version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 643
start: 4 26 117 3 42 37
data:
$ID,626
$MISSION,1
$DIVE,643
$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,-132835.95
$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,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,37
$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
$GPS1,260417,033447,2236.432,-15802.252,6,0.8,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-74.7
$GPS2,260417,034123,2236.463,-15802.276,7,0.8,7,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.285,0.000
$KALMAN_X,-121445.0,20.8,-6.8,121210.3,-1921.8
$KALMAN_Y,-693629.6,551.3,888.7,683599.0,-360.6
$MHEAD_RNG_PITCHd_Wd,20.9,7618,-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,-107.1,114,2549,986,926,0.0,0.0,0,79,0.00,0.00,-60.53,0.000,16390,0.000,0.000,114,2549,3038,3072,3004,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,114,2550,3071,3004,3.5,-6.0,7,101,8.80,2.33,0.00,0.000,2308,0.471,0.054,2574,3908,3039,3074,3004,0,0,0,0,0,0,14.12,14.58,28.83
$GC,146,-0.68,-107.1,2575,3908,3076,3004,29.0,-28.7,15,156,0.00,2.30,0.00,0.000,1030,0.000,0.044,2574,2543,3040,3076,3004,0,0,0,0,0,0,28.83,14.58,28.83
$GC,477,-0.68,-107.1,2574,2542,3076,3004,90.5,-16.1,64,486,0.00,2.40,0.00,0.000,516,0.000,0.052,2574,1119,3040,3076,3004,0,0,0,0,0,0,28.83,14.62,28.83
$GC,551,-0.68,-107.1,2574,1118,3074,3004,101.8,-15.3,75,558,0.00,2.33,0.00,0.000,1030,0.000,0.050,2574,2523,3040,3076,3004,0,0,0,0,0,0,28.83,14.76,28.83
$GC,858,-0.68,-107.1,2574,2523,3077,3004,150.6,-15.3,124,867,0.00,2.33,0.00,0.000,260,0.000,0.071,2574,3917,3040,3077,3004,0,0,0,0,0,0,28.83,14.71,28.83
$GC,905,-0.68,-107.1,2574,3916,3077,3004,156.4,-13.3,128,912,0.00,2.25,0.00,0.000,1030,0.000,0.037,2574,2510,3040,3077,3004,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1154,-0.68,-107.1,2574,2509,3077,3004,191.8,-13.2,153,1165,0.00,2.22,0.00,0.000,516,0.000,0.052,2574,1133,3040,3077,3004,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1188,-0.68,-107.1,2574,1133,3077,3004,196.8,-13.8,156,1200,0.00,2.30,0.00,0.000,1030,0.000,0.050,2574,2534,3040,3077,3004,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1458,-0.68,-107.1,2574,2533,3077,3004,230.7,-12.4,165,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2534,3040,3077,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1698,-0.68,-107.1,2574,2533,3078,3004,258.6,-11.4,171,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2534,3040,3077,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1938,-0.68,-107.1,2574,2534,3078,3004,284.6,-10.8,177,1944,0.00,2.30,0.00,0.000,516,0.000,0.050,2574,1130,3040,3077,3003,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1961,-0.68,-107.1,2574,1129,3077,3004,284.6,-10.8,177,1965,0.00,2.33,0.00,0.000,1030,0.000,0.051,2574,2538,3040,3078,3003,0,0,0,0,0,0,28.83,14.82,28.83
$STATE,2091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2091,begin apogee
$GC,2097,-0.17,0.0,2574,2368,3078,3004,300.6,-10.3,181,2188,0.50,0.00,87.72,1.841,10246,0.288,0.000,2746,2368,2599,2678,2521,0,0,0,0,0,0,14.43,28.83,13.46
$STATE,2189,end apogee,CONTROL_FINISHED_OK
$STATE,2189,begin climb
$GC,2191,0.68,107.1,2746,2368,2678,2521,302.6,0.0,183,2283,0.73,0.00,87.65,1.985,10758,0.197,0.000,3023,2368,2163,2241,2085,0,0,0,0,0,0,14.32,28.83,13.37
