version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 662
start: 4 27 117 10 28 56
data:
$ID,626
$MISSION,1
$DIVE,662
$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,-132859.7
$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,34
$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
$GPS1,270417,102148,2241.566,-15804.424,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.5
$GPS2,270417,102742,2241.591,-15804.544,8,0.8,8,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,-0.195
$KALMAN_X,-150960.9,-815.5,-350.4,148050.3,-1580.8
$KALMAN_Y,-669556.0,-103.5,-575.9,671151.8,1293.6
$MHEAD_RNG_PITCHd_Wd,101.0,8305,-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,14,begin dive
$GC,16,-0.68,-107.1,114,2544,986,929,0.0,0.0,0,79,0.00,0.00,-59.95,0.000,16390,0.000,0.000,114,2544,3039,3070,3008,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,114,2544,3069,3008,3.8,-7.2,7,100,8.77,0.00,0.00,0.000,2566,0.464,0.000,2591,2544,3039,3071,3008,0,0,0,0,0,0,13.95,28.83,28.83
$GC,427,-0.68,-107.1,2591,2544,3073,3007,82.7,-16.6,57,434,0.00,2.38,0.00,0.000,516,0.000,0.054,2591,1111,3040,3073,3007,0,0,0,0,0,0,28.83,14.73,28.83
$GC,457,-0.68,-107.1,2592,1111,3073,3007,87.4,-16.2,61,463,0.00,2.38,0.00,0.000,1030,0.000,0.052,2588,2528,3040,3074,3007,0,0,0,0,0,0,28.83,14.71,28.83
$GC,763,-0.68,-107.1,2588,2528,3075,3008,135.8,-15.2,110,773,0.00,2.40,0.00,0.000,516,0.000,0.051,2589,1121,3041,3074,3008,0,0,0,0,0,0,28.83,14.62,28.83
$GC,792,-0.68,-107.1,2589,1120,3074,3007,139.9,-14.4,114,802,0.00,2.42,0.00,0.000,1030,0.000,0.054,2589,2525,3041,3074,3008,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1056,-0.68,-107.1,2589,2525,3076,3007,178.9,-14.5,144,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2525,3041,3076,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1304,-0.68,-107.1,2588,2524,3076,3007,210.8,-12.1,163,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2525,3041,3076,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1544,-0.68,-107.1,2589,2525,3076,3007,243.7,-14.0,169,1550,0.00,2.33,0.00,0.000,516,0.000,0.050,2588,1110,3041,3076,3007,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1592,-0.68,-107.1,2589,1110,3076,3007,248.6,-13.5,170,1596,0.00,2.38,0.00,0.000,1030,0.000,0.054,2589,2535,3041,3076,3007,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1859,-0.68,-107.1,2588,2535,3076,3007,278.0,-10.1,177,1865,0.00,2.33,0.00,0.000,516,0.000,0.050,2588,1116,3041,3076,3007,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1887,-0.68,-107.1,2588,1116,3076,3007,278.0,-10.1,177,1891,0.00,2.38,0.00,0.000,1030,0.000,0.055,2588,2530,3041,3076,3007,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,2092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2092,begin apogee
$GC,2098,-0.17,0.0,2588,2308,3075,3006,300.1,-9.5,182,2189,0.50,0.10,87.72,1.838,10246,0.282,0.147,2762,2373,2599,2675,2524,0,0,0,0,0,0,14.42,14.38,13.46
$STATE,2190,end apogee,CONTROL_FINISHED_OK
$STATE,2190,begin climb
$GC,2193,0.68,107.1,2762,2373,2675,2524,302.8,0.0,184,2288,0.68,2.42,87.30,1.968,10756,0.182,0.050,3041,942,2162,2238,2087,0,0,0,0,0,0,14.33,14.39,13.38
