version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 635
start: 4 25 117 4 49 19
data:
$ID,626
$MISSION,1
$DIVE,635
$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,290
$T_MISSION,450
$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,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54941
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,390
$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,-132791.58
$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,2805
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2530
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,30
$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
$GPS1,250417,043930,2234.454,-15800.060,27,0.9,27,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.4
$GPS2,250417,044803,2234.439,-15800.127,7,1.1,8,9.8
$SPEED_LIMITS,0.221,0.231
$TGT_NAME,AC11
$TGT_LATLONG,2234.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,0.183
$KALMAN_X,-104500.9,234.7,157.1,107563.0,-3149.8
$KALMAN_Y,-680002.8,696.3,310.1,666640.5,-5173.9
$MHEAD_RNG_PITCHd_Wd,155.2,841,-16.8,-8.046,-20.00,2265
$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,16,-0.69,-107.1,114,2525,1027,970,0.0,0.0,0,78,0.00,0.00,-58.40,0.000,16390,0.000,0.000,114,2526,3038,3068,3009,0,0,0,0,0,0,28.83,28.83,14.88
$GC,82,-0.69,-107.1,114,2526,3069,3009,4.1,-8.0,7,101,8.95,2.38,0.00,0.000,2564,0.477,0.038,2571,1107,3039,3069,3009,0,0,0,0,0,0,13.90,14.54,28.83
$GC,111,-0.69,-107.1,2571,1107,3070,3008,18.9,-39.8,10,121,0.05,2.45,0.00,0.000,3078,0.399,0.044,2577,2528,3040,3071,3009,0,0,0,0,0,0,14.09,14.46,28.83
$GC,447,-0.69,-107.1,2577,2528,3071,3008,86.5,-19.3,59,453,0.00,2.38,0.00,0.000,260,0.000,0.070,2575,3917,3040,3071,3009,0,0,0,0,0,0,28.83,14.54,28.83
$GC,517,-0.69,-107.1,2575,3917,3071,3009,100.0,-17.0,70,526,0.00,2.33,0.00,0.000,1030,0.000,0.040,2575,2546,3040,3071,3009,0,0,0,0,0,0,28.83,14.46,28.83
$GC,829,-0.69,-107.1,2575,2545,3073,3008,153.4,-16.2,118,838,0.00,2.33,0.00,0.000,516,0.000,0.051,2574,1116,3041,3073,3009,0,0,0,0,0,0,28.83,14.48,28.83
$GC,897,-0.69,-107.1,2575,1116,3073,3008,163.9,-15.7,124,904,0.00,2.38,0.00,0.000,1030,0.000,0.052,2575,2527,3040,3073,3008,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1147,-0.69,-107.1,2575,2527,3074,3009,199.0,-12.9,149,1155,0.00,2.33,0.00,0.000,260,0.000,0.074,2574,3908,3041,3074,3009,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1206,-0.69,-107.1,2575,3908,3074,3009,204.2,-12.6,151,1210,0.00,2.25,0.00,0.000,1030,0.000,0.039,2575,2512,3041,3074,3008,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1463,-0.69,-107.1,2575,2511,3074,3009,236.4,-11.9,158,1468,0.00,2.28,0.00,0.000,516,0.000,0.050,2575,1114,3040,3073,3008,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1526,-0.69,-107.1,2575,1114,3074,3008,241.1,-11.8,159,1530,0.00,2.38,0.00,0.000,1030,0.000,0.051,2575,2536,3041,3074,3009,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1778,-0.69,-107.1,2575,2536,3074,3008,275.6,-13.0,166,1784,0.00,2.33,0.00,0.000,260,0.000,0.076,2575,3912,3040,3073,3008,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1806,-0.69,-107.1,2575,3912,3074,3008,275.6,-13.0,166,1810,0.00,2.22,0.00,0.000,1030,0.000,0.038,2575,2530,3041,3074,3008,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2053,-0.69,-107.1,2575,2528,3074,3008,306.5,-10.5,172,2059,0.00,2.30,0.00,0.000,516,0.000,0.050,2575,1113,3040,3073,3008,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2106,-0.69,-107.1,2574,1113,3074,3008,310.4,-10.1,173,2110,0.00,2.38,0.00,0.000,1030,0.000,0.054,2575,2530,3040,3073,3008,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2368,-0.69,-107.1,2574,2530,3074,3006,337.0,-9.9,180,2374,0.00,2.33,0.00,0.000,260,0.000,0.076,2575,3914,3040,3074,3006,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