version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 648
start: 4 26 117 11 48 17
data:
$ID,626
$MISSION,1
$DIVE,648
$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,-132842.2
$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,36
$R_STBD_OVSHOOT,39
$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
$GPS1,260417,114121,2238.680,-15803.417,6,1.0,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.5
$GPS2,260417,114703,2238.713,-15803.468,7,1.0,7,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.191
$KALMAN_X,-130849.4,-664.1,-185.0,129452.4,-1823.3
$KALMAN_Y,-688637.4,-124.8,-320.7,684672.8,924.1
$MHEAD_RNG_PITCHd_Wd,58.3,6388,-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,-107.1,114,2560,990,925,0.0,0.0,0,79,0.00,0.00,-60.38,0.000,16390,0.000,0.000,114,2560,3038,3069,3007,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,114,2560,3069,3007,3.4,-6.1,7,100,8.77,0.00,0.00,0.000,2566,0.470,0.000,2577,2561,3039,3071,3007,0,0,0,0,0,0,13.99,28.83,28.83
$GC,427,-0.68,-107.1,2577,2560,3072,3007,83.4,-16.7,57,434,0.00,2.40,0.00,0.000,516,0.000,0.059,2577,1120,3039,3073,3006,0,0,0,0,0,0,28.83,14.73,28.83
$GC,460,-0.68,-107.1,2577,1120,3073,3006,89.5,-17.1,62,470,0.00,2.42,0.00,0.000,1030,0.000,0.057,2575,2519,3039,3073,3006,0,0,0,0,0,0,28.83,14.59,28.83
$GC,773,-0.68,-107.1,2574,2520,3075,3007,141.3,-15.9,111,780,0.00,2.35,0.00,0.000,260,0.000,0.073,2575,3917,3040,3074,3007,0,0,0,0,0,0,28.83,14.69,28.83
$GC,829,-0.68,-107.1,2575,3917,3074,3007,150.2,-15.4,119,837,0.00,2.22,0.00,0.000,1030,0.000,0.041,2575,2539,3041,3075,3007,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1076,-0.68,-107.1,2575,2538,3075,3007,186.2,-14.7,144,1088,0.00,2.33,0.00,0.000,516,0.000,0.058,2575,1113,3040,3075,3006,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1133,-0.68,-107.1,2575,1112,3075,3006,193.9,-13.2,149,1142,0.00,2.38,0.00,0.000,1030,0.000,0.058,2575,2535,3041,3076,3007,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1383,-0.68,-107.1,2575,2535,3076,3006,226.2,-12.7,159,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2535,3041,3076,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1623,-0.68,-107.1,2575,2535,3077,3006,253.7,-11.0,165,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2535,3041,3076,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,-0.68,-107.1,2575,2535,3076,3006,277.5,-10.0,171,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2535,3041,3076,3006,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2101,begin apogee
$GC,2107,-0.17,0.0,2575,2360,3077,3005,303.4,-10.7,177,2199,0.50,0.10,87.82,1.879,10246,0.286,0.142,2746,2420,2600,2677,2523,0,0,0,0,0,0,14.42,14.38,13.43
$STATE,2200,end apogee,CONTROL_FINISHED_OK
$STATE,2200,begin climb
$GC,2202,0.68,107.1,2746,2420,2678,2522,306.8,0.0,179,2294,0.73,0.00,87.62,1.977,10502,0.194,0.000,3025,2419,2163,2241,2085,0,0,0,0,0,0,14.33,28.83,13.38
$GC,2507,0.74,157.4,3024,2419,2240,2078,289.2,8.1,187,2551,0.05,0.00,41.72,2.012,10502,0.356,0.000,3073,2419,1957,2054,1861,0,0,0,0,0,0,14.69,28.83,13.49
$GC,2783,0.74,157.4,3074,2420,2054,1852,253.3,13.6,194,2789,0.10,2.35,0.00,0.000,4612,0.376,0.055,3058,1013,1953,2054,1853,0,0,0,0,0,0,14.50,14.75,28.83
$GC,2831,0.74,157.4,3058,1013,2054,1850,248.6,13.5,195,2835,0.00,2.30,0.00,0.000,1030,0.000,0.052,3058,2393,1952,2054,1850,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3098,0.79,201.0,3058,2392,2054,1848,223.2,8.4,202,3137,0.00,0.00,35.33,1.932,8454,0.000,0.000,3058,2392,1780,1889,1671,0,0,0,0,0,0,28.83,28.83,13.59
$GC,3378,0.82,219.8,3058,2392,1889,1662,197.3,9.3,209,3400,0.00,0.00,15.70,1.846,8710,0.000,0.000,3058,2392,1705,1818,1593,0,0,0,0,0,0,28.83,28.83,13.63
$GC,3643,0.82,219.8,3058,2392,1818,1586,169.8,10.4,235,3651,0.00,2.28,0.00,0.000,516,0.000,0.058,3068,1020,1702,1818,1586,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3689,0.82,219.8,2096,1020,1781,1581,164.6,10.9,239,3695,0.00,2.33,0.00,0.000,1030,0.000,0.052,3068,2410,1701,1818,1585,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3965,0.82,219.8,3068,2411,1818,1584,134.3,10.5,276,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2411,1701,1819,1584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4274,0.83,227.3,3068,2410,1818,1583,103.6,9.7,325,4281,0.00,0.00,5.00,1.282,8198,0.000,0.000,3068,2411,1673,1790,1556,0,0,0,0,0,0,28.83,28.83,13.62
$GC,4592,0.83,227.3,3067,2411,1790,1554,69.5,10.0,374,4602,0.00,2.42,0.00,0.000,260,0.000,0.067,3067,3811,1672,1790,1554,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4626,0.83,227.3,3068,3812,1790,1556,66.0,10.5,378,4635,0.00,2.33,0.00,0.000,1030,0.000,0.044,3078,2432,1672,1790,1554,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4971,0.85,249.7,3078,2431,1790,1554,32.0,9.2,427,4990,0.00,2.45,14.85,1.001,8708,0.000,0.057,3088,987,1579,1694,1465,0,0,0,0,0,0,28.83,14.76,13.96
$GC,5023,0.86,252.7,3088,986,1693,1462,27.1,9.9,433,5033,0.00,2.42,0.00,0.000,1030,0.000,0.055,3088,2391,1577,1693,1461,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,5252,end climb,SURFACE_DEPTH_REACHED
$STATE,5252,begin surface coast
$FINISH,0.1,1.012959
$STATE,5288,end surface coast,CONTROL_FINISHED_OK
$STATE,5288,begin surface
$SM_CCo,5304,87.03,0.817,0,0,968,400.08
$SM_GC,1.07,6.82,0.22,87.03,0.077,0.096,0.817,115,2544,968,-8.25,-0.88,400.08,0,0,0,0,0,0,14.80,14.77,13.97
$IRIDIUM_FIX,2230.01,-15803.24,210210,010110
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.55
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,13.4,207.526
$10V_AH,12.5,0.000
$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,16.975,33.550,288.050,87.025,0.000,26.589,48.863,145.886,0.000,0.000,8.289,1182.622,2171.583,413.918,1847.477,144.321,33.256,908.830,0.000,1013.007,0.000,0.552,0.000
$DEVICE_MAMPS,469.710,142.290,2011.950,817.020,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,316.123,322.596,563.507,596.824,1235.077,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353128
$DATA_FILE_SIZE,44039,471
$CAP_FILE_SIZE,58175,0
$CFSIZE,2097086464,2019295232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,131854,2239.221,-15803.215,7,1.6,7,9.8