version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 132
start: 2 8 117 1 49 55
data:
$ID,626
$MISSION,1
$DIVE,132
$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,130
$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,1
$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,-130243.53
$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,39
$R_STBD_OVSHOOT,39
$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
$GPS1,080217,014351,2249.380,-15804.434,16,1.5,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.6
$GPS2,080217,014900,2249.435,-15804.448,13,1.5,13,9.8
$SPEED_LIMITS,0.213,0.243
$TGT_NAME,T3
$TGT_LATLONG,2252.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,0.003
$KALMAN_X,-90110.0,3.1,-161.9,86356.4,-1330.6
$KALMAN_Y,174294.8,-1325.9,-827.6,-156672.2,4690.1
$MHEAD_RNG_PITCHd_Wd,79.3,4812,-22.5,-9.929,-25.00,1474
$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,-0.80,-95.4,114,2525,1155,1082,0.0,0.0,0,78,0.00,0.00,-55.80,0.000,16390,0.000,0.000,114,2526,2986,3012,2961,0,0,0,0,0,0,28.83,28.83,14.92
$GC,81,-0.84,-126.5,114,2526,3012,2961,3.8,-7.0,7,100,8.50,2.40,-2.05,0.000,18948,0.501,0.072,2523,1092,3117,3149,3085,0,0,0,0,0,0,14.45,14.69,14.83
$GC,218,-0.84,-126.5,2522,1092,3152,3085,48.1,-26.3,26,227,0.00,2.38,0.00,0.000,1030,0.000,0.054,2521,2484,3118,3151,3085,0,0,0,0,0,0,28.83,14.70,28.83
$GC,536,-0.84,-126.5,2521,2484,3151,3085,132.9,-27.1,75,542,0.00,2.38,0.00,0.000,260,0.000,0.076,2522,3909,3118,3151,3085,0,0,0,0,0,0,28.83,14.78,28.83
$GC,643,-0.84,-126.5,2521,3910,3152,3085,160.3,-23.5,90,647,0.00,2.28,0.00,0.000,1030,0.000,0.049,2521,2504,3118,3151,3085,0,0,0,0,0,0,28.83,14.83,28.83
$GC,888,-0.84,-126.5,2521,2502,3153,3085,209.2,-19.9,111,892,0.00,2.38,0.00,0.000,260,0.000,0.077,2521,3911,3119,3153,3085,0,0,0,0,0,0,28.83,14.85,28.83
$GC,982,-0.84,-126.5,2521,3911,3153,3085,223.4,-19.1,113,986,0.00,2.33,0.00,0.000,1030,0.000,0.046,2521,2495,3119,3153,3085,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1244,-0.84,-126.5,2522,2494,3154,3085,266.9,-15.0,120,1248,0.00,2.38,0.00,0.000,260,0.000,0.078,2521,3908,3119,3154,3085,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1440,-0.84,-126.5,2522,3908,3155,3085,299.4,-16.6,125,1444,0.00,2.25,0.00,0.000,1030,0.000,0.046,2521,2500,3120,3155,3085,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1716,-0.84,-126.5,2521,2498,3155,3084,344.6,-15.6,132,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2498,3119,3154,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1956,-0.84,-126.5,2522,2498,3154,3084,381.9,-15.8,138,1960,0.00,2.38,0.00,0.000,260,0.000,0.081,2521,3911,3119,3154,3085,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2074,-0.84,-126.5,2521,3911,3154,3085,399.3,-15.2,141,2079,0.00,2.28,0.00,0.000,1030,0.000,0.047,2521,2489,3119,3154,3085,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2352,-0.84,-126.5,2521,2488,3154,3083,440.5,-14.7,148,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2488,3117,3154,3081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2592,-0.84,-126.5,2522,2488,3154,3080,474.7,-14.3,154,2596,0.00,2.25,0.00,0.000,516,0.000,0.059,2521,1089,3116,3154,3079,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2640,-0.84,-126.5,2522,1089,3154,3078,479.9,-14.4,155,2644,0.00,2.35,0.00,0.000,1030,0.000,0.060,2522,2504,3116,3154,3079,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2907,-0.84,-126.5,2521,2504,3154,3075,518.2,-13.6,162,2912,0.00,2.35,0.00,0.000,260,0.000,0.084,2521