version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 653
start: 4 26 117 19 51 57
data:
$ID,626
$MISSION,1
$DIVE,653
$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,-132848.45
$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,34
$R_STBD_OVSHOOT,38
$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
$GPS1,260417,194449,2239.805,-15802.312,41,0.8,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.6
$GPS2,260417,195043,2239.829,-15802.405,7,1.2,8,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,-0.148
$KALMAN_X,-137841.8,1194.4,266.0,135960.0,-2214.1
$KALMAN_Y,-681803.6,-118.4,-170.3,679744.1,829.3
$MHEAD_RNG_PITCHd_Wd,75.8,4122,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-107.1,114,2548,979,938,0.0,0.0,0,80,0.00,0.00,-59.85,0.000,16390,0.000,0.000,114,2547,3037,3069,3006,0,0,0,0,0,0,28.83,28.83,15.00
$GC,83,-0.68,-107.1,114,2548,3069,3006,4.0,-7.6,7,102,8.85,2.30,0.00,0.000,2308,0.474,0.047,2576,3909,3038,3071,3006,0,0,0,0,0,0,13.95,14.62,28.83
$GC,148,-0.68,-107.1,2577,3909,3074,3006,28.0,-25.1,15,157,0.00,2.35,0.00,0.000,1030,0.000,0.052,2576,2533,3039,3073,3006,0,0,0,0,0,0,28.83,14.57,28.83
$GC,478,-0.68,-107.1,2576,2533,3073,3006,91.9,-18.3,64,487,0.00,2.40,0.00,0.000,516,0.000,0.058,2576,1118,3039,3073,3006,0,0,0,0,0,0,28.83,14.61,28.83
$GC,515,-0.68,-107.1,2576,1117,3073,3006,98.2,-18.4,69,522,0.00,2.35,0.00,0.000,1030,0.000,0.057,2574,2517,3039,3073,3006,0,0,0,0,0,0,28.83,14.72,28.83
$GC,822,-0.68,-107.1,2575,2518,3074,3006,149.1,-15.6,118,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2517,3040,3075,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1069,-0.68,-107.1,2575,2517,3076,3006,184.5,-13.6,143,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2517,3041,3076,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1319,-0.68,-107.1,2575,2517,3076,3006,213.2,-10.8,159,1324,0.00,2.33,0.00,0.000,516,0.000,0.054,2575,1103,3041,3076,3006,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1377,-0.68,-107.1,2575,1102,3076,3005,217.3,-10.6,160,1381,0.00,2.40,0.00,0.000,1030,0.000,0.057,2575,2539,3041,3076,3006,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1634,-0.68,-107.1,2575,2539,3076,3005,243.5,-9.5,167,1640,0.00,2.33,0.00,0.000,516,0.000,0.056,2575,1119,3040,3075,3005,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1647,-0.68,-107.1,2575,1117,3076,3005,243.5,-9.5,167,1651,0.00,2.38,0.00,0.000,1030,0.000,0.060,2575,2530,3041,3076,3006,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1909,-0.68,-107.1,2575,2530,3075,3005,273.3,-10.8,174,1915,0.00,2.35,0.00,0.000,516,0.000,0.057,2575,1102,3040,3075,3005,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1952,-0.68,-107.1,2575,1101,3075,3004,277.7,-10.8,175,1956,0.00,2.40,0.00,0.000,1030,0.000,0.060,2575,2531,3040,3076,3004,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,2182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2182,begin apogee
$GC,2188,-0.17,0.0,2575,2373,3076,3003,300.5,-9.4,181,2280,0.50,0.00,88.78,2.074,10246,0.289,0.000,2746,2372,2600,2676,2524,0,0,0,0,0,0,14.40,28.83,13.33
$STATE,2281,end apogee,CONTROL_FINISHED_OK
$STATE,2281,begin climb
$GC,2283,0.68,107.1,2746,2372,2676,2523,302.1,0.0,183,2376,0.75,0.00,88.85,2.075,10758,0.194,0.000,3027,2372,2162,2239,2086,0,0,0,0,0,0,14.32,28.83,13.35
