version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 654
start: 4 26 117 21 28 42
data:
$ID,626
$MISSION,1
$DIVE,654
$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,-132849.7
$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,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
$GPS1,260417,212137,2239.840,-15802.683,6,1.2,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.2
$GPS2,260417,212728,2239.874,-15802.806,7,1.3,7,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.091,-0.270
$KALMAN_X,-139537.9,1242.3,-234.5,137418.6,-2252.4
$KALMAN_Y,-680390.9,-51.4,-680.2,678853.8,1534.6
$MHEAD_RNG_PITCHd_Wd,77.4,4801,-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,-107.1,114,2554,977,942,0.0,0.0,0,79,0.00,0.00,-60.50,0.000,16390,0.000,0.000,114,2555,3038,3072,3004,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,114,2555,3071,3005,3.5,-5.8,7,101,8.77,2.30,0.00,0.000,2308,0.468,0.050,2574,3905,3039,3074,3005,0,0,0,0,0,0,13.94,14.59,28.83
$GC,133,-0.68,-107.1,2575,3905,3076,3004,24.1,-37.1,13,143,0.00,2.35,0.00,0.000,1030,0.000,0.055,2574,2533,3040,3076,3004,0,0,0,0,0,0,28.83,14.56,28.83
$GC,464,-0.68,-107.1,2574,2531,3076,3004,89.2,-18.6,62,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2531,3039,3075,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,774,-0.68,-107.1,2574,2531,3077,3004,138.3,-14.2,111,781,0.00,2.30,0.00,0.000,516,0.000,0.054,2574,1115,3040,3077,3004,0,0,0,0,0,0,28.83,14.76,28.83
$GC,807,-0.68,-107.1,2574,1114,3076,3004,143.6,-13.9,116,817,0.00,2.40,0.00,0.000,1030,0.000,0.052,2574,2507,3040,3077,3004,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1077,-0.68,-107.1,2574,2507,3078,3004,175.1,-11.1,145,1085,0.00,2.35,0.00,0.000,260,0.000,0.079,2574,3908,3041,3078,3004,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1090,-0.68,-107.1,2575,3908,3078,3004,176.6,-11.5,146,1097,0.00,2.25,0.00,0.000,1030,0.000,0.044,2574,2522,3041,3078,3004,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1368,-0.68,-107.1,2574,2522,3078,3004,210.9,-12.6,168,1374,0.00,2.28,0.00,0.000,516,0.000,0.052,2574,1114,3041,3078,3004,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1426,-0.68,-107.1,2574,1114,3078,3004,216.1,-12.6,169,1430,0.00,2.35,0.00,0.000,1030,0.000,0.054,2574,2532,3041,3078,3004,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1683,-0.68,-107.1,2574,2533,3079,3004,251.8,-12.9,176,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2533,3041,3079,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1923,-0.68,-107.1,2574,2533,3078,3005,279.3,-10.9,182,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2533,3041,3078,3004,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2161,begin apogee
$GC,2167,-0.17,0.0,2574,2365,3078,3003,303.9,-10.5,188,2260,0.52,0.08,89.10,2.075,10246,0.292,0.164,2752,2409,2599,2678,2521,0,0,0,0,0,0,14.39,14.33,13.33
$STATE,2261,end apogee,CONTROL_FINISHED_OK
$STATE,2261,begin climb
$GC,2264,0.68,107.1,2753,2409,2678,2521,307.1,0.0,190,2356,0.70,0.00,88.38,2.084,10502,0.189,0.000,3022,2409,2162,2242,2083,0,0,0,0,0,0,14.31,28.83,13.34
$GC,2567,0.77,177.5,3022,2409,2242,2077,291.3,7.4,198,2629,0.10,0.00,58.55,2.048,10246,0.214,0.000,3089,2408,1876,1981,1772,0,0,0,0,0,0,14.72,28.83,13.44
