version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 141
start: 2 9 117 4 27 1
data:
$ID,626
$MISSION,1
$DIVE,141
$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,110
$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,-130254.98
$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,27
$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
$GPS1,090217,042057,2252.747,-15802.660,17,1.2,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.6
$GPS2,090217,042605,2252.825,-15802.685,7,1.4,7,9.8
$SPEED_LIMITS,0.213,0.225
$TGT_NAME,AC
$TGT_LATLONG,2340.000,-15712.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.166,0.152
$KALMAN_X,-102373.1,-228.6,296.8,101393.2,-2962.7
$KALMAN_Y,194589.0,-1273.6,-557.7,-171003.2,5720.5
$MHEAD_RNG_PITCHd_Wd,37.9,122575,-21.3,-9.929,-23.81,1654
$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,-0.78,-107.1,128,2487,1147,1091,0.0,0.0,0,78,0.00,0.00,-56.70,0.000,16390,0.000,0.000,129,2488,3038,3063,3013,0,0,0,0,0,0,28.83,28.83,14.91
$GC,81,-0.78,-107.1,129,2488,3063,3012,4.1,-7.9,7,99,8.98,2.33,0.00,0.000,2564,0.542,0.041,2545,1077,3038,3065,3012,0,0,0,0,0,0,14.38,14.69,28.83
$GC,122,-0.78,-107.1,2544,1077,3065,3013,22.2,-42.1,12,132,0.00,2.40,0.00,0.000,1030,0.000,0.053,2544,2490,3038,3065,3012,0,0,0,0,0,0,28.83,14.68,28.83
$GC,450,-0.78,-107.1,2544,2490,3066,3012,101.8,-24.2,61,456,0.00,2.38,0.00,0.000,260,0.000,0.072,2535,3915,3039,3066,3012,0,0,0,0,0,0,28.83,14.76,28.83
$GC,685,-0.78,-107.1,2535,3915,3066,3012,153.5,-22.3,98,689,0.00,2.28,0.00,0.000,1030,0.000,0.044,2535,2501,3039,3067,3012,0,0,0,0,0,0,28.83,14.85,28.83
$GC,960,-0.78,-107.1,2535,2499,3068,3012,207.7,-18.3,122,961,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2499,3040,3069,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1200,-0.78,-107.1,2535,2500,3069,3013,245.5,-15.7,128,1204,0.00,2.38,0.00,0.000,2308,0.000,0.077,2535,3915,3041,3070,3012,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1239,-0.78,-107.1,2535,3915,3070,3013,250.2,-15.1,129,1243,0.00,2.28,0.00,0.000,3078,0.000,0.042,2535,2485,3041,3070,3012,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1516,-0.78,-107.1,2535,2483,3070,3012,288.8,-13.9,136,1520,0.00,2.40,0.00,0.000,2308,0.000,0.079,2535,3915,3041,3070,3013,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1770,-0.78,-107.1,2535,3916,3070,3012,323.8,-14.9,142,1774,0.00,2.25,0.00,0.000,3078,0.000,0.043,2535,2499,3041,3070,3013,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2032,-0.78,-107.1,2535,2498,3070,3012,359.7,-12.5,149,2036,0.00,2.25,0.00,0.000,2564,0.000,0.054,2535,1091,3041,3070,3012,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2085,-0.78,-107.1,2535,1090,3070,3012,364.4,-12.6,150,2090,0.00,2.33,0.00,0.000,3078,0.000,0.057,2535,2506,3041,3070,3012,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2347,-0.78,-107.1,2535,2507,3070,3010,401.8,-13.2,157,2352,0.00,2.33,0.00,0.000,2308,0.000,0.083,2535,3908,3040,3070,3010,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2506,-0.78,-107.1,1664,3908,3044,3005,423.0,-13.7,161,2510,0.00,2.30,0.00,0.000,1030,0.000,0.045,2535,2497,3039,3070,3008,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2783,-0.78,-107.1,2535,2495,3070,3006,457.6,-11.7,168,2785,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2495,3038,3070,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,-0.78,-107.1,2535,2495,3070,3003,485.4,-11.6,174,3028,0.00,2.25,0.00,0.000,2564,0.000,0.055,2534,1091,3036,3070,3003,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3043,-0.78,-107.1,2534,1091,3069,3003,485.4,-11.6,174,3047,0.00,2.35,0.00,0.000,3078,0.000,0.060,2535,2505,3035,3069,3002,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