version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 136
start: 2 8 117 13 36 59
data:
$ID,626
$MISSION,1
$DIVE,136
$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,-130248.58
$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,36
$R_STBD_OVSHOOT,40
$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
$GPS1,080217,133055,2250.741,-15802.907,13,1.7,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.0
$GPS2,080217,133605,2250.804,-15802.957,7,1.7,7,9.8
$SPEED_LIMITS,0.213,0.243
$TGT_NAME,T3
$TGT_LATLONG,2252.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.033,-0.210
$KALMAN_X,-95735.2,317.6,183.3,93855.5,-2164.1
$KALMAN_Y,181602.2,649.6,-641.9,-163623.0,4703.7
$MHEAD_RNG_PITCHd_Wd,161.3,2841,-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,14,begin dive
$GC,15,-0.80,-95.4,129,2519,1149,1086,0.0,0.0,0,78,0.00,0.00,-55.67,0.000,16390,0.000,0.000,128,2519,2992,3021,2963,0,0,0,0,0,0,28.83,28.83,14.91
$GC,81,-0.84,-126.5,128,2519,3021,2963,4.1,-7.3,7,100,8.43,2.40,-1.98,0.000,18948,0.500,0.069,2520,1081,3116,3151,3082,0,0,0,0,0,0,14.45,14.70,14.84
$GC,245,-0.84,-126.5,2520,1081,3151,3083,54.6,-25.8,30,254,0.00,2.40,0.00,0.000,1030,0.000,0.057,2520,2483,3117,3151,3083,0,0,0,0,0,0,28.83,14.71,28.83
$GC,562,-0.84,-126.5,2520,2483,3152,3083,139.8,-24.0,79,568,0.00,2.40,0.00,0.000,260,0.000,0.077,2520,3915,3117,3151,3083,0,0,0,0,0,0,28.83,14.78,28.83
$GC,622,-0.84,-126.5,2520,3915,3152,3083,155.0,-23.8,87,626,0.00,2.30,0.00,0.000,1030,0.000,0.052,2520,2502,3117,3152,3083,0,0,0,0,0,0,28.83,14.83,28.83
$GC,877,-0.84,-126.5,2520,2501,3153,3083,207.3,-17.7,109,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2501,3118,3153,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1117,-0.84,-126.5,2520,2501,3154,3083,248.0,-16.5,115,1121,0.00,2.38,0.00,0.000,260,0.000,0.080,2520,3910,3118,3154,3083,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1206,-0.84,-126.5,2520,3909,3154,3084,260.1,-15.7,117,1210,0.00,2.28,0.00,0.000,1030,0.000,0.047,2520,2498,3118,3154,3082,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1473,-0.84,-126.5,2520,2497,3156,3083,304.1,-15.2,124,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2497,3119,3156,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1713,-0.84,-126.5,2520,2497,3155,3083,341.9,-16.1,130,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2496,3119,3156,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,-0.84,-126.5,2520,2497,3155,3083,379.6,-15.7,136,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2496,3119,3156,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2193,-0.84,-126.5,2520,2496,3155,3082,415.0,-14.5,142,2197,0.00,2.38,0.00,0.000,260,0.000,0.081,2520,3908,3118,3155,3082,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2352,-0.84,-126.5,2521,3908,3155,3081,436.0,-13.5,146,2356,0.00,2.28,0.00,0.000,1030,0.000,0.047,2520,2489,3118,3155,3081,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2629,-0.84,-126.5,2520,2487,3155,3077,471.9,-12.7,153,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2488,3116,3155,3078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-0.84,-126.5,2521,2487,3155,3073,502.8,-12.9,159,2873,0.00,2.40,0.00,0.000,260,0.000,0.083,2520,3908,3114,3155,3073,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2963,-0.84,-126.5,2