version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 32
start: 1 28 117 6 13 21
data:
$ID,626
$MISSION,1
$DIVE,32
$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,-129738.48
$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,29
$R_STBD_OVSHOOT,31
$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
$GPS1,280117,060749,2247.074,-15800.149,36,1.1,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.6
$GPS2,280117,061225,2247.134,-15800.160,7,1.0,7,9.8
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,T1
$TGT_LATLONG,2250.000,-15801.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.007,0.252
$KALMAN_X,-40997.0,720.8,603.9,43062.7,-2419.3
$KALMAN_Y,-4565.5,-410.8,251.8,15899.3,-165.4
$MHEAD_RNG_PITCHd_Wd,351.8,5779,-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,14,begin dive
$GC,15,-0.74,-136.3,131,2470,1157,1126,0.0,0.0,0,78,0.00,0.00,-60.62,0.000,16390,0.000,0.000,131,2471,3176,3203,3150,0,0,0,0,0,0,28.83,28.83,14.99
$GC,81,-0.74,-136.3,131,2471,3203,3150,3.3,-5.2,7,100,8.65,2.33,0.00,0.000,2308,0.524,0.066,2548,3861,3177,3204,3151,0,0,0,0,0,0,14.54,14.73,28.83
$GC,251,-0.74,-136.3,2549,3860,3205,3150,51.0,-22.0,31,262,0.03,2.33,0.00,0.000,3078,0.412,0.054,2558,2456,3177,3205,3150,0,0,0,0,0,0,14.65,14.80,28.83
$GC,568,-0.74,-136.3,2558,2454,3206,3151,123.4,-18.9,80,577,0.00,2.33,0.00,0.000,516,0.000,0.063,2558,1055,3178,3206,3150,0,0,0,0,0,0,28.83,14.85,28.83
$GC,670,-0.74,-136.3,2558,1056,3207,3150,140.9,-15.6,96,679,0.00,2.38,0.00,0.000,1030,0.000,0.067,2558,2455,3178,3207,3150,0,0,0,0,0,0,28.83,14.85,28.83
$GC,928,-0.74,-136.3,2558,2455,3208,3151,184.7,-16.5,125,933,0.00,2.35,0.00,0.000,260,0.000,0.086,2558,3872,3179,3208,3150,0,0,0,0,0,0,28.83,14.90,28.83
$GC,989,-0.74,-136.3,2558,3872,3208,3150,193.6,-15.5,130,998,0.00,2.25,0.00,0.000,1030,0.000,0.052,2558,2453,3179,3208,3150,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1236,-0.74,-136.3,2558,2452,3209,3150,228.6,-13.6,140,1241,0.00,2.38,0.00,0.000,260,0.000,0.086,2558,3872,3179,3209,3150,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1330,-0.74,-136.3,2558,3872,3209,3150,238.5,-13.2,142,1335,0.00,2.30,0.00,0.000,1030,0.000,0.052,2558,2463,3179,3209,3150,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1592,-0.74,-136.3,2559,2462,3210,3150,272.9,-13.1,149,1596,0.00,2.28,0.00,0.000,516,0.000,0.064,2558,1047,3179,3209,3150,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1611,-0.74,-136.3,2558,1047,3209,3150,272.9,-13.1,149,1615,0.00,2.38,0.00,0.000,1030,0.000,0.070,2558,2481,3179,3209,3150,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1868,-0.74,-136.3,2558,2481,3209,3150,311.2,-13.9,156,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2481,3179,3209,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2108,-0.74,-136.3,2558,2481,3209,3149,341.8,-12.6,162,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2481,3179,3210,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2348,-0.74,-136.3,2558,2481,3209,3147,370.9,-12.1,168,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2481,3177,3209,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2588,-0.74,-136.3,2558,2481,3209,3145,399.6,-11.9,174,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2481,3176,3209,3144,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2627,begin apogee
$GC,2630,-0.15,0.0,2559,2325,3209,3144,404.1,-11.8,175,2742,0.55,0.00,108.30,2.304,10246,0.314,0.000,2750,2324,2620,2698,2542,0,0,0,0,0,0,14.95,28.83,13.53
$STATE,2743,end apogee,CONTROL_FINISHED_OK
$STATE,2743,begin climb
$GC,2744,0.74,136.3,2750,2324,2698,2542,406.3,0.0,177,2864,0.75,2.40,111.45,2.333,10756,0.187,0.066,3051,955,2063,2147,1979,0,0,0,0,0,0,14.23,14.15,13.38
