version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 646
start: 4 26 117 8 34 25
data:
$ID,626
$MISSION,1
$DIVE,646
$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,-132839.7
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,260417,082714,2237.757,-15803.030,12,2.6,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-73.0
$GPS2,260417,083311,2237.714,-15803.095,8,2.5,28,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.263,0.110
$KALMAN_X,-127321.5,-681.4,157.1,126247.0,-2342.5
$KALMAN_Y,-689489.8,81.1,-375.5,683507.6,1064.3
$MHEAD_RNG_PITCHd_Wd,41.5,6774,-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,-107.1,114,2530,983,932,0.0,0.0,0,79,0.00,0.00,-60.17,0.000,16390,0.000,0.000,112,2530,3037,3071,3004,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,114,2530,3070,3005,3.6,-6.7,7,101,8.70,2.40,0.00,0.000,2308,0.462,0.063,2574,3921,3038,3072,3005,0,0,0,0,0,0,14.12,14.56,28.83
$GC,165,-0.68,-107.1,2575,3921,3075,3003,32.5,-18.4,18,175,0.00,2.35,0.00,0.000,1030,0.000,0.045,2574,2528,3039,3074,3004,0,0,0,0,0,0,28.83,14.59,28.83
$GC,504,-0.68,-107.1,2574,2528,3075,3004,89.2,-14.8,67,511,0.00,2.33,0.00,0.000,516,0.000,0.059,2574,1117,3039,3075,3004,0,0,0,0,0,0,28.83,14.73,28.83
$GC,572,-0.68,-107.1,2574,1116,3075,3004,99.7,-15.7,77,579,0.00,2.38,0.00,0.000,1030,0.000,0.056,2574,2535,3039,3075,3004,0,0,0,0,0,0,28.83,14.72,28.83
$GC,877,-0.68,-107.1,2574,2535,3076,3004,146.8,-15.1,126,886,0.00,2.42,0.00,0.000,516,0.000,0.057,2574,1120,3040,3076,3004,0,0,0,0,0,0,28.83,14.63,28.83
$GC,909,-0.68,-107.1,2574,1119,3077,3004,151.3,-15.5,130,917,0.00,2.35,0.00,0.000,1030,0.000,0.057,2574,2529,3039,3076,3003,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1159,-0.68,-107.1,2574,2529,3077,3004,186.8,-13.2,155,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2530,3040,3077,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1436,-0.68,-107.1,2574,2530,3077,3004,217.6,-10.4,171,1442,0.00,2.33,0.00,0.000,260,0.000,0.075,2574,3921,3040,3077,3004,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1484,-0.68,-107.1,2574,3921,3077,3004,221.5,-10.1,172,1488,0.00,2.25,0.00,0.000,1030,0.000,0.042,2574,2527,3040,3077,3004,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1751,-0.68,-107.1,2574,2527,3077,3004,250.2,-11.0,179,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2527,3040,3077,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1991,-0.68,-107.1,2574,2527,3077,3004,278.1,-11.5,185,1997,0.00,2.30,0.00,0.000,516,0.000,0.056,2574,1113,3040,3077,3004,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2024,-0.68,-107.1,2574,1113,3077,3003,278.1,-11.5,185,2031,0.00,2.38,0.00,0.000,1030,0.000,0.056,2574,2533,3040,3077,3003,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,2229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2229,begin apogee
$GC,2235,-0.17,0.0,2575,2374,3077,3002,303.2,-10.4,191,2326,0.50,0.00,88.12,1.927,10246,0.289,0.000,2745,2372,2600,2677,2523,0,0,0,0,0,0,14.41,28.83,13.37
$STATE,2327,end apogee,CONTROL_FINISHED_OK
$STATE,2327,begin climb
$GC,2330,0.68,107.1,2745,2374,2678,2522,306.0,0.0,193,2422,0.73,0.00,88.30,2.085,10758,0.195,0.000,3026,2373,2164,2242,2086,0,0,0,0,0,0,14.31,28.83,13.32
$GC,2635,0.72,136.3,3026,2373,2241,2079,285.9,8.9,201,2665,0.00,2.47,25.08,2.007,8452,0.000,0.067,3026,3819,2043,2131,1956,0,0,0,0,0,0,28.83,14.58,13.54
$GC,2721,0.74,158.6,3026,3820,2130,1956,278.4,9.2,202,2748,0.00,2.30,19.65,1.961,9222,0.000,0.044,3036,2420,1953,2053,1853,0,0,0,0,0,0,28.83,14.68,13.52
