version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 87
start: 2 2 117 7 12 18
data:
$ID,626
$MISSION,1
$DIVE,87
$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,-129962.05
$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,33
$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
$GPS1,020217,070630,2250.826,-15805.742,31,0.8,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-74.7
$GPS2,020217,071122,2250.898,-15805.754,6,0.9,6,9.8
$SPEED_LIMITS,0.193,0.251
$TGT_NAME,T4
$TGT_LATLONG,2245.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.070,-0.241
$KALMAN_X,-60868.1,220.1,-70.1,54567.8,-1068.7
$KALMAN_Y,57268.6,-69.7,-345.9,-38692.2,3757.5
$MHEAD_RNG_PITCHd_Wd,153.9,11326,-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,-146.0,129,2516,1148,1090,0.0,0.0,0,79,0.00,0.00,-59.90,0.000,16390,0.000,0.000,129,2516,3197,3227,3168,0,0,0,0,0,0,28.83,28.83,15.02
$GC,81,-0.68,-146.0,129,2516,3226,3168,4.3,-8.0,7,100,8.68,2.38,0.00,0.000,2564,0.519,0.051,2570,1077,3198,3228,3168,0,0,0,0,0,0,14.57,14.81,28.83
$GC,198,-0.68,-146.0,2570,1077,3229,3168,42.8,-23.0,23,208,0.00,2.42,0.00,0.000,1030,0.000,0.070,2567,2486,3198,3228,3168,0,0,0,0,0,0,28.83,14.79,28.83
$GC,516,-0.68,-146.0,2566,2487,3229,3168,122.7,-24.7,72,526,0.00,2.45,0.00,0.000,260,0.000,0.086,2562,3914,3197,3228,3167,0,0,0,0,0,0,28.83,14.83,28.83
$GC,553,-0.68,-146.0,2562,3914,3229,3168,129.7,-20.6,77,560,0.05,2.30,0.00,0.000,3078,0.503,0.056,2574,2500,3198,3228,3168,0,0,0,0,0,0,14.73,14.90,28.83
$GC,823,-0.68,-146.0,2574,2498,3229,3168,179.5,-15.5,110,827,0.00,2.30,0.00,0.000,516,0.000,0.060,2574,1076,3198,3229,3167,0,0,0,0,0,0,28.83,14.94,28.83
$GC,905,-0.68,-146.0,2574,1076,3230,3168,190.5,-12.6,117,917,0.00,2.35,0.00,0.000,1030,0.000,0.065,2574,2506,3198,3229,3167,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1174,-0.68,-146.0,2574,2506,3230,3168,229.8,-14.2,129,1178,0.00,2.35,0.00,0.000,260,0.000,0.091,2574,3911,3199,3231,3168,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1238,-0.68,-146.0,2574,3911,3230,3168,234.6,-13.7,130,1242,0.00,2.33,0.00,0.000,1030,0.000,0.051,2574,2460,3199,3231,3168,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1490,-0.68,-146.0,2574,2459,3230,3168,271.1,-13.4,137,1494,0.00,2.20,0.00,0.000,516,0.000,0.060,2574,1086,3198,3230,3167,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1525,-0.68,-146.0,2574,1086,3230,3167,275.6,-13.3,138,1529,0.00,2.33,0.00,0.000,1030,0.000,0.066,2574,2500,3199,3231,3167,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1801,-0.68,-146.0,2574,2500,3231,3167,305.6,-10.6,145,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2500,3199,3231,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2041,-0.68,-146.0,2574,2500,3230,3167,330.4,-10.6,151,2045,0.00,2.30,0.00,0.000,516,0.000,0.060,2574,1080,3197,3230,3164,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2095,-0.68,-146.0,2574,1080,3230,3165,334.6,-11.0,152,2099,0.00,2.35,0.00,0.000,1030,0.000,0.067,2574,2502,3198,3231,3166,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2357,-0.68,-146.0,2574,2502,3230,3163,366.8,-11.6,159,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2502,3196,3230,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2597,-0.68,-146.0,2574,2502,3230,3161,394.4,-11.4,165,2601,0.00,2.30,0.00,0.000,516,0.000,0.061,2574,1085,3195,3230,3160,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2626,-0.68,-146.0,2574,1085,3230,3160,394.4,-11.4,165,2633,0.00,2.40,0.00,0.000,1030,0.000,0.068,2574,2497,3195,3230,3160,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,2671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2671,begin apogee
$GC,2675,-0.15,0.0,2574,2283,3230,3160,402.9,-11.4,167,2797,0.50,0.08,117.55,2.440,10246,0.297,0.176,2751,2320,2600,2681,2519,0,0,0,0,0,0,14.92,14.23,13.52
$STATE,2798,end apogee,CONTROL_FINISHED_OK
$STATE,2798,begin climb
$GC,2799,0.68,146.0,2751,2320,2680,2519,406.4,0.0,170,2926,0.70,2.47,118.25,2.277,10756,0.194,0.067,3029,940,2003,2099,1908,0,0,0,0,0,0,14.23,14.20,13.51