,3913,3115,3154,3076,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3042,-0.84,-126.5,2522,3912,3154,3073,533.9,-13.5,165,3046,0.00,2.28,0.00,0.000,1030,0.000,0.050,2521,2497,3113,3154,3073,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3298,-0.84,-126.5,2522,2496,3154,3069,568.4,-12.5,172,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2496,3111,3154,3069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-0.84,-126.5,2521,2496,3154,3067,597.1,-11.7,178,3543,0.00,2.40,0.00,0.000,260,0.000,0.085,2521,3912,3110,3154,3066,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3637,-0.84,-126.5,2521,3913,3154,3065,606.2,-11.7,180,3641,0.00,2.28,0.00,0.000,1030,0.000,0.050,2522,2500,3109,3154,3064,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3894,-0.84,-126.5,2521,2499,3154,3061,635.9,-10.3,187,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2498,3107,3154,3061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,-0.84,-126.5,2521,2499,3154,3057,662.5,-11.4,193,4139,0.00,2.40,0.00,0.000,260,0.000,0.086,2521,3911,3105,3154,3057,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4158,-0.84,-126.5,2521,3911,3154,3057,662.5,-11.4,193,4162,0.00,2.28,0.00,0.000,1030,0.000,0.050,2521,2501,3105,3154,3057,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4410,-0.84,-126.5,2522,2499,3154,3054,695.0,-11.8,200,4415,0.00,2.40,0.00,0.000,260,0.000,0.086,2522,3909,3104,3154,3054,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,4485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4485,begin apogee
$GC,4491,-0.15,0.0,2521,2311,3153,3054,704.4,-12.2,202,4600,0.68,0.00,105.90,2.840,10246,0.317,0.000,2753,2309,2600,2677,2523,0,0,0,0,0,0,14.79,28.83,13.35
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4603,0.84,126.5,2753,2309,2677,2523,706.5,0.0,204,4719,0.82,0.00,111.80,2.790,10758,0.191,0.000,3065,2308,2084,2164,2004,0,0,0,0,0,0,14.12,28.83,13.24
$GC,4967,0.84,126.5,3065,2309,2164,1991,651.3,18.4,214,4973,0.00,2.45,0.00,0.000,260,0.000,0.078,3066,3717,2077,2164,1991,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5120,0.84,126.5,3065,3719,2164,1991,627.6,19.3,217,5127,0.00,2.38,0.00,0.000,1030,0.000,0.058,3076,2302,2077,2164,1990,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5366,0.84,126.5,3076,2300,2163,1985,576.9,17.3,224,5371,0.00,2.42,0.00,0.000,260,0.000,0.078,3076,3717,2074,2164,1985,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5395,0.84,126.5,3076,3718,2163,1985,576.9,17.3,224,5403,0.05,2.33,0.00,0.000,5126,0.606,0.057,3077,2307,2074,2164,1985,0,0,0,0,0,0,14.58,14.83,28.83
$GC,5644,0.84,126.5,3077,2306,2164,1982,528.9,17.1,231,5649,0.00,2.38,0.00,0.000,260,0.000,0.077,3077,3713,2073,2164,1982,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5692,0.84,126.5,3077,3714,2163,1983,521.8,17.3,232,5697,0.08,2.33,0.00,0.000,5126,0.549,0.057,3074,2303,2073,2163,1983,0,0,0,0,0,0,14.62,14.89,28.83
$GC,5959,0.84,126.5,3074,2301,2164,1980,477.1,15.6,239,5963,0.00,2.40,0.00,0.000,260,0.000,0.077,3074,3719,2072,2164,1980,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6117,0.84,126.5,3074,3719,2163,1980,449.7,17.6,243,6122,0.00,2.33,0.00,0.000,1030,0.000,0.057,3084,2304,2071,2163,1980,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6395,0.84,126.5,3084,2302,2163,1977,405.2,15.5,250,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2302,2070,2164,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6636,0.84,126.5,3084,2302,2163,1976,369.8,14.6,256,6642,0.00,2.38,0.00,0.000,260,0.000,0.078,3083,3716,2070,2164,1976,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6763,0.84,126.5,3084,3716,2163,1975,352.0,14.7,259,6767,0.10,2.30,0.00,0.000,5126,0.552,0.054,3074,2306,2069,2163,1976,0,0,0,0,0,0,14.66,14.97,28.83
