version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 659
start: 4 27 117 5 32 38
data:
$ID,626
$MISSION,1
$DIVE,659
$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,-132855.95
$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,40
$R_STBD_OVSHOOT,36
$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
$GPS1,270417,052524,2241.613,-15803.701,36,0.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.2
$GPS2,270417,053124,2241.652,-15803.743,8,1.0,8,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,-0.170
$KALMAN_X,-146389.6,-673.8,589.5,143758.2,-1811.6
$KALMAN_Y,-673469.1,79.5,471.9,673941.8,1234.4
$MHEAD_RNG_PITCHd_Wd,105.8,7092,-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,-107.1,114,2546,980,937,0.0,0.0,0,79,0.00,0.00,-59.67,0.000,16390,0.000,0.000,114,2547,3038,3070,3006,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,115,2547,3070,3005,4.0,-7.9,7,101,8.77,2.40,0.00,0.000,2564,0.466,0.040,2586,1111,3039,3072,3006,0,0,0,0,0,0,13.96,14.64,28.83
$GC,111,-0.68,-107.1,2586,1111,3073,3006,19.0,-40.0,10,121,0.00,2.42,0.00,0.000,1030,0.000,0.050,2586,2520,3039,3073,3006,0,0,0,0,0,0,28.83,14.59,28.83
$GC,448,-0.68,-107.1,2586,2520,3074,3006,82.9,-16.0,59,455,0.00,2.38,0.00,0.000,260,0.000,0.074,2586,3917,3040,3075,3006,0,0,0,0,0,0,28.83,14.67,28.83
$GC,514,-0.68,-107.1,2586,3917,3075,3006,92.4,-12.5,69,521,0.00,2.25,0.00,0.000,1030,0.000,0.040,2586,2526,3039,3074,3005,0,0,0,0,0,0,28.83,14.76,28.83
$GC,821,-0.68,-107.1,2586,2525,3075,3006,136.2,-14.7,118,831,0.00,2.38,0.00,0.000,516,0.000,0.054,2586,1118,3040,3074,3006,0,0,0,0,0,0,28.83,14.62,28.83
$GC,923,-0.68,-107.1,2586,1118,3074,3006,148.8,-12.0,133,929,0.00,2.38,0.00,0.000,1030,0.000,0.054,2586,2538,3040,3075,3006,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1168,-0.68,-107.1,2586,2538,3075,3005,179.9,-12.4,158,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2538,3041,3076,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1447,-0.68,-107.1,2586,2538,3076,3006,214.5,-11.5,177,1453,0.00,2.33,0.00,0.000,516,0.000,0.050,2585,1119,3040,3076,3005,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1475,-0.68,-107.1,2587,1119,3076,3006,214.5,-11.5,177,1479,0.00,2.35,0.00,0.000,1030,0.000,0.054,2586,2532,3041,3076,3006,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1722,-0.68,-107.1,2586,2532,3076,3006,244.1,-10.8,183,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2532,3041,3076,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1962,-0.68,-107.1,2586,2532,3076,3005,269.6,-10.5,189,1968,0.00,2.33,0.00,0.000,516,0.000,0.050,2586,1110,3040,3076,3005,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2025,-0.68,-107.1,2586,1110,3076,3005,273.4,-10.3,190,2029,0.00,2.38,0.00,0.000,1030,0.000,0.054,2587,2529,3040,3076,3005,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2277,-0.68,-107.1,2586,2529,3076,3005,298.7,-9.0,197,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2529,3040,3076,3005,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2315,begin apogee
$GC,2321,-0.17,0.0,2586,2309,3075,3004,302.4,-9.0,198,2413,0.50,0.10,88.95,2.106,10246,0.278,0.145,2760,2372,2600,2677,2524,0,0,0,0,0,0,14.44,14.35,13.31
$STATE,2414,end apogee,CONTROL_FINISHED_OK
$STATE,2415,begin climb
