version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 31
start: 1 28 117 4 24 43
data:
$ID,626
$MISSION,1
$DIVE,31
$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,-129695.88
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,280117,041910,2245.914,-15759.728,19,1.5,19,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-75.6
$GPS2,280117,042347,2245.986,-15759.762,10,1.5,10,9.8
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,T1
$TGT_LATLONG,2250.000,-15801.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.004,0.252
$KALMAN_X,-40669.1,999.5,517.7,43221.2,-2826.5
$KALMAN_Y,-4854.2,-235.9,224.1,13915.4,-399.4
$MHEAD_RNG_PITCHd_Wd,349.3,8005,-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,-136.3,136,2473,1156,1126,0.0,0.0,0,78,0.00,0.00,-59.88,0.000,16390,0.000,0.000,136,2474,3177,3202,3153,0,0,0,0,0,0,28.83,28.83,14.97
$GC,81,-0.74,-136.3,135,2474,3202,3152,4.0,-7.5,7,99,8.70,2.38,0.00,0.000,2564,0.529,0.054,2556,1037,3178,3204,3152,0,0,0,0,0,0,14.54,14.76,28.83
$GC,135,-0.74,-136.3,2556,1037,3205,3152,27.5,-33.1,14,145,0.00,2.42,0.00,0.000,1030,0.000,0.066,2547,2456,3178,3204,3152,0,0,0,0,0,0,28.83,14.76,28.83
$GC,462,-0.74,-136.3,2549,2457,3205,3152,109.9,-26.3,63,468,0.00,2.38,0.00,0.000,260,0.000,0.083,2548,3878,3178,3205,3152,0,0,0,0,0,0,28.83,14.83,28.83
$GC,479,-0.74,-136.3,2549,3879,3205,3152,113.8,-23.6,65,485,0.00,2.30,0.00,0.000,1030,0.000,0.053,2546,2453,3178,3205,3152,0,0,0,0,0,0,28.83,14.86,28.83
$GC,764,-0.74,-136.3,2548,2452,3207,3152,167.2,-15.9,105,769,0.00,2.40,0.00,0.000,260,0.000,0.085,2548,3873,3179,3207,3152,0,0,0,0,0,0,28.83,14.88,28.83
$GC,795,-0.74,-136.3,2548,3873,3207,3152,172.1,-16.5,107,803,0.00,2.30,0.00,0.000,1030,0.000,0.050,2548,2465,3179,3207,3152,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1052,-0.74,-136.3,2548,2464,3207,3152,212.6,-15.1,127,1057,0.00,2.38,0.00,0.000,260,0.000,0.085,2548,3880,3179,3207,3152,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1101,-0.74,-136.3,2548,3880,3207,3152,217.9,-15.0,128,1106,0.00,2.33,0.00,0.000,1030,0.000,0.050,2548,2451,3179,3207,3152,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1368,-0.74,-136.3,2548,2449,3208,3152,255.5,-12.8,135,1372,0.00,2.38,0.00,0.000,260,0.000,0.085,2548,3874,3179,3207,3152,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1382,-0.74,-136.3,2548,3874,3208,3152,255.5,-12.8,135,1386,0.00,2.30,0.00,0.000,1030,0.000,0.051,2548,2463,3180,3208,3152,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1644,-0.74,-136.3,2548,2462,3208,3152,292.1,-14.1,142,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2460,3180,3208,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1884,-0.74,-136.3,2548,2462,3208,3152,325.4,-13.7,148,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2462,3179,3207,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,-0.74,-136.3,2548,2462,3208,3149,356.7,-13.1,154,2128,0.00,2.28,0.00,0.000,516,0.000,0.063,2548,1047,3178,3208,3149,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2163,-0.74,-136.3,2548,1046,3208,3149,361.2,-13.0,155,2167,0.00,2.38,0.00,0.000,1030,0.000,0.071,2548,2456,3178,3208,3148,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2440,-0.74,-136.3,2548,2456,3208,3146,397.9,-13.5,162,2444,0.00,2.35,0.00,0.000,260,0.000,0.090,2548,3874,3177,3208,3146,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2463,-0.74,-136.3,2548,3874,3208,3145,397.9,-13.5,162,2468,0.00,2.30,0.00,0.000,1030,0.000,0.053,2548,2458,3177,3208,3146,0,0,0,0,0,0,28.83,15.08,28.83
$STATE,2474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2474,begin apogee
$GC,2478,-0.15,0.0,2549,2327,3208,3146,402.6,-13.4,163,2590,0.57,0.00,108.88,2.342,10246,0.314,0.000,2748,2327,2620,2698,2542,0,0,0,0,0,0,14.93,28.83,13.49
$STATE,2591,end apogee,CONTROL_FINISHED_OK
$STATE,2591,begin climb
