version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 30
start: 1 28 117 2 37 6
data:
$ID,626
$MISSION,1
$DIVE,30
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,133
$T_MISSION,260
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54941
$MASS_COMP,0
$NAV_MODE,1
$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,360
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-129694.63
$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,2800
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$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,2460
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2620
$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
$GPS1,280117,023126,2244.875,-15759.048,12,1.4,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.8
$GPS2,280117,023610,2244.947,-15759.102,8,1.4,8,9.8
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,T1
$TGT_LATLONG,2250.000,-15801.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.029,0.251
$KALMAN_X,-39911.3,1178.2,370.4,43567.3,-2959.4
$KALMAN_Y,-4826.6,5.9,19.6,11928.5,-323.9
$MHEAD_RNG_PITCHd_Wd,343.6,10214,-19.0,-10.025,-21.66,2082
$D_GRID,400
$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,15,-0.74,-136.3,136,2470,1181,1142,0.0,0.0,0,78,0.00,0.00,-59.78,0.000,16390,0.000,0.000,135,2471,3176,3201,3151,0,0,0,0,0,0,28.83,28.83,14.95
$GC,81,-0.74,-136.3,136,2471,3201,3152,3.7,-6.2,7,99,8.73,2.35,0.00,0.000,2308,0.531,0.068,2547,3859,3176,3202,3151,0,0,0,0,0,0,14.50,14.71,28.83
$GC,278,-0.74,-136.3,2548,3859,3203,3151,58.0,-22.7,35,288,0.00,2.33,0.00,0.000,1030,0.000,0.053,2547,2461,3177,3203,3151,0,0,0,0,0,0,28.83,14.76,28.83
$GC,591,-0.74,-136.3,2548,2460,3204,3151,131.9,-20.3,84,601,0.00,2.35,0.00,0.000,516,0.000,0.062,2547,1040,3177,3204,3151,0,0,0,0,0,0,28.83,14.83,28.83
$GC,694,-0.74,-136.3,2547,1038,3205,3151,150.0,-16.3,100,698,0.00,2.35,0.00,0.000,1030,0.000,0.066,2547,2452,3178,3206,3151,0,0,0,0,0,0,28.83,14.86,28.83
$GC,943,-0.74,-136.3,2548,2453,3206,3151,190.9,-16.7,124,951,0.00,2.35,0.00,0.000,260,0.000,0.085,2547,3874,3178,3206,3151,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1027,-0.74,-136.3,2547,3874,3206,3151,204.8,-16.0,131,1031,0.00,2.28,0.00,0.000,1030,0.000,0.050,2548,2450,3178,3206,3151,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1303,-0.74,-136.3,2547,2448,3206,3151,248.0,-15.0,138,1307,0.00,2.38,0.00,0.000,260,0.000,0.084,2548,3871,3179,3207,3151,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1387,-0.74,-136.3,2547,3871,3206,3151,258.3,-14.1,140,1391,0.00,2.30,0.00,0.000,1030,0.000,0.050,2547,2453,3179,3207,3151,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1659,-0.74,-136.3,2547,2451,3207,3151,297.2,-13.9,147,1663,0.00,2.25,0.00,0.000,516,0.000,0.063,2548,1050,3179,3207,3151,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1697,-0.74,-136.3,2547,1049,3207,3151,302.5,-14.2,148,1702,0.00,2.38,0.00,0.000,1030,0.000,0.069,2547,2460,3179,3207,3151,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1974,-0.74,-136.3,2547,2460,3206,3151,343.7,-14.6,155,1978,0.00,2.33,0.00,0.000,260,0.000,0.087,2547,3871,3179,3207,3151,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2012,-0.74,-136.3,1696,3870,3187,3146,348.8,-14.7,156,2017,0.00,2.30,0.00,0.000,1030,0.000,0.052,2547,2459,3178,3206,3150,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2290,-0.74,-136.3,2547,2457,3207,3148,387.6,-13.6,163,2294,0.00,2.28,0.00,0.000,516,0.000,0.064,2547,1044,3177,3207,3147,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2319,-0.74,-136.3,2547,1043,3206,3148,387.6,-13.6,163,2326,0.00,2.38,0.00,0.000,1030,0.000,0.070,2547,2456,3176,3206,3147,0,0,0,0,0,0,28.83,15.03,28.83
$STATE,2405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2405,begin apogee
$GC,2409,-0.15,0.0,2547,2322,3207,3146,402.8,-13.0,166,2521,0.57,0.00,108.70,2.294,10246,0.308,0.000,2747,2320,2619,2697,2542,0,0,0,0,0,0,14.92,28.83,13.50
$STATE,2521,end apogee,CONTROL_FINISHED_OK
$STATE,2522,begin climb
