version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 640
start: 4 25 117 23 1 23
data:
$ID,626
$MISSION,1
$DIVE,640
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,450
$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,100
$T_MISSION,200
$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,400
$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,-132797.84
$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,40
$R_STBD_OVSHOOT,52
$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
$GPS1,250417,224920,2233.921,-15801.268,6,0.9,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.8
$GPS2,250417,230009,2233.987,-15801.434,7,0.9,8,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.191
$KALMAN_X,-116676.0,699.1,-75.4,117293.2,-1294.6
$KALMAN_Y,-694321.1,671.3,-125.6,680608.4,-1257.9
$MHEAD_RNG_PITCHd_Wd,2.6,11402,-16.4,-10.000,-19.35,2731
$D_GRID,300
$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,-0.68,-107.1,114,2565,987,925,0.0,0.0,0,79,0.00,0.00,-59.83,0.000,16390,0.000,0.000,114,2566,3038,3069,3008,0,0,0,0,0,0,28.83,28.83,14.94
$GC,82,-0.68,-107.1,114,2566,3069,3008,3.9,-7.4,7,101,8.88,2.30,0.00,0.000,2308,0.472,0.054,2574,3899,3039,3070,3008,0,0,0,0,0,0,13.92,14.52,28.83
$GC,328,-0.68,-107.1,2575,3899,3072,3008,62.4,-17.8,42,337,0.00,2.30,0.00,0.000,1030,0.000,0.040,2574,2532,3040,3072,3008,0,0,0,0,0,0,28.83,14.52,28.83
$GC,646,-0.68,-107.1,2574,2532,3072,3008,116.8,-18.2,91,653,0.00,2.33,0.00,0.000,516,0.000,0.052,2574,1116,3040,3072,3008,0,0,0,0,0,0,28.83,14.69,28.83
$GC,688,-0.68,-107.1,2574,1115,3072,3007,124.1,-17.2,97,695,0.00,2.33,0.00,0.000,1030,0.000,0.048,2574,2516,3040,3073,3008,0,0,0,0,0,0,28.83,14.70,28.83
$GC,971,-0.68,-107.1,2574,2516,3073,3008,168.1,-14.8,135,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2515,3041,3074,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1211,-0.68,-107.1,2574,2515,3073,3008,201.1,-13.1,159,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2516,3041,3074,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1451,-0.68,-107.1,2574,2515,3074,3007,230.7,-12.0,165,1456,0.00,2.35,0.00,0.000,260,0.000,0.073,2574,3911,3041,3074,3008,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1499,-0.68,-107.1,2574,3911,3074,3007,235.5,-12.0,166,1503,0.00,2.22,0.00,0.000,1030,0.000,0.038,2574,2525,3041,3074,3008,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1766,-0.68,-107.1,2574,2523,3074,3007,265.7,-10.5,173,1771,0.00,2.28,0.00,0.000,516,0.000,0.049,2574,1116,3041,3074,3008,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1874,-0.68,-107.1,2575,1115,3074,3007,274.1,-10.4,175,1878,0.00,2.33,0.00,0.000,1030,0.000,0.047,2575,2529,3040,3074,3007,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,2078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2078,begin apogee
$GC,2084,-0.17,0.0,2574,2364,3074,3007,300.1,-11.5,180,2175,0.52,0.00,87.90,1.851,10246,0.289,0.000,2753,2363,2599,2675,2524,0,0,0,0,0,0,14.34,28.83,13.39
$STATE,2176,end apogee,CONTROL_FINISHED_OK
$STATE,2177,begin climb
$GC,2179,0.68,107.1,2753,2363,2675,2524,304.0,0.0,182,2275,0.70,2.25,88.28,1.997,10756,0.194,0.047,3032,1022,2162,2238,2087,0,0,0,0,0,0,14.28,14.33,13.29
