version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 650
start: 4 26 117 14 59 58
data:
$ID,626
$MISSION,1
$DIVE,650
$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,-132844.7
$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,30
$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
$GPS1,260417,145249,2239.633,-15802.838,34,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.0
$GPS2,260417,145844,2239.713,-15802.845,7,1.1,7,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.274,-0.078
$KALMAN_X,-132661.1,-101.7,118.9,131455.2,-632.1
$KALMAN_Y,-684462.8,-432.9,349.0,681971.9,2118.9
$MHEAD_RNG_PITCHd_Wd,74.0,4890,-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,-107.1,114,2555,978,938,0.0,0.0,0,79,0.00,0.00,-60.38,0.000,16390,0.000,0.000,114,2555,3037,3070,3004,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,114,2555,3070,3005,3.5,-6.2,7,101,8.75,2.33,0.00,0.000,2308,0.466,0.057,2574,3908,3038,3072,3005,0,0,0,0,0,0,14.12,14.59,28.83
$GC,146,-0.68,-107.1,2575,3908,3074,3005,28.1,-27.9,15,156,0.00,2.35,0.00,0.000,1030,0.000,0.050,2574,2527,3039,3074,3004,0,0,0,0,0,0,28.83,14.58,28.83
$GC,478,-0.68,-107.1,2574,2527,3074,3005,89.3,-17.4,64,487,0.00,2.40,0.00,0.000,516,0.000,0.060,2574,1115,3039,3074,3004,0,0,0,0,0,0,28.83,14.61,28.83
$GC,503,-0.68,-107.1,2575,1114,3074,3004,93.1,-17.1,67,510,0.00,2.35,0.00,0.000,1030,0.000,0.055,2574,2517,3038,3074,3002,0,0,0,0,0,0,28.83,14.72,28.83
$GC,810,-0.68,-107.1,2574,2517,3075,3004,146.2,-15.8,116,819,0.00,2.42,0.00,0.000,260,0.000,0.075,2574,3911,3039,3075,3004,0,0,0,0,0,0,28.83,14.55,28.83
$GC,872,-0.68,-107.1,2574,3911,3075,3004,155.6,-15.0,123,884,0.00,2.25,0.00,0.000,1030,0.000,0.045,2574,2526,3039,3075,3004,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1127,-0.68,-107.1,2574,2525,3075,3004,192.0,-13.2,148,1135,0.00,2.28,0.00,0.000,516,0.000,0.055,2574,1112,3039,3075,3004,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1148,-0.68,-107.1,2574,1112,3076,3004,195.6,-13.3,150,1160,0.00,2.38,0.00,0.000,1030,0.000,0.055,2574,2539,3040,3076,3004,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1428,-0.68,-107.1,2574,2539,3076,3004,228.8,-11.8,160,1434,0.00,2.35,0.00,0.000,516,0.000,0.054,2574,1111,3040,3076,3004,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1476,-0.68,-107.1,2574,1111,3076,3004,233.7,-12.0,161,1480,0.00,2.38,0.00,0.000,1030,0.000,0.057,2574,2537,3040,3076,3004,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1743,-0.68,-107.1,2574,2537,3077,3004,264.0,-10.6,168,1749,0.00,2.33,0.00,0.000,260,0.000,0.076,2574,3924,3039,3076,3003,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1783,-0.68,-107.1,2574,3924,3076,3004,267.8,-10.2,169,1789,0.00,2.25,0.00,0.000,1030,0.000,0.044,2573,2528,3040,3076,3004,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2065,-0.68,-107.1,2574,2527,3076,3003,295.0,-10.5,176,2070,0.00,2.28,0.00,0.000,516,0.000,0.056,2574,1114,3039,3076,3003,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,2141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2141,begin apogee
$GC,2148,-0.17,0.0,2574,2401,3076,3003,304.1,-11.2,178,2241,0.52,0.00,88.93,2.078,10246,0.298,0.000,2753,2402,2599,2678,2521,0,0,0,0,0,0,14.41,28.83,13.34
$STATE,2241,end apogee,CONTROL_FINISHED_OK
$STATE,2242,begin climb
$GC,2244,0.68,107.1,2753,2402,2678,2521,307.3,0.0,180,2343,0.73,2.45,88.40,2.052,10756,0.187,0.051,3038,988,2162,2241,2084,0,0,0,0,0,0,14.32,14.35,13.35
