version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 667
start: 4 27 117 18 41 13
data:
$ID,626
$MISSION,1
$DIVE,667
$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,-132865.95
$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,36
$R_STBD_OVSHOOT,35
$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
$GPS1,270417,183017,2242.529,-15805.509,17,1.4,17,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-74.2
$GPS2,270417,183959,2242.607,-15805.569,19,1.3,19,9.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,AC12
$TGT_LATLONG,2240.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.263,-0.110
$KALMAN_X,-160279.8,874.5,763.5,152812.4,-2234.0
$KALMAN_Y,-662068.4,-242.0,481.4,664620.8,990.4
$MHEAD_RNG_PITCHd_Wd,107.1,10672,-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,-107.1,114,2544,984,931,0.0,0.0,0,79,0.00,0.00,-60.45,0.000,16390,0.000,0.000,114,2545,3037,3067,3008,0,0,0,0,0,0,28.83,28.83,15.01
$GC,82,-0.68,-107.1,114,2545,3068,3008,3.6,-6.2,7,101,8.85,0.00,0.00,0.000,2054,0.469,0.000,2589,2545,3039,3070,3008,0,0,0,0,0,0,13.95,28.83,28.83
$GC,428,-0.68,-107.1,2589,2545,3071,3008,82.6,-16.5,57,434,0.00,2.35,0.00,0.000,260,0.000,0.074,2588,3915,3039,3071,3008,0,0,0,0,0,0,28.83,14.66,28.83
$GC,482,-0.68,-107.1,2588,3915,3071,3008,90.4,-13.2,65,489,0.00,2.25,0.00,0.000,1030,0.000,0.039,2588,2525,3039,3070,3008,0,0,0,0,0,0,28.83,14.76,28.83
$GC,787,-0.68,-107.1,2588,2525,3072,3008,132.7,-12.5,114,796,0.00,2.38,0.00,0.000,516,0.000,0.053,2588,1117,3039,3071,3008,0,0,0,0,0,0,28.83,14.61,28.83
$GC,838,-0.68,-107.1,2588,1117,3071,3008,138.7,-12.4,121,845,0.00,2.35,0.00,0.000,1030,0.000,0.053,2588,2522,3040,3072,3008,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1106,-0.68,-107.1,2587,2522,3072,3008,173.3,-12.6,153,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2522,3040,3072,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1356,-0.68,-107.1,2588,2522,3073,3007,205.9,-13.4,175,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2522,3040,3073,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1598,-0.68,-107.1,2587,2522,3073,3008,236.5,-12.4,181,1603,0.00,2.28,0.00,0.000,516,0.000,0.050,2588,1120,3040,3073,3007,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1624,-0.68,-107.1,2588,1120,3072,3008,236.5,-12.4,181,1629,0.00,2.35,0.00,0.000,1030,0.000,0.054,2588,2532,3040,3072,3008,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1872,-0.68,-107.1,2588,2532,3073,3008,261.7,-8.6,187,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2532,3040,3073,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2111,-0.68,-107.1,2588,2532,3073,3007,286.1,-10.5,193,2117,0.00,2.33,0.00,0.000,516,0.000,0.050,2588,1117,3039,3073,3006,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2169,-0.68,-107.1,2588,1117,3073,3005,290.7,-10.9,194,2174,0.00,2.38,0.00,0.000,1030,0.000,0.055,2588,2532,3039,3072,3006,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,2264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2264,begin apogee
$GC,2270,-0.17,0.0,2588,2315,3073,3005,303.9,-11.5,197,2364,0.50,0.10,89.25,2.087,10246,0.288,0.150,2758,2376,2599,2674,2525,0,0,0,0,0,0,14.40,14.34,13.33
$STATE,2365,end apogee,CONTROL_FINISHED_OK
$STATE,2365,begin climb
