version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 189
start: 2 15 117 9 19 2
data:
$ID,626
$MISSION,1
$DIVE,189
$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,-130502.95
$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,2600
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,35
$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
$GPS1,150217,091259,2322.238,-15707.594,37,1.5,37,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.5
$GPS2,150217,091807,2322.175,-15707.572,5,0.9,6,10.0
$SPEED_LIMITS,0.213,0.243
$TGT_NAME,AC2
$TGT_LATLONG,2322.500,-15707.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.099,0.188
$KALMAN_X,-114238.1,-23.7,-42.0,207567.1,975.6
$KALMAN_Y,191969.0,-278.5,-339.6,-115270.1,-1011.8
$MHEAD_RNG_PITCHd_Wd,322.2,614,-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,-95.4,127,2623,1151,1088,0.0,0.0,0,78,0.00,0.00,-56.25,0.000,16390,0.000,0.000,127,2623,2990,3018,2962,0,0,0,0,0,0,28.83,28.83,14.91
$GC,81,-0.84,-126.5,127,2623,3018,2962,3.6,-5.6,7,100,8.45,0.00,-2.05,0.000,18950,0.498,0.000,2523,2623,3117,3151,3084,0,0,0,0,0,0,14.42,28.83,14.84
$GC,421,-0.84,-126.5,2523,2623,3152,3085,101.5,-26.8,57,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2623,3118,3152,3085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,707,-0.84,-126.5,2523,2623,3153,3084,173.5,-25.2,97,715,0.00,2.12,0.00,0.000,260,0.000,0.069,2521,3906,3118,3153,3084,0,0,0,0,0,0,28.83,14.74,28.83
$GC,762,-0.84,-126.5,2521,3907,3153,3085,187.4,-25.0,102,772,0.00,2.20,0.00,0.000,1030,0.000,0.047,2520,2597,3119,3153,3085,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1029,-0.84,-126.5,2521,2597,3155,3085,240.4,-18.6,114,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2597,3119,3154,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1269,-0.84,-126.5,2521,2597,3156,3084,284.4,-18.7,120,1273,0.00,2.20,0.00,0.000,260,0.000,0.074,2521,3908,3120,3156,3085,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1308,-0.84,-126.5,2520,3908,3156,3084,290.0,-17.4,121,1312,0.00,2.12,0.00,0.000,1030,0.000,0.045,2521,2591,3120,3156,3084,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1585,-0.84,-126.5,2520,2591,3157,3085,334.9,-15.7,128,1589,0.00,2.22,0.00,0.000,260,0.000,0.074,2520,3915,3120,3157,3084,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1634,-0.84,-126.5,2520,3915,3156,3084,340.7,-16.0,129,1638,0.00,2.10,0.00,0.000,1030,0.000,0.043,2520,2599,3120,3157,3084,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1896,-0.84,-126.5,2520,2598,3157,3084,383.0,-15.3,136,1900,0.00,2.28,0.00,0.000,516,0.000,0.057,2521,1191,3121,3157,3085,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1915,-0.84,-126.5,2520,1190,3157,3084,383.0,-15.3,136,1919,0.00,2.33,0.00,0.000,1030,0.000,0.059,2520,2593,3120,3157,3084,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2172,-0.84,-126.5,2521,2593,3156,3084,421.2,-13.7,143,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2593,3120,3156,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2412,-0.84,-126.5,2520,2593,3157,3082,454.5,-14.1,149,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2593,3119,3156,3082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2652,-0.84,-126.5,2519,2593,3157,3079,487.6,-13.7,155,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2593,3118,3157,3079