version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 657
start: 4 27 117 2 15 49
data:
$ID,626
$MISSION,1
$DIVE,657
$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,-132853.45
$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,37
$R_STBD_OVSHOOT,46
$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
$GPS1,270417,020854,2240.906,-15803.543,4,1.1,4,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-75.8
$GPS2,270417,021435,2241.003,-15803.599,8,1.0,8,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.205
$KALMAN_X,-144019.0,370.6,-2.4,141186.2,-1929.4
$KALMAN_Y,-677019.6,371.8,317.6,676160.7,1454.2
$MHEAD_RNG_PITCHd_Wd,97.0,6425,-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,-107.1,114,2556,978,938,0.0,0.0,0,79,0.00,0.00,-60.30,0.000,16390,0.000,0.000,114,2557,3039,3070,3008,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,114,2557,3070,3008,3.7,-6.6,7,101,8.77,2.42,0.00,0.000,2564,0.469,0.039,2580,1103,3039,3072,3007,0,0,0,0,0,0,13.97,14.65,28.83
$GC,111,-0.68,-107.1,2580,1102,3073,3007,18.4,-39.0,10,121,0.00,2.42,0.00,0.000,1030,0.000,0.049,2575,2516,3040,3073,3007,0,0,0,0,0,0,28.83,14.59,28.83
$GC,449,-0.68,-107.1,2575,2516,3074,3007,83.8,-16.2,59,455,0.00,2.38,0.00,0.000,260,0.000,0.073,2575,3917,3040,3074,3007,0,0,0,0,0,0,28.83,14.66,28.83
$GC,481,-0.68,-107.1,2575,3917,3074,3007,89.6,-16.2,64,491,0.00,2.33,0.00,0.000,1030,0.000,0.041,2575,2529,3040,3074,3007,0,0,0,0,0,0,28.83,14.61,28.83
$GC,791,-0.68,-107.1,2575,2529,3074,3007,139.8,-15.9,113,797,0.00,2.30,0.00,0.000,516,0.000,0.054,2575,1119,3040,3074,3007,0,0,0,0,0,0,28.83,14.77,28.83
$GC,836,-0.68,-107.1,2575,1119,3074,3007,147.4,-15.2,120,846,0.00,2.42,0.00,0.000,1030,0.000,0.054,2575,2528,3041,3075,3007,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1090,-0.68,-107.1,2575,2527,3075,3007,185.2,-15.6,146,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2528,3040,3074,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1359,-0.68,-107.1,2575,2528,3076,3007,219.5,-12.2,161,1364,0.00,2.33,0.00,0.000,516,0.000,0.050,2574,1108,3041,3076,3007,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1392,-0.68,-107.1,2575,1108,3076,3007,219.5,-12.2,161,1398,0.00,2.38,0.00,0.000,1030,0.000,0.053,2575,2538,3042,3077,3007,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1639,-0.68,-107.1,2575,2538,3076,3007,251.4,-11.4,168,1644,0.00,2.33,0.00,0.000,260,0.000,0.076,2575,3917,3041,3076,3006,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1691,-0.68,-107.1,2575,3917,3076,3007,255.7,-11.3,169,1696,0.00,2.22,0.00,0.000,1030,0.000,0.038,2574,2526,3041,3076,3007,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1954,-0.68,-107.1,2574,2525,3075,3007,281.9,-9.2,176,1960,0.00,2.25,0.00,0.000,516,0.000,0.052,2574,1127,3042,3077,3007,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2017,-0.68,-107.1,2574,1127,3076,3006,285.2,-9.0,177,2021,0.00,2.33,0.00,0.000,1030,0.000,0.053,2575,2530,3041,3076,3006,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,2186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2186,begin apogee
$GC,2193,-0.17,0.0,2575,2360,3076,3005,300.7,-8.1,182,2286,0.50,0.10,89.22,2.075,10246,0.285,0.145,2746,2424,2600,2676,2524,0,0,0,0,0,0,14.42,14.35,13.34
$STATE,2287,end apogee,CONTROL_FINISHED_OK
$STATE,2287,begin climb
$GC,2289,0.68,107.1,2746,2424,2676,2524,302.7,0.0,184,2382,0.73,0.00,89.32,2.090,10246,0.191,0.000,3021,2424,2162,2239,2086,0,0,0,0,0,0,14.33,28.83,13.33