$GC,2988,0.77,180.3,3037,2420,2052,1846,251.3,9.2,209,3012,0.00,2.40,18.58,1.952,8708,0.000,0.055,3048,982,1865,1973,1757,0,0,0,0,0,0,28.83,14.68,13.59
$GC,3028,0.80,203.3,3048,981,1972,1754,247.8,9.1,210,3054,0.00,2.40,20.35,1.933,9222,0.000,0.051,3048,2412,1770,1882,1659,0,0,0,0,0,0,28.83,14.66,13.52
$GC,3301,0.80,203.3,3048,2412,1881,1651,215.5,11.7,217,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2412,1766,1881,1651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3545,0.80,206.4,3048,2412,1881,1648,191.3,9.9,229,3553,0.00,2.33,0.00,0.000,260,0.000,0.068,3048,3810,1764,1881,1648,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3588,0.80,206.4,3048,3810,1881,1649,186.4,10.3,233,3597,0.00,2.30,0.00,0.000,1030,0.000,0.046,3057,2401,1764,1881,1648,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3840,0.84,234.9,3058,2400,1881,1645,163.8,8.9,258,3871,0.00,2.35,25.60,1.869,8708,0.000,0.059,3067,990,1641,1757,1526,0,0,0,0,0,0,28.83,14.69,13.64
$GC,3929,0.84,234.9,3067,990,1756,1522,154.9,10.1,266,3938,0.00,2.38,0.00,0.000,1030,0.000,0.050,3067,2409,1639,1756,1522,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4232,0.84,234.9,3067,2409,1756,1520,118.8,12.3,311,4239,0.00,2.38,0.00,0.000,516,0.000,0.057,3078,991,1637,1756,1519,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4265,0.84,234.9,3078,989,1756,1518,114.4,11.4,316,4275,0.00,2.42,0.00,0.000,1030,0.000,0.052,3078,2394,1637,1756,1518,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4577,0.84,234.9,3077,2394,1756,1518,80.4,10.9,365,4583,0.00,2.38,0.00,0.000,516,0.000,0.060,3088,982,1636,1756,1517,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4614,0.84,234.9,3088,982,1756,1516,76.2,11.2,370,4624,0.03,2.45,0.00,0.000,5126,0.396,0.054,3078,2397,1636,1756,1516,0,0,0,0,0,0,14.38,14.61,28.83
$GC,4952,0.84,234.9,3078,2398,1756,1517,37.6,10.2,419,4962,0.00,2.45,0.00,0.000,516,0.000,0.060,3089,984,1636,1756,1516,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4973,0.84,235.6,3088,984,1756,1515,35.7,10.0,421,4983,0.03,2.45,0.00,0.000,5126,0.394,0.055,3078,2395,1635,1756,1515,0,0,0,0,0,0,14.34,14.57,28.83
$GC,5311,0.85,248.8,3079,2396,1756,1516,4.5,9.5,470,5322,0.00,0.00,7.72,0.757,8198,0.000,0.000,3078,2396,1583,1699,1467,0,0,0,0,0,0,28.83,28.83,13.93
$STATE,5329,end climb,SURFACE_DEPTH_REACHED
$STATE,5329,begin surface coast
$FINISH,0.3,1.023361
$STATE,5372,end surface coast,CONTROL_FINISHED_OK
$STATE,5372,begin surface
$SM_CCo,5388,87.38,0.823,0,0,966,400.08
$SM_GC,0.97,6.82,0.22,87.38,0.083,0.101,0.823,114,2544,966,-8.24,-0.76,400.08,0,0,0,0,0,0,14.79,14.75,13.95
$IRIDIUM_FIX,2225.34,-15801.07,200210,212103
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.36
$INTERNAL_PRESSURE,7.34403
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.3,207.034
$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,16.800,57.375,293.400,87.375,0.000,31.523,45.101,137.376,0.000,0.000,29.396,1215.750,2130.825,434.055,1933.582,145.708,33.260,967.839,0.000,1071.946,0.000,0.551,0.000
$DEVICE_MAMPS,462.060,100.980,2085.390,823.140,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,321.464,326.030,574.002,607.582,1257.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353148
$DATA_FILE_SIZE,44136,478
$CAP_FILE_SIZE,65408,0
$CFSIZE,2097086464,2019491840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,100700,2238.225,-15803.351,39,0.8,40,9.8