version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 649
start: 4 26 117 13 25 56
data:
$ID,626
$MISSION,1
$DIVE,649
$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,-132843.45
$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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,260417,131854,2239.221,-15803.215,7,1.6,7,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.8
$GPS2,260417,132442,2239.284,-15803.243,9,1.8,9,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,-0.256
$KALMAN_X,-131946.0,-473.5,-153.7,130705.0,-1102.4
$KALMAN_Y,-686601.4,-288.0,6.8,683507.6,1449.3
$MHEAD_RNG_PITCHd_Wd,66.7,5698,-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,14,begin dive
$GC,16,-0.68,-107.1,114,2548,984,931,0.0,0.0,0,87,0.00,0.00,-61.17,0.000,16390,0.000,0.000,114,2548,3035,3065,3005,0,0,0,0,0,0,28.83,28.83,15.00
$GC,90,-0.68,-107.1,114,2549,3064,3005,5.2,-10.0,8,109,8.75,2.30,0.00,0.000,2820,0.464,0.053,2574,3906,3035,3066,3005,0,0,0,0,0,0,14.12,14.57,28.83
$GC,146,-0.68,-107.1,2575,3907,3068,3004,30.7,-32.1,15,156,0.00,2.35,0.00,0.000,1030,0.000,0.054,2574,2539,3036,3068,3005,0,0,0,0,0,0,28.83,14.56,28.83
$GC,476,-0.68,-107.1,2574,2538,3068,3005,92.3,-16.9,64,485,0.00,2.40,0.00,0.000,516,0.000,0.054,2574,1113,3036,3069,3003,0,0,0,0,0,0,28.83,14.62,28.83
$GC,501,-0.68,-107.1,2574,1113,3068,3004,96.0,-16.6,67,507,0.00,2.35,0.00,0.000,1030,0.000,0.053,2574,2522,3036,3068,3004,0,0,0,0,0,0,28.83,14.72,28.83
$GC,808,-0.68,-107.1,2574,2522,3070,3004,150.9,-20.6,116,816,0.00,2.35,0.00,0.000,260,0.000,0.076,2574,3918,3036,3069,3004,0,0,0,0,0,0,28.83,14.69,28.83
$GC,884,-0.68,-107.1,2574,3918,3070,3004,164.0,-16.7,123,896,0.00,2.28,0.00,0.000,1030,0.000,0.044,2574,2511,3037,3070,3004,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1144,-0.68,-107.1,2574,2511,3069,3004,206.3,-15.4,146,1150,0.00,2.28,0.00,0.000,516,0.000,0.053,2574,1111,3037,3070,3004,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1167,-0.68,-107.1,2574,1111,3069,3004,206.3,-15.4,146,1171,0.00,2.35,0.00,0.000,1030,0.000,0.054,2574,2530,3037,3070,3004,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1419,-0.68,-107.1,2574,2530,3070,3004,241.0,-12.0,153,1424,0.00,2.33,0.00,0.000,516,0.000,0.051,2574,1116,3037,3070,3004,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1437,-0.68,-107.1,2574,1116,3070,3004,241.0,-12.0,153,1441,0.00,2.35,0.00,0.000,1030,0.000,0.055,2574,2530,3037,3070,3004,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1694,-0.68,-107.1,2574,2530,3070,3004,270.5,-11.1,160,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2530,3037,3070,3004,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1933,begin apogee
$GC,1940,-0.17,0.0,2574,2369,3071,3003,300.1,-12.8,166,2030,0.50,0.00,87.20,1.931,10246,0.287,0.000,2746,2367,2599,2675,2524,0,0,0,0,0,0,14.42,28.83,13.42
$STATE,2031,end apogee,CONTROL_FINISHED_OK
$STATE,2031,begin climb
$GC,2033,0.68,107.1,2746,2367,2675,2525,304.4,0.0,168,2133,0.70,2.60,87.45,2.026,10500,0.196,0.072,3019,3812,2162,2237,2087,0,0,0,0,0,0,14.32,14.35,13.36
$GC,2171,0.68,107.1,3019,3812,2238,2087,303.6,1.9,171,2177,0.00,2.30,0.00,0.000,1030,0.000,0.045,3029,2423,2162,2238,2086,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2418,0.73,152.2,3029,2423,2238,2081,280.1,8.3,178,2461,0.00,2.40,37.40,2.013,8708,0.000,0.054,3039,984,1978,2073,1884,0,0,0,0,0,0,28.83,14.56,13.53