2441,-0.69,-107.1,2575,3914,3073,3005,341.1,-10.2,181,2448,0.00,2.25,0.00,0.000,1030,0.000,0.037,2575,2519,3039,3074,3004,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2688,-0.69,-107.1,2575,2518,3074,3002,369.7,-10.1,188,2694,0.00,2.40,0.00,0.000,260,0.000,0.074,2575,3912,3037,3073,3002,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2716,-0.69,-107.1,2575,3912,3073,3002,369.7,-10.1,188,2720,0.00,2.22,0.00,0.000,1030,0.000,0.038,2575,2535,3037,3073,3002,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2963,-0.69,-107.1,2575,2533,3074,2998,397.0,-10.2,194,2969,0.00,2.33,0.00,0.000,516,0.000,0.051,2575,1111,3035,3074,2997,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3076,-0.69,-107.1,2575,1110,3073,2996,405.3,-10.5,196,3082,0.00,2.40,0.00,0.000,1030,0.000,0.054,2574,2530,3035,3074,2996,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3323,-0.69,-107.1,2574,2530,3074,2994,434.8,-10.7,203,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2530,3034,3074,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3563,-0.69,-107.1,2575,2530,3074,2991,460.6,-10.6,209,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2530,3032,3073,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3803,-0.69,-107.1,2575,2530,3073,2987,484.2,-9.6,215,3809,0.00,2.38,0.00,0.000,260,0.000,0.078,2575,3918,3030,3073,2987,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3871,-0.69,-107.1,2574,3918,3073,2987,487.9,-9.4,216,3875,0.00,2.28,0.00,0.000,1030,0.000,0.040,2574,2517,3030,3073,2987,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4118,-0.69,-107.1,2575,2516,3073,2983,512.6,-9.0,222,4124,0.00,2.30,0.00,0.000,516,0.000,0.052,2575,1121,3027,3073,2982,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4146,-0.69,-107.1,2575,1120,3073,2982,512.6,-9.0,222,4150,0.00,2.40,0.00,0.000,1030,0.000,0.054,2575,2536,3027,3073,2982,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4393,-0.69,-107.1,2574,2536,3073,2980,539.5,-10.0,228,4399,0.00,2.35,0.00,0.000,516,0.000,0.050,2575,1123,3026,3073,2979,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4421,-0.69,-107.1,2575,1123,3073,2979,539.5,-10.0,228,4425,0.00,2.40,0.00,0.000,1030,0.000,0.057,2575,2530,3025,3072,2979,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4668,-0.69,-107.1,2575,2531,3073,2977,566.7,-9.8,234,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2531,3025,3073,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4908,-0.69,-107.1,2575,2531,3073,2974,588.2,-8.8,240,4914,0.00,2.35,0.00,0.000,516,0.000,0.050,2575,1124,3023,3073,2973,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4941,-0.69,-107.1,2575,1124,3073,2973,588.2,-8.8,240,4947,0.00,2.42,0.00,0.000,1030,0.000,0.056,2575,2531,3023,3073,2973,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5188,-0.69,-107.1,2575,2531,3073,2970,610.7,-7.9,247,5194,0.00,2.38,0.00,0.000,260,0.000,0.080,2575,3915,3021,3073,2970,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5231,-0.69,-107.1,2575,3915,3072,2970,613.7,-7.7,248,5235,0.00,2.28,0.00,0.000,1030,0.000,0.041,2575,2529,3021,3073,2970,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5504,-0.69,-107.1,2575,2528,3073,2967,632.6,-6.6,255,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2528,3020,3073,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5744,-0.69,-107.1,2575,2527,3073,2965,648.8,-6.8,261,5749,0.00,2.33,0.00,0.000,516,0.000,0.054,2575,1124,3019,3073,2965,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5771,-0.69,-107.1,2575,1124,3073,2965,648.8,-6.8,261,5776,0.00,2.40,0.00,0.000,1030,0.000,0.056,2575,2530,3019,3073,2965,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6018,-0.69,-107.1,2575,2531,3073,2963,670.8,-8.2,267,6024,0.00,2.40,0.00,0.000,260,0.000,0.081,2575,3917,3018,3073,2963,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6076,-0.69,-107.1,2575,3917,3072,2963,674.2,-8.2,268,6080,0.00,2.30,0.00,0.000,1030,0.000,0.042,2574,2519,3017,3072,2963,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6333,-0.69,-107.1,2575,2517,3070,2963,697.1,-8.2,275,6339,0.00,2.33,0.00,0.000,516,0.000,0.054,2575,1127,3016,3070,2962,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,6371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6371,begin apogee