$GC,2466,0.78,190.8,3038,988,2240,2078,296.5,6.9,186,2546,0.00,2.38,68.70,2.041,11270,0.000,0.052,3038,2411,1822,1931,1713,0,0,0,0,0,0,28.83,14.67,13.41
$GC,2789,0.78,190.8,3038,2410,1931,1705,261.3,11.4,194,2795,0.03,2.35,0.00,0.000,2564,0.523,0.056,3089,991,1818,1932,1705,0,0,0,0,0,0,14.76,14.73,28.83
$GC,2898,0.78,190.8,3089,991,1931,1700,250.4,11.9,196,2907,0.12,2.38,0.00,0.000,5126,0.366,0.052,3054,2409,1815,1931,1700,0,0,0,0,0,0,14.47,14.77,28.83
$GC,3148,0.78,190.8,3054,2409,1931,1699,216.0,11.7,203,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2409,1815,1931,1699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,0.78,190.8,3055,2409,1931,1697,189.5,10.9,215,3397,0.00,2.35,0.00,0.000,516,0.000,0.058,3063,990,1813,1931,1696,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3490,0.78,190.8,3063,989,1931,1695,178.3,10.7,224,3497,0.00,2.38,0.00,0.000,1030,0.000,0.052,3063,2409,1813,1931,1695,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3739,0.83,233.0,3063,2408,1931,1695,154.4,8.4,249,3780,0.00,2.40,33.42,1.786,8708,0.000,0.057,3073,990,1648,1764,1533,0,0,0,0,0,0,28.83,14.65,13.63
$GC,3817,0.83,233.0,3073,989,1763,1530,146.2,11.2,258,3827,0.00,2.42,0.00,0.000,1030,0.000,0.052,3073,2391,1646,1763,1530,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4128,0.83,233.0,3073,2391,1763,1526,112.5,10.1,307,4135,0.00,2.35,0.00,0.000,516,0.000,0.057,3083,985,1644,1763,1525,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4198,0.83,233.0,3083,985,1763,1523,104.3,11.6,318,4208,0.00,2.45,0.00,0.000,1030,0.000,0.053,3083,2405,1643,1763,1524,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4520,0.83,233.0,3083,2405,1763,1524,62.6,13.5,367,4529,0.00,2.42,0.00,0.000,260,0.000,0.067,3083,3813,1643,1763,1524,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4553,0.83,233.0,3083,3814,1762,1525,58.1,13.8,371,4563,0.05,2.40,0.00,0.000,5126,0.374,0.047,3075,2396,1643,1763,1524,0,0,0,0,0,0,14.28,14.62,28.83
$GC,4892,0.87,260.9,3075,2396,1763,1523,20.4,8.9,420,4920,0.00,2.42,16.83,0.922,8708,0.000,0.060,3085,977,1533,1647,1420,0,0,0,0,0,0,28.83,14.63,13.97
$GC,5020,0.90,285.2,3086,977,1648,1417,9.0,9.1,437,5039,0.00,2.47,14.45,0.806,9222,0.000,0.052,3085,2413,1436,1544,1329,0,0,0,0,0,0,28.83,14.58,14.02
$STATE,5074,end climb,SURFACE_DEPTH_REACHED
$STATE,5074,begin surface coast
$FINISH,0.1,1.017966
$STATE,5111,end surface coast,CONTROL_FINISHED_OK
$STATE,5111,begin surface
$SM_CCo,5129,66.32,0.806,0,0,967,400.08
$SM_GC,1.21,6.95,0.20,66.32,0.099,0.097,0.806,128,2544,967,-8.22,-0.65,400.08,0,0,0,0,0,0,14.76,14.76,13.98
$IRIDIUM_FIX,2230.01,-15803.24,210210,020259
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.34
$INTERNAL_PRESSURE,7.3538
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.3,208.032
$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,17.150,66.350,310.725,66.325,0.000,32.887,62.672,139.393,0.000,0.000,8.296,1152.893,1947.676,440.481,1888.508,147.997,33.266,1006.142,0.000,1081.833,0.000,0.551,0.000
$DEVICE_MAMPS,523.260,97.155,2077.740,805.545,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,300.438,302.618,536.902,566.778,1172.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353064
$DATA_FILE_SIZE,40782,449
$CAP_FILE_SIZE,65062,0
$CFSIZE,2097086464,2019098624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,162719,2239.677,-15802.432,5,1.0,5,9.8