version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 666
start: 4 27 117 16 56 0
data:
$ID,626
$MISSION,1
$DIVE,666
$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,-132864.7
$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,39
$R_STBD_OVSHOOT,33
$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
$GPS1,270417,164447,2242.336,-15805.310,5,1.1,5,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.3
$GPS2,270417,165446,2242.416,-15805.358,7,1.5,7,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.212
$KALMAN_X,-158110.5,527.1,451.4,151672.9,-1280.8
$KALMAN_Y,-663800.9,-286.0,641.9,665895.4,1343.4
$MHEAD_RNG_PITCHd_Wd,106.2,10192,-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,-107.1,105,2540,982,937,0.0,0.0,0,79,0.00,0.00,-60.42,0.000,16390,0.000,0.000,104,2541,3038,3070,3006,0,0,0,0,0,0,28.83,28.83,15.00
$GC,82,-0.68,-107.1,104,2541,3070,3006,3.5,-6.2,7,101,8.88,2.40,0.00,0.000,2564,0.469,0.042,2586,1114,3039,3073,3006,0,0,0,0,0,0,13.97,14.64,28.83
$GC,111,-0.68,-107.1,2586,1114,3074,3006,17.7,-37.6,10,121,0.00,2.45,0.00,0.000,1030,0.000,0.052,2586,2528,3040,3074,3006,0,0,0,0,0,0,28.83,14.58,28.83
$GC,446,-0.68,-107.1,2586,2527,3074,3005,87.0,-14.4,59,453,0.00,2.35,0.00,0.000,260,0.000,0.073,2585,3915,3040,3074,3006,0,0,0,0,0,0,28.83,14.66,28.83
$GC,516,-0.68,-107.1,2586,3915,3074,3006,96.0,-11.3,70,526,0.00,2.30,0.00,0.000,1030,0.000,0.039,2585,2538,3040,3074,3006,0,0,0,0,0,0,28.83,14.59,28.83
$GC,826,-0.68,-107.1,2586,2537,3074,3006,134.7,-11.5,119,832,0.00,2.33,0.00,0.000,516,0.000,0.053,2586,1112,3040,3074,3006,0,0,0,0,0,0,28.83,14.76,28.83
$GC,884,-0.68,-107.1,2586,1112,3075,3005,141.7,-11.3,128,893,0.00,2.45,0.00,0.000,1030,0.000,0.053,2586,2532,3040,3075,3006,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1147,-0.68,-107.1,2586,2532,3076,3006,174.6,-12.8,158,1155,0.00,2.33,0.00,0.000,516,0.000,0.051,2586,1113,3040,3075,3006,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1180,-0.68,-107.1,2586,1113,3075,3006,179.4,-13.7,161,1189,0.00,2.38,0.00,0.000,1030,0.000,0.054,2586,2541,3040,3076,3005,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1430,-0.68,-107.1,2586,2541,3076,3006,210.7,-12.2,180,1436,0.00,2.33,0.00,0.000,260,0.000,0.076,2586,3917,3041,3076,3006,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1489,-0.68,-107.1,2586,3917,3076,3006,215.4,-12.0,181,1493,0.00,2.22,0.00,0.000,1030,0.000,0.038,2586,2524,3041,3076,3006,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1746,-0.68,-107.1,2586,2523,3076,3005,246.4,-11.4,188,1751,0.00,2.28,0.00,0.000,516,0.000,0.051,2586,1114,3040,3076,3005,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1814,-0.68,-107.1,2586,1114,3076,3005,250.5,-10.9,189,1818,0.00,2.38,0.00,0.000,1030,0.000,0.054,2586,2542,3041,3076,3006,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2061,-0.68,-107.1,2585,2542,3076,3005,277.0,-9.8,195,2067,0.00,2.35,0.00,0.000,516,0.000,0.050,2586,1117,3040,3076,3005,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2104,-0.68,-107.1,2586,1117,3076,3004,281.3,-10.2,196,2108,0.00,2.38,0.00,0.000,1030,0.000,0.054,2586,2538,3040,3076,3004,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,2294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2294,begin apogee
$GC,2300,-0.17,0.0,2586,2303,3076,3003,303.2,-11.4,201,2393,0.50,0.12,89.22,2.086,10246,0.290,0.132,2757,2382,2599,2675,2524,0,0,0,0,0,0,14.40,14.36,13.33
$STATE,2394,end apogee,CONTROL_FINISHED_OK
$STATE,2394,begin climb
$GC,2397,0.68,107.1,2757,2382,2675,2524,306.2,0.0,203,2496,0.70,2.50,88.07,2.056,10756,0.188,0.051,3041,943,2162,2238,2087,0,0,0,0,0,0,14.31,14.33,13.36