$GC,2367,0.68,107.1,2758,2376,2674,2524,307.6,0.0,199,2467,0.70,2.40,88.32,2.073,10756,0.187,0.052,3042,996,2162,2237,2087,0,0,0,0,0,0,14.31,14.37,13.34
$GC,2539,0.68,107.1,3042,996,2236,2082,302.4,4.6,203,2543,0.00,2.30,0.00,0.000,1030,0.000,0.050,3041,2354,2159,2236,2082,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2787,0.69,114.9,3041,2354,2236,2080,276.0,9.7,209,2799,0.00,2.40,7.20,1.747,8452,0.000,0.070,3042,3778,2131,2210,2052,0,0,0,0,0,0,28.83,14.75,13.56
$GC,2822,0.70,121.6,3041,3778,2209,2052,272.4,9.7,210,2834,0.00,2.22,7.25,1.730,9222,0.000,0.041,3052,2401,2103,2182,2024,0,0,0,0,0,0,28.83,14.79,13.62
$GC,3097,0.71,133.6,3053,2401,2182,2020,245.2,9.5,217,3114,0.00,2.42,11.05,1.853,8708,0.000,0.054,3063,954,2055,2139,1971,0,0,0,0,0,0,28.83,14.77,13.67
$GC,3219,0.71,133.6,3063,955,2138,1967,232.9,10.1,220,3225,0.05,2.33,0.00,0.000,5126,0.330,0.049,3045,2368,2053,2139,1967,0,0,0,0,0,0,14.44,14.72,28.83
$GC,3498,0.81,213.6,3045,2367,2138,1966,211.0,7.0,227,3566,0.10,0.00,65.68,1.991,10502,0.219,0.000,3114,2367,1729,1833,1625,0,0,0,0,0,0,14.80,28.83,13.47
$GC,3777,0.81,213.6,3114,2367,1833,1615,171.9,15.0,246,3790,0.12,2.38,0.00,0.000,4356,0.386,0.064,3075,3763,1724,1833,1616,0,0,0,0,0,0,14.36,14.66,28.83
$GC,3826,0.81,213.6,3075,3764,1832,1615,164.9,15.2,250,3834,0.00,2.28,0.00,0.000,1030,0.000,0.047,3086,2372,1723,1832,1615,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4107,0.81,213.6,3085,2370,1833,1611,130.9,10.1,288,4117,0.00,2.42,0.00,0.000,516,0.000,0.055,3096,944,1721,1833,1610,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4235,0.81,213.6,3097,944,1832,1608,118.0,10.7,308,4245,0.05,2.42,0.00,0.000,5126,0.344,0.047,3078,2356,1720,1833,1607,0,0,0,0,0,0,14.31,14.62,28.83
$GC,4547,0.82,224.3,3077,2356,1833,1607,84.4,9.6,357,4562,0.00,2.45,6.00,1.232,8452,0.000,0.067,3078,3772,1684,1797,1572,0,0,0,0,0,0,28.83,14.69,13.63
$GC,4713,0.82,224.3,3078,3772,1797,1572,67.1,10.1,381,4723,0.00,2.40,0.00,0.000,1030,0.000,0.044,3085,2348,1683,1797,1570,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5053,0.86,253.2,3086,2348,1796,1568,39.1,8.9,430,5080,0.00,0.00,19.65,1.081,8198,0.000,0.000,3087,2348,1565,1678,1452,0,0,0,0,0,0,28.83,28.83,13.88
$STATE,5407,end climb,SURFACE_DEPTH_REACHED
$STATE,5408,begin surface coast
$FINISH,0.2,1.023115
$STATE,5443,end surface coast,CONTROL_FINISHED_OK
$STATE,5443,begin surface
$SM_CCo,5460,85.85,0.817,0,0,966,400.08
$SM_GC,1.05,6.82,0.32,85.85,0.078,0.083,0.817,125,2534,966,-8.26,-0.93,400.08,0,0,0,0,0,0,14.78,14.77,13.97
$IRIDIUM_FIX,2230.01,-15805.41,220210,080859
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.18
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,13.3,212.405
$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,17.200,47.775,294.400,85.850,0.000,56.423,96.764,216.404,0.000,0.000,20.453,1246.451,2180.460,414.403,2150.373,161.944,33.247,962.807,0.000,1125.462,0.000,0.553,0.000
$DEVICE_MAMPS,468.945,149.940,2086.920,817.020,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,326.532,338.628,582.175,629.051,1301.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353084
$DATA_FILE_SIZE,44059,486
$CAP_FILE_SIZE,67730,0
$CFSIZE,2097086464,2017394688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,270417,201455,2242.557,-15805.824,36,2.0,36,9.8