$GC,2417,0.68,107.1,2760,2371,2676,2524,304.8,0.0,200,2510,0.73,0.00,89.32,2.088,10246,0.182,0.000,3036,2371,2162,2239,2086,0,0,0,0,0,0,14.33,28.83,13.35
$GC,2717,0.68,107.1,3036,2371,2239,2080,281.3,11.2,208,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2372,2159,2239,2080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2958,0.75,165.4,3036,2371,2238,2077,260.5,7.8,214,3012,0.05,2.40,47.92,2.043,10756,0.356,0.051,3101,948,1924,2022,1826,0,0,0,0,0,0,14.78,14.52,13.48
$GC,3040,0.81,212.8,3101,947,2021,1822,253.4,8.2,216,3087,0.10,2.35,39.72,1.996,13318,0.386,0.047,3076,2349,1731,1842,1621,0,0,0,0,0,0,14.32,14.58,13.44
$GC,3357,0.81,212.8,3076,2348,1842,1611,212.2,13.5,224,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2348,1726,1842,1611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3595,0.81,212.8,3076,2348,1842,1608,179.8,13.0,239,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2348,1725,1842,1608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3835,0.81,212.8,3075,2348,1842,1606,149.1,12.6,263,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2348,1724,1842,1606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,0.81,212.8,3076,2348,1842,1604,112.0,11.9,312,4148,0.00,2.47,0.00,0.000,260,0.000,0.067,3076,3764,1723,1842,1605,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4176,0.81,212.8,3076,3764,1841,1605,107.6,12.8,317,4183,0.00,2.30,0.00,0.000,1030,0.000,0.044,3086,2357,1723,1841,1605,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4490,0.81,212.8,3086,2356,1843,1603,74.5,11.2,366,4499,0.00,2.38,0.00,0.000,516,0.000,0.055,3097,955,1722,1842,1602,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4551,0.83,231.2,3096,955,1842,1600,68.5,9.3,374,4571,0.03,2.40,10.80,1.245,13318,0.399,0.047,3087,2357,1656,1772,1540,0,0,0,0,0,0,14.36,14.60,13.78
$GC,4901,0.87,264.5,3088,2357,1772,1536,34.5,8.7,424,4929,0.00,2.45,21.85,1.050,8452,0.000,0.067,3087,3776,1519,1630,1408,0,0,0,0,0,0,28.83,14.69,13.95
$GC,5015,0.87,264.5,3087,3776,1629,1407,22.6,11.0,439,5024,0.00,2.38,0.00,0.000,1030,0.000,0.044,3097,2369,1517,1629,1405,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,5195,end climb,SURFACE_DEPTH_REACHED
$STATE,5195,begin surface coast
$FINISH,0.3,1.023182
$STATE,5232,end surface coast,CONTROL_FINISHED_OK
$STATE,5232,begin surface
$SM_CCo,5249,78.93,0.819,0,0,966,400.08
$SM_GC,1.11,6.78,0.28,78.93,0.065,0.067,0.819,112,2579,966,-8.27,-1.02,400.08,0,0,0,0,0,0,14.79,14.82,13.97
$IRIDIUM_FIX,2232.34,-15805.41,210210,181818
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.66
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,13.3,210.364
$10V_AH,12.1,0.000
$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,16.950,43.350,298.575,78.925,0.000,31.490,48.338,155.919,0.000,0.000,9.095,1189.233,2100.234,430.217,1848.036,145.526,33.252,915.109,0.000,1011.247,0.000,0.552,0.000
$DEVICE_MAMPS,465.885,145.350,2106.045,818.550,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,315.608,318.233,564.935,598.992,1239.519,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353080
$DATA_FILE_SIZE,40669,470
$CAP_FILE_SIZE,60387,0
$CFSIZE,2097086464,2018213888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270417,070212,2241.719,-15803.779,5,1.0,5,9.8