version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 642
start: 4 26 117 2 11 18
data:
$ID,626
$MISSION,1
$DIVE,642
$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,-132834.7
$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,42
$R_STBD_OVSHOOT,25
$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
$GPS1,260417,020430,2235.737,-15802.201,29,1.3,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.3
$GPS2,260417,021004,2235.798,-15802.208,7,0.8,7,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.168,0.230
$KALMAN_X,-120605.9,344.5,-16.4,120191.6,-2387.0
$KALMAN_Y,-693807.8,857.9,891.8,682212.1,-647.6
$MHEAD_RNG_PITCHd_Wd,16.1,8649,-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,-107.1,115,2532,986,929,0.0,0.0,0,79,0.00,0.00,-59.42,0.000,16390,0.000,0.000,114,2532,3039,3069,3009,0,0,0,0,0,0,28.83,28.83,14.99
$GC,82,-0.68,-107.1,115,2532,3069,3009,4.1,-8.2,7,101,8.73,2.38,0.00,0.000,2308,0.464,0.060,2574,3915,3039,3070,3009,0,0,0,0,0,0,14.11,14.57,28.83
$GC,314,-0.68,-107.1,2575,3915,3073,3008,57.8,-15.4,40,324,0.00,2.30,0.00,0.000,1030,0.000,0.038,2575,2533,3040,3073,3008,0,0,0,0,0,0,28.83,14.60,28.83
$GC,636,-0.68,-107.1,2574,2532,3073,3008,105.6,-14.5,89,643,0.00,2.30,0.00,0.000,516,0.000,0.052,2574,1123,3040,3073,3008,0,0,0,0,0,0,28.83,14.74,28.83
$GC,692,-0.68,-107.1,2574,1123,3073,3008,113.5,-14.1,97,699,0.00,2.35,0.00,0.000,1030,0.000,0.049,2574,2542,3041,3074,3008,0,0,0,0,0,0,28.83,14.74,28.83
$GC,993,-0.68,-107.1,2574,2543,3075,3008,156.5,-15.4,142,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2543,3041,3075,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1240,-0.68,-107.1,2574,2545,3076,3008,202.1,-18.2,167,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2545,3042,3076,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1480,-0.68,-107.1,2574,2546,3076,3007,239.7,-12.1,173,1485,0.00,2.28,0.00,0.000,260,0.000,0.069,2574,3912,3042,3076,3008,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1523,-0.68,-107.1,2574,3912,3076,3008,244.0,-11.7,174,1527,0.00,2.22,0.00,0.000,1030,0.000,0.037,2574,2511,3042,3076,3008,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1795,-0.68,-107.1,2574,2507,3076,3008,272.6,-11.6,181,1800,0.00,2.30,0.00,0.000,516,0.000,0.072,2574,1132,3042,3076,3008,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1813,-0.68,-107.1,2574,1129,3076,3008,272.6,-11.6,181,1817,0.00,2.30,0.00,0.000,1030,0.000,0.049,2574,2529,3042,3076,3008,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,2067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2068,begin apogee
$GC,2074,-0.17,0.0,2574,2366,3075,3007,301.2,-9.0,188,2166,0.50,0.00,89.40,2.064,10246,0.295,0.000,2745,2365,2599,2675,2524,0,0,0,0,0,0,14.41,28.83,13.35
$STATE,2167,end apogee,CONTROL_FINISHED_OK
$STATE,2167,begin climb
$GC,2170,0.68,107.1,2745,2365,2675,2524,303.8,0.0,190,2270,0.70,2.33,88.07,2.044,10756,0.197,0.050,3026,1023,2162,2238,2086,0,0,0,0,0,0,14.29,14.35,13.33
$GC,2408,0.82,222.9,3027,1023,2237,2079,294.4,5.6,196,2514,0.12,2.30,94.82,2.047,11270,0.177,0.047,3106,2412,1689,1798,1581,0,0,0,0,0,0,14.66,14.70,13.38
