version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 49
start: 1 29 117 15 39 42
data:
$ID,626
$MISSION,1
$DIVE,49
$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,160
$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,-129830.78
$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,2500
$C_ROLL_CLIMB,2310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,28
$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
$GPS1,290117,153358,2247.141,-15800.692,8,1.5,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.2
$GPS2,290117,153844,2247.164,-15800.767,21,1.5,21,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,T1
$TGT_LATLONG,2250.000,-15801.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.160,0.175
$KALMAN_X,-60351.3,58.8,-88.0,62746.6,-2142.6
$KALMAN_Y,-1880.1,-438.6,-636.1,14192.9,865.9
$MHEAD_RNG_PITCHd_Wd,32.7,5399,-16.1,-8.333,-19.34,2499
$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,-0.66,-136.3,128,2516,1156,1083,0.0,0.0,0,79,0.00,0.00,-59.65,0.000,16390,0.000,0.000,129,2516,3157,3182,3133,0,0,0,0,0,0,28.83,28.83,14.99
$GC,80,-0.66,-136.3,128,2517,3182,3133,4.2,-8.3,7,99,8.80,2.40,0.00,0.000,2564,0.527,0.056,2584,1078,3158,3183,3133,0,0,0,0,0,0,14.50,14.77,28.83
$GC,143,-0.66,-136.3,2584,1078,3184,3132,27.3,-27.2,15,153,0.00,2.45,0.00,0.000,1030,0.000,0.075,2584,2491,3158,3184,3132,0,0,0,0,0,0,28.83,14.76,28.83
$GC,470,-0.66,-136.3,2584,2491,3185,3132,97.1,-22.1,64,480,0.00,2.42,0.00,0.000,260,0.000,0.088,2575,3908,3158,3185,3132,0,0,0,0,0,0,28.83,14.81,28.83
$GC,507,-0.66,-136.3,2575,3908,3185,3132,104.6,-22.1,69,514,0.00,2.30,0.00,0.000,1030,0.000,0.057,2575,2496,3158,3185,3132,0,0,0,0,0,0,28.83,14.87,28.83
$GC,800,-0.66,-136.3,2575,2496,3187,3132,159.2,-15.9,113,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2496,3159,3187,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1040,-0.66,-136.3,2575,2497,3185,3132,197.0,-16.3,137,1044,0.00,2.30,0.00,0.000,516,0.000,0.066,2575,1079,3160,3188,3132,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1118,-0.66,-136.3,2575,1079,3188,3132,208.7,-14.9,141,1122,0.00,2.38,0.00,0.000,1030,0.000,0.073,2575,2503,3160,3188,3132,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1394,-0.66,-136.3,2575,2503,3188,3132,248.4,-13.8,148,1398,0.00,2.35,0.00,0.000,260,0.000,0.091,2575,3912,3160,3188,3132,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1442,-0.66,-136.3,2575,3912,3188,3132,252.8,-13.3,149,1447,0.00,2.30,0.00,0.000,1030,0.000,0.051,2575,2498,3160,3189,3132,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1709,-0.66,-136.3,2575,2498,3188,3132,284.5,-11.2,156,1714,0.00,2.30,0.00,0.000,516,0.000,0.067,2575,1079,3160,3188,3132,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1723,-0.66,-136.3,2575,1079,3188,3132,284.5,-11.2,156,1727,0.00,2.40,0.00,0.000,1030,0.000,0.072,2575,2521,3160,3188,3132,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1985,-0.66,-136.3,2575,2521,3188,3132,317.4,-12.2,163,1989,0.00,2.35,0.00,0.000,260,0.000,0.093,2574,3918,3160,3188,3132,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2009,-0.66,-136.3,2575,3918,3188,3132,317.4,-12.2,163,2013,0.00,2.33,0.00,0.000,1030,0.000,0.056,2576,2502,3160,3188,3132,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2261,-0.66,-136.3,2575,2502,3188,3129,348.4,-11.1,170,2265,0.00,2.30,0.00,0.000,516,0.000,0.067,2575,1086,3158,3188,3129,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2337,-0.66,-136.3,2575,1085,3188,3129,356.6,-10.9,172,2341,0.00,2.35,0.00,0.000,1030,0.000,0.071,2575,2503,3158,3188,3129,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2612,-0.66,-136.3,2575,2503,3188,3126,383.1,-9.3,179,2617,0.00,2.38,0.00,0.000,260,0.000,0.094,2575,3915,3157,3188,3126,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2656,-0.66,-136.3,2575,3916,3187,3125,386.6,-9.3,180,2660,0.00,2.28,0.00,0.000,1030,0.000,0.057,2575,2498,3156,3188,3125,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,2807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2807,begin apogee
$GC,2811,-0.15,0.0,2575,2274,3188,3123,402.4,-9.9,184,2923,0.50,0.10,108.28,2.315,10246,0.299,0.159,2751,2326,2599,2678,2521,0,0,0,0,0,0,14.95,14.23,13.54
$STATE,2924,end apogee,CONTROL_FINISHED_OK
$STATE,2924,begin climb
$GC,2925,0.66,136.3,2751,2326,2678,2522,404.5,0.0,186,3049,0.68,2.47,111.80,2.303,10756,0.187,0.069,3021,922,2043,2132,1954,0,0,0,0,0,0,14.23,14.17,13.45
