version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 109
start: 2 5 117 2 9 26
data:
$ID,626
$MISSION,1
$DIVE,109
$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,235
$T_MISSION,500
$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,0
$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,-130063.32
$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,28
$R_STBD_OVSHOOT,24
$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
$GPS1,050217,020332,2246.413,-15803.263,14,1.4,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-74.9
$GPS2,050217,020831,2246.497,-15803.348,7,1.4,7,9.8
$SPEED_LIMITS,0.213,0.260
$TGT_NAME,T4
$TGT_LATLONG,2245.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,-0.196
$KALMAN_X,-86561.1,259.4,137.8,84122.2,-1518.0
$KALMAN_Y,108840.1,-1022.3,-118.4,-97684.7,4990.3
$MHEAD_RNG_PITCHd_Wd,129.1,2987,-18.1,-9.929,-20.93,2251
$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,15,-0.73,-146.0,129,2509,1144,1095,0.0,0.0,0,79,0.00,0.00,-60.50,0.000,16390,0.000,0.000,128,2509,3197,3224,3170,0,0,0,0,0,0,28.83,28.83,14.92
$GC,81,-0.73,-146.0,129,2509,3224,3170,4.1,-8.1,7,100,8.62,2.38,0.00,0.000,2308,0.509,0.063,2547,3914,3198,3227,3170,0,0,0,0,0,0,14.45,14.66,28.83
$GC,379,-0.73,-146.0,2548,3914,3228,3170,78.9,-19.9,50,389,0.03,2.40,0.00,0.000,3078,0.429,0.055,2557,2491,3199,3228,3170,0,0,0,0,0,0,14.56,14.74,28.83
$GC,689,-0.73,-146.0,2557,2489,3229,3170,141.3,-18.7,99,696,0.00,2.33,0.00,0.000,516,0.000,0.065,2557,1080,3199,3229,3170,0,0,0,0,0,0,28.83,14.82,28.83
$GC,762,-0.73,-146.0,2557,1079,3229,3170,154.9,-18.9,109,770,0.00,2.35,0.00,0.000,1030,0.000,0.060,2557,2501,3199,3229,3170,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1010,-0.73,-146.0,2557,2501,3232,3170,197.1,-15.9,134,1018,0.00,2.35,0.00,0.000,260,0.000,0.078,2555,3915,3201,3232,3170,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1100,-0.73,-146.0,2555,3915,3232,3170,209.3,-14.4,138,1105,0.00,2.30,0.00,0.000,1030,0.000,0.050,2555,2499,3200,3232,3169,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1372,-0.73,-146.0,2554,2498,3233,3170,244.8,-12.4,145,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2498,3201,3233,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1614,-0.73,-146.0,2555,2498,3233,3170,277.3,-13.5,151,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2498,3201,3234,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1852,-0.73,-146.0,2554,2498,3233,3170,307.5,-12.6,157,1857,0.00,2.30,0.00,0.000,516,0.000,0.062,2555,1082,3201,3233,3169,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1941,-0.73,-146.0,2555,1081,3233,3169,317.5,-13.1,159,1945,0.00,2.35,0.00,0.000,3078,0.000,0.060,2549,2501,3201,3233,3170,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2208,-0.73,-146.0,2549,2502,3233,3169,355.2,-13.4,166,2212,0.00,2.35,0.00,0.000,2308,0.000,0.083,2549,3918,3201,3233,3169,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2252,-0.73,-146.0,2549,3918,3233,3169,360.2,-13.4,167,2257,0.00,2.30,0.00,0.000,3078,0.000,0.051,2549,2492,3201,3233,3169,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2519,-0.73,-146.0,2549,2490,3233,3165,398.9,-14.0,174,2520,0.00,0.00,0.00,0.000,2054,0.000,0.000,2549,2491,3199,3234,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2759,-0.73,-146.0,2549,2491,3233,3163,431.6,-13.5,180,2763,0.00,2.40,0.00,0.000,2308,0.000,0.084,2549,3915,3197,3233,3162,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2828,-0.73,-146.0,2549,3915,3233,3162,436.2,-13.2,181,2835,0.00,2.33,0.00,0.000,3078,0.000,0.054,2549,2485,3197,3233,3162,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3075,-0.73,-146.0,2549,2483,3233,3159,470.1,-11.8,188,3079