$GC,2754,0.82,222.9,3106,2412,1798,1570,238.5,17.6,205,2761,0.12,2.33,0.00,0.000,4612,0.390,0.050,3077,1025,1684,1798,1570,0,0,0,0,0,0,14.45,14.73,28.83
$GC,2797,0.82,222.9,3077,1024,1798,1567,232.7,16.7,206,2802,0.00,2.28,0.00,0.000,1030,0.000,0.046,3077,2405,1682,1798,1567,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3053,0.82,222.9,3077,2404,1798,1565,197.1,14.1,214,3061,0.00,2.30,0.00,0.000,260,0.000,0.065,3077,3800,1682,1798,1566,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3077,0.82,222.9,3077,3800,1798,1566,193.6,13.8,216,3088,0.03,2.28,0.00,0.000,5126,0.436,0.040,3075,2430,1681,1798,1565,0,0,0,0,0,0,14.42,14.71,28.83
$GC,3331,0.83,231.7,3075,2430,1798,1562,164.7,9.7,241,3347,0.00,2.35,6.75,1.618,8708,0.000,0.054,3085,998,1655,1773,1537,0,0,0,0,0,0,28.83,14.81,13.60
$GC,3395,0.83,231.9,3086,998,1773,1536,158.1,10.0,247,3404,0.00,2.28,0.00,0.000,1030,0.000,0.046,3085,2392,1654,1773,1536,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3685,0.83,231.9,3085,2392,1773,1534,124.4,12.2,289,3691,0.00,2.35,0.00,0.000,260,0.000,0.064,3085,3805,1653,1773,1534,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3705,0.83,231.9,3086,3805,1773,1536,121.4,11.7,292,3715,0.05,2.35,0.00,0.000,5126,0.370,0.040,3078,2394,1653,1773,1534,0,0,0,0,0,0,14.31,14.67,28.83
$GC,4017,0.83,231.9,3077,2394,1773,1532,86.1,11.7,341,4023,0.00,2.30,0.00,0.000,516,0.000,0.055,3086,999,1652,1773,1531,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4086,0.83,231.9,3086,999,1773,1531,78.4,11.3,351,4095,0.00,2.38,0.00,0.000,1030,0.000,0.044,3086,2401,1652,1773,1531,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4425,0.83,231.9,3086,2401,1773,1531,39.3,11.1,400,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,1652,1773,1531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4769,0.87,259.9,3086,2401,1773,1531,7.7,8.9,449,4797,0.00,2.40,17.48,0.836,8708,0.000,0.051,3094,993,1537,1651,1423,0,0,0,0,0,0,28.83,14.67,13.92
$GC,4816,0.89,280.8,3093,992,1649,1422,3.7,9.2,454,4827,0.00,2.38,5.97,0.680,9218,0.000,0.045,3093,2393,1493,1602,1385,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,4828,end climb,SURFACE_DEPTH_REACHED
$STATE,4828,begin surface coast
$FINISH,0.1,1.010519
$STATE,4871,end surface coast,CONTROL_FINISHED_OK
$STATE,4871,begin surface
$SM_CCo,4888,75.80,0.825,0,0,968,400.08
$SM_GC,0.90,6.93,0.22,75.80,0.093,0.088,0.825,126,2544,968,-8.25,-0.76,400.08,0,0,0,0,0,0,14.76,14.77,13.95
$IRIDIUM_FIX,2227.67,-15803.24,200210,151518
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.41
$INTERNAL_PRESSURE,7.3538
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,13.3,206.026
$10V_AH,12.1,0.000
$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,17.175,51.425,302.500,75.800,0.000,25.680,48.795,138.752,0.000,0.000,8.319,1170.334,1678.964,416.903,1911.997,143.536,33.248,954.583,0.000,1078.431,0.000,0.550,0.000
$DEVICE_MAMPS,464.355,87.975,2063.970,824.670,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,309.286,318.753,560.905,605.461,1252.964,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353120
$DATA_FILE_SIZE,40718,461
$CAP_FILE_SIZE,61729,0
$CFSIZE,2097086464,2019885056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,033447,2236.432,-15802.252,6,0.8,6,9.8