version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 664
start: 4 27 117 13 34 59
data:
$ID,626
$MISSION,1
$DIVE,664
$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,-132862.2
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,270417,132806,2241.814,-15805.131,8,1.9,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-75.9
$GPS2,270417,133345,2241.927,-15805.181,7,2.0,7,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,-0.285
$KALMAN_X,-154618.7,-209.2,-574.5,150230.8,-1259.4
$KALMAN_Y,-666417.8,-381.9,-220.3,668551.3,2200.3
$MHEAD_RNG_PITCHd_Wd,102.1,9546,-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,-107.1,115,2547,988,930,0.0,0.0,0,79,0.00,0.00,-59.65,0.000,16390,0.000,0.000,114,2547,3038,3069,3008,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,114,2547,3069,3008,4.0,-7.9,7,100,8.80,0.00,0.00,0.000,2566,0.470,0.000,2585,2547,3039,3071,3008,0,0,0,0,0,0,13.95,28.83,28.83
$GC,426,-0.68,-107.1,2585,2547,3073,3007,85.5,-18.8,57,433,0.00,2.30,0.00,0.000,260,0.000,0.067,2576,3907,3040,3072,3008,0,0,0,0,0,0,28.83,14.69,28.83
$GC,519,-0.68,-107.1,2576,3906,3073,3008,100.0,-14.6,71,526,0.08,2.25,0.00,0.000,3078,0.384,0.041,2592,2519,3040,3073,3008,0,0,0,0,0,0,14.47,14.76,28.83
$GC,826,-0.68,-107.1,2593,2518,3074,3008,142.9,-13.7,120,836,0.00,2.35,0.00,0.000,516,0.000,0.053,2593,1126,3041,3074,3008,0,0,0,0,0,0,28.83,14.61,28.83
$GC,895,-0.68,-107.1,2593,1124,3074,3007,151.4,-12.2,130,904,0.00,2.30,0.00,0.000,1030,0.000,0.052,2589,2517,3041,3074,3008,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1146,-0.68,-107.1,2590,2518,3075,3008,180.1,-10.8,155,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2518,3041,3075,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1423,-0.68,-107.1,2589,2518,3075,3007,208.6,-9.7,177,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2518,3041,3075,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1663,-0.68,-107.1,2590,2518,3075,3007,230.7,-9.0,183,1669,0.00,2.33,0.00,0.000,260,0.000,0.073,2588,3908,3041,3076,3007,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1731,-0.68,-107.1,2588,3908,3076,3007,234.4,-9.0,184,1735,0.00,2.22,0.00,0.000,1030,0.000,0.039,2588,2520,3041,3075,3007,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1978,-0.68,-107.1,2588,2518,3075,3007,260.2,-9.6,190,1984,0.00,2.28,0.00,0.000,516,0.000,0.051,2588,1105,3041,3075,3007,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2066,-0.68,-107.1,2588,1105,3075,3007,268.1,-10.0,192,2071,0.00,2.38,0.00,0.000,1030,0.000,0.053,2588,2532,3041,3076,3006,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2334,-0.68,-107.1,2588,2532,3075,3005,294.0,-9.2,199,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2532,3040,3075,3005,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2411,begin apogee
$GC,2417,-0.17,0.0,2588,2319,3076,3005,302.0,-9.5,201,2508,0.50,0.10,87.22,1.734,10246,0.288,0.150,2759,2382,2599,2675,2524,0,0,0,0,0,0,14.41,14.39,13.47
$STATE,2509,end apogee,CONTROL_FINISHED_OK
$STATE,2510,begin climb
$GC,2512,0.68,107.1,2759,2381,2675,2523,304.5,0.0,203,2607,0.70,2.35,87.45,1.970,10756,0.187,0.048,3045,991,2162,2239,2086,0,0,0,0,0,0,14.35,14.40,13.39