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2894,-0.84,-126.5,2520,2593,3156,3077,519.8,-13.6,161,2899,0.00,2.20,0.00,0.000,260,0.000,0.079,2520,3915,3116,3157,3076,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2942,-0.84,-126.5,2521,3915,3156,3075,525.3,-13.7,162,2946,0.00,2.12,0.00,0.000,1030,0.000,0.044,2520,2591,3116,3157,3075,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3208,-0.84,-126.5,2521,2589,3157,3071,563.5,-14.0,169,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2589,3113,3156,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-0.84,-126.5,2520,2589,3156,3068,596.0,-13.4,175,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2589,3112,3156,3068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3688,-0.84,-126.5,2520,2589,3156,3065,627.9,-13.3,181,3693,0.00,2.30,0.00,0.000,516,0.000,0.061,2520,1185,3110,3156,3064,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3728,-0.84,-126.5,2520,1185,3156,3064,633.4,-13.4,182,3732,0.00,2.38,0.00,0.000,1030,0.000,0.064,2520,2597,3110,3156,3064,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4004,-0.84,-126.5,2521,2597,3156,3059,670.7,-13.6,189,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2597,3108,3156,3060,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4243,begin apogee
$GC,4247,-0.15,0.0,2521,2478,3156,3056,702.8,-13.1,195,4358,0.68,0.03,106.65,2.853,10246,0.330,0.307,2746,2505,2600,2678,2522,0,0,0,0,0,0,14.67,14.12,13.33
$STATE,4358,end apogee,CONTROL_FINISHED_OK
$STATE,4359,begin climb
$GC,4360,0.84,126.5,2747,2504,2678,2522,705.5,0.0,197,4479,0.85,2.55,110.10,2.804,10500,0.197,0.076,3068,3918,2085,2166,2005,0,0,0,0,0,0,14.14,14.02,13.22
$GC,4529,0.84,126.5,3068,3918,2165,2004,688.0,12.7,201,4533,0.00,2.38,0.00,0.000,1030,0.000,0.053,3078,2544,2084,2165,2004,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4801,0.84,126.5,3079,2543,2165,1994,634.9,19.0,208,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2543,2079,2165,1994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5041,0.84,126.5,3078,2543,2165,1990,591.1,18.1,214,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2543,2077,2165,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5281,0.84,126.5,3079,2543,2165,1989,549.5,17.1,220,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2542,2076,2165,1988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5521,0.84,126.5,3079,2543,2166,1985,511.5,15.7,226,5527,0.00,2.40,0.00,0.000,516,0.000,0.064,3090,1093,2074,2165,1984,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5554,0.84,126.5,3090,1092,2165,1982,511.5,15.7,226,5562,0.08,2.40,0.00,0.000,5126,0.492,0.061,3076,2510,2073,2165,1982,0,0,0,0,0,0,14.60,14.87,28.83
$GC,5801,0.84,126.5,3076,2511,2165,1982,469.4,14.8,233,5805,0.00,2.38,0.00,0.000,260,0.000,0.077,3075,3924,2073,2165,1982,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5947,0.84,126.5,3075,3924,2165,1982,449.9,16.3,236,5952,0.05,2.33,0.00,0.000,5126,0.600,0.053,3077,2509,2073,2165,1982,0,0,0,0,0,0,14.61,14.92,28.83
$GC,6192,0.84,126.5,3077,2507,2165,1980,409.6,14.5,242,6197,0.00,2.35,0.00,0.000,516,0.000,0.065,3088,1088,2072,2165,1979,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6236,0.84,126.5,3088,1087,2165,1977,404.6,14.2,243,6241,0.08,2.40,0.00,0.000,5126,0.514,0.061,3072,2510,2071,2165,1977,0,0,0,0,0,0,14.59,14.90,28.83