,0.00,2.28,0.00,0.000,2564,0.000,0.064,2549,1086,3196,3233,3159,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3099,-0.73,-146.0,2548,1085,3233,3158,470.1,-11.8,188,3103,0.00,2.38,0.00,0.000,3078,0.000,0.064,2549,2506,3195,3233,3158,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3351,-0.73,-146.0,2548,2509,3233,3156,500.1,-10.7,195,3352,0.00,0.00,0.00,0.000,2054,0.000,0.000,2549,2508,3194,3233,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-0.73,-146.0,2549,2508,3233,3153,526.0,-10.8,201,3595,0.00,2.35,0.00,0.000,2564,0.000,0.063,2549,1081,3192,3232,3152,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3615,-0.73,-146.0,2549,1081,3233,3152,526.0,-10.8,201,3619,0.00,2.38,0.00,0.000,3078,0.000,0.067,2549,2502,3192,3233,3152,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3867,-0.73,-146.0,2549,2502,3233,3148,555.8,-10.9,208,3868,0.00,0.00,0.00,0.000,2054,0.000,0.000,2548,2502,3191,3233,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4107,-0.73,-146.0,2549,2502,3233,3146,581.9,-10.8,214,4111,0.00,2.35,0.00,0.000,2564,0.000,0.066,2549,1080,3189,3233,3146,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4157,-0.73,-146.0,2549,1080,3233,3145,585.9,-11.0,215,4162,0.00,2.38,0.00,0.000,3078,0.000,0.068,2549,2500,3189,3233,3145,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4418,-0.73,-146.0,2549,2500,3233,3142,616.3,-11.0,222,4422,0.00,2.38,0.00,0.000,2308,0.000,0.088,2549,3913,3187,3233,3142,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4447,-0.73,-146.0,2549,3914,3233,3142,616.3,-11.0,222,4454,0.00,2.30,0.00,0.000,3078,0.000,0.053,2548,2499,3187,3233,3142,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4694,-0.73,-146.0,2549,2498,3232,3138,645.7,-10.5,229,4698,0.00,2.33,0.00,0.000,2564,0.000,0.067,2549,1080,3185,3233,3138,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4730,-0.73,-146.0,2549,1080,3233,3138,649.4,-10.4,230,4735,0.03,2.38,0.00,0.000,3078,0.653,0.068,2558,2500,3185,3233,3138,0,0,0,0,0,0,14.83,15.00,28.83
$GC,5007,-0.73,-146.0,2558,2500,3233,3134,676.1,-9.7,237,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2500,3183,3233,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5247,-0.73,-146.0,2558,2500,3233,3132,698.5,-9.3,243,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2500,3182,3233,3132,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5285,begin apogee
$GC,5289,-0.15,0.0,2558,2277,3232,3131,702.1,-9.1,244,5415,0.55,0.08,121.55,2.762,10246,0.301,0.184,2750,2315,2599,2679,2520,0,0,0,0,0,0,14.83,14.08,13.34
$STATE,5416,end apogee,CONTROL_FINISHED_OK
$STATE,5416,begin climb
$GC,5417,0.73,146.0,2750,2315,2679,2520,704.1,0.0,247,5555,0.75,2.58,127.07,2.709,10756,0.193,0.073,3046,933,2003,2097,1910,0,0,0,0,0,0,14.10,13.99,13.21
$GC,5599,0.73,146.0,3046,932,2096,1902,689.3,11.6,251,5607,0.00,2.47,0.00,0.000,1030,0.000,0.063,3046,2306,1999,2096,1902,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5847,0.73,146.0,3046,2306,2097,1898,639.7,17.9,258,5851,0.00,2.47,0.00,0.000,260,0.000,0.084,3046,3729,1997,2097,1897,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6070,0.73,146.0,3046,3729,2096,1898,601.9,19.3,263,6076,0.10,2.35,0.00,0.000,5126,0.501,0.060,3036,2333,1997,2096,1898,0,0,0,0,0,0,14.54,14.76,28.83
$GC,6323,0.73,146.0,3035,2331,2096,1893,557.3,15.4,270,6327,0.00,2.40,0.00,0.000,260,0.000,0.082,3035,3726,1994,2096,1893,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6481,0.73,146.0,3035,3726,2096,1893,531.0,17.0,274,6486,0.00,2.35,0.00,0.000,1030,0.000,0.058,3045,2307,1995,2097,1893,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6759,0.73,146.0,3045,2305,2097,1889,490.8,14.1,281,6763,0.00,2.42,0.00,0.000,260,0.000,0.079,3045,3732,1992,2096,1889,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6998,0.73,146.0,3045,3732,2097,1889,453.1,15.8,287,7003,0.10,2.35,0.00,0.000,5126,0.503,0.060,3033,2308,1992,2096,1889,0,0,0,0,0,0,14.67,14.92,28.83
