID,400
$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,15,-0.68,-146.0,115,2514,1143,1094,0.0,0.0,0,79,0.00,0.00,-60.72,0.000,16390,0.000,0.000,115,2515,3196,3222,3171,0,0,0,0,0,0,28.83,28.83,14.96
$GC,81,-0.68,-146.0,115,2515,3223,3171,3.9,-7.2,7,100,8.73,2.38,0.00,0.000,2564,0.516,0.056,2570,1086,3198,3225,3171,0,0,0,0,0,0,14.52,14.73,28.83
$GC,144,-0.68,-146.0,2569,1086,3226,3170,30.1,-31.5,15,154,0.00,2.42,0.00,0.000,3078,0.000,0.067,2563,2490,3198,3226,3170,0,0,0,0,0,0,28.83,14.73,28.83
$GC,465,-0.68,-146.0,2562,2490,3227,3170,111.7,-22.0,64,476,0.05,2.42,0.00,0.000,2308,0.583,0.083,2572,3908,3198,3227,3170,0,0,0,0,0,0,14.68,14.79,28.83
$GC,516,-0.68,-146.0,2572,3908,3228,3171,121.5,-19.7,71,523,0.00,2.28,0.00,0.000,1030,0.000,0.052,2572,2505,3198,3227,3170,0,0,0,0,0,0,28.83,14.85,28.83
$GC,795,-0.68,-146.0,2573,2504,3228,3170,173.4,-16.3,108,800,0.00,2.30,0.00,0.000,516,0.000,0.062,2573,1087,3199,3228,3170,0,0,0,0,0,0,28.83,14.90,28.83
$GC,858,-0.68,-146.0,1688,1086,3209,3167,181.5,-13.0,113,866,0.00,2.40,0.00,0.000,1030,0.000,0.067,2572,2496,3199,3228,3170,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1116,-0.68,-146.0,2572,2497,3229,3171,216.4,-13.0,130,1120,0.00,2.30,0.00,0.000,516,0.000,0.062,2572,1088,3199,3229,3170,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1180,-0.68,-146.0,2572,1086,3228,3170,221.1,-12.9,131,1184,0.00,2.35,0.00,0.000,1030,0.000,0.069,2572,2500,3199,3229,3170,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1432,-0.68,-146.0,2572,2500,3229,3171,258.8,-13.3,138,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2501,3199,3229,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1672,-0.68,-146.0,2572,2500,3229,3171,291.5,-13.8,144,1676,0.00,2.33,0.00,0.000,260,0.000,0.086,2572,3911,3199,3229,3170,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1721,-0.68,-146.0,2572,3911,3229,3170,296.6,-13.8,145,1725,0.00,2.28,0.00,0.000,1030,0.000,0.050,2572,2495,3199,3229,3170,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1987,-0.68,-146.0,2572,2494,3229,3169,333.3,-12.6,152,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2493,3199,3229,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2227,-0.68,-146.0,2572,2494,3229,3167,359.1,-10.6,158,2232,0.00,2.28,0.00,0.000,516,0.000,0.064,2572,1085,3197,3229,3165,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2276,-0.68,-146.0,2572,1085,3229,3165,363.0,-10.6,159,2280,0.00,2.35,0.00,0.000,1030,0.000,0.068,2572,2500,3197,3229,3165,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2543,-0.68,-146.0,2572,2500,3229,3163,393.1,-10.7,166,2547,0.00,2.30,0.00,0.000,516,0.000,0.064,2572,1084,3195,3228,3163,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2581,-0.68,-146.0,1696,1083,3210,3159,397.0,-10.7,167,2587,0.00,2.40,0.00,0.000,1030,0.000,0.070,2572,2496,3195,3229,3162,0,0,0,0,0,0,28.83,15.03,28.83
$STATE,2618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2618,begin apogee
$GC,2622,-0.15,0.0,2572,2269,3229,3162,401.3,-10.7,168,2743,0.50,0.10,117.35,2.394,10246,0.301,0.158,2748,2323,2600,2680,2521,0,0,0,0,0,0,14.90,14.20,13.48
$STATE,2744,end apogee,CONTROL_FINISHED_OK
$STATE,2744,begin climb
$GC,2746,0.68,146.0,2748,2323,2679,2521,404.6,0.0,171,2877,0.70,2.55,121.60,2.485,10756,0.192,0.070,3027,924,2003,2098,1909,0,0,0,0,0,0,14.21,14.14,13.36
$GC,2957,0.68,146.0,3027,923,2098,1901,387.8,10.3,176,2961,0.00,2.38,0.00,0.000,1030,0.000,0.063,3027,2309,1999,2098,1901,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3219,0.68,146.0,3027,2308,2098,1897,348.8,13.8,183,3223,0.00,2.33,0.00,0.000,516,0.000,0.070,3037,928,1997,2098,1897,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3268,0.68,146.0,3037,927,2098,1894,344.0,13.7,184,3273,0.05,2.35,0.00,0.000,5126,0.500,0.063,3025,2322,1996,2098,1894,0,0,0,0,0,0,14.65,14.79,28.83