$GC,6503,0.84,126.5,3072,2510,2165,1977,368.0,13.3,250,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2510,2071,2165,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6743,0.84,126.5,3073,2510,2165,1976,335.9,13.3,256,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2510,2070,2164,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6983,0.84,126.5,3072,2510,2165,1976,305.9,12.3,262,6988,0.00,2.35,0.00,0.000,260,0.000,0.078,3072,3915,2070,2164,1976,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7067,0.84,126.5,3072,3915,2165,1976,295.4,13.1,264,7072,0.00,2.30,0.00,0.000,1030,0.000,0.051,3083,2505,2070,2165,1976,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7340,0.84,126.5,3083,2503,2165,1976,263.3,11.2,271,7345,0.00,2.40,0.00,0.000,260,0.000,0.078,3083,3918,2070,2165,1976,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7362,0.84,126.5,3083,3919,2165,1976,263.3,11.2,271,7367,0.10,2.30,0.00,0.000,5126,0.532,0.050,3072,2505,2070,2165,1976,0,0,0,0,0,0,14.55,14.95,28.83
$GC,7620,0.86,142.2,3072,2503,2163,1976,239.0,8.8,278,7637,0.00,2.35,11.73,2.069,8708,0.000,0.063,3083,1108,2019,2112,1926,0,0,0,0,0,0,28.83,14.89,14.12
$GC,7718,0.87,152.6,3083,1107,2114,1923,231.1,9.2,280,7734,0.00,2.38,10.10,1.993,9222,0.000,0.061,3083,2517,1976,2074,1879,0,0,0,0,0,0,28.83,14.85,14.03
$GC,7976,0.87,152.6,3082,2517,2074,1878,199.6,11.1,286,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2517,1976,2074,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8218,0.97,235.0,3083,2517,2074,1878,180.8,4.2,310,8296,0.10,2.50,66.90,2.129,10500,0.238,0.080,3137,3906,1640,1742,1538,0,0,0,0,0,0,14.81,14.29,13.66
$GC,8497,0.97,235.0,3137,3906,1742,1533,134.0,20.0,341,8504,0.12,2.33,0.00,0.000,5126,0.473,0.050,3119,2511,1637,1742,1532,0,0,0,0,0,0,14.37,14.64,28.83
$GC,8803,0.97,235.0,3119,2509,1742,1529,80.0,17.3,390,8812,0.00,2.40,0.00,0.000,516,0.000,0.063,3129,1104,1635,1742,1529,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8882,0.97,235.0,3128,1104,1742,1526,66.9,17.4,401,8892,0.03,2.42,0.00,0.000,5126,0.450,0.059,3120,2505,1634,1742,1527,0,0,0,0,0,0,14.49,14.69,28.83
$GC,9221,0.97,235.0,3120,2506,1743,1529,4.0,19.8,450,9230,0.00,2.40,0.00,0.000,260,0.000,0.065,3120,3918,1636,1742,1530,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,9238,end climb,SURFACE_DEPTH_REACHED
$STATE,9238,begin surface coast
$FINISH,0.2,1.003030
$STATE,9260,end surface coast,CONTROL_FINISHED_OK
$STATE,9260,begin surface
$SM_CCo,9276,61.83,0.884,0,0,1129,360.09
$SM_GC,0.85,7.05,2.22,61.83,0.107,0.045,0.884,127,2602,1129,-8.23,0.90,360.09,0,0,0,0,0,0,14.81,14.77,14.19
$IRIDIUM_FIX,2312.13,-15707.82,121209,222236
$TT8_MAMPS,0.019474,0.019474
$HUMID,42.20
$INTERNAL_PRESSURE,7.24637
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,13.2,65.339
$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,17.575,74.275,305.475,61.825,0.000,34.220,47.185,137.998,0.250,0.000,7.097,1239.508,6149.780,407.689,1768.846,88.081,33.250,1037.486,0.000,1136.995,0.000,0.550,0.000
$DEVICE_MAMPS,599.760,306.765,2852.685,883.575,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,306.007,242.079,414.021,390.736,808.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353104
$DATA_FILE_SIZE,40602,455
$CAP_FILE_SIZE,85952,0
$CFSIZE,2097086464,2075590656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150217,115531,2323.048,-15708.227,16,1.2,16,10.0