version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 85
start: 2 2 117 3 23 20
data:
$ID,626
$MISSION,1
$DIVE,85
$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,-129959.54
$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,30
$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
$GPS1,020217,031730,2251.013,-15805.455,48,0.8,49,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-74.7
$GPS2,020217,032224,2251.053,-15805.488,6,0.8,6,9.8
$SPEED_LIMITS,0.193,0.251
$TGT_NAME,T4
$TGT_LATLONG,2245.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.039,-0.248
$KALMAN_X,-59036.7,-409.2,111.5,53643.1,-642.8
$KALMAN_Y,53803.6,-229.0,-590.9,-34528.5,3503.7
$MHEAD_RNG_PITCHd_Wd,161.2,11495,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.68,-146.0,115,2519,1148,1090,0.0,0.0,0,79,0.00,0.00,-61.67,0.000,16390,0.000,0.000,114,2518,3197,3223,3171,0,0,0,0,0,0,28.83,28.83,15.01
$GC,81,-0.68,-146.0,114,2519,3223,3171,3.1,-4.0,7,100,8.70,2.38,0.00,0.000,2564,0.516,0.050,2572,1079,3198,3226,3171,0,0,0,0,0,0,14.55,14.78,28.83
$GC,244,-0.68,-146.0,2573,1079,3227,3171,48.7,-21.9,30,253,0.00,2.42,0.00,0.000,1030,0.000,0.071,2573,2486,3199,3227,3171,0,0,0,0,0,0,28.83,14.79,28.83
$GC,564,-0.68,-146.0,2573,2485,3228,3171,126.1,-21.8,79,570,0.00,2.40,0.00,0.000,260,0.000,0.088,2573,3914,3199,3228,3171,0,0,0,0,0,0,28.83,14.85,28.83
$GC,629,-0.68,-146.0,2573,3914,3228,3171,140.0,-19.8,89,635,0.00,2.30,0.00,0.000,1030,0.000,0.051,2573,2491,3199,3228,3171,0,0,0,0,0,0,28.83,14.89,28.83
$GC,892,-0.68,-146.0,2573,2490,3228,3170,189.2,-18.3,118,901,0.00,2.28,0.00,0.000,516,0.000,0.063,2573,1080,3199,3228,3171,0,0,0,0,0,0,28.83,14.87,28.83
$GC,935,-0.68,-146.0,2573,1079,3228,3171,197.0,-16.7,122,939,0.00,2.38,0.00,0.000,1030,0.000,0.069,2573,2508,3199,3228,3171,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1200,-0.68,-146.0,2573,2507,3229,3171,235.2,-13.6,130,1204,0.00,2.33,0.00,0.000,260,0.000,0.085,2573,3911,3200,3229,3171,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1239,-0.68,-146.0,2572,3911,3229,3171,239.5,-12.6,131,1243,0.00,2.30,0.00,0.000,1030,0.000,0.049,2573,2498,3200,3229,3171,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1516,-0.68,-146.0,2573,2498,3229,3170,275.4,-13.1,138,1520,0.00,2.28,0.00,0.000,516,0.000,0.062,2573,1083,3200,3229,3171,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1555,-0.68,-146.0,2573,1082,3229,3171,280.0,-12.9,139,1559,0.00,2.35,0.00,0.000,1030,0.000,0.068,2573,2499,3200,3230,3170,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1832,-0.68,-146.0,2573,2499,3229,3170,314.0,-11.9,146,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2499,3200,3229,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2072,-0.68,-146.0,2573,2499,3229,3170,345.1,-13.4,152,2076,0.00,2.30,0.00,0.000,516,0.000,0.062,2573,1084,3199,3229,3170,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2111,-0.68,-146.0,2573,1083,3228,3169,349.6,-13.3,153,2115,0.00,2.35,0.00,0.000,1030,0.000,0.068,2573,2500,3199,3229,3169,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2383,-0.68,-146.0,2573,2500,3228,3167,382.6,-11.9,160,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2500,3197,3228,3167,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2541,begin apogee
$GC,2545,-0.15,0.0,2573,2266,3229,3164,401.3,-11.7,164,2668,0.50,0.10,118.75,2.482,10246,0.304,0.155,2748,2320,2600,2680,2520,0,0,0,0,0,0,14.92,14.21,13.45
$STATE,2669,end apogee,CONTROL_FINISHED_OK
$STATE,2669,begin climb
$GC,2670,0.68,146.0,2748,2320,2680,2520,405.4,0.0,167,2795,0.70,0.00,119.75,2.358,10502,0.197,0.000,3017,2320,2003,2098,1908,0,0,0,0,0,0,14.21,28.83,13.52