$GC,2844,0.77,177.5,3090,2409,1981,1762,255.7,13.4,205,2850,0.12,2.33,0.00,0.000,4612,0.379,0.051,3060,1024,1871,1980,1762,0,0,0,0,0,0,14.42,14.73,28.83
$GC,2907,0.77,177.5,3060,1023,1980,1759,250.8,13.0,206,2911,0.00,2.28,0.00,0.000,1030,0.000,0.047,3059,2395,1870,1980,1760,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3159,0.77,177.5,3060,2396,1981,1758,217.2,12.6,213,3165,0.00,2.38,0.00,0.000,260,0.000,0.072,3059,3806,1869,1980,1758,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3217,0.77,177.5,3060,3807,1980,1758,211.9,12.8,214,3222,0.08,2.25,0.00,0.000,5126,0.446,0.047,3053,2424,1869,1980,1758,0,0,0,0,0,0,14.49,14.83,28.83
$GC,3469,0.77,177.5,3053,2423,1980,1755,179.8,11.1,232,3478,0.00,2.33,0.00,0.000,516,0.000,0.055,3064,995,1866,1980,1753,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3622,0.82,218.2,3064,995,1980,1751,165.7,8.5,246,3663,0.00,2.33,32.50,1.913,9222,0.000,0.048,3064,2404,1709,1823,1596,0,0,0,0,0,0,28.83,14.49,13.60
$GC,3930,0.86,257.5,3064,2404,1822,1589,138.1,8.5,285,3974,0.00,2.45,32.08,1.878,10756,0.000,0.056,3072,996,1548,1661,1436,0,0,0,0,0,0,28.83,14.47,13.59
$GC,4006,0.86,257.5,3072,996,1661,1433,130.2,10.7,296,4016,0.00,2.42,0.00,0.000,1030,0.000,0.047,3072,2400,1547,1661,1433,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4317,0.86,257.5,3072,2399,1661,1429,95.0,11.5,345,4324,0.00,2.35,0.00,0.000,516,0.000,0.056,3082,989,1545,1662,1429,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4362,0.86,257.5,3082,989,1661,1427,89.4,11.3,352,4372,0.00,2.42,0.00,0.000,1030,0.000,0.049,3082,2401,1543,1659,1427,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4695,0.86,257.5,3082,2401,1661,1426,50.2,10.9,401,4704,0.00,2.45,0.00,0.000,260,0.000,0.073,3082,3805,1544,1661,1427,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4790,0.86,257.5,3082,3805,1661,1428,38.6,11.8,414,4800,0.00,2.38,0.00,0.000,1030,0.000,0.049,3092,2409,1544,1661,1427,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,5127,end climb,SURFACE_DEPTH_REACHED
$STATE,5127,begin surface coast
$FINISH,0.1,1.018819
$STATE,5163,end surface coast,CONTROL_FINISHED_OK
$STATE,5163,begin surface
$SM_CCo,5180,83.60,0.830,0,0,968,400.32
$SM_GC,0.91,6.97,0.22,83.60,0.098,0.086,0.830,118,2545,968,-8.24,-0.85,400.32,0,0,0,0,0,0,14.80,14.80,13.97
$IRIDIUM_FIX,2230.01,-15803.24,210210,101028
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.38
$INTERNAL_PRESSURE,7.3538
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.3,209.066
$10V_AH,12.3,0.000
$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,17.275,47.450,300.600,83.600,0.000,29.125,49.955,150.215,0.000,0.000,8.275,1181.658,2021.749,438.201,1856.284,143.718,33.240,950.564,0.000,1039.864,0.000,0.551,0.000
$DEVICE_MAMPS,468.180,164.475,2083.860,830.025,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,313.854,318.979,563.305,583.958,1208.432,0.000,0.000,0.000,0.000,0.000
$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,43885,468
$CAP_FILE_SIZE,60627,0
$CFSIZE,2097086464,2018705408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260417,225717,2239.973,-15803.086,10,1.3,10,9.8