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