version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 86
start: 2 2 117 5 16 42
data:
$ID,626
$MISSION,1
$DIVE,86
$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,-129960.8
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,020217,051113,2250.789,-15805.678,3,1.1,3,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.7
$GPS2,020217,051546,2250.848,-15805.686,5,1.1,5,9.8
$SPEED_LIMITS,0.193,0.251
$TGT_NAME,T4
$TGT_LATLONG,2245.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.067,-0.242
$KALMAN_X,-59975.9,-96.4,47.3,53994.6,-989.4
$KALMAN_Y,55399.8,-81.7,-611.1,-36636.1,3648.5
$MHEAD_RNG_PITCHd_Wd,154.8,11206,-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,-146.0,128,2523,1141,1097,0.0,0.0,0,79,0.00,0.00,-61.62,0.000,16390,0.000,0.000,128,2524,3197,3223,3171,0,0,0,0,0,0,28.83,28.83,15.01
$GC,81,-0.68,-146.0,129,2525,3223,3171,3.2,-5.0,7,100,8.60,2.40,0.00,0.000,2564,0.510,0.050,2572,1074,3198,3226,3171,0,0,0,0,0,0,14.57,14.77,28.83
$GC,217,-0.68,-146.0,2571,1074,3227,3171,43.0,-20.9,26,226,0.00,2.42,0.00,0.000,1030,0.000,0.071,2571,2484,3199,3227,3171,0,0,0,0,0,0,28.83,14.78,28.83
$GC,537,-0.68,-146.0,2571,2484,3228,3171,121.5,-24.4,75,544,0.00,2.38,0.00,0.000,260,0.000,0.076,2562,3922,3199,3228,3171,0,0,0,0,0,0,28.83,14.86,28.83
$GC,556,-0.68,-146.0,2563,3921,3228,3171,127.0,-24.7,78,566,0.00,2.33,0.00,0.000,3078,0.000,0.047,2563,2504,3199,3228,3171,0,0,0,0,0,0,28.83,14.86,28.83
$GC,830,-0.68,-146.0,2563,2504,3228,3171,182.7,-18.2,111,834,0.00,2.30,0.00,0.000,2564,0.000,0.065,2563,1088,3199,3228,3170,0,0,0,0,0,0,28.83,14.93,28.83
$GC,903,-0.68,-146.0,1680,1086,3209,3168,193.5,-14.2,117,914,0.00,2.42,0.00,0.000,3078,0.000,0.068,2562,2511,3199,3228,3170,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1150,-0.68,-146.0,2562,2512,3228,3171,233.5,-16.6,127,1155,0.05,2.33,0.00,0.000,2308,0.554,0.083,2574,3915,3199,3228,3171,0,0,0,0,0,0,14.84,14.96,28.83
$GC,1227,-0.68,-146.0,2574,3915,3229,3171,244.2,-15.1,129,1231,0.00,2.28,0.00,0.000,1030,0.000,0.049,2574,2498,3200,3229,3171,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1503,-0.68,-146.0,2574,2498,3229,3171,278.4,-12.7,136,1507,0.00,2.28,0.00,0.000,516,0.000,0.062,2574,1080,3200,3229,3171,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1578,-0.68,-146.0,2574,1079,3228,3171,288.3,-13.1,138,1583,0.00,2.35,0.00,0.000,1030,0.000,0.067,2574,2502,3200,3229,3171,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1854,-0.68,-146.0,2573,2502,3229,3171,320.9,-11.7,145,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2502,3199,3229,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2094,-0.68,-146.0,2574,2502,3229,3171,347.3,-11.0,151,2098,0.00,2.30,0.00,0.000,516,0.000,0.063,2574,1086,3199,3228,3170,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2148,-0.68,-146.0,2574,1085,3229,3169,351.6,-11.4,152,2152,0.00,2.35,0.00,0.000,1030,0.000,0.070,2574,2502,3198,3228,3169,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2410,-0.68,-146.0,2574,2502,3229,3167,381.5,-10.3,159,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2502,3197,3228,3167,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2609,begin apogee
$GC,2613,-0.15,0.0,2574,2273,3229,3164,402.1,-10.2,164,2735,0.50,0.10,117.90,2.434,10246,0.300,0.156,2751,2326,2600,2680,2520,0,0,0,0,0,0,14.92,14.23,13.50
$STATE,2736,end apogee,CONTROL_FINISHED_OK
$STATE,2736,begin climb
$GC,2737,0.68,146.0,2751,2326,2679,2520,405.2,0.0,167,2868,0.73,2.50,122.57,2.556,10756,0.194,0.069,3033,939,2003,2099,1908,0,0,0,0,0,0,14.23,14.16,13.45
$GC,2914,0.68,146.0,3033,939,2098,1902,392.3,10.1,171,2918,0.00,2.40,0.00,0.000,1030,0.000,0.063,3034,2302,2000,2098,1902,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3171,0.68,146.0,3033,2302,2098,1898,347.6,16.2,178,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2302,1998,2099,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3411,0.68,146.0,3033,2302,2099,1894,312.5,14.4,184,3415,0.00,2.30,0.00,0.000,516,0.000,0.070,3044,922,1996,2099,1894,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3434,0.68,146.0,3044,922,2099,1892,312.5,14.4,184,3440,0.10,2.38,0.00,0.000,5126,0.416,0.065,3019,2338,1995,2098,1892,0,0,0,0,0,0,14.76,14.89,28.83
