version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 644
start: 4 26 117 5 18 38
data:
$ID,626
$MISSION,1
$DIVE,644
$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,-132837.2
$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,39
$R_STBD_OVSHOOT,27
$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
$GPS1,260417,051122,2237.052,-15802.467,13,4.7,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.0
$GPS2,260417,051724,2237.070,-15802.479,8,0.8,8,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.280,0.052
$KALMAN_X,-123147.6,-354.1,34.1,122916.8,-1749.4
$KALMAN_Y,-692381.7,600.7,675.8,683626.2,-400.8
$MHEAD_RNG_PITCHd_Wd,28.2,6885,-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,-107.1,127,2531,987,928,0.0,0.0,0,79,0.00,0.00,-59.85,0.000,16390,0.000,0.000,127,2533,3038,3069,3007,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,127,2533,3070,3007,3.9,-7.4,7,101,8.70,2.35,0.00,0.000,2308,0.465,0.048,2575,3920,3039,3071,3007,0,0,0,0,0,0,14.12,14.60,28.83
$GC,269,-0.68,-107.1,2575,3920,3073,3006,51.1,-17.6,33,278,0.00,2.33,0.00,0.000,1030,0.000,0.041,2574,2530,3040,3074,3006,0,0,0,0,0,0,28.83,14.60,28.83
$GC,588,-0.68,-107.1,2574,2530,3073,3006,106.6,-17.8,82,597,0.00,2.38,0.00,0.000,516,0.000,0.060,2574,1124,3039,3073,3006,0,0,0,0,0,0,28.83,14.62,28.83
$GC,678,-0.68,-107.1,2574,1123,3073,3006,122.2,-16.5,96,688,0.00,2.42,0.00,0.000,1030,0.000,0.059,2574,2523,3039,3073,3006,0,0,0,0,0,0,28.83,14.60,28.83
$GC,962,-0.68,-107.1,2574,2524,3074,3006,164.5,-14.6,135,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2525,3040,3075,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1202,-0.68,-107.1,2574,2525,3075,3006,198.6,-12.9,159,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2524,3040,3075,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1461,-0.68,-107.1,2574,2525,3075,3006,231.4,-12.3,167,1467,0.00,2.35,0.00,0.000,260,0.000,0.075,2574,3927,3041,3075,3007,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1541,-0.68,-107.1,2574,3927,3076,3006,240.4,-12.0,169,1547,0.00,2.25,0.00,0.000,1030,0.000,0.041,2574,2520,3040,3075,3006,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1822,-0.68,-107.1,2574,2519,3075,3006,268.8,-9.9,176,1828,0.00,2.25,0.00,0.000,516,0.000,0.054,2574,1120,3040,3075,3006,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1850,-0.68,-107.1,2574,1120,3075,3006,268.8,-9.9,176,1854,0.00,2.35,0.00,0.000,1030,0.000,0.054,2574,2533,3040,3075,3006,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2097,-0.68,-107.1,2574,2534,3075,3006,297.2,-10.2,182,2102,0.00,2.33,0.00,0.000,516,0.000,0.052,2574,1120,3039,3075,3004,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2125,-0.68,-107.1,2574,1120,3075,3005,297.2,-10.2,182,2129,0.00,2.38,0.00,0.000,1030,0.000,0.054,2574,2539,3039,3075,3004,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,2169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2169,begin apogee
$GC,2175,-0.17,0.0,2574,2373,3075,3004,304.5,-9.9,183,2267,0.50,0.00,88.00,1.911,10246,0.287,0.000,2746,2373,2599,2675,2524,0,0,0,0,0,0,14.42,28.83,13.38
$STATE,2267,end apogee,CONTROL_FINISHED_OK
$STATE,2268,begin climb
$GC,2270,0.68,107.1,2746,2373,2675,2524,306.9,0.0,185,2365,0.73,2.28,87.50,2.049,10756,0.197,0.050,3034,1021,2164,2240,2088,0,0,0,0,0,0,14.32,14.36,13.34