$GC,2543,0.68,107.1,3041,943,2236,2083,299.6,5.2,207,2548,0.00,2.35,0.00,0.000,1030,0.000,0.049,3041,2345,2160,2237,2083,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2816,0.70,122.3,3041,2345,2237,2080,273.8,9.4,214,2834,0.00,2.40,13.27,1.906,8452,0.000,0.067,3041,3776,2100,2179,2021,0,0,0,0,0,0,28.83,14.71,13.62
$GC,2880,0.72,141.3,3041,3777,2180,2021,270.5,9.3,215,2904,0.00,2.30,17.35,1.932,9222,0.000,0.042,3052,2360,2022,2110,1935,0,0,0,0,0,0,28.83,14.76,13.59
$GC,3172,0.72,141.3,3052,2360,2109,1929,238.0,10.3,223,3178,0.00,2.30,0.00,0.000,516,0.000,0.054,3063,945,2018,2109,1927,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3375,0.77,182.1,3063,944,2110,1924,221.0,8.5,228,3414,0.00,2.35,33.62,1.986,9222,0.000,0.049,3063,2362,1856,1960,1753,0,0,0,0,0,0,28.83,14.79,13.57
$GC,3664,0.77,182.1,3063,2362,1960,1745,191.3,11.3,239,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2362,1852,1960,1745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3912,0.77,182.1,3063,2362,1960,1743,164.2,10.7,264,3924,0.00,2.35,0.00,0.000,516,0.000,0.054,3072,943,1850,1960,1741,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3962,0.77,182.1,3073,943,1960,1739,159.6,10.3,268,3968,0.00,2.38,0.00,0.000,1030,0.000,0.050,3074,2364,1849,1960,1739,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4243,0.84,238.9,3073,2365,1960,1740,133.3,7.9,308,4295,0.00,2.45,42.20,1.878,8452,0.000,0.067,3074,3768,1626,1737,1515,0,0,0,0,0,0,28.83,14.49,13.53
$GC,4323,0.84,238.9,3074,3767,1737,1514,126.0,11.0,319,4330,0.00,2.33,0.00,0.000,1030,0.000,0.044,3083,2362,1624,1737,1512,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4630,0.84,238.9,3083,2362,1736,1507,89.5,12.3,368,4639,0.00,2.40,0.00,0.000,516,0.000,0.056,3094,944,1621,1737,1505,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4671,0.84,238.9,3094,944,1736,1504,84.6,12.1,374,4681,0.00,2.42,0.00,0.000,1030,0.000,0.047,3094,2357,1619,1736,1503,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5008,0.84,238.9,3094,2357,1737,1504,48.3,10.6,423,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2357,1620,1737,1503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5352,0.84,238.9,3094,2357,1737,1503,13.6,10.0,472,5361,0.00,2.45,0.00,0.000,260,0.000,0.067,3094,3767,1620,1737,1504,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5378,0.84,238.9,3095,3767,1737,1505,10.6,10.8,475,5388,0.05,2.38,0.00,0.000,5126,0.363,0.046,3087,2362,1620,1737,1504,0,0,0,0,0,0,14.26,14.59,28.83
$STATE,5450,end climb,SURFACE_DEPTH_REACHED
$STATE,5450,begin surface coast
$FINISH,0.1,1.023184
$STATE,5489,end surface coast,CONTROL_FINISHED_OK
$STATE,5489,begin surface
$SM_CCo,5506,93.00,0.825,0,0,967,400.08
$SM_GC,1.15,6.88,0.30,93.00,0.086,0.082,0.825,126,2540,967,-8.26,-0.88,400.08,0,0,0,0,0,0,14.79,14.77,13.96
$IRIDIUM_FIX,2232.34,-15803.24,220210,060624
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.40
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,13.3,212.139
$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,17.000,66.975,283.750,93.000,0.000,65.715,123.676,212.346,0.250,0.000,8.089,1251.802,2145.199,431.801,2227.469,168.758,33.249,1038.215,0.000,1192.492,0.000,0.553,0.000
$DEVICE_MAMPS,468.945,131.580,2086.155,825.435,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,327.967,331.036,587.026,611.869,1266.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353104
$DATA_FILE_SIZE,44109,490
$CAP_FILE_SIZE,72292,0
$CFSIZE,2097086464,2017492992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270417,183017,2242.529,-15805.509,17,1.4,17,9.8