$GC,2292,0.68,107.1,3032,1022,2237,2085,304.5,0.1,184,2296,0.00,2.33,0.00,0.000,1030,0.000,0.047,3032,2403,2160,2237,2084,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2554,0.77,180.7,3032,2403,2237,2080,284.7,7.2,191,2621,0.05,2.40,60.67,2.022,10500,0.366,0.066,3083,3804,1862,1964,1761,0,0,0,0,0,0,14.69,14.39,13.40
$GC,2697,0.77,180.7,3082,3804,1963,1759,269.6,11.3,194,2702,0.15,2.25,0.00,0.000,5126,0.376,0.041,3051,2423,1860,1963,1758,0,0,0,0,0,0,14.31,14.63,28.83
$GC,2950,0.77,180.7,3051,2422,1963,1750,235.8,11.5,201,2956,0.00,2.33,0.00,0.000,516,0.000,0.052,3061,999,1856,1963,1749,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3038,0.77,180.7,3061,999,1963,1746,227.4,10.7,203,3042,0.00,2.30,0.00,0.000,1030,0.000,0.044,3061,2400,1855,1964,1746,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3288,0.77,180.7,3061,2401,1963,1745,197.4,11.7,211,3297,0.00,2.33,0.00,0.000,260,0.000,0.067,3061,3807,1854,1963,1745,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3357,0.77,180.7,3061,3807,1963,1746,190.2,10.7,217,3364,0.08,2.28,0.00,0.000,5126,0.442,0.040,3054,2395,1854,1963,1746,0,0,0,0,0,0,14.44,14.82,28.83
$GC,3606,0.84,239.4,3055,2395,1963,1743,169.2,7.8,242,3658,0.05,0.00,46.88,1.847,10758,0.356,0.000,3102,2393,1622,1734,1511,0,0,0,0,0,0,14.75,28.83,13.54
$GC,3924,0.84,239.4,3102,2394,1734,1501,127.1,13.4,284,3935,0.10,2.38,0.00,0.000,4612,0.390,0.051,3086,1003,1617,1734,1500,0,0,0,0,0,0,14.41,14.57,28.83
$GC,3966,0.84,239.4,3086,1003,1734,1499,121.9,11.9,290,3976,0.00,2.38,0.00,0.000,1030,0.000,0.044,3086,2392,1616,1734,1499,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4277,0.84,239.4,3086,2392,1734,1499,84.0,11.9,339,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2392,1616,1734,1499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4615,0.91,294.1,3087,2392,1734,1498,46.6,7.9,388,4660,0.00,2.40,35.28,1.151,8708,0.000,0.053,3095,1000,1398,1503,1294,0,0,0,0,0,0,28.83,14.59,13.80
$GC,4697,0.91,294.1,3094,1000,1502,1291,38.1,10.2,398,4707,0.00,2.40,0.00,0.000,1030,0.000,0.043,3095,2403,1396,1503,1290,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,5005,end climb,SURFACE_DEPTH_REACHED
$STATE,5005,begin surface coast
$FINISH,0.1,1.011665
$STATE,5034,end surface coast,CONTROL_FINISHED_OK
$STATE,5034,begin surface
$SM_CCo,5051,60.95,0.807,0,0,967,400.08
$SM_GC,1.16,6.70,0.20,60.95,0.054,0.098,0.807,128,2533,967,-8.22,-0.96,400.08,0,0,0,0,0,0,14.77,14.76,13.97
$IRIDIUM_FIX,2225.34,-15801.95,200210,121208
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.66
$INTERNAL_PRESSURE,7.33427
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.3,205.518
$10V_AH,12.3,0.000
$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,17.225,46.825,319.000,60.950,0.000,28.847,46.616,456.434,0.000,0.000,9.300,1132.682,1952.012,388.169,2096.825,218.521,33.243,925.394,0.000,1055.105,0.000,0.550,0.000
$DEVICE_MAMPS,472.005,97.920,2021.895,807.075,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,299.192,300.032,535.702,564.647,1168.475,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353196
$DATA_FILE_SIZE,40578,446
$CAP_FILE_SIZE,63659,0
$CFSIZE,2097086464,2020081664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,002727,2234.867,-15801.877,12,1.6,12,9.8