version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 658
start: 4 27 117 3 52 5
data:
$ID,626
$MISSION,1
$DIVE,658
$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,-132854.7
$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,2815
$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,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,25
$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
$GPS1,270417,034501,2241.329,-15803.532,13,1.2,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-75.4
$GPS2,270417,035051,2241.413,-15803.570,8,1.1,8,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.163
$KALMAN_X,-145034.9,-160.3,408.2,142361.1,-1953.7
$KALMAN_Y,-675204.6,273.2,585.4,674923.7,1216.7
$MHEAD_RNG_PITCHd_Wd,103.4,6639,-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,-107.1,117,2529,981,936,0.0,0.0,0,79,0.00,0.00,-60.00,0.000,16390,0.000,0.000,116,2529,3037,3071,3004,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,117,2529,3071,3004,3.8,-7.3,7,101,8.77,2.38,0.00,0.000,2564,0.464,0.040,2589,1100,3039,3074,3004,0,0,0,0,0,0,14.14,14.64,28.83
$GC,227,-0.68,-107.1,2589,1100,3075,3004,42.4,-18.5,27,237,0.00,2.47,0.00,0.000,1030,0.000,0.054,2589,2532,3039,3075,3004,0,0,0,0,0,0,28.83,14.59,28.83
$GC,553,-0.68,-107.1,2589,2532,3076,3004,97.4,-17.2,76,563,0.00,2.42,0.00,0.000,260,0.000,0.076,2588,3917,3040,3076,3004,0,0,0,0,0,0,28.83,14.53,28.83
$GC,719,-0.68,-107.1,2588,3918,3077,3004,122.7,-14.7,102,728,0.00,2.33,0.00,0.000,1030,0.000,0.039,2588,2521,3040,3076,3004,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1007,-0.68,-107.1,2588,2520,3077,3003,167.2,-14.9,141,1018,0.00,2.28,0.00,0.000,516,0.000,0.052,2588,1117,3040,3076,3004,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1041,-0.68,-107.1,2588,1117,3076,3004,172.1,-14.4,144,1053,0.00,2.35,0.00,0.000,1030,0.000,0.054,2588,2544,3040,3077,3004,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1301,-0.68,-107.1,2588,2544,3077,3004,205.4,-11.3,167,1307,0.00,2.33,0.00,0.000,516,0.000,0.048,2587,1120,3040,3077,3003,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1349,-0.68,-107.1,2588,1120,3077,3003,209.6,-11.1,168,1353,0.00,2.35,0.00,0.000,1030,0.000,0.053,2587,2538,3040,3077,3003,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1616,-0.68,-107.1,2588,2538,3077,3003,239.1,-11.0,175,1622,0.00,2.33,0.00,0.000,516,0.000,0.050,2588,1117,3040,3077,3003,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1644,-0.68,-107.1,2588,1117,3077,3004,239.1,-11.0,175,1648,0.00,2.38,0.00,0.000,1030,0.000,0.054,2588,2535,3040,3077,3004,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1892,-0.68,-107.1,2588,2535,3077,3004,267.5,-9.9,181,1897,0.00,2.30,0.00,0.000,516,0.000,0.050,2588,1121,3040,3077,3003,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1955,-0.68,-107.1,2588,1122,3077,3004,271.2,-9.6,182,1959,0.00,2.35,0.00,0.000,1030,0.000,0.054,2588,2532,3040,3077,3003,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2207,-0.68,-107.1,2588,2532,3077,3003,298.2,-9.9,189,2213,0.00,2.30,0.00,0.000,516,0.000,0.050,2587,1122,3040,3077,3003,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2230,-0.68,-107.1,2588,1121,3077,3002,298.2,-9.9,189,2234,0.00,2.35,0.00,0.000,1030,0.000,0.054,2588,2529,3039,3077,3002,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,2239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2239,begin apogee
$GC,2245,-0.17,0.0,2588,2315,3077,3002,301.9,-10.1,190,2338,0.50,0.10,89.35,2.103,10246,0.285,0.148,2760,2377,2600,2679,2521,0,0,0,0,0,0,14.43,14.34,13.33
$STATE,2339,end apogee,CONTROL_FINISHED_OK
$STATE,2339,begin climb