$GC,7270,0.73,146.0,3034,2306,2097,1886,416.4,13.3,294,7274,0.00,2.40,0.00,0.000,260,0.000,0.080,3034,3723,1991,2097,1886,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7505,0.73,146.0,3034,3724,2096,1887,379.2,16.0,300,7510,0.00,2.33,0.00,0.000,1030,0.000,0.058,3043,2308,1991,2096,1887,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7781,0.73,146.0,3043,2306,2096,1885,341.2,13.6,307,7785,0.00,2.40,0.00,0.000,260,0.000,0.076,3043,3729,1990,2097,1884,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8005,0.73,146.0,3043,3729,2096,1885,309.8,16.2,312,8010,0.08,2.35,0.00,0.000,5126,0.524,0.057,3040,2300,1991,2097,1885,0,0,0,0,0,0,14.71,14.96,28.83
$GC,8257,0.73,146.0,3040,2299,2096,1883,273.8,12.3,319,8261,0.00,2.42,0.00,0.000,260,0.000,0.079,3040,3728,1990,2096,1884,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8421,0.73,146.0,3040,3728,2096,1884,252.7,13.5,323,8426,0.05,2.35,0.00,0.000,5126,0.593,0.057,3040,2298,1990,2096,1884,0,0,0,0,0,0,14.72,14.97,28.83
$GC,8693,0.73,149.6,3040,2296,2096,1883,222.6,9.8,330,8699,0.00,2.40,0.00,0.000,260,0.000,0.077,3040,3723,1990,2097,1883,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8905,0.73,149.6,2144,3723,2056,1878,197.8,11.8,336,8917,0.00,2.38,0.00,0.000,1030,0.000,0.056,3050,2303,1989,2096,1883,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9157,0.79,193.5,3050,2303,2097,1884,173.2,7.9,361,9204,0.00,2.45,36.53,2.023,8452,0.000,0.077,3049,3722,1809,1918,1700,0,0,0,0,0,0,28.83,14.60,13.95
$GC,9357,0.79,193.5,3050,3722,1918,1697,149.2,13.0,380,9367,0.00,2.40,0.00,0.000,1030,0.000,0.057,3059,2317,1807,1918,1696,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9666,0.79,193.5,3058,2317,1918,1694,112.8,10.3,429,9672,0.00,2.40,0.00,0.000,260,0.000,0.076,3059,3722,1806,1918,1695,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9846,0.79,193.5,3059,3722,1918,1697,92.2,11.7,458,9857,0.03,2.40,0.00,0.000,5126,0.504,0.057,3061,2302,1807,1918,1697,0,0,0,0,0,0,14.55,14.76,28.83
$GC,10174,0.79,193.5,3061,2301,1918,1697,61.0,10.1,507,10183,0.00,2.47,0.00,0.000,260,0.000,0.074,3061,3729,1808,1918,1699,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10368,0.79,193.5,3061,3729,1918,1701,37.1,12.7,535,10378,0.03,2.40,0.00,0.000,5126,0.514,0.055,3063,2302,1809,1918,1701,0,0,0,0,0,0,14.55,14.78,28.83
$STATE,10678,end climb,SURFACE_DEPTH_REACHED
$STATE,10678,begin surface coast
$FINISH,0.1,1.010396
$STATE,10708,end surface coast,CONTROL_FINISHED_OK
$STATE,10708,begin surface
$SM_CCo,10722,83.05,0.881,0,0,1131,360.09
$SM_GC,0.92,6.68,0.38,83.05,0.069,0.094,0.881,139,2520,1131,-8.21,-0.51,360.09,0,0,0,0,0,0,14.83,14.81,14.15
$IRIDIUM_FIX,2237.01,-15806.70,021209,151500
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.82
$INTERNAL_PRESSURE,7.23661
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,13.2,40.944
$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,17.025,105.325,285.150,83.050,0.000,26.849,50.047,129.015,0.500,0.000,8.274,1609.212,6456.009,454.269,2503.716,86.762,33.251,1307.499,0.000,1706.059,0.000,0.550,0.000
$DEVICE_MAMPS,652.545,183.600,2761.650,880.515,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,394.772,328.182,559.448,553.915,1146.202,0.000,0.000,0.000,0.000,0.000
$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,50635,584
$CAP_FILE_SIZE,108293,0
$CFSIZE,2097086464,2083586048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050217,051030,2246.624,-15802.842,23,0.8,23,9.8