$GC,6379,-0.17,0.0,2575,2403,3069,2962,700.5,-8.2,276,6476,0.52,0.00,93.75,2.706,10246,0.304,0.000,2745,2403,2600,2675,2525,0,0,0,0,0,0,13.99,28.83,12.83
$STATE,6477,end apogee,CONTROL_FINISHED_OK
$STATE,6477,begin climb
$GC,6480,0.69,107.1,2744,2403,2672,2525,702.5,0.0,278,6589,0.73,2.50,99.85,2.694,10756,0.188,0.054,3032,995,2162,2237,2088,0,0,0,0,0,0,14.07,14.06,12.80
$GC,6615,0.69,107.1,3032,995,2235,2084,697.8,4.7,282,6619,0.00,2.47,0.00,0.000,1030,0.000,0.054,3032,2405,2159,2235,2083,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6887,0.69,107.1,3032,2405,2235,2077,668.3,10.6,289,6893,0.00,2.40,0.00,0.000,516,0.000,0.057,3043,995,2156,2235,2077,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6915,0.69,107.1,3043,995,2235,2075,668.3,10.6,289,6920,0.05,2.40,0.00,0.000,5126,0.473,0.054,3033,2401,2154,2235,2074,0,0,0,0,0,0,14.33,14.60,28.83
$GC,7162,0.69,107.1,3033,2402,2235,2073,641.5,9.6,295,7168,0.00,2.42,0.00,0.000,260,0.000,0.073,3033,3819,2154,2235,2073,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7190,0.69,107.1,3033,3819,2235,2073,641.5,9.6,295,7194,0.00,2.35,0.00,0.000,1030,0.000,0.047,3043,2406,2154,2235,2073,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7439,0.69,107.1,3043,2404,2235,2071,614.5,9.6,301,7441,0.03,0.00,0.00,0.000,4102,0.640,0.000,3034,2404,2152,2234,2071,0,0,0,0,0,0,14.58,28.83,28.83
$GC,7677,0.69,107.1,3033,2404,2234,2070,591.3,9.8,307,7683,0.00,2.42,0.00,0.000,260,0.000,0.071,3033,3810,2152,2234,2070,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7700,0.69,107.1,3033,3810,2235,2070,591.3,9.8,307,7705,0.05,2.35,0.00,0.000,5126,0.549,0.046,3034,2395,2152,2234,2070,0,0,0,0,0,0,14.33,14.70,28.83
$GC,7953,0.69,107.1,3034,2394,2234,2068,562.8,10.3,314,7959,0.00,2.35,0.00,0.000,516,0.000,0.056,3044,988,2151,2234,2068,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8021,0.69,107.1,3044,988,2232,2066,558.5,10.5,315,8026,0.05,2.40,0.00,0.000,5126,0.463,0.051,3033,2403,2149,2232,2066,0,0,0,0,0,0,14.38,14.65,28.83
$GC,8268,0.69,107.1,3032,2403,2232,2066,528.3,11.1,321,8274,0.00,2.40,0.00,0.000,516,0.000,0.055,3042,984,2149,2232,2066,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,13808,end climb,SURFACE_DEPTH_REACHED
$STATE,13809,begin surface coast
$FINISH,0.2,1.011017
$STATE,13852,end surface coast,CONTROL_FINISHED_OK
$STATE,13852,begin surface
$SM_CCo,13869,94.47,0.833,0,0,1008,390.02
$SM_GC,1.10,7.05,0.22,94.47,0.092,0.099,0.833,125,2543,1008,-8.24,-0.96,390.02,0,0,0,0,0,0,14.63,14.59,13.80
$IRIDIUM_FIX,2225.34,-15350.12,190210,181824
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.18
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,23.20
$XPDR_PINGS,11
$24V_AH,12.8,204.012
$10V_AH,12.5,0.000
$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
$DEVICE_SECS,17.975,171.200,300.500,94.475,0.000,66.562,58.479,187.733,2.750,0.000,9.289,1902.726,9093.988,508.151,2732.032,256.164,33.248,1480.834,0.000,1767.607,0.000,0.550,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,459.354,356.877,618.640,614.039,1270.626,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353060
$DATA_FILE_SIZE,60478,679
$CAP_FILE_SIZE,140710,0
$CFSIZE,2097086464,2020605952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250417,084318,2233.092,-15800.865,35,0.8,35,9.8