521,3908,3155,3072,513.1,-13.3,161,2967,0.00,2.28,0.00,0.000,1030,0.000,0.049,2520,2498,3113,3155,3072,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3225,-0.84,-126.5,2521,2496,3155,3068,550.7,-13.5,168,3229,0.00,2.40,0.00,0.000,260,0.000,0.086,2520,3911,3111,3154,3069,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3289,-0.84,-126.5,2520,3911,3155,3068,555.6,-13.4,169,3293,0.00,2.28,0.00,0.000,1030,0.000,0.050,2520,2504,3111,3155,3067,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3541,-0.84,-126.5,2521,2502,3155,3064,594.0,-13.6,176,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2502,3109,3155,3063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3781,-0.84,-126.5,2521,2502,3155,3061,628.0,-14.2,182,3785,0.00,2.30,0.00,0.000,516,0.000,0.063,2520,1086,3107,3155,3060,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3816,-0.84,-126.5,2520,1086,3155,3059,633.3,-14.3,183,3821,0.00,2.38,0.00,0.000,1030,0.000,0.065,2520,2500,3107,3155,3059,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4092,-0.84,-126.5,2520,2500,3155,3056,671.5,-13.8,190,4097,0.00,2.35,0.00,0.000,260,0.000,0.087,2520,3912,3105,3155,3056,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4227,-0.84,-126.5,2520,3912,3154,3055,687.6,-13.9,193,4231,0.00,2.30,0.00,0.000,1030,0.000,0.053,2520,2499,3104,3154,3055,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,4322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4322,begin apogee
$GC,4326,-0.15,0.0,2520,2272,3154,3054,702.7,-13.3,196,4436,0.68,0.10,105.90,2.838,10246,0.321,0.158,2750,2328,2600,2677,2523,0,0,0,0,0,0,14.78,14.13,13.33
$STATE,4437,end apogee,CONTROL_FINISHED_OK
$STATE,4437,begin climb
$GC,4439,0.84,126.5,2750,2327,2677,2523,705.2,0.0,198,4555,0.85,0.00,111.25,2.817,10758,0.192,0.000,3069,2327,2083,2163,2004,0,0,0,0,0,0,14.14,28.83,13.28
$GC,4763,0.84,126.5,3069,2328,2163,1993,659.1,17.7,207,4768,0.00,2.40,0.00,0.000,260,0.000,0.078,3069,3710,2078,2163,1993,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4893,0.84,126.5,3069,3710,2163,1993,636.5,19.0,210,4898,0.00,2.30,0.00,0.000,1030,0.000,0.059,3079,2345,2078,2163,1993,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5154,0.84,126.5,3079,2343,2163,1987,587.4,17.8,217,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2343,2075,2162,1988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,0.84,126.5,3079,2343,2163,1984,544.3,17.9,223,5399,0.00,2.35,0.00,0.000,260,0.000,0.080,3079,3719,2073,2163,1984,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5443,0.84,126.5,3079,3719,2163,1985,537.4,18.1,224,5448,0.08,2.35,0.00,0.000,5126,0.544,0.059,3077,2300,2073,2163,1984,0,0,0,0,0,0,14.62,14.88,28.83
$GC,5711,0.84,126.5,3077,2299,2163,1981,491.5,16.0,231,5716,0.00,2.40,0.00,0.000,260,0.000,0.078,3077,3713,2072,2163,1981,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5859,0.84,126.5,3077,3713,2163,1982,470.9,16.8,234,5864,0.08,2.33,0.00,0.000,5126,0.544,0.060,3074,2308,2072,2163,1982,0,0,0,0,0,0,14.65,14.92,28.83