$GC,3053,0.66,136.3,3020,922,2131,1952,398.3,6.1,190,3058,0.00,2.45,0.00,0.000,1030,0.000,0.063,3021,2303,2041,2131,1951,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3330,0.66,136.3,3021,2304,2131,1943,360.8,13.5,197,3335,0.00,2.40,0.00,0.000,260,0.000,0.083,3021,3722,2037,2132,1943,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3414,0.66,136.3,3021,3721,2131,1943,350.0,13.9,199,3419,0.08,2.33,0.00,0.000,5126,0.503,0.058,3018,2309,2037,2131,1943,0,0,0,0,0,0,14.65,14.83,28.83
$GC,3686,0.66,136.3,3018,2308,2131,1940,314.8,12.6,206,3690,0.00,2.33,0.00,0.000,516,0.000,0.073,3027,898,2035,2131,1940,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3804,0.66,136.3,2112,897,2089,1930,299.9,12.7,209,3810,0.03,2.40,0.00,0.000,5126,0.469,0.066,3019,2314,2033,2131,1936,0,0,0,0,0,0,14.76,14.92,28.83
$GC,4082,0.66,136.3,3019,2314,2131,1934,267.3,11.6,216,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2314,2032,2131,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4322,0.66,136.3,3019,2314,2131,1933,240.2,11.1,222,4326,0.00,2.35,0.00,0.000,260,0.000,0.086,3019,3717,2031,2131,1932,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4386,0.66,136.3,3019,3717,2131,1933,235.8,11.3,223,4391,0.03,2.35,0.00,0.000,5126,0.504,0.060,3020,2299,2032,2131,1933,0,0,0,0,0,0,14.82,15.01,28.83
$GC,4638,0.66,136.3,3020,2298,2131,1932,206.6,10.1,230,4642,0.00,2.30,0.00,0.000,516,0.000,0.073,3028,894,2031,2131,1932,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4666,0.66,136.3,3029,893,2131,1930,206.6,10.1,230,4674,0.08,2.38,0.00,0.000,5126,0.484,0.067,3013,2332,2030,2131,1930,0,0,0,0,0,0,14.85,15.02,28.83
$GC,4914,0.67,145.9,3013,2332,2131,1930,183.1,7.9,252,4928,0.00,2.40,6.62,1.756,8708,0.000,0.070,3022,891,2004,2106,1903,0,0,0,0,0,0,28.83,14.95,14.21
$GC,4964,0.68,151.6,3022,890,2106,1902,179.4,8.1,256,4976,0.00,2.35,6.28,1.703,9222,0.000,0.067,3022,2314,1981,2084,1878,0,0,0,0,0,0,28.83,14.91,14.18
$GC,5222,0.68,151.6,3022,2314,2084,1879,153.3,10.4,282,5226,0.00,2.35,0.00,0.000,516,0.000,0.071,3031,899,1980,2083,1878,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5265,0.68,151.6,3032,897,2084,1877,149.1,9.8,286,5276,0.03,2.40,0.00,0.000,5126,0.466,0.068,3024,2308,1980,2083,1877,0,0,0,0,0,0,14.76,14.91,28.83
$GC,5576,0.68,151.6,3024,2308,2084,1878,118.8,8.4,335,5583,0.00,2.38,0.00,0.000,260,0.000,0.085,3024,3722,1981,2084,1879,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5893,0.69,165.6,3024,3722,2084,1880,89.2,7.8,386,5909,0.00,2.35,7.97,1.400,9222,0.000,0.056,3030,2297,1925,2030,1821,0,0,0,0,0,0,28.83,14.92,14.26
$GC,6225,0.69,165.6,3030,2297,2030,1820,63.3,8.4,436,6235,0.00,2.45,0.00,0.000,260,0.000,0.083,3030,3714,1925,2030,1820,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6312,0.69,165.6,3030,3715,2030,1821,55.4,10.2,448,6322,0.05,2.33,0.00,0.000,5126,0.412,0.056,3025,2311,1925,2030,1820,0,0,0,0,0,0,14.70,14.87,28.83
$GC,6648,0.70,171.0,3025,2311,2030,1820,26.6,8.1,497,6659,0.00,2.30,3.25,0.685,8708,0.000,0.061,3033,908,1898,2007,1790,0,0,0,0,0,0,28.83,14.88,14.40
$GC,6762,0.70,171.0,3032,908,2006,1790,14.3,11.0,513,6772,0.00,2.38,0.00,0.000,1030,0.000,0.061,3033,2314,1898,2007,1790,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,6873,end climb,SURFACE_DEPTH_REACHED
$STATE,6873,begin surface coast
$FINISH,0.4,1.023797
$STATE,6916,end surface coast,CONTROL_FINISHED_OK
$STATE,6916,begin surface
$SM_CCo,6929,92.40,0.834,0,0,1130,360.09
$SM_GC,1.09,6.57,0.32,92.40,0.070,0.096,0.834,136,2504,1130,-8.23,-0.54,360.09,0,0,0,0,0,0,14.90,14.88,14.24
$IRIDIUM_FIX,2237.01,-15759.32,261109,050518
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.60
$INTERNAL_PRESSURE,7.30497
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,13.4,23.339
$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,16.825,85.725,244.200,92.400,0.000,29.088,47.544,115.571,0.250,0.000,24.548,1393.540,3291.143,432.345,2142.471,64.598,33.227,1043.548,0.000,1287.083,0.000,0.549,0.000
$DEVICE_MAMPS,527.085,159.120,2314.890,833.850,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,360.379,344.563,608.561,637.640,1319.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352976
$DATA_FILE_SIZE,47323,535
$CAP_FILE_SIZE,81042,0
$CFSIZE,2097086464,2089549824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290117,173802,2248.257,-15800.510,43,0.9,43,9.8