$GC,3535,0.68,146.0,3025,2322,2098,1893,304.9,14.2,191,3539,0.00,2.35,0.00,0.000,260,0.000,0.081,3025,3721,1995,2098,1893,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3564,0.68,146.0,3025,3722,2098,1893,304.9,14.2,191,3571,0.00,2.33,0.00,0.000,1030,0.000,0.061,3034,2342,1995,2098,1893,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3811,0.68,146.0,3034,2340,2098,1890,266.5,13.5,198,3815,0.00,2.33,0.00,0.000,260,0.000,0.082,3034,3721,1994,2098,1890,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3829,0.68,146.0,3034,3721,2098,1891,266.5,13.5,198,3835,0.10,2.33,0.00,0.000,5126,0.472,0.063,3022,2307,1994,2098,1890,0,0,0,0,0,0,14.78,14.95,28.83
$GC,4086,0.68,146.0,3021,2306,2098,1887,233.1,11.4,205,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2306,1992,2098,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4326,0.68,146.0,3022,2306,2098,1885,210.8,9.1,211,4331,0.00,2.33,0.00,0.000,516,0.000,0.072,3030,892,1991,2098,1885,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4509,0.70,158.0,3031,891,2098,1882,194.2,8.5,220,4526,0.00,2.33,8.62,1.873,9222,0.000,0.063,3031,2309,1955,2061,1849,0,0,0,0,0,0,28.83,14.95,14.20
$GC,4765,0.70,158.0,3031,2309,2061,1848,166.1,10.3,246,4769,0.00,2.35,0.00,0.000,260,0.000,0.081,3031,3721,1954,2061,1847,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4850,0.70,158.0,3031,3720,2061,1848,156.7,11.9,253,4858,0.03,2.38,0.00,0.000,5126,0.480,0.061,3033,2306,1954,2061,1848,0,0,0,0,0,0,14.74,14.92,28.83
$GC,5148,0.75,199.2,3034,2305,2061,1847,128.6,7.3,297,5178,0.00,0.00,25.05,1.891,8710,0.000,0.000,3033,2305,1787,1896,1679,0,0,0,0,0,0,28.83,28.83,14.04
$GC,5479,0.78,222.5,3033,2305,1896,1672,96.4,8.0,349,5500,0.00,2.50,13.12,1.609,8452,0.000,0.085,3034,3720,1692,1803,1581,0,0,0,0,0,0,28.83,14.70,14.11
$GC,5608,0.78,222.5,3034,3720,1803,1580,81.8,12.4,369,5615,0.00,2.35,0.00,0.000,1030,0.000,0.061,3042,2309,1691,1803,1579,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5946,0.78,222.5,3042,2307,1803,1576,44.6,12.0,418,5956,0.00,2.40,0.00,0.000,516,0.000,0.070,3053,889,1689,1803,1575,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6019,0.78,222.5,3053,889,1803,1574,36.3,11.4,428,6029,0.00,2.40,0.00,0.000,1030,0.000,0.060,3054,2305,1688,1803,1574,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,6294,end climb,SURFACE_DEPTH_REACHED
$STATE,6294,begin surface coast
$FINISH,0.2,1.004144
$STATE,6325,end surface coast,CONTROL_FINISHED_OK
$STATE,6325,begin surface
$SM_CCo,6338,67.80,0.875,0,0,1129,360.09
$SM_GC,0.92,6.80,0.32,67.80,0.102,0.092,0.875,129,2504,1129,-8.22,-0.76,360.09,0,0,0,0,0,0,14.89,14.88,14.27
$IRIDIUM_FIX,2241.69,-15806.70,291109,101052
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.28
$INTERNAL_PRESSURE,7.2952
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,13.4,32.408
$10V_AH,13.3,0.000
$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,16.950,71.475,285.750,67.800,0.000,30.109,48.423,130.241,0.250,0.000,7.108,1232.058,3088.469,410.961,1924.010,60.409,33.238,986.545,0.000,1149.268,0.000,0.550,0.000
$DEVICE_MAMPS,582.930,158.355,2484.720,875.160,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,316.884,297.840,530.391,538.882,1115.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352988
$DATA_FILE_SIZE,44031,472
$CAP_FILE_SIZE,73920,0
$CFSIZE,2097086464,2086305792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010217,232411,2251.619,-15804.768,6,2.2,26,9.8