$GC,2342,0.68,107.1,2760,2377,2678,2521,305.4,0.0,192,2442,0.70,2.40,88.12,2.088,10756,0.177,0.051,3048,996,2162,2240,2084,0,0,0,0,0,0,14.34,14.35,13.35
$GC,2520,0.68,107.1,3048,996,2239,2079,302.7,3.0,196,2526,0.00,2.28,0.00,0.000,1030,0.000,0.049,3048,2353,2159,2240,2079,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2767,0.69,116.6,3048,2353,2239,2077,275.1,9.6,203,2782,0.00,2.45,8.77,1.801,8452,0.000,0.069,3048,3770,2124,2206,2042,0,0,0,0,0,0,28.83,14.74,13.59
$GC,2872,0.71,132.6,3048,3770,2205,2042,267.4,9.4,205,2894,0.03,2.22,14.60,1.922,13318,0.627,0.041,3049,2393,2059,2146,1972,0,0,0,0,0,0,14.52,14.80,13.64
$GC,3169,0.76,169.0,3049,2393,2146,1967,238.9,8.6,213,3207,0.00,2.40,30.80,1.996,8708,0.000,0.054,3060,946,1908,2011,1806,0,0,0,0,0,0,28.83,14.62,13.57
$GC,3269,0.79,199.5,3060,945,2010,1802,231.4,8.9,215,3301,0.00,2.38,26.02,1.965,9222,0.000,0.049,3060,2363,1785,1894,1676,0,0,0,0,0,0,28.83,14.66,13.54
$GC,3550,0.79,199.5,3060,2363,1894,1669,195.9,12.1,224,3558,0.00,2.38,0.00,0.000,260,0.000,0.068,3060,3776,1781,1894,1669,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3661,0.79,199.5,2096,3775,1854,1664,182.7,12.1,234,3671,0.00,2.38,0.00,0.000,1030,0.000,0.044,3070,2367,1780,1893,1668,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3913,0.80,208.3,3070,2367,1894,1664,157.2,9.7,259,3930,0.00,2.33,7.47,1.669,8708,0.000,0.054,3080,941,1751,1868,1634,0,0,0,0,0,0,28.83,14.73,13.63
$GC,3968,0.80,208.3,3080,941,1867,1633,151.5,10.3,264,3978,0.00,2.42,0.00,0.000,1030,0.000,0.048,3080,2358,1750,1867,1633,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4269,0.80,208.3,3081,2358,1867,1630,118.3,11.2,312,4278,0.00,2.45,0.00,0.000,260,0.000,0.069,3081,3770,1748,1867,1630,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4343,0.80,208.3,3081,3770,1867,1632,108.9,13.1,323,4351,0.08,2.30,0.00,0.000,5126,0.467,0.044,3075,2355,1749,1867,1632,0,0,0,0,0,0,14.42,14.79,28.83
$GC,4657,0.82,222.6,3076,2354,1867,1630,76.6,9.5,372,4676,0.00,2.35,9.48,1.294,8708,0.000,0.054,3086,953,1692,1809,1575,0,0,0,0,0,0,28.83,14.73,13.77
$GC,4767,0.85,249.3,3086,954,1808,1573,66.1,9.0,387,4795,0.00,2.40,17.90,1.279,9222,0.000,0.047,3086,2356,1582,1695,1470,0,0,0,0,0,0,28.83,14.62,13.84
$GC,5125,0.86,255.8,3086,2356,1695,1464,31.2,9.8,438,5136,0.00,2.35,3.80,0.738,8708,0.000,0.053,3096,947,1555,1671,1440,0,0,0,0,0,0,28.83,14.76,13.79
$GC,5160,0.86,255.8,3096,947,1670,1439,27.5,10.0,442,5170,0.00,2.42,0.00,0.000,1030,0.000,0.047,3096,2363,1554,1670,1439,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,5385,end climb,SURFACE_DEPTH_REACHED
$STATE,5385,begin surface coast
$FINISH,0.2,1.013643
$STATE,5422,end surface coast,CONTROL_FINISHED_OK
$STATE,5422,begin surface
$SM_CCo,5439,83.60,0.820,0,0,968,400.08
$SM_GC,0.97,6.85,0.28,83.60,0.080,0.091,0.820,119,2541,968,-8.27,-0.82,400.08,0,0,0,0,0,0,14.81,14.77,13.99
$IRIDIUM_FIX,2232.34,-15805.41,210210,171755
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.12
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,13.3,210.107
$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,16.925,71.450,296.325,83.600,0.000,29.103,48.244,150.467,0.000,0.000,9.084,1236.215,2052.610,426.652,2023.420,159.003,33.246,1038.830,0.000,1171.219,0.000,0.552,0.000
$DEVICE_MAMPS,626.535,148.410,2102.985,820.080,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,320.804,325.725,572.666,609.728,1261.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353144
$DATA_FILE_SIZE,43894,479
$CAP_FILE_SIZE,71904,0
$CFSIZE,2097086464,2018279424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270417,052524,2241.613,-15803.701,36,0.8,36,9.8