$GC,3024,0.68,146.0,3017,2320,2099,1898,366.6,13.9,176,3030,0.00,2.33,0.00,0.000,516,0.000,0.068,3027,931,1998,2099,1898,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3062,0.68,146.0,3027,931,2099,1895,361.0,13.8,177,3067,0.00,2.30,0.00,0.000,1030,0.000,0.063,3027,2305,1996,2098,1894,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3338,0.68,146.0,3027,2305,2099,1893,322.1,13.7,184,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2305,1996,2099,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,0.68,146.0,3027,2305,2099,1890,291.0,12.6,190,3583,0.00,2.28,0.00,0.000,516,0.000,0.070,3037,933,1994,2099,1890,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3642,0.68,146.0,3037,932,2098,1887,286.6,12.3,191,3647,0.05,2.30,0.00,0.000,5126,0.499,0.063,3026,2316,1992,2099,1886,0,0,0,0,0,0,14.80,14.95,28.83
$GC,3894,0.68,146.0,3025,2316,2099,1886,255.6,10.9,198,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2316,1992,2099,1886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,0.68,146.0,3026,2316,2099,1884,227.5,11.7,204,4138,0.00,2.28,0.00,0.000,516,0.000,0.069,3034,933,1991,2099,1883,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4158,0.68,146.0,3034,932,2099,1883,227.5,11.7,204,4162,0.00,2.30,0.00,0.000,1030,0.000,0.065,3034,2320,1991,2099,1883,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4410,0.68,146.0,3035,2320,2099,1883,199.4,10.0,211,4414,0.00,2.35,0.00,0.000,260,0.000,0.080,3034,3732,1991,2099,1883,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4538,0.68,146.0,2048,3731,2050,1878,185.1,12.2,222,4548,0.05,2.30,0.00,0.000,5126,0.433,0.057,3027,2348,1990,2098,1883,0,0,0,0,0,0,14.81,14.99,28.83
$GC,4788,0.68,146.0,3027,2347,2099,1881,162.1,9.2,247,4796,0.00,2.35,0.00,0.000,516,0.000,0.070,3036,898,1990,2099,1881,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4940,0.75,201.8,2096,897,2053,1874,151.1,6.7,261,4992,0.00,2.38,42.20,1.997,9222,0.000,0.062,3036,2309,1775,1885,1666,0,0,0,0,0,0,28.83,14.95,13.95
$GC,5290,0.75,201.8,3036,2309,1885,1659,116.6,11.3,316,5299,0.00,2.42,0.00,0.000,260,0.000,0.079,3036,3719,1772,1885,1660,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5401,0.75,201.8,3036,3719,1885,1660,105.2,10.1,333,5408,0.00,2.33,0.00,0.000,1030,0.000,0.056,3046,2300,1772,1885,1660,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5713,0.75,201.8,3046,2298,1885,1658,75.0,10.4,382,5723,0.00,2.35,0.00,0.000,516,0.000,0.069,3055,902,1771,1885,1657,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5754,0.75,201.8,3055,902,1885,1657,70.8,10.7,387,5763,0.00,2.38,0.00,0.000,1030,0.000,0.062,3056,2305,1771,1885,1657,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6089,0.75,201.8,3056,2305,1885,1657,29.3,12.5,436,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2305,1771,1885,1658,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6315,end climb,SURFACE_DEPTH_REACHED
$STATE,6315,begin surface coast
$FINISH,0.1,1.011548
$STATE,6344,end surface coast,CONTROL_FINISHED_OK
$STATE,6344,begin surface
$SM_CCo,6357,77.25,0.838,0,0,1130,360.09
$SM_GC,1.07,6.75,0.35,77.25,0.095,0.095,0.838,132,2520,1130,-8.23,-0.40,360.09,0,0,0,0,0,0,14.92,14.89,14.29
$IRIDIUM_FIX,2241.69,-15803.66,291109,161652
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.56
$INTERNAL_PRESSURE,7.31473
$TCM_TEMP,23.50
$XPDR_PINGS,4
$24V_AH,13.5,33.230
$10V_AH,13.4,0.000
$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,16.750,61.450,280.700,77.250,0.000,31.608,48.522,131.059,1.000,0.000,7.105,1208.796,3184.709,413.712,1865.925,67.445,33.247,964.947,0.000,1101.120,0.000,0.550,0.000
$DEVICE_MAMPS,515.610,154.530,2481.660,838.440,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,316.860,303.567,533.070,543.163,1123.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352940
$DATA_FILE_SIZE,40714,473
$CAP_FILE_SIZE,69183,0
$CFSIZE,2097086464,2086010880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020217,051113,2250.789,-15805.678,3,1.1,3,9.8