$GC,2562,0.73,152.2,3039,982,2072,1877,266.5,11.0,181,2566,0.00,2.38,0.00,0.000,1030,0.000,0.050,3039,2405,1974,2072,1877,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2809,0.73,152.2,3038,2405,2072,1875,236.2,10.3,187,2815,0.00,2.35,0.00,0.000,260,0.000,0.070,3039,3815,1973,2071,1875,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2862,0.73,152.2,3039,3814,2071,1875,232.0,10.1,188,2866,0.00,2.30,0.00,0.000,1030,0.000,0.047,3050,2401,1973,2072,1875,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3124,0.81,211.5,3050,2399,2072,1871,209.4,7.8,195,3178,0.00,2.35,48.08,1.959,8708,0.000,0.055,3059,991,1736,1845,1628,0,0,0,0,0,0,28.83,14.55,13.52
$GC,3230,0.84,237.5,3059,991,1844,1622,201.7,9.0,197,3261,0.00,2.38,22.08,1.883,9222,0.000,0.049,3060,2405,1631,1742,1520,0,0,0,0,0,0,28.83,14.62,13.52
$GC,3500,0.84,237.5,3060,2405,1742,1511,163.9,10.7,224,3509,0.00,2.38,0.00,0.000,516,0.000,0.057,3069,981,1626,1742,1510,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3534,0.84,237.5,3069,982,1742,1510,160.1,10.9,227,3543,0.00,2.38,0.00,0.000,1030,0.000,0.050,3069,2410,1625,1740,1510,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3821,0.84,237.5,3069,2410,1742,1508,129.5,10.1,268,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2410,1625,1742,1508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4132,0.84,237.5,3069,2410,1742,1506,99.0,10.7,317,4138,0.00,2.38,0.00,0.000,516,0.000,0.059,3080,991,1623,1742,1505,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4186,0.84,237.5,3080,991,1742,1505,92.9,10.9,325,4193,0.00,2.35,0.00,0.000,1030,0.000,0.052,3080,2399,1623,1742,1505,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4514,0.84,237.5,3080,2399,1742,1505,55.3,11.0,374,4523,0.00,2.45,0.00,0.000,260,0.000,0.075,3080,3808,1623,1742,1505,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4547,0.84,237.5,3080,3809,1742,1506,51.1,12.2,378,4558,0.03,2.40,0.00,0.000,5126,0.431,0.051,3080,2402,1623,1742,1505,0,0,0,0,0,0,14.35,14.62,28.83
$GC,4886,0.87,262.9,3080,2401,1742,1505,17.1,9.0,427,4914,0.00,2.42,15.10,0.901,8708,0.000,0.059,3092,975,1525,1638,1412,0,0,0,0,0,0,28.83,14.75,13.95
$GC,4925,0.90,285.6,3091,975,1638,1412,13.6,9.1,431,4944,0.00,2.45,14.12,0.859,9222,0.000,0.051,3091,2398,1433,1538,1328,0,0,0,0,0,0,28.83,14.62,13.96
$STATE,5019,end climb,SURFACE_DEPTH_REACHED
$STATE,5019,begin surface coast
$FINISH,0.6,1.023275
$STATE,5050,end surface coast,CONTROL_FINISHED_OK
$STATE,5050,begin surface
$SM_CCo,5067,67.10,0.831,0,0,968,400.08
$SM_GC,1.11,6.72,0.22,67.10,0.059,0.088,0.831,116,2550,968,-8.24,-0.62,400.08,0,0,0,0,0,0,14.77,14.76,13.97
$IRIDIUM_FIX,2230.01,-15803.24,210210,020245
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.00
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,13.4,207.777
$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,16.700,62.025,311.425,67.100,0.000,30.089,45.815,149.656,0.250,0.000,10.289,1139.237,1932.353,418.665,1867.862,150.050,33.256,979.645,0.000,1062.941,0.000,0.551,0.000
$DEVICE_MAMPS,463.590,87.975,2025.720,830.790,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,299.869,303.100,535.622,571.082,1181.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353084
$DATA_FILE_SIZE,40756,448
$CAP_FILE_SIZE,64221,0
$CFSIZE,2097086464,2019196928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,145249,2239.633,-15802.838,34,0.8,40,9.8