version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 661
start: 4 27 117 8 47 9
data:
$ID,626
$MISSION,1
$DIVE,661
$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,-132858.45
$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,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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,270417,083926,2241.669,-15804.029,6,2.3,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.7
$GPS2,270417,084555,2241.682,-15804.115,22,1.5,38,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.242,-0.149
$KALMAN_X,-149112.5,-964.6,135.3,146594.1,-1876.3
$KALMAN_Y,-670679.1,-16.2,-265.0,672046.4,1084.2
$MHEAD_RNG_PITCHd_Wd,104.1,7692,-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,-107.1,114,2505,984,932,0.0,0.0,0,79,0.00,0.00,-60.28,0.000,16390,0.000,0.000,114,2505,3038,3070,3006,0,0,0,0,0,0,28.83,28.83,15.01
$GC,82,-0.68,-107.1,114,2505,3070,3006,3.6,-6.3,7,100,8.82,0.00,0.00,0.000,2566,0.470,0.000,2586,2505,3038,3072,3005,0,0,0,0,0,0,13.93,28.83,28.83
$GC,430,-0.68,-107.1,2586,2505,3074,3006,78.9,-16.0,57,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2505,3039,3074,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,739,-0.68,-107.1,2585,2505,3075,3006,126.5,-14.5,106,748,0.00,2.33,0.00,0.000,516,0.000,0.053,2586,1135,3040,3074,3006,0,0,0,0,0,0,28.83,14.59,28.83
$GC,817,-0.68,-107.1,2586,1135,3075,3006,137.1,-11.7,118,827,0.00,2.40,0.00,0.000,1030,0.000,0.054,2586,2523,3040,3075,3006,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1084,-0.68,-107.1,2586,2524,3076,3005,174.4,-14.7,150,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2524,3040,3075,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1324,-0.68,-107.1,2586,2524,3076,3005,205.3,-11.2,171,1329,0.00,2.30,0.00,0.000,516,0.000,0.049,2586,1123,3040,3075,3006,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1352,-0.68,-107.1,2585,1123,3076,3005,205.3,-11.2,171,1356,0.00,2.35,0.00,0.000,1030,0.000,0.054,2586,2536,3041,3076,3006,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1599,-0.68,-107.1,2585,2536,3076,3006,233.6,-10.3,177,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2536,3040,3076,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1839,-0.68,-107.1,2586,2536,3076,3006,257.4,-10.0,183,1845,0.00,2.30,0.00,0.000,516,0.000,0.050,2586,1130,3040,3076,3005,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1932,-0.68,-107.1,2586,1130,3076,3005,265.9,-10.3,185,1936,0.00,2.35,0.00,0.000,1030,0.000,0.054,2586,2538,3040,3076,3005,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2194,-0.68,-107.1,2586,2538,3075,3005,294.5,-10.4,192,2199,0.00,2.33,0.00,0.000,260,0.000,0.079,2586,3915,3040,3076,3005,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2227,-0.68,-107.1,2586,3916,3075,3005,294.5,-10.4,192,2233,0.00,2.22,0.00,0.000,1030,0.000,0.037,2586,2530,3040,3076,3004,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,2271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2271,begin apogee
$GC,2278,-0.17,0.0,2586,2316,3076,3003,302.7,-10.3,194,2371,0.50,0.10,89.47,2.130,10246,0.273,0.148,2760,2372,2600,2677,2524,0,0,0,0,0,0,14.42,14.33,13.31
$STATE,2372,end apogee,CONTROL_FINISHED_OK
$STATE,2372,begin climb
$GC,2375,0.68,107.1,2760,2372,2677,2524,305.6,0.0,196,2468,0.68,0.00,88.50,2.079,10502,0.182,0.000,3026,2372,2163,2239,2087,0,0,0,0,0,0,14.31,28.83,13.34