$GC,2590,0.75,161.3,3021,2424,2239,2080,284.8,8.0,192,2642,0.08,2.42,45.08,2.050,10756,0.264,0.055,3090,1023,1942,2040,1844,0,0,0,0,0,0,14.69,14.47,13.47
$GC,2743,0.75,161.3,3090,1024,2040,1837,272.0,10.1,195,2750,0.15,2.28,0.00,0.000,5126,0.357,0.047,3047,2390,1938,2040,1836,0,0,0,0,0,0,14.38,14.66,28.83
$GC,2990,0.78,187.3,3047,2390,2039,1834,245.0,9.0,202,3017,0.00,2.30,21.70,2.001,8708,0.000,0.055,3056,1020,1836,1944,1728,0,0,0,0,0,0,28.83,14.68,13.61
$GC,3053,0.81,212.5,3057,1020,1943,1726,241.7,9.1,203,3082,0.00,2.30,22.17,1.959,9222,0.000,0.047,3057,2400,1732,1843,1621,0,0,0,0,0,0,28.83,14.69,13.54
$GC,3345,0.81,212.5,3056,2400,1843,1613,200.1,13.8,211,3351,0.00,2.35,0.00,0.000,260,0.000,0.068,3057,3813,1728,1843,1613,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3358,0.81,212.5,3056,3814,1843,1614,200.1,13.8,211,3362,0.00,2.25,0.00,0.000,1030,0.000,0.046,3067,2433,1728,1843,1614,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3615,0.81,212.5,3067,2433,1842,1610,168.2,10.3,235,3623,0.00,2.35,0.00,0.000,516,0.000,0.055,3078,994,1726,1843,1609,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3659,0.81,212.5,3078,994,1843,1608,162.8,11.0,239,3667,0.00,2.33,0.00,0.000,1030,0.000,0.049,3078,2400,1725,1843,1608,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3943,0.81,212.5,3078,2400,1843,1607,130.0,11.3,278,3952,0.00,2.42,0.00,0.000,260,0.000,0.070,3078,3796,1725,1843,1607,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3984,0.81,212.5,3078,3797,1843,1608,125.2,11.4,284,3995,0.05,2.35,0.00,0.000,5126,0.386,0.042,3069,2396,1725,1843,1607,0,0,0,0,0,0,14.30,14.66,28.83
$GC,4295,0.86,256.8,3069,2395,1843,1606,97.8,8.3,333,4331,0.00,2.40,29.25,1.567,8708,0.000,0.056,3079,994,1552,1665,1439,0,0,0,0,0,0,28.83,14.67,13.73
$GC,4403,0.86,256.8,3079,994,1665,1435,86.4,11.2,349,4410,0.00,2.35,0.00,0.000,1030,0.000,0.047,3079,2402,1549,1664,1435,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4737,0.87,258.8,3079,2402,1664,1433,49.8,9.9,398,4747,0.00,2.45,0.00,0.000,260,0.000,0.068,3078,3807,1548,1664,1433,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4784,0.87,258.8,3079,3807,1664,1434,44.2,11.9,404,4794,0.00,2.38,0.00,0.000,1030,0.000,0.043,3089,2398,1548,1664,1433,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5129,0.87,258.8,3089,2398,1664,1432,6.5,11.1,453,5138,0.00,2.40,0.00,0.000,516,0.000,0.058,3099,991,1548,1664,1432,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,5159,end climb,SURFACE_DEPTH_REACHED
$STATE,5160,begin surface coast
$FINISH,0.2,1.023133
$STATE,5197,end surface coast,CONTROL_FINISHED_OK
$STATE,5197,begin surface
$SM_CCo,5216,83.47,0.816,0,0,967,400.08
$SM_GC,1.02,6.88,2.60,83.47,0.083,0.047,0.816,128,2524,967,-8.23,-1.07,400.08,0,0,0,0,0,0,14.81,14.73,13.97
$IRIDIUM_FIX,2232.34,-15805.41,210210,151546
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.08
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,13.3,209.848
$10V_AH,13.4,0.000
$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,17.150,66.350,296.750,83.475,0.000,29.051,48.259,140.647,0.000,0.000,9.089,1182.249,1995.718,459.331,1878.148,150.450,33.246,983.247,0.000,1057.780,0.000,0.552,0.000
$DEVICE_MAMPS,468.945,144.585,2089.980,816.255,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,309.266,306.349,551.515,588.252,1217.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353136
$DATA_FILE_SIZE,40662,462
$CAP_FILE_SIZE,65667,0
$CFSIZE,2097086464,2018377728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270417,034501,2241.329,-15803.532,13,1.2,14,9.8