$GC,2592,0.74,136.3,2748,2326,2698,2542,405.5,0.0,165,2710,0.75,0.00,113.75,2.419,10758,0.190,0.000,3037,2326,2064,2148,1980,0,0,0,0,0,0,14.19,28.83,13.36
$GC,2916,0.74,136.3,3037,2326,2148,1971,367.4,15.5,174,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2326,2059,2148,1971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3156,0.74,136.3,3037,2327,2148,1968,330.9,14.8,180,3160,0.00,2.28,0.00,0.000,516,0.000,0.069,3048,956,2058,2148,1968,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3200,0.74,136.3,3048,955,2148,1965,325.9,14.5,181,3204,0.00,2.38,0.00,0.000,1030,0.000,0.066,3048,2379,2056,2148,1965,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3472,0.74,136.3,3048,2378,2148,1963,286.2,13.8,188,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2379,2056,2148,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3712,0.74,136.3,3048,2379,2148,1962,254.7,13.0,194,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2379,2055,2148,1962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3952,0.74,136.3,3048,2379,2148,1960,225.6,11.4,200,3956,0.00,2.33,0.00,0.000,516,0.000,0.069,3059,965,2054,2148,1960,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4011,0.74,136.3,3059,965,2148,1958,221.8,10.9,201,4016,0.05,2.35,0.00,0.000,5126,0.437,0.067,3042,2354,2053,2148,1958,0,0,0,0,0,0,14.83,15.00,28.83
$GC,4258,0.74,136.3,3042,2354,2148,1957,194.8,11.6,210,4262,0.00,2.33,0.00,0.000,260,0.000,0.086,3042,3759,2053,2148,1958,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4472,0.74,136.3,3042,3758,2148,1958,169.1,11.3,229,4481,0.00,2.30,0.00,0.000,1030,0.000,0.059,3052,2366,2053,2148,1958,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4725,0.78,169.9,3052,2364,2148,1956,147.5,8.4,256,4755,0.00,2.45,25.50,2.088,8452,0.000,0.083,3052,3757,1926,2027,1826,0,0,0,0,0,0,28.83,14.71,14.00
$GC,4839,0.78,169.9,3052,3757,2027,1826,134.1,13.4,273,4845,0.00,2.33,0.00,0.000,1030,0.000,0.059,3063,2348,1926,2027,1825,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5143,0.81,195.5,3063,2346,2027,1821,100.3,8.8,322,5167,0.00,0.00,14.48,1.743,8198,0.000,0.000,3063,2346,1822,1928,1717,0,0,0,0,0,0,28.83,28.83,14.04
$GC,5477,0.81,195.5,3063,2346,1928,1713,66.1,11.2,373,5486,0.00,2.38,0.00,0.000,516,0.000,0.069,3073,938,1820,1928,1713,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5576,0.81,195.5,3073,938,1928,1712,54.3,12.0,387,5585,0.00,2.40,0.00,0.000,1030,0.000,0.064,3074,2351,1820,1928,1712,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5913,0.81,195.5,3073,2351,1928,1713,11.5,12.9,436,5922,0.00,2.40,0.00,0.000,516,0.000,0.069,3084,935,1820,1928,1713,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5938,0.81,195.5,3084,935,1928,1713,8.2,12.5,439,5948,0.05,2.40,0.00,0.000,5126,0.424,0.065,3067,2350,1820,1928,1713,0,0,0,0,0,0,14.68,14.83,28.83
$STATE,5983,end climb,SURFACE_DEPTH_REACHED
$STATE,5984,begin surface coast
$FINISH,0.1,1.002572
$STATE,6020,end surface coast,CONTROL_FINISHED_OK
$STATE,6020,begin surface
$SM_CCo,6033,81.43,0.900,0,0,1151,360.09
$SM_GC,1.17,6.88,0.17,81.43,0.109,0.115,0.900,133,2468,1151,-8.23,-0.82,360.09,0,0,0,0,0,0,14.89,14.90,14.23
$IRIDIUM_FIX,2237.01,-15802.37,241109,171730
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.07
$INTERNAL_PRESSURE,7.2659
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,13.4,18.806
$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,17.000,61.475,262.600,81.425,0.000,28.499,48.691,118.734,0.250,0.000,11.275,1158.736,3026.989,422.370,1745.905,50.982,33.244,924.934,0.000,1011.420,0.000,0.550,0.000
$DEVICE_MAMPS,528.615,114.750,2418.930,900.405,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,302.793,291.837,507.901,519.542,1075.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353152
$DATA_FILE_SIZE,40838,450
$CAP_FILE_SIZE,67145,0
$CFSIZE,2097086464,2091319296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280117,060749,2247.074,-15800.149,36,1.1,36,9.8