version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 33
start: 1 28 117 8 3 25
data:
$ID,626
$MISSION,1
$DIVE,33
$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,-129739.73
$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,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
$GPS1,280117,075746,2248.009,-15800.441,5,1.0,5,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-76.0
$GPS2,280117,080229,2248.027,-15800.442,8,1.0,8,9.8
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,T1
$TGT_LATLONG,2250.000,-15801.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.167,0.189
$KALMAN_X,-41130.3,483.7,547.9,43010.0,-1948.3
$KALMAN_Y,-4790.8,-421.2,123.7,17923.3,-253.2
$MHEAD_RNG_PITCHd_Wd,31.6,4075,-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,-136.3,136,2475,1158,1126,0.0,0.0,0,79,0.00,0.00,-61.28,0.000,16390,0.000,0.000,136,2475,3176,3202,3151,0,0,0,0,0,0,28.83,28.83,14.99
$GC,81,-0.74,-136.3,136,2475,3202,3151,3.0,-4.1,7,100,8.68,2.38,0.00,0.000,2564,0.529,0.055,2558,1041,3177,3204,3151,0,0,0,0,0,0,14.54,14.76,28.83
$GC,217,-0.74,-136.3,2558,1041,3204,3151,42.7,-21.7,26,226,0.00,2.42,0.00,0.000,1030,0.000,0.070,2559,2453,3178,3205,3151,0,0,0,0,0,0,28.83,14.77,28.83
$GC,538,-0.74,-136.3,2558,2454,3206,3151,118.2,-19.2,75,544,0.00,2.35,0.00,0.000,260,0.000,0.080,2549,3876,3178,3205,3151,0,0,0,0,0,0,28.83,14.85,28.83
$GC,605,-0.74,-136.3,2549,3876,3206,3151,130.6,-18.7,85,611,0.00,2.30,0.00,0.000,1030,0.000,0.054,2549,2454,3178,3206,3151,0,0,0,0,0,0,28.83,14.89,28.83
$GC,874,-0.74,-136.3,2549,2452,3206,3151,178.8,-18.8,118,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2452,3179,3207,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1121,-0.74,-136.3,2548,2452,3208,3151,219.6,-16.2,134,1125,0.00,2.40,0.00,0.000,260,0.000,0.086,2548,3882,3179,3208,3150,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1225,-0.74,-136.3,2548,3882,3206,3151,231.1,-14.9,136,1229,0.00,2.33,0.00,0.000,1030,0.000,0.051,2548,2457,3179,3208,3151,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1477,-0.74,-136.3,2548,2455,3208,3151,271.0,-13.8,143,1481,0.00,2.28,0.00,0.000,516,0.000,0.063,2548,1037,3179,3208,3151,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1557,-0.74,-136.3,2549,1037,3208,3151,280.8,-13.1,145,1561,0.00,2.35,0.00,0.000,1030,0.000,0.068,2548,2464,3179,3208,3151,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1828,-0.74,-136.3,2548,2464,3208,3150,313.8,-11.7,152,1832,0.00,2.33,0.00,0.000,260,0.000,0.086,2548,3876,3179,3208,3150,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1882,-0.74,-136.3,2548,3876,3208,3151,317.7,-11.4,153,1886,0.00,2.30,0.00,0.000,1030,0.000,0.051,2548,2462,3179,3208,3150,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2144,-0.74,-136.3,2548,2459,3208,3149,349.3,-11.6,160,2148,0.00,2.28,0.00,0.000,516,0.000,0.067,2548,1048,3178,3208,3148,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2182,-0.74,-136.3,2548,1048,3208,3148,353.6,-11.9,161,2187,0.00,2.38,0.00,0.000,1030,0.000,0.071,2548,2457,3178,3208,3148,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2459,-0.74,-136.3,2548,2457,3208,3146,388.7,-12.9,168,2464,0.00,2.35,0.00,0.000,260,0.000,0.090,2549,3876,3177,3208,3146,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2528,-0.74,-136.3,2548,3875,3208,3146,393.3,-12.9,169,2536,0.00,2.33,0.00,0.000,1030,0.000,0.054,2548,2450,3177,3208,3146,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,2574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2574,begin apogee
$GC,2578,-0.15,0.0,2548,2315,3208,3145,403.0,-12.5,171,2691,0.57,0.10,108.88,2.352,10246,0.313,0.163,2749,2370,2620,2698,2542,0,0,0,0,0,0,14.93,14.21,13.48
$STATE,2692,end apogee,CONTROL_FINISHED_OK
$STATE,2692,begin climb