$GC,2523,0.74,136.3,2748,2320,2697,2542,405.4,0.0,168,2641,0.75,2.38,111.00,2.279,10756,0.188,0.065,3049,965,2063,2147,1980,0,0,0,0,0,0,14.19,14.14,13.40
$GC,2671,0.74,136.3,3049,964,2147,1975,402.4,5.0,171,2676,0.00,2.45,0.00,0.000,1030,0.000,0.062,3050,2356,2061,2147,1975,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2924,0.74,136.3,3050,2356,2147,1970,353.3,15.9,178,2928,0.00,2.33,0.00,0.000,516,0.000,0.068,3060,972,2058,2147,1970,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2999,0.74,136.3,3060,970,2147,1967,342.0,15.0,180,3004,0.08,2.33,0.00,0.000,5126,0.496,0.066,3045,2353,2057,2147,1967,0,0,0,0,0,0,14.62,14.78,28.83
$GC,3276,0.74,136.3,3045,2353,2147,1966,302.8,14.0,187,3280,0.00,2.35,0.00,0.000,260,0.000,0.086,3044,3757,2056,2147,1966,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3319,0.74,136.3,3045,3758,2147,1966,297.8,13.6,188,3324,0.03,2.30,0.00,0.000,5126,0.537,0.059,3047,2377,2056,2147,1966,0,0,0,0,0,0,14.72,14.90,28.83
$GC,3591,0.74,136.3,3047,2375,2147,1963,263.3,12.0,195,3596,0.00,2.35,0.00,0.000,516,0.000,0.070,3058,943,2055,2147,1963,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3770,0.74,136.3,3058,942,2147,1959,244.6,12.0,199,3775,0.05,2.38,0.00,0.000,5126,0.407,0.069,3025,2343,2053,2147,1959,0,0,0,0,0,0,14.82,14.96,28.83
$GC,4028,0.76,149.5,3025,2343,2147,1959,216.0,9.4,206,4044,0.00,2.45,9.88,1.905,10500,0.000,0.088,3025,3760,2010,2105,1915,0,0,0,0,0,0,28.83,14.88,14.18
$GC,4175,0.76,149.5,3025,3760,2105,1915,203.3,10.2,209,4180,0.00,2.35,0.00,0.000,1030,0.000,0.060,3033,2345,2010,2105,1915,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4428,0.76,149.5,3033,2343,2105,1914,173.7,10.8,234,4432,0.00,2.30,0.00,0.000,516,0.000,0.071,3045,939,2009,2105,1914,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4499,0.76,149.5,3045,938,2105,1911,166.7,10.1,240,4511,0.00,2.35,0.00,0.000,1030,0.000,0.067,3044,2359,2008,2105,1911,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4769,0.78,164.7,3045,2358,2105,1911,140.3,9.3,273,4790,0.00,2.40,11.95,1.851,8452,0.000,0.083,3045,3761,1949,2050,1848,0,0,0,0,0,0,28.83,14.79,14.15
$GC,4989,0.80,187.3,3045,3762,2048,1848,115.0,8.9,308,5013,0.00,2.35,13.48,1.681,9222,0.000,0.055,3055,2344,1855,1959,1751,0,0,0,0,0,0,28.83,14.85,14.10
$GC,5314,0.84,218.9,1984,2342,1909,1741,86.9,8.5,359,5344,0.00,2.38,17.38,1.492,8708,0.000,0.072,3066,942,1726,1833,1619,0,0,0,0,0,0,28.83,14.69,14.14
$GC,5384,0.84,218.9,3066,941,1833,1617,79.7,11.2,369,5394,0.00,2.42,0.00,0.000,1030,0.000,0.066,3066,2350,1725,1833,1617,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5720,0.84,218.9,3066,2350,1833,1615,36.3,13.8,418,5729,0.00,2.38,0.00,0.000,516,0.000,0.070,3077,947,1723,1833,1614,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5766,0.84,218.9,3076,947,1833,1613,30.1,13.9,424,5776,0.00,2.38,0.00,0.000,1030,0.000,0.064,3076,2345,1723,1833,1613,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,5959,end climb,SURFACE_DEPTH_REACHED
$STATE,5959,begin surface coast
$FINISH,0.1,0.998910
$STATE,5988,end surface coast,CONTROL_FINISHED_OK
$STATE,5988,begin surface
$SM_CCo,6001,69.70,0.862,0,0,1149,360.09
$SM_GC,0.98,6.90,0.20,69.70,0.111,0.110,0.862,137,2470,1149,-8.21,-0.59,360.09,0,0,0,0,0,0,14.86,14.87,14.26
$IRIDIUM_FIX,2237.01,-15801.49,241109,151548
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.15
$INTERNAL_PRESSURE,7.2659
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,13.4,18.548
$10V_AH,13.6,0.000
$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,17.100,75.550,272.375,69.700,0.000,28.171,47.883,125.326,0.500,0.000,9.276,1199.638,2794.735,405.649,1910.666,54.366,33.260,1001.285,0.000,1178.366,0.000,0.550,0.000
$DEVICE_MAMPS,537.030,110.160,2294.235,862.155,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,306.598,286.806,517.165,521.713,1079.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,40790,456
$CAP_FILE_SIZE,73544,0
$CFSIZE,2097086464,2091417600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280117,041910,2245.914,-15759.728,19,1.5,19,9.8