3294,-0.78,-107.1,2535,2506,3070,2999,514.8,-10.9,181,3299,0.00,2.35,0.00,0.000,2308,0.000,0.085,2535,3914,3034,3069,2999,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3363,-0.78,-107.1,2535,3914,3070,2999,518.8,-11.0,182,3370,0.00,2.28,0.00,0.000,3078,0.000,0.046,2535,2492,3034,3070,2998,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3610,-0.78,-107.1,2535,2492,3069,2995,551.8,-12.2,189,3611,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2492,3032,3070,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3850,-0.78,-107.1,2534,2492,3070,2992,581.1,-12.1,195,3851,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2492,3030,3070,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.78,-107.1,2534,2492,3070,2989,610.0,-11.9,201,4097,0.00,2.38,0.00,0.000,2308,0.000,0.086,2535,3904,3029,3070,2989,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4210,-0.78,-107.1,2535,3904,3070,2987,624.2,-11.9,204,4215,0.00,2.25,0.00,0.000,3078,0.000,0.049,2535,2502,3028,3070,2987,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4487,-0.78,-107.1,2534,2501,3069,2983,655.4,-11.3,211,4488,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2500,3026,3070,2983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4726,-0.78,-107.1,2535,2500,3070,2981,682.5,-11.3,217,4731,0.00,2.40,0.00,0.000,2308,0.000,0.088,2535,3909,3025,3070,2980,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4790,-0.78,-107.1,2535,3909,3069,2980,686.6,-11.3,218,4795,0.00,2.28,0.00,0.000,3078,0.000,0.050,2534,2502,3024,3069,2980,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,4881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4881,begin apogee
$GC,4885,-0.15,0.0,2535,2276,3069,2978,701.3,-12.1,221,4979,0.62,0.08,89.43,2.837,10246,0.330,0.184,2745,2314,2599,2673,2525,0,0,0,0,0,0,14.75,14.16,13.38
$STATE,4980,end apogee,CONTROL_FINISHED_OK
$STATE,4980,begin climb
$GC,4981,0.78,107.1,2746,2314,2674,2525,704.5,0.0,223,5083,0.82,0.00,95.10,2.778,10246,0.208,0.000,3046,2314,2164,2238,2090,0,0,0,0,0,0,14.18,28.83,13.26
$GC,5322,0.78,107.1,3046,2314,2238,2078,666.5,13.9,232,5327,0.00,2.42,0.00,0.000,260,0.000,0.079,3046,3713,2158,2238,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5438,0.78,107.1,3046,3713,2238,2078,648.2,15.4,235,5443,0.00,2.30,0.00,0.000,1030,0.000,0.057,3058,2336,2157,2238,2077,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5714,0.78,107.1,3058,2334,2238,2073,606.2,15.1,242,5718,0.00,2.38,0.00,0.000,260,0.000,0.078,3058,3722,2155,2238,2073,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5803,0.78,107.1,3058,3722,2238,2073,594.5,14.9,244,5808,0.03,2.38,0.00,0.000,5126,0.568,0.054,3061,2316,2155,2237,2073,0,0,0,0,0,0,14.57,14.83,28.83
$GC,6070,0.78,107.1,3061,2315,2238,2069,557.8,12.9,251,6075,0.00,2.40,0.00,0.000,260,0.000,0.080,3061,3724,2153,2238,2069,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6324,0.78,107.1,3061,3724,2238,2069,522.1,15.4,257,6329,0.10,2.33,0.00,0.000,5126,0.519,0.055,3050,2299,2153,2237,2070,0,0,0,0,0,0,14.62,14.91,28.83
$GC,6586,0.78,107.1,3050,2298,2238,2064,485.5,12.2,264,6591,0.00,2.40,0.00,0.000,260,0.000,0.077,3050,3716,2150,2237,2064,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6750,0.78,107.1,3050,3716,2238,2065,463.5,14.2,268,6755,0.00,2.30,0.00,0.000,1030,0.000,0.054,3060,2310,2151,2238,2064,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7022,0.78,107.1,3060,2309,2238,2063,430.2,11.7,275,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2308,2150,2238,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7262,0.78,107.1,3060,2309,2238,2062,402.7,11.5,281,7267,0.00,2.40,0.00,0.000,260,0.000,0.080,3060,3723,2149,2238,2061,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7431,0.78,107.1,3060,3723,2238,2062,382.2,13.1,285,7436,0.08,2.33,0.00,0.000,5126,0.552,0.054,3057,2297,2150,2238,2062,0,0,0,0,0,0,14.64,14.96,28.83
