version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 656
start: 4 27 117 0 42 7
data:
$ID,626
$MISSION,1
$DIVE,656
$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,-132852.2
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,270417,003030,2240.282,-15803.388,36,0.8,37,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-74.0
$GPS2,270417,004051,2240.474,-15803.550,7,1.2,7,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.266,-0.103
$KALMAN_X,-142220.4,737.5,-484.6,139591.2,-1604.8
$KALMAN_Y,-677840.4,232.6,-306.1,676767.2,2078.8
$MHEAD_RNG_PITCHd_Wd,88.4,6129,-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,-107.1,114,2540,980,937,0.0,0.0,0,79,0.00,0.00,-60.15,0.000,16390,0.000,0.000,114,2541,3037,3070,3004,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,114,2541,3070,3004,3.8,-7.0,7,101,8.75,0.00,0.00,0.000,2566,0.464,0.000,2577,2540,3038,3072,3004,0,0,0,0,0,0,14.11,28.83,28.83
$GC,428,-0.68,-107.1,2577,2541,3074,3004,83.3,-17.1,57,434,0.00,2.35,0.00,0.000,260,0.000,0.078,2574,3911,3038,3073,3004,0,0,0,0,0,0,28.83,14.65,28.83
$GC,482,-0.68,-107.1,2574,3911,3074,3004,92.1,-16.1,65,488,0.00,2.28,0.00,0.000,1030,0.000,0.044,2574,2512,3039,3074,3004,0,0,0,0,0,0,28.83,14.76,28.83
$GC,786,-0.68,-107.1,2574,2511,3075,3005,144.8,-15.7,114,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2510,3039,3074,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1040,-0.68,-107.1,2575,2510,3075,3004,180.5,-12.3,141,1052,0.00,2.25,0.00,0.000,516,0.000,0.051,2575,1122,3039,3075,3004,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1068,-0.68,-107.1,2574,1121,3074,3004,183.4,-11.8,143,1074,0.00,2.35,0.00,0.000,1030,0.000,0.054,2575,2528,3039,3075,3004,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1345,-0.68,-107.1,2574,2528,3075,3004,213.9,-10.8,162,1351,0.00,2.30,0.00,0.000,516,0.000,0.050,2574,1121,3039,3075,3004,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1379,-0.68,-107.1,2574,1120,3075,3004,213.9,-10.8,162,1386,0.00,2.35,0.00,0.000,1030,0.000,0.054,2574,2534,3039,3075,3004,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1625,-0.68,-107.1,2574,2534,3075,3005,249.5,-13.1,169,1631,0.00,2.30,0.00,0.000,260,0.000,0.075,2574,3912,3039,3075,3004,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1673,-0.68,-107.1,2574,3912,3075,3004,254.7,-13.4,170,1677,0.00,2.22,0.00,0.000,1030,0.000,0.039,2574,2521,3039,3075,3004,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1940,-0.68,-107.1,2574,2520,3075,3004,290.4,-12.7,177,1945,0.00,2.28,0.00,0.000,516,0.000,0.051,2574,1120,3039,3075,3004,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1983,-0.68,-107.1,2574,1120,3075,3003,295.1,-12.5,178,1987,0.00,2.35,0.00,0.000,1030,0.000,0.052,2574,2538,3039,3075,3004,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,2052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2052,begin apogee
$GC,2059,-0.17,0.0,2575,2367,3075,3003,302.5,-11.2,180,2151,0.50,0.00,88.93,2.084,10246,0.283,0.000,2746,2365,2600,2678,2522,0,0,0,0,0,0,14.41,28.83,13.34
$STATE,2152,end apogee,CONTROL_FINISHED_OK
$STATE,2152,begin climb
$GC,2154,0.68,107.1,2746,2365,2678,2522,304.6,0.0,182,2254,0.70,2.33,87.97,2.070,10756,0.193,0.051,3029,1019,2162,2240,2084,0,0,0,0,0,0,14.30,14.38,13.33