$GC,2894,0.74,136.3,3052,954,2146,1975,403.7,4.8,180,2899,0.03,2.45,0.00,0.000,5126,0.469,0.064,3045,2350,2060,2147,1974,0,0,0,0,0,0,14.21,14.36,28.83
$GC,3146,0.74,136.3,3045,2350,2147,1970,355.9,15.3,187,3150,0.00,2.38,0.00,0.000,260,0.000,0.083,3045,3766,2058,2147,1970,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3215,0.74,136.3,3045,3766,2147,1970,350.0,15.6,188,3223,0.03,2.33,0.00,0.000,5126,0.530,0.060,3047,2375,2058,2147,1970,0,0,0,0,0,0,14.63,14.80,28.83
$GC,3462,0.74,136.3,3048,2374,2147,1968,309.7,13.8,195,3466,0.00,2.38,0.00,0.000,516,0.000,0.070,3058,937,2057,2147,1967,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3550,0.74,136.3,3058,937,2147,1965,299.4,13.6,197,3555,0.05,2.40,0.00,0.000,5126,0.426,0.065,3041,2352,2056,2147,1965,0,0,0,0,0,0,14.76,14.90,28.83
$GC,3817,0.74,136.3,3041,2352,2146,1965,264.8,12.0,204,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2352,2055,2146,1965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4057,0.74,136.3,3041,2352,2147,1963,234.7,12.4,210,4061,0.00,2.33,0.00,0.000,516,0.000,0.070,3051,940,2055,2147,1964,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4121,0.74,136.3,3051,939,2147,1962,230.6,12.0,211,4125,0.00,2.38,0.00,0.000,1030,0.000,0.067,3051,2344,2054,2147,1962,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4373,0.74,136.3,3051,2344,2146,1962,198.7,11.2,218,4377,0.00,2.38,0.00,0.000,260,0.000,0.088,3051,3769,2055,2148,1962,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4576,0.74,136.3,2144,3768,2103,1956,175.9,10.2,236,4584,0.05,2.35,0.00,0.000,5126,0.482,0.057,3046,2342,2054,2147,1962,0,0,0,0,0,0,14.81,15.00,28.83
$GC,4823,0.77,161.4,3046,2342,2147,1962,154.2,8.8,261,4848,0.00,2.42,19.55,2.051,8452,0.000,0.084,3046,3765,1960,2057,1863,0,0,0,0,0,0,28.83,14.78,14.07
$GC,5034,0.77,161.4,3046,3765,2057,1863,128.8,12.8,291,5041,0.00,2.33,0.00,0.000,1030,0.000,0.058,3056,2341,1959,2057,1862,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5338,0.83,209.7,3056,2339,2057,1859,99.0,7.6,340,5376,0.00,2.38,27.40,1.770,8708,0.000,0.070,3066,944,1764,1868,1660,0,0,0,0,0,0,28.83,14.62,14.01
$GC,5457,0.83,209.7,3066,944,1868,1654,87.5,11.3,358,5466,0.00,2.40,0.00,0.000,1030,0.000,0.064,3066,2346,1760,1868,1653,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5787,0.83,209.7,3066,2345,1867,1653,45.3,13.0,407,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2345,1760,1868,1653,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6108,end climb,SURFACE_DEPTH_REACHED
$STATE,6108,begin surface coast
$FINISH,0.1,1.011047
$STATE,6138,end surface coast,CONTROL_FINISHED_OK
$STATE,6138,begin surface
$SM_CCo,6151,73.97,0.857,0,0,1151,360.09
$SM_GC,1.32,6.72,0.20,73.97,0.083,0.112,0.857,138,2473,1151,-8.22,-0.57,360.09,0,0,0,0,0,0,14.89,14.88,14.27
$IRIDIUM_FIX,2237.01,-15759.32,241109,191906
$TT8_MAMPS,0.018725,0.018725
$HUMID,40.66
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,13.4,19.060
$10V_AH,13.3,0.000
$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,16.850,56.975,266.700,73.975,0.000,25.640,47.263,119.023,0.500,0.000,8.298,1177.009,3079.128,381.614,1824.474,51.218,33.251,931.024,0.000,1091.612,0.000,0.550,0.000
$DEVICE_MAMPS,530.145,111.690,2333.250,856.800,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,308.132,293.066,517.235,523.852,1084.035,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353192
$DATA_FILE_SIZE,40725,458
$CAP_FILE_SIZE,67682,0
$CFSIZE,2097086464,2091220992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280117,075746,2248.009,-15800.441,5,1.0,5,9.8