$GC,2392,0.68,107.1,3034,1021,2238,2085,305.7,2.4,187,2396,0.00,2.33,0.00,0.000,1030,0.000,0.050,3034,2404,2162,2239,2085,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2645,0.70,122.7,3035,2404,2239,2081,277.7,9.4,194,2661,0.00,0.00,14.12,1.916,8198,0.000,0.000,3035,2404,2099,2180,2018,0,0,0,0,0,0,28.83,28.83,13.60
$GC,2885,0.71,135.9,3034,2404,2179,2014,255.3,9.5,200,2899,0.00,0.00,12.23,1.869,8198,0.000,0.000,3034,2404,2045,2131,1959,0,0,0,0,0,0,28.83,28.83,13.64
$GC,3126,0.71,135.9,3035,2404,2131,1955,230.6,10.2,206,3131,0.00,2.28,0.00,0.000,516,0.000,0.054,3045,1020,2042,2131,1954,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3167,0.73,145.6,2080,1019,2084,1946,226.8,9.6,207,3181,0.00,2.30,8.98,1.777,9222,0.000,0.053,3045,2401,2006,2098,1914,0,0,0,0,0,0,28.83,14.78,13.65
$GC,3445,0.77,179.8,3045,2401,2098,1911,201.1,8.7,214,3483,0.00,2.45,28.90,1.922,8452,0.000,0.068,3045,3813,1866,1969,1764,0,0,0,0,0,0,28.83,14.64,13.64
$GC,3606,0.77,179.8,3045,3813,1969,1762,184.6,11.1,226,3615,0.00,2.28,0.00,0.000,1030,0.000,0.044,3056,2430,1864,1969,1760,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3857,0.82,222.8,3056,2429,1969,1756,161.2,8.4,251,3895,0.00,0.00,35.47,1.888,8710,0.000,0.000,3056,2429,1690,1801,1580,0,0,0,0,0,0,28.83,28.83,13.60
$GC,4172,0.82,222.8,3056,2429,1802,1570,128.5,10.7,295,4178,0.00,2.40,0.00,0.000,516,0.000,0.060,3066,988,1685,1801,1570,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4279,0.82,222.8,3066,988,1802,1568,117.0,10.2,312,4289,0.00,2.42,0.00,0.000,1030,0.000,0.053,3066,2393,1684,1801,1568,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4590,0.83,227.5,3066,2392,1802,1568,85.8,9.8,361,4598,0.00,2.42,2.12,0.588,8708,0.000,0.061,3076,994,1671,1790,1553,0,0,0,0,0,0,28.83,14.76,13.49
$GC,4686,0.83,230.8,3076,993,1790,1551,76.0,9.9,375,4696,0.00,2.42,2.17,0.539,9222,0.000,0.054,3077,2399,1658,1776,1540,0,0,0,0,0,0,28.83,14.61,13.64
$GC,5026,0.88,267.4,3077,2400,1776,1540,43.8,8.6,424,5063,0.00,2.42,24.05,1.121,8708,0.000,0.063,3086,997,1507,1618,1396,0,0,0,0,0,0,28.83,14.54,13.91
$GC,5114,0.91,293.9,3086,997,1618,1393,35.9,9.0,435,5141,0.00,2.42,16.70,1.027,9222,0.000,0.056,3086,2394,1399,1504,1295,0,0,0,0,0,0,28.83,14.57,13.86
$STATE,5415,end climb,SURFACE_DEPTH_REACHED
$STATE,5415,begin surface coast
$FINISH,0.3,1.023298
$STATE,5445,end surface coast,CONTROL_FINISHED_OK
$STATE,5445,begin surface
$SM_CCo,5462,60.67,0.807,0,0,968,400.08
$SM_GC,0.97,6.82,0.22,60.67,0.080,0.096,0.807,129,2543,968,-8.24,-0.82,400.08,0,0,0,0,0,0,14.78,14.76,14.00
$IRIDIUM_FIX,2227.67,-15801.07,200210,171750
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.03
$INTERNAL_PRESSURE,7.3538
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,13.3,206.530
$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,16.750,52.250,320.250,60.675,0.000,32.922,71.653,138.625,0.250,0.000,9.301,1229.332,2172.330,398.240,1967.464,143.920,33.253,953.712,0.000,1100.658,0.000,0.552,0.000
$DEVICE_MAMPS,465.120,95.625,2048.670,807.075,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,323.877,333.202,578.082,611.855,1266.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353068
$DATA_FILE_SIZE,43988,482
$CAP_FILE_SIZE,64966,0
$CFSIZE,2097086464,2019688448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,065125,2237.475,-15802.670,6,0.9,6,9.8