version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 641
start: 4 26 117 0 34 36
data:
$ID,626
$MISSION,1
$DIVE,641
$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,-132799.09
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,260417,002727,2234.867,-15801.877,12,1.6,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.5
$GPS2,260417,003322,2234.941,-15801.947,18,1.7,18,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.279,0.056
$KALMAN_X,-118665.2,503.0,10.6,118519.6,-1900.7
$KALMAN_Y,-694541.2,790.2,478.4,681846.1,-974.6
$MHEAD_RNG_PITCHd_Wd,9.8,9942,-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,-107.1,128,2538,989,929,0.0,0.0,0,79,0.00,0.00,-59.72,0.000,16390,0.000,0.000,128,2539,3037,3070,3005,0,0,0,0,0,0,28.83,28.83,14.97
$GC,82,-0.68,-107.1,128,2538,3070,3005,4.0,-8.0,7,101,8.75,2.38,0.00,0.000,2308,0.470,0.057,2574,3917,3039,3073,3005,0,0,0,0,0,0,13.94,14.56,28.83
$GC,245,-0.68,-107.1,2575,3917,3075,3004,47.3,-17.7,30,255,0.00,2.33,0.00,0.000,1030,0.000,0.040,2574,2526,3040,3075,3005,0,0,0,0,0,0,28.83,14.57,28.83
$GC,575,-0.68,-107.1,2575,2525,3075,3004,104.3,-16.5,79,581,0.00,2.30,0.00,0.000,516,0.000,0.052,2574,1120,3039,3075,3004,0,0,0,0,0,0,28.83,14.73,28.83
$GC,616,-0.68,-107.1,2574,1120,3076,3004,111.4,-16.6,85,623,0.00,2.33,0.00,0.000,1030,0.000,0.047,2574,2527,3039,3075,3004,0,0,0,0,0,0,28.83,14.73,28.83
$GC,912,-0.68,-107.1,2574,2527,3077,3004,161.1,-15.7,128,921,0.00,2.33,0.00,0.000,260,0.000,0.071,2574,3915,3040,3077,3004,0,0,0,0,0,0,28.83,14.69,28.83
$GC,956,-0.68,-107.1,2574,3915,3077,3004,167.9,-15.2,132,969,0.00,2.22,0.00,0.000,1030,0.000,0.038,2574,2525,3040,3077,3004,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1238,-0.68,-107.1,2574,2524,3077,3004,205.0,-11.6,157,1243,0.00,2.25,0.00,0.000,516,0.000,0.050,2574,1126,3040,3076,3004,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1294,-0.68,-107.1,2574,1126,3077,3004,209.0,-10.9,158,1299,0.00,2.33,0.00,0.000,1030,0.000,0.049,2574,2538,3040,3077,3004,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1551,-0.68,-107.1,2574,2538,3077,3004,237.5,-10.8,165,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2538,3040,3077,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1793,-0.68,-107.1,2574,2538,3077,3004,265.4,-12.1,171,1798,0.00,2.30,0.00,0.000,516,0.000,0.049,2574,1122,3040,3077,3004,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1864,-0.68,-107.1,2574,1122,3077,3004,270.6,-12.5,172,1871,0.00,2.33,0.00,0.000,1030,0.000,0.050,2574,2529,3040,3077,3004,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,2109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2109,begin apogee
$GC,2115,-0.17,0.0,2574,2366,3077,3004,303.8,-11.7,179,2207,0.50,0.00,88.25,1.902,10246,0.291,0.000,2745,2364,2600,2677,2523,0,0,0,0,0,0,14.39,28.83,13.38
$STATE,2208,end apogee,CONTROL_FINISHED_OK
$STATE,2208,begin climb
$GC,2210,0.68,107.1,2745,2365,2678,2523,306.9,0.0,181,2306,0.73,2.33,88.28,2.047,10756,0.199,0.050,3034,1028,2163,2241,2085,0,0,0,0,0,0,14.28,14.34,13.32
$GC,2363,0.68,107.1,3034,1028,2239,2080,300.9,5.1,184,2368,0.00,2.33,0.00,0.000,1030,0.000,0.047,3034,2414,2159,2239,2080,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2626,0.73,146.6,3034,2414,2240,2077,277.1,8.5,191,2666,0.00,2.35,32.85,1.992,8452,0.000,0.066,3034,3804,2001,2093,1910,0,0,0,0,0,0,28.83,14.55,13.53