$GC,2360,0.68,107.1,3041,941,2236,2082,298.5,4.1,187,2364,0.00,2.38,0.00,0.000,1030,0.000,0.049,3041,2347,2159,2236,2082,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2608,0.77,179.7,3041,2347,2236,2080,277.0,7.3,193,2675,0.05,2.50,59.38,2.014,10500,0.354,0.068,3091,3767,1867,1968,1766,0,0,0,0,0,0,14.73,14.42,13.47
$GC,2808,0.77,179.7,3091,3767,1968,1761,251.2,14.2,198,2815,0.15,2.33,0.00,0.000,5126,0.378,0.044,3060,2362,1864,1968,1760,0,0,0,0,0,0,14.35,14.71,28.83
$GC,3088,0.77,179.7,3060,2360,1968,1754,219.6,11.4,205,3094,0.00,2.30,0.00,0.000,516,0.000,0.055,3070,947,1860,1968,1753,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3141,0.77,179.7,3070,947,1968,1750,214.7,11.8,206,3145,0.00,2.35,0.00,0.000,1030,0.000,0.047,3070,2368,1859,1968,1750,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3393,0.78,185.6,3071,2367,1968,1749,184.9,9.8,221,3403,0.00,2.40,4.93,1.490,8452,0.000,0.068,3071,3764,1843,1955,1731,0,0,0,0,0,0,28.83,14.79,13.57
$GC,3506,0.78,185.6,2112,3764,1913,1727,173.6,10.4,231,3516,0.03,2.38,0.00,0.000,5126,0.450,0.045,3071,2354,1842,1954,1730,0,0,0,0,0,0,14.40,14.69,28.83
$GC,3759,0.79,199.1,3071,2353,1955,1728,151.3,9.5,256,3784,0.00,2.38,12.23,1.765,8708,0.000,0.054,3082,944,1787,1901,1674,0,0,0,0,0,0,28.83,14.79,13.69
$GC,3841,0.79,199.1,3082,944,1901,1672,143.0,10.3,268,3850,0.00,2.42,0.00,0.000,1030,0.000,0.047,3081,2361,1787,1902,1672,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4150,0.79,199.1,3081,2360,1901,1672,108.5,12.6,317,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2360,1786,1901,1672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4465,0.79,199.1,3081,2360,1901,1671,73.2,10.9,366,4474,0.00,2.42,0.00,0.000,516,0.000,0.054,3092,940,1785,1901,1670,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4614,0.82,222.2,3092,940,1901,1669,58.6,9.1,387,4642,0.00,2.45,14.93,1.198,9222,0.000,0.048,3092,2361,1693,1806,1580,0,0,0,0,0,0,28.83,14.60,13.82
$GC,4972,0.94,318.5,3092,2362,1806,1576,30.5,6.4,438,5043,0.08,2.42,62.75,1.024,10500,0.262,0.065,3144,3779,1298,1393,1204,0,0,0,0,0,0,14.71,14.56,13.88
$GC,5144,0.94,318.5,3145,3779,1389,1203,7.5,16.0,460,5155,0.10,2.42,0.00,0.000,5126,0.340,0.049,3122,2367,1295,1389,1202,0,0,0,0,0,0,14.21,14.56,28.83
$STATE,5169,end climb,SURFACE_DEPTH_REACHED
$STATE,5169,begin surface coast
$FINISH,0.1,1.022897
$STATE,5191,end surface coast,CONTROL_FINISHED_OK
$STATE,5191,begin surface
$SM_CCo,5209,46.78,0.812,0,0,968,400.08
$SM_GC,1.17,7.00,0.30,46.78,0.087,0.080,0.812,118,2541,968,-8.27,-0.82,400.08,0,0,0,0,0,0,14.73,14.71,14.00
$IRIDIUM_FIX,2232.34,-15805.41,210210,232340
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.03
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,13.4,211.128
$10V_AH,12.8,0.000
$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,17.350,53.225,329.225,46.775,0.000,26.671,47.003,156.084,0.000,0.000,9.113,1179.678,1975.787,385.565,1941.927,150.838,33.251,972.341,0.000,1103.241,0.000,0.551,0.000
$DEVICE_MAMPS,464.355,146.880,2014.245,811.665,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,311.824,324.140,561.866,594.689,1230.643,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353088
$DATA_FILE_SIZE,40578,466
$CAP_FILE_SIZE,64677,0
$CFSIZE,2097086464,2017918976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270417,115716,2241.585,-15804.890,5,1.0,5,9.8