$GC,2496,0.72,142.6,3024,2368,2241,2078,280.9,8.7,191,2532,0.00,0.00,30.15,2.000,8198,0.000,0.000,3023,2368,2017,2109,1926,0,0,0,0,0,0,28.83,28.83,13.51
$GC,2773,0.75,162.9,3024,2368,2109,1920,255.7,9.2,198,2797,0.05,2.45,17.90,1.919,10500,0.356,0.064,3075,3813,1934,2036,1833,0,0,0,0,0,0,14.73,14.66,13.61
$GC,2843,0.77,180.6,3076,3813,2035,1833,252.0,9.3,199,2865,0.12,2.25,15.70,1.885,13318,0.396,0.038,3052,2421,1863,1972,1755,0,0,0,0,0,0,14.40,14.73,13.58
$GC,3128,0.77,180.6,3052,2421,1972,1747,213.4,12.2,207,3133,0.00,2.33,0.00,0.000,260,0.000,0.062,3052,3807,1859,1971,1747,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3161,0.77,180.6,3052,3808,1972,1747,213.4,12.2,207,3168,0.00,2.28,0.00,0.000,1030,0.000,0.039,3061,2397,1859,1972,1747,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3411,0.77,180.6,3062,2396,1972,1744,182.1,10.1,226,3419,0.00,2.28,0.00,0.000,516,0.000,0.054,3070,994,1857,1972,1742,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3522,0.82,222.5,2112,993,1929,1734,172.1,8.4,236,3562,0.00,2.33,34.17,1.908,9222,0.000,0.047,3070,2408,1692,1804,1580,0,0,0,0,0,0,28.83,14.81,13.60
$GC,3821,0.82,222.5,3070,2408,1804,1570,141.1,10.7,271,3828,0.00,2.38,0.00,0.000,516,0.000,0.055,3079,991,1687,1804,1570,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3900,0.83,226.3,3079,990,1804,1568,132.8,9.9,283,3908,0.00,2.33,1.98,0.596,9222,0.000,0.048,3079,2397,1677,1796,1558,0,0,0,0,0,0,28.83,14.76,13.99
$GC,4208,0.83,226.3,3079,2398,1797,1557,98.6,11.0,332,4217,0.00,2.42,0.00,0.000,260,0.000,0.063,3080,3804,1677,1797,1557,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4250,0.83,226.3,3079,3804,1796,1558,93.3,12.9,338,4260,0.03,2.35,0.00,0.000,5126,0.429,0.040,3078,2399,1676,1796,1557,0,0,0,0,0,0,14.38,14.66,28.83
$GC,4582,0.84,237.1,3078,2398,1798,1556,58.2,9.6,387,4602,0.00,2.40,8.48,1.135,8708,0.000,0.058,3088,990,1631,1750,1512,0,0,0,0,0,0,28.83,14.64,13.81
$GC,4762,0.87,261.5,3088,990,1750,1511,41.8,9.1,412,4789,0.00,2.40,16.65,1.080,9222,0.000,0.049,3088,2398,1532,1645,1419,0,0,0,0,0,0,28.83,14.62,13.87
$GC,5119,0.87,261.5,3088,2398,1645,1414,5.7,10.7,463,5128,0.00,2.42,0.00,0.000,516,0.000,0.060,3098,994,1529,1645,1414,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,5143,end climb,SURFACE_DEPTH_REACHED
$STATE,5143,begin surface coast
$FINISH,1.7,1.023266
$STATE,5151,end surface coast,CONTROL_FINISHED_OK
$STATE,5152,begin surface
$SM_CCo,5170,79.85,0.808,0,0,967,400.08
$SM_GC,0.93,6.80,2.60,79.85,0.073,0.051,0.808,128,2524,967,-8.23,-1.10,400.08,0,0,0,0,0,0,14.80,14.73,13.98
$IRIDIUM_FIX,2227.67,-15801.07,200210,171735
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.02
$INTERNAL_PRESSURE,7.3538
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,13.4,206.277
$10V_AH,12.6,0.000
$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,17.025,56.475,300.400,79.850,0.000,26.909,53.470,195.096,0.000,0.000,8.304,1175.543,2004.601,437.851,1914.543,141.182,33.244,960.480,0.000,1032.810,0.000,0.552,0.000
$DEVICE_MAMPS,471.240,74.205,2000.475,807.840,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,312.918,318.696,562.089,592.552,1226.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353116
$DATA_FILE_SIZE,40753,467
$CAP_FILE_SIZE,62934,0
$CFSIZE,2097086464,2019786752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,051122,2237.052,-15802.467,13,4.7,34,9.8