$GC,2586,0.73,151.1,3027,2372,2239,2080,281.7,8.3,191,2628,0.00,2.50,36.50,2.034,8452,0.000,0.067,3027,3816,1984,2078,1891,0,0,0,0,0,0,28.83,14.52,13.51
$GC,2669,0.77,179.2,3027,3816,2077,1891,274.1,8.9,193,2701,0.00,2.30,24.60,1.978,9222,0.000,0.045,3038,2424,1868,1975,1762,0,0,0,0,0,0,28.83,14.63,13.48
$GC,2941,0.77,179.2,3038,2424,1974,1755,241.0,11.9,200,2947,0.00,2.38,0.00,0.000,516,0.000,0.059,3049,988,1865,1975,1755,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3090,0.77,179.2,3049,987,1974,1749,226.9,11.9,203,3099,0.00,2.38,0.00,0.000,1030,0.000,0.052,3049,2415,1861,1974,1749,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3341,0.77,179.2,3049,2415,1974,1748,194.5,11.3,213,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2415,1861,1974,1748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3581,0.78,191.4,3049,2415,1974,1746,169.1,9.5,237,3601,0.00,2.38,10.23,1.785,8708,0.000,0.058,3060,983,1818,1933,1704,0,0,0,0,0,0,28.83,14.74,13.60
$GC,3660,0.79,199.2,3060,984,1932,1701,161.9,9.7,244,3676,0.00,2.35,7.82,1.666,9222,0.000,0.052,3060,2398,1787,1902,1672,0,0,0,0,0,0,28.83,14.64,13.62
$GC,3948,0.82,222.5,3060,2398,1902,1669,135.5,9.1,283,3978,0.00,2.42,18.27,1.838,8708,0.000,0.059,3070,991,1691,1806,1577,0,0,0,0,0,0,28.83,14.58,13.67
$GC,3994,0.82,222.5,3070,991,1806,1576,130.9,10.3,289,4001,0.00,2.38,0.00,0.000,1030,0.000,0.053,3070,2402,1691,1806,1576,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4301,0.82,222.5,3070,2402,1806,1572,94.9,10.5,338,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2402,1689,1806,1572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4625,0.85,248.5,3070,2402,1806,1571,64.9,9.0,387,4653,0.00,2.45,16.90,1.280,8708,0.000,0.061,3079,986,1584,1699,1470,0,0,0,0,0,0,28.83,14.63,13.87
$GC,4663,0.89,278.4,3079,986,1698,1470,61.5,8.9,391,4692,0.00,2.45,19.58,1.240,9222,0.000,0.053,3079,2404,1464,1571,1357,0,0,0,0,0,0,28.83,14.61,13.83
$GC,5021,0.89,278.4,3079,2404,1571,1350,25.6,10.4,442,5031,0.00,2.42,0.00,0.000,260,0.000,0.067,3079,3812,1460,1571,1350,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5054,0.89,278.4,3079,3813,1570,1350,21.7,11.0,446,5064,0.00,2.40,0.00,0.000,1030,0.000,0.047,3090,2400,1459,1570,1349,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,5217,end climb,SURFACE_DEPTH_REACHED
$STATE,5217,begin surface coast
$FINISH,0.2,1.008811
$STATE,5248,end surface coast,CONTROL_FINISHED_OK
$STATE,5248,begin surface
$SM_CCo,5265,70.82,0.810,0,0,968,400.08
$SM_GC,1.15,6.88,0.25,70.82,0.085,0.083,0.810,120,2551,968,-8.23,-0.68,400.08,0,0,0,0,0,0,14.81,14.78,13.99
$IRIDIUM_FIX,2227.67,-15803.24,210210,090941
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.22
$INTERNAL_PRESSURE,7.3538
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,13.3,208.802
$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,16.975,52.850,311.525,70.825,0.000,31.083,51.148,146.877,0.250,0.000,9.283,1195.032,2024.803,426.109,1923.822,145.634,33.248,976.879,0.000,1083.399,0.000,0.550,0.000
$DEVICE_MAMPS,474.300,83.385,2075.445,810.135,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,317.244,320.478,567.364,596.860,1235.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353076
$DATA_FILE_SIZE,44144,473
$CAP_FILE_SIZE,63910,0
$CFSIZE,2097086464,2018803712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,212137,2239.840,-15802.683,6,1.2,6,9.8