version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 9
start: 1 26 117 6 26 32
data:
$ID,626
$MISSION,1
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,160
$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,120
$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,-129617.74
$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,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2750
$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
$GPS1,260117,062119,2241.157,-15803.087,34,0.7,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.2
$GPS2,260117,062537,2241.157,-15803.142,7,0.9,7,9.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,0.121
$KALMAN_X,-5394.3,-1035.7,114.9,4630.2,-1214.3
$KALMAN_Y,-1841.5,-176.6,-36.6,2164.1,-731.6
$MHEAD_RNG_PITCHd_Wd,49.3,8913,-20.5,-10.000,-23.06,1790
$D_GRID,300
$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,-0.76,-116.8,134,2394,1172,1104,0.0,0.0,0,79,0.00,0.00,-61.78,0.000,16390,0.000,0.000,133,2394,3227,3254,3201,0,0,0,0,0,0,28.83,28.83,15.07
$GC,81,-0.76,-116.8,133,2393,3254,3201,3.8,-7.1,7,100,8.68,2.40,0.00,0.000,2308,0.533,0.077,2547,3809,3228,3255,3201,0,0,0,0,0,0,14.59,14.79,28.83
$GC,117,-0.76,-116.8,2547,3808,3256,3201,20.8,-44.5,11,126,0.00,2.35,0.00,0.000,1030,0.000,0.060,2547,2399,3228,3256,3201,0,0,0,0,0,0,28.83,14.83,28.83
$GC,441,-0.76,-116.8,2547,2397,3256,3201,103.8,-23.4,60,451,0.00,2.40,0.00,0.000,260,0.000,0.083,2547,3806,3228,3256,3201,0,0,0,0,0,0,28.83,14.88,28.83
$GC,469,-0.76,-116.8,2547,3806,3256,3201,109.6,-20.8,64,478,0.00,2.33,0.00,0.000,1030,0.000,0.057,2547,2400,3228,3256,3201,0,0,0,0,0,0,28.83,14.90,28.83
$GC,765,-0.76,-116.8,2547,2399,3257,3201,162.6,-16.5,107,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2399,3229,3257,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1006,-0.76,-116.8,2546,2399,3258,3201,196.7,-13.9,131,1010,0.00,2.35,0.00,0.000,260,0.000,0.086,2547,3812,3229,3258,3201,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1035,-0.76,-116.8,2547,3812,3258,3201,200.4,-14.2,133,1043,0.00,2.25,0.00,0.000,1030,0.000,0.056,2547,2400,3229,3258,3201,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1281,-0.76,-116.8,2547,2399,3258,3201,236.2,-14.7,140,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2398,3229,3258,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-0.76,-116.8,2546,2399,3258,3201,272.3,-15.1,146,1526,0.00,2.38,0.00,0.000,260,0.000,0.088,2547,3819,3229,3258,3201,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1585,-0.76,-116.8,2547,3819,3258,3201,277.3,-14.7,147,1589,0.00,2.33,0.00,0.000,1030,0.000,0.055,2547,2394,3229,3257,3201,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,1756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1756,begin apogee
$GC,1760,-0.15,0.0,2547,2264,3258,3200,302.8,-12.5,152,1855,0.57,0.08,91.12,2.160,10246,0.298,0.188,2751,2306,2750,2830,2670,0,0,0,0,0,0,14.93,14.33,13.66
$STATE,1856,end apogee,CONTROL_FINISHED_OK
$STATE,1856,begin climb
$GC,1857,0.76,116.8,2751,2306,2830,2670,305.2,0.0,154,1959,0.75,2.42,93.15,2.147,10756,0.185,0.066,3054,910,2272,2353,2191,0,0,0,0,0,0,14.35,14.28,13.55
$GC,1969,0.76,116.8,3054,910,2351,2191,303.3,2.1,157,1974,0.00,2.42,0.00,0.000,1030,0.000,0.067,3054,2290,2270,2350,2191,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2241,0.76,116.8,3055,2290,2350,2188,269.4,12.4,164,2245,0.00,2.38,0.00,0.000,260,0.000,0.085,3055,3710,2269,2350,2188,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2485,0.76,116.8,3055,3710,2350,2188,242.5,10.7,170,2490,0.05,2.30,0.00,0.000,5126,0.470,0.060,3049,2319,2269,2350,2188,0,0,0,0,0,0,14.75,14.95,28.83
$GC,2757,0.81,156.5,3050,2317,2350,2184,220.0,7.7,177,2798,0.00,2.45,30.73,2.052,8452,0.000,0.088,3049,3705,2111,2190,2033,0,0,0,0,0,0,28.83,14.65,13.99
$GC,3059,0.81,156.5,3050,3705,2189,2030,182.1,11.9,194,3063,0.00,2.30,0.00,0.000,1030,0.000,0.060,3059,2300,2109,2189,2030,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3304,0.85,188.4,3060,2299,2189,2026,160.2,8.2,218,3336,0.00,2.50,25.00,1.968,8452,0.000,0.089,3060,3709,1982,2072,1893,0,0,0,0,0,0,28.83,14.69,14.02
$GC,3517,0.85,188.4,3060,3708,2072,1892,133.8,13.0,246,3527,0.00,2.35,0.00,0.000,1030,0.000,0.062,3071,2303,1980,2072,1889,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3827,0.85,188.4,3069,2302,2072,1886,96.0,12.0,295,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2302,1979,2072,1886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4147,0.90,229.3,3071,2302,2072,1886,64.9,7.7,344,4174,0.03,0.00,21.73,1.372,10246,0.539,0.000,3100,2301,1813,1913,1714,0,0,0,0,0,0,14.88,28.83,14.23
$GC,4501,0.90,229.3,3100,2302,1914,1708,21.4,13.8,395,4511,0.00,2.42,0.00,0.000,260,0.000,0.087,3101,3707,1809,1913,1706,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4595,0.90,229.3,3101,3707,1913,1709,6.2,17.3,408,4605,0.05,2.35,0.00,0.000,5126,0.452,0.062,3096,2298,1811,1913,1709,0,0,0,0,0,0,14.68,14.86,28.83
$STATE,4613,end climb,SURFACE_DEPTH_REACHED
$STATE,4613,begin surface coast
$FINISH,0.1,1.010993
$STATE,4635,end surface coast,CONTROL_FINISHED_OK
$STATE,4635,begin surface
$SM_CCo,4649,72.43,0.848,0,0,1199,380.21
$SM_GC,0.96,6.95,0.20,72.43,0.116,0.122,0.848,139,2413,1199,-8.23,-0.59,380.21,0,0,0,0,0,0,14.90,14.90,14.29
$IRIDIUM_FIX,2232.34,-15802.37,221109,191936
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.18
$INTERNAL_PRESSURE,7.31473
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,13.6,13.109
$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,17.075,43.100,261.725,72.425,0.000,29.691,49.141,99.538,0.000,0.000,8.395,1056.435,1790.901,366.324,1734.054,45.288,33.208,878.157,0.000,1027.574,0.000,0.551,0.000
$DEVICE_MAMPS,538.560,188.190,2160.360,848.385,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,278.043,284.402,495.032,510.956,1057.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353244
$DATA_FILE_SIZE,37386,413
$CAP_FILE_SIZE,57629,0
$CFSIZE,2097086464,2093514752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260117,074552,2241.202,-15803.141,4,1.0,4,9.8