$GC,2806,0.73,146.6,3034,3804,2093,1909,260.4,10.3,195,2811,0.00,2.25,0.00,0.000,1030,0.000,0.038,3044,2422,2001,2093,1909,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3063,0.73,146.6,3045,2421,2093,1902,230.7,11.0,202,3069,0.00,2.33,0.00,0.000,516,0.000,0.051,3055,995,1996,2093,1899,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3183,0.73,146.6,3055,995,2093,1898,218.7,10.1,205,3190,0.05,2.30,0.00,0.000,5126,0.454,0.045,3042,2402,1995,2093,1898,0,0,0,0,0,0,14.54,14.80,28.83
$GC,3434,0.80,205.6,3042,2402,2093,1897,196.8,7.8,212,3489,0.05,2.42,48.15,1.959,10500,0.362,0.066,3089,3801,1760,1867,1653,0,0,0,0,0,0,14.79,14.50,13.50
$GC,3594,0.80,205.6,3089,3801,1866,1651,177.6,13.0,227,3604,0.12,2.28,0.00,0.000,5126,0.386,0.041,3065,2400,1757,1866,1649,0,0,0,0,0,0,14.34,14.69,28.83
$GC,3847,0.83,230.5,3065,2399,1867,1644,154.0,9.1,252,3874,0.00,2.33,20.60,1.850,8708,0.000,0.053,3075,995,1659,1774,1545,0,0,0,0,0,0,28.83,14.66,13.59
$GC,3946,0.83,230.5,3076,995,1773,1542,143.7,11.2,265,3953,0.00,2.33,0.00,0.000,1030,0.000,0.044,3076,2400,1657,1773,1542,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4253,0.83,230.5,3076,2399,1773,1540,109.8,11.4,314,4263,0.00,2.42,0.00,0.000,260,0.000,0.064,3076,3804,1656,1773,1540,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4319,0.83,230.5,3075,3804,1773,1541,101.4,13.0,324,4329,0.00,2.35,0.00,0.000,1030,0.000,0.040,3085,2399,1656,1773,1539,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4643,0.83,230.5,3085,2398,1773,1537,61.4,13.2,373,4653,0.00,2.38,0.00,0.000,516,0.000,0.053,3096,1001,1654,1773,1536,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4805,0.88,267.5,3095,1001,1772,1536,44.1,8.6,396,4841,0.00,2.38,23.25,1.119,9222,0.000,0.045,3095,2392,1507,1617,1397,0,0,0,0,0,0,28.83,14.59,13.85
$GC,5171,0.88,267.5,3096,2392,1617,1392,5.8,10.9,448,5180,0.00,2.38,0.00,0.000,516,0.000,0.054,3105,1004,1503,1617,1390,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,5195,end climb,SURFACE_DEPTH_REACHED
$STATE,5195,begin surface coast
$FINISH,0.4,1.023471
$STATE,5230,end surface coast,CONTROL_FINISHED_OK
$STATE,5230,begin surface
$SM_CCo,5249,76.43,0.810,0,0,968,400.08
$SM_GC,0.98,6.95,2.58,76.43,0.093,0.046,0.810,121,2524,968,-8.24,-0.99,400.08,0,0,0,0,0,0,14.78,14.71,13.97
$IRIDIUM_FIX,2225.34,-15808.45,200210,131315
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.94
$INTERNAL_PRESSURE,7.34403
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,13.3,205.770
$10V_AH,12.7,0.000
$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,17.150,60.975,301.375,76.425,0.000,32.143,45.006,147.655,0.250,0.000,19.895,1163.194,2048.709,408.154,1945.270,141.038,33.248,983.184,0.000,1119.293,0.000,0.554,0.000
$DEVICE_MAMPS,469.710,76.500,2047.140,810.135,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,305.381,308.752,543.461,573.236,1186.208,0.000,0.000,0.000,0.000,0.000
$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,40512,456
$CAP_FILE_SIZE,64973,0
$CFSIZE,2097086464,2019983360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,020430,2235.737,-15802.201,29,1.3,29,9.8