$GC,3687,0.68,146.0,3019,2339,2099,1891,276.8,13.0,191,3691,0.00,2.30,0.00,0.000,260,0.000,0.080,3019,3721,1995,2099,1891,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3722,0.68,146.0,3019,3721,2099,1891,272.0,13.1,192,3727,0.00,2.25,0.00,0.000,1030,0.000,0.059,3028,2344,1995,2099,1892,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3998,0.68,146.0,3028,2341,2099,1887,239.2,11.6,199,4002,0.00,2.40,0.00,0.000,516,0.000,0.072,3038,888,1993,2099,1888,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4107,0.68,146.0,3038,887,2098,1884,231.4,11.0,201,4115,0.08,2.35,0.00,0.000,5126,0.452,0.064,3022,2311,1991,2098,1884,0,0,0,0,0,0,14.84,14.99,28.83
$GC,4354,0.68,146.0,3022,2311,2098,1884,203.9,9.8,208,4358,0.00,2.35,0.00,0.000,260,0.000,0.081,3022,3726,1991,2098,1884,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4393,0.68,146.0,3022,3726,2099,1885,199.8,10.1,209,4400,0.00,2.33,0.00,0.000,1030,0.000,0.060,3031,2305,1992,2099,1885,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4641,0.73,179.0,3031,2303,2099,1883,172.4,7.6,234,4671,0.00,2.42,24.42,1.996,8708,0.000,0.071,3042,892,1870,1979,1761,0,0,0,0,0,0,28.83,14.78,14.09
$GC,4817,0.73,183.8,3042,892,1978,1757,157.8,8.8,250,4828,0.00,2.42,5.32,1.585,9222,0.000,0.061,3042,2314,1849,1961,1738,0,0,0,0,0,0,28.83,14.81,14.09
$GC,5113,0.73,183.8,3042,2314,1961,1737,128.2,9.3,293,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2314,1849,1961,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5416,0.73,183.8,3042,2314,1961,1737,98.1,9.4,342,5425,0.00,2.42,0.00,0.000,260,0.000,0.083,3042,3728,1849,1961,1738,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5553,0.73,183.8,3042,3728,1961,1739,83.6,11.2,363,5561,0.08,2.33,0.00,0.000,5126,0.485,0.058,3037,2304,1849,1961,1738,0,0,0,0,0,0,14.74,14.92,28.83
$GC,5885,0.73,183.8,3037,2302,1961,1738,52.9,9.4,412,5894,0.00,2.35,0.00,0.000,516,0.000,0.069,3045,903,1849,1961,1738,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5910,0.73,183.8,3045,902,1961,1738,50.7,9.0,415,5920,0.00,2.38,0.00,0.000,1030,0.000,0.060,3045,2310,1849,1961,1738,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6248,0.73,186.8,3045,2310,1961,1739,16.3,8.9,464,6258,0.00,2.40,2.00,0.265,8452,0.000,0.079,3045,3717,1835,1952,1719,0,0,0,0,0,0,28.83,14.85,14.62
$GC,6275,0.73,186.8,3045,3717,1952,1721,13.7,9.1,467,6285,0.05,2.35,0.00,0.000,5126,0.394,0.059,3037,2311,1835,1952,1719,0,0,0,0,0,0,14.71,14.87,28.83
$STATE,6381,end climb,SURFACE_DEPTH_REACHED
$STATE,6381,begin surface coast
$FINISH,0.1,1.003571
$STATE,6424,end surface coast,CONTROL_FINISHED_OK
$STATE,6424,begin surface
$SM_CCo,6437,84.75,0.851,0,0,1129,360.09
$SM_GC,1.10,6.75,0.35,84.75,0.106,0.093,0.851,132,2512,1129,-8.21,-0.62,360.09,0,0,0,0,0,0,14.93,14.90,14.27
$IRIDIUM_FIX,2241.69,-15803.66,291109,181833
$TT8_MAMPS,0.018725,0.018725
$HUMID,39.52
$INTERNAL_PRESSURE,7.3245
$TCM_TEMP,23.70
$XPDR_PINGS,3
$24V_AH,13.5,33.508
$10V_AH,13.7,0.000
$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,16.925,71.525,272.225,84.750,0.000,26.210,46.549,120.624,0.750,0.000,7.086,1263.423,3087.177,434.846,1958.542,64.498,33.241,1009.337,0.000,1174.381,0.000,0.550,0.000
$DEVICE_MAMPS,553.860,156.060,2555.865,851.445,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,327.119,311.974,551.716,581.809,1203.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353020
$DATA_FILE_SIZE,43794,488
$CAP_FILE_SIZE,74393,0
$CFSIZE,2097086464,2085912576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020217,070630,2250.826,-15805.742,31,0.8,32,9.8