$GC,2996,0.68,146.0,2112,938,2055,1895,387.5,11.5,175,3001,0.00,2.38,0.00,0.000,1030,0.000,0.061,3029,2304,1999,2099,1900,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3273,0.68,146.0,3029,2304,2099,1898,345.0,14.7,182,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2304,1998,2099,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3513,0.68,146.0,3029,2304,2099,1896,312.0,13.3,188,3517,0.00,2.28,0.00,0.000,516,0.000,0.068,3039,932,1997,2099,1895,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3557,0.68,146.0,3040,931,2099,1893,307.5,12.9,189,3562,0.08,2.35,0.00,0.000,5126,0.446,0.062,3023,2339,1996,2099,1893,0,0,0,0,0,0,14.76,14.91,28.83
$GC,3829,0.68,146.0,3023,2339,2099,1893,274.6,11.5,196,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2339,1996,2099,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4069,0.68,146.0,3024,2338,2099,1892,247.8,10.8,202,4073,0.00,2.33,0.00,0.000,516,0.000,0.068,3030,932,1995,2099,1892,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4133,0.68,146.0,3031,931,2099,1889,243.9,10.7,203,4137,0.00,2.33,0.00,0.000,1030,0.000,0.062,3031,2306,1993,2098,1889,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4385,0.68,146.0,3031,2307,2099,1889,212.0,10.8,210,4389,0.00,2.38,0.00,0.000,260,0.000,0.086,3031,3725,1994,2099,1889,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4484,0.68,146.0,3031,3725,2099,1890,204.3,9.8,212,4489,0.08,2.30,0.00,0.000,5126,0.493,0.060,3027,2339,1994,2099,1890,0,0,0,0,0,0,14.83,15.02,28.83
$GC,4731,0.68,146.0,3027,2338,2099,1889,179.5,9.7,233,4740,0.00,2.35,0.00,0.000,516,0.000,0.070,3036,901,1993,2099,1888,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4904,0.69,153.3,3037,900,2099,1887,164.7,8.7,249,4918,0.00,2.33,5.20,1.574,9222,0.000,0.060,3036,2315,1975,2083,1868,0,0,0,0,0,0,28.83,15.00,14.23
$GC,5181,0.71,164.9,3036,2315,2083,1869,139.8,8.5,283,5196,0.00,0.00,10.00,1.776,8710,0.000,0.000,3036,2315,1927,2035,1819,0,0,0,0,0,0,28.83,28.83,14.20
$GC,5498,0.75,201.5,3036,2315,2034,1818,114.1,7.5,333,5528,0.00,2.42,21.50,1.730,8452,0.000,0.082,3036,3710,1779,1888,1670,0,0,0,0,0,0,28.83,14.70,14.10
$GC,5596,0.75,201.5,3036,3710,1888,1669,104.6,10.2,348,5605,0.00,2.38,0.00,0.000,1030,0.000,0.058,3046,2300,1777,1887,1667,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5911,0.75,201.5,3046,2300,1887,1665,72.4,11.4,397,5921,0.00,2.45,0.00,0.000,260,0.000,0.081,3046,3713,1776,1888,1665,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5937,0.75,201.5,3046,3713,1888,1666,69.2,11.8,400,5947,0.00,2.35,0.00,0.000,1030,0.000,0.060,3056,2314,1776,1888,1665,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6275,0.75,201.5,3056,2314,1888,1665,26.8,13.1,449,6284,0.00,2.35,0.00,0.000,516,0.000,0.066,3067,903,1776,1888,1664,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6327,0.75,201.5,3067,903,1887,1664,20.6,11.1,456,6337,0.05,2.38,0.00,0.000,5126,0.373,0.057,3047,2315,1776,1888,1664,0,0,0,0,0,0,14.69,14.84,28.83
$STATE,6487,end climb,SURFACE_DEPTH_REACHED
$STATE,6487,begin surface coast
$FINISH,0.2,1.011396
$STATE,6524,end surface coast,CONTROL_FINISHED_OK
$STATE,6524,begin surface
$SM_CCo,6537,77.80,0.862,0,0,1130,360.09
$SM_GC,1.17,6.72,0.30,77.80,0.092,0.096,0.862,124,2501,1130,-8.24,-0.90,360.09,0,0,0,0,0,0,14.92,14.90,14.27
$IRIDIUM_FIX,2239.35,-15801.49,291109,202050
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.52
$INTERNAL_PRESSURE,7.31473
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,13.5,33.772
$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,16.850,71.225,272.500,77.800,0.000,25.323,47.801,132.237,0.000,0.000,7.093,1259.661,3244.245,413.825,1935.693,65.230,33.243,1008.201,0.000,1163.658,0.000,0.551,0.000
$DEVICE_MAMPS,519.435,175.950,2439.585,862.155,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,324.525,310.294,543.683,547.463,1132.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352960
$DATA_FILE_SIZE,43956,484
$CAP_FILE_SIZE,75023,0
$CFSIZE,2097086464,2085814272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020217,090311,2250.898,-15805.808,3,1.0,3,9.8