$GC,7698,0.78,107.1,3057,2295,2237,2060,351.2,10.9,292,7703,0.00,2.40,0.00,0.000,260,0.000,0.077,3057,3716,2149,2238,2060,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7734,0.78,107.1,3057,3716,2238,2061,346.7,11.3,293,7739,0.05,2.28,0.00,0.000,5126,0.621,0.054,3056,2311,2149,2238,2061,0,0,0,0,0,0,14.66,14.97,28.83
$GC,8011,0.78,107.1,3056,2309,2238,2059,316.3,10.9,300,8015,0.00,2.30,0.00,0.000,516,0.000,0.063,3066,908,2148,2238,2059,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8087,0.78,107.1,3066,907,2236,2057,307.8,10.9,302,8092,0.05,2.33,0.00,0.000,5126,0.571,0.057,3056,2315,2146,2236,2057,0,0,0,0,0,0,14.69,14.95,28.83
$GC,8364,0.78,112.6,3056,2315,2236,2057,280.3,9.6,309,8369,0.00,2.35,0.00,0.000,260,0.000,0.078,3056,3723,2147,2236,2058,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8622,0.80,126.3,3056,3723,2236,2058,257.1,9.1,315,8644,0.00,2.28,13.95,2.098,9222,0.000,0.050,3066,2311,2085,2171,1999,0,0,0,0,0,0,28.83,14.99,14.11
$GC,8884,0.81,138.5,3066,2311,2170,1997,233.4,9.2,322,8901,0.00,2.47,11.45,2.026,8452,0.000,0.079,3066,3722,2035,2123,1947,0,0,0,0,0,0,28.83,14.77,14.06
$GC,9151,0.81,138.5,3066,3721,2122,1947,202.6,12.9,328,9156,0.00,2.30,0.00,0.000,1030,0.000,0.050,3077,2315,2035,2123,1947,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9404,0.86,174.7,3077,2313,2123,1944,180.8,7.7,353,9444,0.00,2.42,30.40,2.059,8964,0.000,0.063,3088,907,1886,1985,1787,0,0,0,0,0,0,28.83,14.57,13.92
$GC,9665,0.87,185.3,2176,907,1945,1776,155.5,9.3,377,9686,0.00,2.40,9.68,1.813,9222,0.000,0.054,3088,2310,1845,1951,1739,0,0,0,0,0,0,28.83,14.71,13.93
$GC,9972,0.87,185.3,3088,2309,1950,1737,121.2,11.9,423,9978,0.00,2.40,0.00,0.000,260,0.000,0.078,3088,3726,1843,1950,1737,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10078,0.87,185.3,3088,3726,1950,1739,106.5,13.1,440,10088,0.05,2.38,0.00,0.000,5126,0.453,0.050,3082,2304,1844,1950,1738,0,0,0,0,0,0,14.50,14.74,28.83
$GC,10394,0.87,185.3,3082,2304,1950,1739,70.6,11.8,489,10404,0.00,2.45,0.00,0.000,260,0.000,0.072,3082,3717,1845,1950,1740,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10453,0.87,185.3,3082,3718,1950,1743,62.3,14.6,497,10463,0.00,2.35,0.00,0.000,1030,0.000,0.048,3092,2309,1846,1950,1742,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10791,0.87,185.3,3092,2308,1949,1744,20.6,11.2,546,10800,0.00,2.42,0.00,0.000,260,0.000,0.071,3092,3709,1847,1950,1744,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,10902,end climb,SURFACE_DEPTH_REACHED
$STATE,10902,begin surface coast
$FINISH,0.1,1.023339
$STATE,10927,end surface coast,CONTROL_FINISHED_OK
$STATE,10927,begin surface
$SM_CCo,10942,87.72,0.879,0,0,1130,360.09
$SM_GC,1.23,6.93,2.03,87.72,0.100,0.041,0.879,139,2489,1130,-8.21,0.99,360.09,0,0,0,0,0,0,14.83,14.83,14.15
$IRIDIUM_FIX,2241.69,-15800.62,061209,171724
$TT8_MAMPS,0.018725,0.018725
$HUMID,40.90
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,13.3,50.869
$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,17.700,107.950,250.000,87.725,0.000,26.024,47.626,144.941,0.750,0.000,8.280,1593.553,6743.336,450.261,2469.207,89.664,33.251,1298.952,0.000,1713.510,0.000,0.550,0.000
$DEVICE_MAMPS,621.180,184.365,2837.385,878.985,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,381.287,304.059,525.120,498.078,1030.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353136
$DATA_FILE_SIZE,50644,565
$CAP_FILE_SIZE,110555,0
$CFSIZE,2097086464,2080342016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090217,073200,2254.479,-15802.058,33,0.8,33,9.8