$GC,7035,0.84,126.5,3074,2305,2163,1975,313.6,14.0,266,7041,0.00,2.40,0.00,0.000,260,0.000,0.078,3074,3725,2069,2163,1975,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7123,0.84,126.5,3074,3725,2163,1975,302.3,14.0,268,7127,0.00,2.30,0.00,0.000,1030,0.000,0.053,3084,2308,2069,2163,1975,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7395,0.84,126.5,3084,2306,2164,1974,270.1,11.4,275,7399,0.00,2.30,0.00,0.000,516,0.000,0.063,3095,902,2068,2163,1974,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7434,0.84,126.5,3095,901,2163,1971,266.4,11.0,276,7438,0.10,2.35,0.00,0.000,5126,0.509,0.056,3072,2317,2067,2163,1971,0,0,0,0,0,0,14.68,14.96,28.83
$GC,7711,0.84,126.8,3072,2317,2163,1971,238.2,9.9,283,7717,0.00,2.35,0.00,0.000,260,0.000,0.077,3072,3720,2067,2163,1971,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7968,0.84,126.8,3072,3720,2164,1972,212.2,10.5,289,7973,0.00,2.30,0.00,0.000,1030,0.000,0.054,3082,2301,2067,2163,1972,0,0,0,0,0,0,28.83,14.99,28.83
$GC,8224,0.87,154.0,3082,2299,2163,1972,188.0,8.0,304,8254,0.00,2.47,20.15,2.052,8452,0.000,0.074,3082,3720,1973,2070,1876,0,0,0,0,0,0,28.83,14.76,14.07
$GC,8259,0.90,179.2,3082,3720,2070,1876,185.6,8.2,307,8291,0.00,2.33,22.12,2.027,9222,0.000,0.054,3093,2313,1868,1969,1767,0,0,0,0,0,0,28.83,14.81,13.90
$GC,8530,0.90,179.2,3093,2312,1969,1761,149.8,11.3,334,8540,0.00,2.45,0.00,0.000,260,0.000,0.076,3092,3710,1865,1969,1761,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8852,0.90,179.2,3093,3710,1968,1762,110.8,11.8,385,8859,0.00,2.30,0.00,0.000,1030,0.000,0.049,3103,2302,1865,1969,1762,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9162,0.90,179.2,3103,2300,1969,1762,73.9,12.4,434,9171,0.00,2.45,0.00,0.000,260,0.000,0.072,3103,3714,1866,1969,1764,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9360,0.90,179.2,3103,3714,1969,1767,45.6,14.7,462,9370,0.05,2.35,0.00,0.000,5126,0.474,0.048,3098,2302,1867,1969,1766,0,0,0,0,0,0,14.52,14.76,28.83
$GC,9696,0.90,179.2,3097,2302,1969,1768,5.0,10.5,511,9706,0.00,2.47,0.00,0.000,260,0.000,0.078,3098,3718,1869,1969,1769,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,9714,end climb,SURFACE_DEPTH_REACHED
$STATE,9714,begin surface coast
$FINISH,0.2,1.023652
$STATE,9736,end surface coast,CONTROL_FINISHED_OK
$STATE,9736,begin surface
$SM_CCo,9752,90.65,0.870,0,0,1131,360.09
$SM_GC,1.04,7.38,2.03,90.65,0.171,0.043,0.870,127,2498,1131,-8.21,1.39,360.09,0,0,0,0,0,0,14.83,14.83,14.16
$IRIDIUM_FIX,2239.35,-15806.70,051209,151519
$TT8_MAMPS,0.018725,0.018725
$HUMID,41.10
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,23.00
$XPDR_PINGS,6
$24V_AH,13.2,48.197
$10V_AH,13.5,0.000
$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,17.750,103.550,259.975,90.650,0.000,26.832,45.454,143.412,1.500,0.000,14.298,1434.118,5977.428,442.162,2218.628,85.788,33.252,1199.866,0.000,1496.365,0.000,0.551,0.000
$DEVICE_MAMPS,605.880,86.445,2839.680,869.805,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,347.871,275.916,488.152,476.624,986.323,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353040
$DATA_FILE_SIZE,44043,516
$CAP_FILE_SIZE,98202,0
$CFSIZE,2097086464,2081292288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080217,043524,2250.632,-15803.758,51,0.9,51,9.8