version: 66.11 revision: 1138 glider: 626 mission: 1 dive: 53 start: 1 29 117 23 24 16 data: $ID,626 $MISSION,1 $DIVE,53 $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,-129835.8 $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,42 $R_STBD_OVSHOOT,33 $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 $GPS1,290117,231835,2250.702,-15800.522,5,1.4,5,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.09 $_SM_ANGLEo,-71.7 $GPS2,290117,232321,2250.714,-15800.571,8,1.4,8,9.8 $SPEED_LIMITS,0.144,0.237 $TGT_NAME,T1 $TGT_LATLONG,2250.000,-15801.500 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.084,-0.117 $KALMAN_X,-63862.8,612.7,307.1,65642.5,-2266.0 $KALMAN_Y,-2632.2,1.6,43.8,20389.6,-355.4 $MHEAD_RNG_PITCHd_Wd,134.6,2063,-27.6,-8.333,-30.00,885 $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,14,-0.90,-48.0,128,2518,1156,1082,0.0,0.0,0,70,0.00,0.00,-51.50,0.000,16390,0.000,0.000,128,2518,2796,2823,2770,0,0,0,0,0,0,28.83,28.83,14.97 $GC,72,-0.96,-99.5,128,2518,2823,2770,2.0,-2.4,6,92,8.43,2.38,-4.35,0.000,18948,0.522,0.083,2484,1090,3007,3045,2969,0,0,0,0,0,0,14.52,14.76,14.91 $GC,263,-0.96,-99.5,2484,1090,3046,2969,51.7,-25.7,33,272,0.00,2.40,0.00,0.000,1030,0.000,0.067,2481,2488,3007,3046,2969,0,0,0,0,0,0,28.83,14.77,28.83 $GC,578,-0.96,-99.5,2481,2490,3047,2969,129.4,-17.6,82,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2490,3008,3047,2969,0,0,0,0,0,0,28.83,28.83,28.83 $GC,848,-0.96,-99.5,2481,2489,3049,2969,182.3,-18.7,115,856,0.00,2.35,0.00,0.000,260,0.000,0.086,2479,3907,3008,3048,2969,0,0,0,0,0,0,28.83,14.85,28.83 $GC,913,-0.96,-99.5,2480,3906,3048,2970,195.6,-19.9,121,922,0.00,2.22,0.00,0.000,1030,0.000,0.051,2480,2506,3009,3049,2969,0,0,0,0,0,0,28.83,14.89,28.83 $GC,1180,-0.96,-99.5,2481,2505,3049,2970,242.4,-16.6,130,1184,0.00,2.40,0.00,0.000,260,0.000,0.086,2479,3921,3009,3049,2970,0,0,0,0,0,0,28.83,14.95,28.83 $GC,1258,-0.96,-99.5,1620,3921,3022,2965,254.7,-16.4,132,1263,0.00,2.33,0.00,0.000,1030,0.000,0.050,2480,2493,3009,3049,2970,0,0,0,0,0,0,28.83,14.98,28.83 $GC,1536,-0.96,-99.5,2479,2492,3050,2970,298.6,-15.7,139,1540,0.00,2.40,0.00,0.000,260,0.000,0.087,2479,3918,3009,3049,2969,0,0,0,0,0,0,28.83,14.99,28.83 $GC,1572,-0.96,-99.5,2479,3918,3049,2970,304.0,-15.3,140,1576,0.00,2.28,0.00,0.000,1030,0.000,0.050,2479,2491,3009,3049,2969,0,0,0,0,0,0,28.83,15.03,28.83 $GC,1848,-0.96,-99.5,2480,2491,3048,2969,344.4,-15.0,147,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2490,3009,3049,2969,0,0,0,0,0,0,28.83,28.83,28.83 $GC,2088,-0.96,-99.5,2480,2490,3049,2969,381.1,-15.2,153,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2490,3009,3049,2969,0,0,0,0,0,0,28.83,28.83,28.83 $STATE,2246,end dive,TARGET_DEPTH_EXCEEDED $STATE,2246,begin apogee $GC,2250,-0.15,0.0,2480,2278,3048,2967,404.0,-14.3,157,2334,0.80,0.08,79.43,2.312,10246,0.358,0.182,2747,2317,2600,2678,2523,0,0,0,0,0,0,14.89,14.31,13.62 $STATE,2335,end apogee,CONTROL_FINISHED_OK $STATE,2335,begin climb $GC,2336,0.96,99.5,2748,2317,2678,2523,406.3,0.0,159,2422,0.93,0.00,81.38,2.303,10758,0.191,0.000,3106,2317,2193,2264,2123,0,0,0,0,0,0,14.31,28.83,13.46 $GC,2684,0.96,99.5,3106,2317,2264,2113,359.0,15.5,168,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2317,2188,2264,2113,0,0,0,0,0,0,28.83,28.83,28.83 $GC,2924,0.96,99.5,3106,2317,2264,2110,326.2,13.5,174,2928,0.00,2.35,0.00,0.000,260,0.000,0.080,3106,3719,2187,2265,2110,0,0,0,0,0,0,28.83,14.86,28.83 $GC,2982,0.96,99.5,3106,3719,2264,2110,320.7,13.7,175,2987,0.00,2.30,0.00,0.000,1030,0.000,0.055,3116,2334,2187,2264,2110,0,0,0,0,0,0,28.83,14.90,28.83 $GC,3240,0.96,99.5,3116,2332,2264,2107,280.6,14.2,182,3244,0.00,2.35,0.00,0.000,516,0.000,0.066,3127,893,2185,2264,2106,0,0,0,0,0,0,28.83,14.95,28.83 $GC,3253,0.96,99.5,3127,891,2262,2106,280.6,14.2,182,3258,0.08,2.40,0.00,0.000,5126,0.528,0.063,3113,2312,2184,2262,2106,0,0,0,0,0,0,14.76,14.94,28.83 $GC,3515,0.96,99.5,3113,2312,2262,2105,243.0,13.8,189,3519,0.00,2.33,0.00,0.000,516,0.000,0.067,3123,898,2183,2261,2105,0,0,0,0,0,0,28.83,14.99,28.83 $GC,3584,0.96,99.5,3123,898,2261,2103,238.2,13.7,190,3591,0.00,2.35,0.00,0.000,1030,0.000,0.062,3123,2318,2182,2261,2103,0,0,0,0,0,0,28.83,14.99,28.83 $GC,3831,0.96,99.5,3123,2318,2262,2102,207.6,10.5,197,3835,0.00,2.35,0.00,0.000,260,0.000,0.083,3123,3725,2181,2261,2102,0,0,0,0,0,0,28.83,14.99,28.83 $GC,3984,0.96,99.5,2248,3724,2219,2096,189.5,11.3,206,3993,0.08,2.33,0.00,0.000,5126,0.500,0.056,3112,2305,2181,2261,2102,0,0,0,0,0,0,14.78,14.99,28.83 $GC,4232,0.96,99.5,3112,2305,2261,2100,168.5,9.2,231,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2304,2181,2262,2100,0,0,0,0,0,0,28.83,28.83,28.83 $GC,4479,0.97,106.7,3112,2305,2261,2099,147.1,7.5,258,4490,0.00,2.35,4.78,1.577,8708,0.000,0.067,3122,908,2163,2243,2084,0,0,0,0,0,0,28.83,14.96,14.19 $GC,4542,0.97,110.0,3122,907,2243,2084,142.5,8.0,267,4557,0.00,2.33,3.55,1.356,9222,0.000,0.062,3122,2315,2151,2229,2073,0,0,0,0,0,0,28.83,14.95,14.13 $GC,4858,0.98,117.8,3122,2315,2229,2073,117.9,7.4,317,4874,0.00,2.42,5.05,1.470,8452,0.000,0.082,3122,3719,2119,2197,2042,0,0,0,0,0,0,28.83,14.83,14.18 $GC,5186,1.01,141.5,3122,3719,2197,2042,89.7,5.6,369,5207,0.00,2.28,13.45,1.533,9222,0.000,0.053,3132,2305,2022,2106,1939,0,0,0,0,0,0,28.83,14.92,14.21 $GC,5523,1.01,141.5,3132,2305,2105,1937,61.9,8.7,420,5533,0.00,2.45,0.00,0.000,260,0.000,0.080,3132,3722,2021,2105,1937,0,0,0,0,0,0,28.83,14.81,28.83 $GC,5879,1.01,141.5,3133,3722,2105,1938,19.7,13.9,471,5889,0.05,2.33,0.00,0.000,5126,0.503,0.054,3129,2320,2021,2105,1938,0,0,0,0,0,0,14.64,14.85,28.83 $STATE,6046,end climb,SURFACE_DEPTH_REACHED $STATE,6046,begin surface coast $FINISH,0.2,1.012113 $STATE,6074,end surface coast,CONTROL_FINISHED_OK $STATE,6074,begin surface $SM_CCo,6088,108.10,0.839,0,0,1129,360.09 $SM_GC,1.14,7.05,0.32,108.10,0.117,0.100,0.839,136,2509,1129,-8.21,-0.74,360.09,0,0,0,0,0,0,14.90,14.88,14.19 $IRIDIUM_FIX,2241.69,-15759.32,261109,121256 $TT8_MAMPS,0.018725,0.018725 $HUMID,40.23 $INTERNAL_PRESSURE,7.2659 $TCM_TEMP,22.50 $XPDR_PINGS,0 $24V_AH,13.5,24.220 $10V_AH,13.4,0.000 $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,17.400,52.325,187.625,108.100,0.000,31.228,48.430,125.305,0.000,0.000,9.071,1262.228,2850.448,363.001,1962.795,56.559,33.228,897.097,0.000,1143.438,0.000,0.550,0.000 $DEVICE_MAMPS,527.850,182.070,2311.830,839.205,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty $SENSOR_SECS,336.926,324.163,579.410,596.863,1235.260,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000 $MEM,353004 $DATA_FILE_SIZE,43980,499 $CAP_FILE_SIZE,67200,0 $CFSIZE,2097086464,2089156608 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $GPS,300117,010832,2250.422,-15800.794,25,1.4,25,9.8