$GC,2624,0.68,107.1,3045,991,2237,2085,303.8,1.5,205,2629,0.00,2.30,0.00,0.000,1030,0.000,0.048,3045,2348,2160,2237,2084,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2887,0.71,131.1,3044,2348,2237,2080,278.2,9.1,212,2913,0.00,2.45,20.20,1.942,8452,0.000,0.069,3044,3770,2065,2148,1982,0,0,0,0,0,0,28.83,14.62,13.62
$GC,3001,0.71,131.1,3045,3770,2148,1983,269.3,10.0,214,3008,0.00,2.22,0.00,0.000,1030,0.000,0.041,3056,2401,2065,2148,1982,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3247,0.71,133.9,3056,2400,2148,1977,239.8,9.9,221,3252,0.00,2.35,0.00,0.000,516,0.000,0.052,3066,949,2062,2148,1976,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3455,0.79,193.2,3066,949,2148,1972,223.7,7.8,226,3511,0.00,2.38,50.12,1.767,9222,0.000,0.048,3066,2372,1811,1915,1708,0,0,0,0,0,0,28.83,14.79,13.60
$GC,3753,0.79,193.2,3066,2372,1915,1699,192.3,10.9,239,3762,0.00,2.35,0.00,0.000,260,0.000,0.068,3066,3762,1807,1915,1699,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3884,0.79,193.2,3066,3761,1915,1698,177.2,11.2,251,3893,0.00,2.28,0.00,0.000,1030,0.000,0.044,3077,2359,1806,1915,1698,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4138,0.79,199.9,3077,2358,1915,1695,151.5,9.7,276,4150,0.00,2.33,5.90,1.562,8708,0.000,0.053,3088,945,1784,1896,1672,0,0,0,0,0,0,28.83,14.82,13.57
$GC,4212,0.79,199.9,3088,945,1897,1670,143.6,10.4,286,4222,0.03,2.42,0.00,0.000,5126,0.412,0.047,3078,2362,1783,1897,1670,0,0,0,0,0,0,14.40,14.65,28.83
$GC,4522,0.79,199.9,3077,2361,1897,1670,111.5,10.9,335,4528,0.00,2.38,0.00,0.000,260,0.000,0.067,3077,3772,1782,1895,1670,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4590,0.79,199.9,3077,3772,1897,1671,103.6,12.3,345,4597,0.08,2.30,0.00,0.000,5126,0.454,0.044,3070,2360,1783,1897,1670,0,0,0,0,0,0,14.41,14.77,28.83
$GC,4906,0.87,260.4,3070,2358,1897,1668,73.6,7.7,394,4961,0.08,2.45,45.67,1.166,10500,0.268,0.066,3128,3778,1536,1644,1428,0,0,0,0,0,0,14.73,14.60,13.85
$GC,4984,0.87,260.4,3128,3778,1644,1427,65.5,11.6,403,4995,0.12,2.40,0.00,0.000,5126,0.338,0.043,3096,2356,1533,1644,1423,0,0,0,0,0,0,14.26,14.57,28.83
$GC,5323,0.89,280.4,3097,2356,1644,1419,31.4,9.2,452,5342,0.00,0.00,14.20,0.955,8198,0.000,0.000,3097,2356,1455,1564,1346,0,0,0,0,0,0,28.83,28.83,13.97
$STATE,5575,end climb,SURFACE_DEPTH_REACHED
$STATE,5575,begin surface coast
$FINISH,0.2,1.023194
$STATE,5606,end surface coast,CONTROL_FINISHED_OK
$STATE,5606,begin surface
$SM_CCo,5622,70.62,0.796,0,0,967,400.08
$SM_GC,1.11,6.85,0.30,70.62,0.077,0.082,0.796,118,2546,967,-8.26,-1.05,400.08,0,0,0,0,0,0,14.79,14.78,14.01
$IRIDIUM_FIX,2230.01,-15805.41,220210,020258
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.48
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,13.4,211.619
$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,17.225,52.025,310.775,70.625,0.000,28.496,46.179,141.996,0.000,0.000,9.077,1264.533,2218.193,400.178,2023.598,151.764,33.244,993.398,0.000,1182.449,0.000,0.551,0.000
$DEVICE_MAMPS,469.710,149.940,1969.875,795.600,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,329.763,337.831,589.886,609.710,1261.732,0.000,0.000,0.000,0.000,0.000
$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,44057,492
$CAP_FILE_SIZE,68543,0
$CFSIZE,2097086464,2017689600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270417,151100,2242.148,-15805.242,28,0.7,29,9.8