$GC,2307,0.68,107.1,3029,1019,2240,2079,295.4,7.0,186,2311,0.00,2.33,0.00,0.000,1030,0.000,0.050,3029,2403,2159,2240,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2574,0.72,141.8,3029,2403,2240,2077,268.4,8.7,193,2613,0.00,2.45,28.62,1.987,8452,0.000,0.070,3029,3807,2022,2112,1932,0,0,0,0,0,0,28.83,14.60,13.57
$GC,2649,0.77,182.1,3029,3807,2112,1932,265.1,8.5,194,2689,0.00,2.25,34.38,1.984,9222,0.000,0.042,3039,2429,1856,1962,1750,0,0,0,0,0,0,28.83,14.69,13.50
$GC,2933,0.80,201.3,3039,2429,1962,1742,234.2,9.3,201,2955,0.05,2.38,16.42,1.880,10756,0.365,0.054,3101,989,1778,1889,1668,0,0,0,0,0,0,14.71,14.69,13.63
$GC,2986,0.81,216.6,3101,989,1888,1666,230.0,9.4,202,3008,0.12,2.35,13.95,1.859,13318,0.365,0.047,3066,2404,1716,1828,1604,0,0,0,0,0,0,14.41,14.69,13.59
$GC,3248,0.81,216.6,3066,2404,1828,1596,197.9,11.1,209,3257,0.00,2.35,0.00,0.000,516,0.000,0.054,3077,988,1712,1828,1596,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3285,0.81,216.6,3077,988,1828,1594,194.4,10.7,212,3291,0.00,2.35,0.00,0.000,1030,0.000,0.047,3077,2405,1710,1828,1593,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3534,0.81,216.6,3077,2405,1828,1594,164.7,12.2,237,3545,0.00,2.30,0.00,0.000,260,0.000,0.067,3077,3797,1710,1828,1593,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3568,0.81,216.6,3077,3797,1828,1595,159.7,13.7,240,3580,0.08,2.25,0.00,0.000,5126,0.456,0.042,3070,2400,1710,1828,1593,0,0,0,0,0,0,14.46,14.83,28.83
$GC,3858,0.81,216.6,3070,2400,1828,1591,126.9,10.3,281,3865,0.00,2.38,0.00,0.000,260,0.000,0.066,3070,3810,1709,1828,1591,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3887,0.81,216.6,3070,3810,1828,1592,123.8,10.7,285,3894,0.00,2.30,0.00,0.000,1030,0.000,0.042,3081,2398,1710,1828,1592,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4194,0.81,216.6,3081,2396,1828,1589,91.9,10.3,334,4203,0.00,2.38,0.00,0.000,516,0.000,0.055,3091,994,1708,1828,1588,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4283,0.81,216.6,3091,994,1828,1588,83.0,10.6,347,4290,0.10,2.33,0.00,0.000,5126,0.382,0.047,3064,2399,1708,1828,1588,0,0,0,0,0,0,14.43,14.76,28.83
$GC,4624,0.88,273.9,3064,2399,1828,1588,52.3,7.8,396,4670,0.08,2.40,36.85,1.187,10500,0.275,0.066,3123,3810,1481,1587,1376,0,0,0,0,0,0,14.71,14.63,13.83
$GC,4747,0.88,273.9,3124,3811,1585,1374,36.2,14.1,412,4758,0.12,2.40,0.00,0.000,5126,0.321,0.044,3090,2393,1477,1583,1372,0,0,0,0,0,0,14.26,14.59,28.83
$STATE,5038,end climb,SURFACE_DEPTH_REACHED
$STATE,5038,begin surface coast
$FINISH,0.3,1.023188
$STATE,5074,end surface coast,CONTROL_FINISHED_OK
$STATE,5074,begin surface
$SM_CCo,5091,73.40,0.799,0,0,968,400.08
$SM_GC,1.07,6.82,0.25,73.40,0.077,0.083,0.799,127,2550,968,-8.24,-0.85,400.08,0,0,0,0,0,0,14.77,14.79,14.00
$IRIDIUM_FIX,2230.01,-15805.41,210210,141408
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.59
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,13.3,209.588
$10V_AH,12.0,0.000
$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,17.325,61.000,307.125,73.400,0.000,96.703,141.917,138.307,0.000,0.000,8.304,1172.904,2007.669,426.588,2058.028,147.816,33.244,984.105,0.000,1075.690,0.000,0.552,0.000
$DEVICE_MAMPS,464.355,83.385,2083.860,798.660,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,307.212,312.880,552.887,583.949,1208.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353068
$DATA_FILE_SIZE,40679,459
$CAP_FILE_SIZE,67060,0
$CFSIZE,2097086464,2018476032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270417,020854,2240.906,-15803.543,4,1.1,4,9.8