$GC,2711,0.72,141.6,3026,2372,2238,2079,284.7,8.7,204,2743,0.05,0.00,29.45,2.050,10246,0.348,0.000,3076,2373,2022,2108,1936,0,0,0,0,0,0,14.71,28.83,13.52
$GC,2950,0.72,141.6,3075,2373,2108,1931,254.9,12.7,210,2957,0.10,2.35,0.00,0.000,4356,0.379,0.063,3049,3759,2019,2108,1930,0,0,0,0,0,0,14.48,14.70,28.83
$GC,3018,0.72,141.6,3050,3760,2108,1930,250.1,12.3,211,3023,0.00,2.22,0.00,0.000,1030,0.000,0.042,3060,2392,2018,2107,1930,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3266,0.73,145.9,3060,2390,2107,1925,222.0,9.8,217,3276,0.00,2.42,4.00,1.401,8708,0.000,0.054,3070,948,2005,2102,1908,0,0,0,0,0,0,28.83,14.83,13.53
$GC,3365,0.75,167.3,3070,947,2101,1906,215.1,9.2,219,3392,0.00,2.33,19.38,1.923,9222,0.000,0.048,3070,2356,1916,2018,1815,0,0,0,0,0,0,28.83,14.80,13.63
$GC,3636,0.77,181.1,3070,2356,2018,1810,187.9,9.5,236,3658,0.00,2.42,12.43,1.838,8452,0.000,0.067,3070,3763,1861,1968,1754,0,0,0,0,0,0,28.83,14.66,13.60
$GC,3770,0.77,181.1,3070,3763,1967,1753,174.3,10.9,248,3779,0.03,2.28,0.00,0.000,5126,0.457,0.043,3071,2360,1859,1968,1751,0,0,0,0,0,0,14.33,14.64,28.83
$GC,4019,0.81,213.9,3071,2360,1968,1747,150.9,8.8,273,4053,0.00,2.35,27.25,1.880,8708,0.000,0.054,3081,952,1729,1840,1618,0,0,0,0,0,0,28.83,14.65,13.64
$GC,4081,0.81,214.7,3082,950,1838,1615,145.2,10.0,281,4088,0.00,2.38,0.00,0.000,1030,0.000,0.048,3082,2363,1725,1836,1614,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4388,0.81,214.7,3081,2363,1838,1611,110.6,11.1,330,4398,0.00,2.45,0.00,0.000,260,0.000,0.068,3081,3770,1725,1838,1612,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4451,0.81,214.7,3082,3770,1838,1612,103.2,12.9,339,4458,0.05,2.33,0.00,0.000,5126,0.525,0.044,3081,2353,1725,1838,1612,0,0,0,0,0,0,14.45,14.76,28.83
$GC,4770,0.83,232.1,3081,2351,1838,1609,70.1,9.3,388,4789,0.00,2.38,13.82,1.121,8708,0.000,0.056,3092,950,1652,1767,1537,0,0,0,0,0,0,28.83,14.76,13.93
$GC,4950,0.84,238.6,3091,949,1765,1533,53.2,9.8,413,4960,0.00,2.42,4.45,0.881,9222,0.000,0.047,3091,2360,1627,1742,1512,0,0,0,0,0,0,28.83,14.59,13.81
$GC,5290,0.86,253.5,3092,2360,1742,1511,22.1,9.4,462,5309,0.00,2.40,10.73,0.902,8452,0.000,0.067,3092,3762,1565,1678,1453,0,0,0,0,0,0,28.83,14.69,13.95
$GC,5369,0.86,253.5,3092,3761,1678,1453,13.8,11.2,472,5378,0.00,2.38,0.00,0.000,1030,0.000,0.044,3101,2354,1564,1678,1451,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,5460,end climb,SURFACE_DEPTH_REACHED
$STATE,5460,begin surface coast
$FINISH,0.2,1.023310
$STATE,5495,end surface coast,CONTROL_FINISHED_OK
$STATE,5495,begin surface
$SM_CCo,5513,86.43,0.815,0,0,968,400.08
$SM_GC,0.91,6.97,0.32,86.43,0.093,0.083,0.815,120,2540,968,-8.27,-0.79,400.08,0,0,0,0,0,0,14.78,14.76,13.97
$IRIDIUM_FIX,2232.34,-15805.41,210210,202030
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.87
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.3,210.884
$10V_AH,12.7,0.000
$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,17.200,52.350,299.475,86.425,0.000,32.847,60.175,142.676,0.000,0.000,39.154,1253.742,2152.634,417.870,2037.530,152.441,33.253,985.057,0.000,1133.063,0.000,0.552,0.000
$DEVICE_MAMPS,524.790,147.645,2129.760,814.725,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,329.169,340.142,591.212,622.599,1288.388,0.000,0.000,0.000,0.000,0.000
$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,44147,490
$CAP_FILE_SIZE,67609,0
$CFSIZE,2097086464,2017984512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270417,102148,2241.566,-15804.424,40,0.8,40,9.8