$GC,2693,0.74,136.3,2749,2370,2697,2542,405.6,0.0,173,2817,0.75,2.53,111.10,2.323,10756,0.192,0.068,3050,972,2063,2148,1978,0,0,0,0,0,0,14.22,14.16,13.42
$GC,2872,0.77,160.9,3049,972,2148,1974,392.4,8.8,178,2900,0.00,2.35,21.00,2.180,9222,0.000,0.063,3050,2341,1964,2061,1867,0,0,0,0,0,0,28.83,14.47,13.59
$GC,3139,0.77,160.9,3049,2342,2061,1859,345.3,17.2,185,3143,0.00,2.40,0.00,0.000,260,0.000,0.081,3050,3763,1960,2061,1860,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3168,0.77,160.9,3049,3763,2061,1860,345.3,17.2,185,3175,0.00,2.33,0.00,0.000,1030,0.000,0.060,3060,2387,1960,2061,1860,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3415,0.77,160.9,3060,2385,2061,1856,297.1,17.2,192,3419,0.00,2.40,0.00,0.000,516,0.000,0.072,3072,938,1959,2061,1857,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3523,0.77,160.9,3072,937,2061,1853,284.7,16.8,194,3531,0.10,2.38,0.00,0.000,5126,0.460,0.066,3048,2365,1957,2061,1853,0,0,0,0,0,0,14.76,14.90,28.83
$GC,3772,0.77,160.9,3048,2366,2061,1853,243.2,14.5,201,3778,0.00,2.35,0.00,0.000,516,0.000,0.072,3058,938,1957,2061,1853,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3824,0.77,160.9,3058,937,2061,1853,237.9,14.3,202,3828,0.00,2.35,0.00,0.000,1030,0.000,0.066,3058,2354,1957,2061,1853,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4090,0.77,160.9,3059,2355,2061,1853,203.8,11.9,209,4095,0.00,2.33,0.00,0.000,260,0.000,0.086,3059,3760,1957,2061,1853,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4206,0.77,160.9,3059,3760,2061,1853,188.0,14.4,217,4214,0.05,2.35,0.00,0.000,5126,0.477,0.060,3054,2339,1957,2061,1853,0,0,0,0,0,0,14.79,14.97,28.83
$GC,4453,0.77,160.9,3054,2338,2061,1851,158.3,11.7,242,4457,0.00,2.40,0.00,0.000,260,0.000,0.086,3053,3760,1956,2061,1851,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4622,0.77,160.9,3053,3760,2061,1852,135.7,14.4,264,4632,0.03,2.33,0.00,0.000,5126,0.513,0.059,3055,2354,1956,2061,1851,0,0,0,0,0,0,14.79,14.97,28.83
$GC,4933,0.81,190.4,3055,2355,2061,1851,104.8,8.6,313,4955,0.00,2.42,16.15,1.686,8708,0.000,0.070,3065,933,1842,1949,1735,0,0,0,0,0,0,28.83,14.82,14.18
$GC,5067,0.83,204.3,3065,932,1949,1731,92.1,9.3,334,5083,0.00,2.40,7.53,1.414,9222,0.000,0.065,3065,2345,1786,1896,1677,0,0,0,0,0,0,28.83,14.81,14.18
$GC,5399,0.83,204.3,3065,2345,1895,1674,55.4,12.1,384,5409,0.00,2.38,0.00,0.000,516,0.000,0.069,3076,945,1784,1895,1673,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5446,0.83,204.3,3075,945,1895,1672,49.9,12.0,390,5456,0.00,2.40,0.00,0.000,1030,0.000,0.066,3075,2357,1784,1896,1672,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5781,0.83,204.3,3075,2357,1896,1672,6.8,13.1,439,5791,0.00,2.40,0.00,0.000,260,0.000,0.083,3076,3766,1785,1896,1674,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,5813,end climb,SURFACE_DEPTH_REACHED
$STATE,5813,begin surface coast
$FINISH,0.1,1.011027
$STATE,5842,end surface coast,CONTROL_FINISHED_OK
$STATE,5842,begin surface
$SM_CCo,5857,77.05,0.847,0,0,1150,360.09
$SM_GC,1.30,6.88,2.17,77.05,0.106,0.056,0.847,130,2464,1150,-8.23,1.19,360.09,0,0,0,0,0,0,14.90,14.88,14.27
$IRIDIUM_FIX,2237.01,-15802.37,241109,212104
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.90
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,22.50
$XPDR_PINGS,4
$24V_AH,13.4,19.315
$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,17.050,75.650,264.650,77.050,0.000,29.190,48.519,127.270,1.000,0.000,9.288,1169.847,2716.924,418.700,1868.236,58.620,33.246,981.264,0.000,1130.041,0.000,0.549,0.000
$DEVICE_MAMPS,529.380,162.945,2351.610,846.855,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,300.354,283.473,505.369,523.853,1084.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353148
$DATA_FILE_SIZE,40501,447
$CAP_FILE_SIZE,71440,0
$CFSIZE,2097086464,2091122688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280117,094310,2248.418,-15800.312,15,1.5,16,9.8