version: 66.11 revision: 1138 glider: 626 mission: 1 dive: 4 start: 1 26 117 1 36 20 data: $ID,626 $MISSION,1 $DIVE,4 $N_DIVES,0 $D_SURF,3 $D_FLARE,3 $D_TGT,120 $D_ABORT,160 $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,40 $T_MISSION,120 $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,130 $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,380 $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,-129552.09 $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,2750 $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,2250 $C_ROLL_CLIMB,2100 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,28 $R_STBD_OVSHOOT,40 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,649 $VBD_MAX,3962 $C_VBD,2700 $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 $GPS1,260117,013104,2241.144,-15802.991,3,0.8,3,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.23 $_SM_ANGLEo,-72.5 $GPS2,260117,013526,2241.154,-15803.040,7,0.8,7,9.8 $SPEED_LIMITS,0.173,0.244 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.227,0.088 $KALMAN_X,-1216.1,-545.1,-441.2,703.9,-451.5 $KALMAN_Y,-228.0,-103.9,-82.5,520.9,-83.3 $MHEAD_RNG_PITCHd_Wd,58.9,8815,-19.6,-10.000,-22.31,1939 $D_GRID,120 $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,-0.75,-126.5,149,2264,1153,1025,0.0,0.0,0,87,0.00,0.00,-64.97,0.000,16390,0.000,0.000,148,2265,3215,3246,3184,0,0,0,0,0,0,28.83,28.83,15.19 $GC,89,-0.75,-126.5,148,2265,3246,3184,4.1,-7.6,8,108,7.95,2.28,0.00,0.000,2308,0.493,0.064,2494,3654,3215,3247,3184,0,0,0,0,0,0,14.74,14.92,28.83 $GC,130,-0.75,-126.5,2494,3654,3247,3184,22.8,-44.0,13,140,0.00,2.33,0.00,0.000,3078,0.000,0.057,2494,2234,3215,3247,3184,0,0,0,0,0,0,28.83,14.95,28.83 $GC,453,-0.75,-126.5,2494,2232,3247,3183,110.0,-23.6,62,462,0.00,2.40,0.00,0.000,260,0.000,0.081,2494,3645,3215,3247,3183,0,0,0,0,0,0,28.83,14.95,28.83 $STATE,502,end dive,TARGET_DEPTH_EXCEEDED $STATE,502,begin apogee $GC,508,-0.15,0.0,2494,2101,3247,3183,121.2,-24.3,69,594,0.57,0.00,76.62,1.974,10246,0.346,0.000,2691,2095,2699,2779,2620,0,0,0,0,0,0,14.81,28.83,13.71 $STATE,595,end apogee,CONTROL_FINISHED_OK $STATE,595,begin climb $GC,596,0.75,126.5,2692,2095,2779,2620,131.8,0.0,81,688,0.77,2.45,80.40,1.988,10756,0.239,0.068,2994,689,2183,2258,2108,0,0,0,0,0,0,14.40,14.36,13.69 $GC,788,0.82,186.4,2994,690,2257,2105,122.0,6.8,110,832,0.03,2.35,36.20,1.888,11270,0.254,0.062,3032,2085,1940,2034,1846,0,0,0,0,0,0,14.62,14.73,13.83 $GC,1130,0.84,202.5,3031,2085,2034,1840,87.1,9.1,164,1146,0.00,2.38,8.62,1.544,8452,0.000,0.078,3031,3511,1873,1976,1771,0,0,0,0,0,0,28.83,14.83,14.18 $GC,1287,0.84,202.5,3032,3511,1976,1771,68.8,13.4,187,1298,0.05,2.33,0.00,0.000,5126,0.362,0.059,3025,2099,1873,1976,1770,0,0,0,0,0,0,14.75,14.90,28.83 $GC,1624,0.85,205.2,3024,2099,1977,1769,34.0,9.9,236,1634,0.00,2.38,1.30,0.353,8452,0.000,0.076,3024,3505,1862,1976,1748,0,0,0,0,0,0,28.83,14.93,14.79 $GC,1691,0.85,205.2,3025,3505,1976,1748,26.7,11.1,245,1701,0.00,2.30,0.00,0.000,1030,0.000,0.058,3033,2107,1862,1976,1748,0,0,0,0,0,0,28.83,14.95,28.83 $STATE,1911,end climb,SURFACE_DEPTH_REACHED $STATE,1911,begin surface coast $FINISH,0.5,1.023719 $STATE,1946,end surface coast,CONTROL_FINISHED_OK $STATE,1946,begin surface $SM_CCo,1959,81.05,0.852,0,0,1148,380.21 $SM_GC,1.24,6.50,0.25,81.05,0.070,0.099,0.852,137,2255,1148,-8.08,-0.85,380.21,0,0,0,0,0,0,15.00,15.00,14.38 $IRIDIUM_FIX,2230.01,-15803.24,221109,141400 $TT8_MAMPS,0.018725,0.018725 $HUMID,38.38 $INTERNAL_PRESSURE,7.43193 $TCM_TEMP,23.80 $XPDR_PINGS,0 $24V_AH,13.7,12.028 $10V_AH,13.5,0.000 $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,15.875,23.950,203.150,81.050,0.000,0.000,0.000,0.000,0.000,0.000,8.297,642.171,86.390,281.235,1066.394,25.808,32.227,623.567,0.000,618.700,0.000,0.554,0.000 $DEVICE_MAMPS,493.425,99.450,1988.235,852.210,0.000,0.000,0.000,0.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty $SENSOR_SECS,185.592,206.358,371.199,463.742,959.694,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000 $MEM,353228 $DATA_FILE_SIZE,24001,282 $CAP_FILE_SIZE,42119,0 $CFSIZE,2097086464,2094039040 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $GPS,260117,021058,2241.197,-15803.064,4,1.3,4,9.8