$GC,6105,0.84,126.5,3074,2306,2163,1978,429.3,14.3,240,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2306,2070,2163,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6347,0.84,126.5,3073,2306,2163,1976,397.9,12.9,246,6352,0.00,2.35,0.00,0.000,260,0.000,0.077,3073,3707,2069,2163,1976,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6474,0.84,126.5,3074,3707,2163,1976,380.5,14.3,249,6478,0.00,2.30,0.00,0.000,1030,0.000,0.057,3083,2309,2070,2163,1977,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6740,0.84,126.5,3083,2308,2163,1975,343.4,13.8,256,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2308,2069,2163,1975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6980,0.84,126.5,3084,2308,2163,1975,311.5,13.1,262,6985,0.00,2.38,0.00,0.000,260,0.000,0.080,3083,3712,2069,2163,1975,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7049,0.84,126.5,3083,3712,2163,1975,306.8,12.9,263,7057,0.10,2.33,0.00,0.000,5126,0.541,0.060,3073,2303,2069,2163,1975,0,0,0,0,0,0,14.66,14.97,28.83
$GC,7296,0.84,126.5,3073,2303,2163,1974,271.3,12.1,270,7300,0.00,2.30,0.00,0.000,516,0.000,0.067,3083,902,2068,2163,1974,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7385,0.84,126.5,3083,900,2162,1971,263.0,11.2,272,7389,0.00,2.35,0.00,0.000,1030,0.000,0.058,3083,2310,2066,2162,1971,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7652,0.84,126.5,3083,2310,2163,1971,231.9,11.2,279,7656,0.00,2.35,0.00,0.000,260,0.000,0.078,3083,3720,2066,2162,1971,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7906,0.84,126.5,3083,3720,2162,1973,205.6,10.6,285,7911,0.05,2.35,0.00,0.000,5126,0.485,0.055,3078,2313,2067,2162,1973,0,0,0,0,0,0,14.66,14.97,28.83
$GC,8159,0.92,191.8,3078,2311,2162,1973,182.3,5.4,306,8219,0.00,2.53,50.17,2.108,8452,0.000,0.076,3078,3723,1816,1918,1715,0,0,0,0,0,0,28.83,14.45,13.84
$GC,8498,0.92,191.8,3078,3723,1918,1710,142.1,11.7,342,8507,0.00,2.40,0.00,0.000,1030,0.000,0.057,3085,2312,1813,1918,1709,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8808,0.92,191.8,3086,2311,1918,1707,104.4,14.0,391,8815,0.00,2.40,0.00,0.000,260,0.000,0.076,3086,3717,1813,1918,1708,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8886,0.92,191.8,3086,3718,1918,1709,92.6,15.7,403,8893,0.00,2.33,0.00,0.000,1030,0.000,0.054,3096,2308,1813,1918,1709,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9213,0.92,191.8,3096,2306,1918,1708,48.0,13.8,452,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2306,1813,1918,1708,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9540,end climb,SURFACE_DEPTH_REACHED
$STATE,9540,begin surface coast
$FINISH,0.3,1.023659
$STATE,9564,end surface coast,CONTROL_FINISHED_OK
$STATE,9564,begin surface
$SM_CCo,9577,83.47,0.865,0,0,1131,360.09
$SM_GC,1.12,6.93,0.35,83.47,0.093,0.090,0.865,130,2513,1131,-8.24,-0.74,360.09,0,0,0,0,0,0,14.83,14.81,14.17
$IRIDIUM_FIX,2241.69,-15805.83,061209,020227
$TT8_MAMPS,0.018725,0.018725
$HUMID,40.51
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,23.00
$XPDR_PINGS,5
$24V_AH,13.3,49.377
$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,17.175,80.700,267.325,83.475,0.000,28.786,45.999,144.600,1.250,0.000,8.271,1389.133,5961.973,407.342,2131.611,84.638,33.253,1128.172,0.000,1421.205,0.000,0.550,0.000
$DEVICE_MAMPS,543.915,157.590,2838.150,865.215,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,339.183,276.918,474.979,463.723,959.620,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352976
$DATA_FILE_SIZE,44185,503
$CAP_FILE_SIZE,93427,0
$CFSIZE,2097086464,2080866304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080217,161900,2250.601,-15803.053,25,0.8,25,9.8