version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 12
start: 1 26 117 11 15 28
data:
$ID,626
$MISSION,1
$DIVE,12
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$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,133
$T_MISSION,200
$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,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,-129621.6
$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,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2740
$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
$GPS1,260117,110950,2240.665,-15803.391,40,0.9,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.3
$GPS2,260117,111432,2240.680,-15803.455,6,0.9,7,9.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,-0.043
$KALMAN_X,-11279.9,19.5,12.7,9023.9,-2603.2
$KALMAN_Y,-3691.2,-105.1,-24.3,3044.5,-684.0
$MHEAD_RNG_PITCHd_Wd,90.8,9941,-20.5,-10.025,-23.10,1786
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.76,-116.8,134,2533,1335,1264,0.0,0.0,0,78,0.00,0.00,-57.17,0.000,16390,0.000,0.000,134,2534,3217,3246,3189,0,0,0,0,0,0,28.83,28.83,14.97
$GC,81,-0.76,-116.8,134,2534,3246,3189,4.5,-8.9,7,99,8.80,0.00,0.00,0.000,2310,0.543,0.000,2547,2534,3218,3247,3189,0,0,0,0,0,0,14.46,28.83,28.83
$GC,417,-0.76,-116.8,2547,2534,3248,3189,104.8,-24.1,57,423,0.00,2.30,0.00,0.000,260,0.000,0.090,2547,3896,3218,3248,3189,0,0,0,0,0,0,28.83,14.82,28.83
$GC,445,-0.76,-116.8,2547,3896,3248,3187,110.9,-21.7,61,451,0.00,2.25,0.00,0.000,1030,0.000,0.056,2547,2504,3218,3248,3189,0,0,0,0,0,0,28.83,14.87,28.83
$GC,730,-0.76,-116.8,2547,2502,3251,3189,167.0,-19.5,102,734,0.00,2.30,0.00,0.000,516,0.000,0.066,2547,1088,3219,3250,3189,0,0,0,0,0,0,28.83,14.91,28.83
$GC,793,-0.76,-116.8,1680,1086,3233,3185,178.5,-18.9,107,801,0.00,2.38,0.00,0.000,1030,0.000,0.072,2546,2478,3219,3251,3188,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1051,-0.76,-116.8,2548,2478,3252,3188,218.1,-14.3,124,1055,0.00,2.40,0.00,0.000,260,0.000,0.090,2547,3911,3220,3251,3189,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1095,-0.76,-116.8,2548,3910,3252,3189,223.3,-14.4,125,1099,0.00,2.33,0.00,0.000,1030,0.000,0.055,2548,2495,3220,3252,3189,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1367,-0.76,-116.8,2547,2493,3252,3189,262.1,-14.1,132,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2493,3220,3252,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1607,-0.76,-116.8,2548,2493,3251,3188,298.1,-15.1,138,1611,0.00,2.38,0.00,0.000,260,0.000,0.090,2548,3911,3219,3251,3188,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1645,-0.76,-116.8,2547,3911,3251,3188,303.7,-15.4,139,1650,0.00,2.30,0.00,0.000,1030,0.000,0.054,2549,2502,3220,3252,3188,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1922,-0.76,-116.8,2547,2500,3252,3188,343.0,-13.6,146,1926,0.00,2.28,0.00,0.000,516,0.000,0.067,2548,1091,3220,3252,3188,0,0,0,0,0,0,28.83,15.05,28.83
$GC,1960,-0.76,-116.8,1680,1090,3234,3184,347.9,-13.5,147,1966,0.00,2.40,0.00,0.000,1030,0.000,0.075,2548,2504,3219,3252,3187,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2238,-0.76,-116.8,2548,2504,3251,3185,381.7,-11.8,154,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2504,3218,3251,3185,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2397,begin apogee
$GC,2401,-0.15,0.0,2548,2433,3251,3185,401.4,-12.3,158,2497,0.57,0.00,93.55,2.339,10246,0.312,0.000,2749,2431,2739,2821,2658,0,0,0,0,0,0,14.92,28.83,13.54
$STATE,2498,end apogee,CONTROL_FINISHED_OK
$STATE,2498,begin climb
$GC,2500,0.76,116.8,2748,2431,2821,2658,404.4,0.0,160,2600,0.75,0.00,95.95,2.323,10502,0.182,0.000,3043,2431,2262,2343,2182,0,0,0,0,0,0,14.25,28.83,13.42
$GC,2838,0.76,116.8,3043,2431,2342,2173,376.4,12.9,169,2842,0.00,2.30,0.00,0.000,516,0.000,0.070,3054,1057,2258,2343,2174,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2977,0.76,116.8,3054,1056,2341,2170,361.9,12.7,172,2981,0.00,2.35,0.00,0.000,1030,0.000,0.071,3054,2452,2255,2341,2170,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3229,0.76,116.8,3054,2452,2341,2169,331.1,10.5,179,3233,0.00,2.33,0.00,0.000,516,0.000,0.071,3065,1051,2255,2341,2169,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3247,0.76,116.8,3064,1050,2341,2167,331.1,10.5,179,3252,0.05,2.40,0.00,0.000,5126,0.444,0.074,3049,2453,2253,2341,2166,0,0,0,0,0,0,14.74,14.90,28.83
$GC,3504,0.76,116.8,3049,2452,2341,2166,303.4,10.6,186,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2452,2253,2341,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,0.77,121.2,3048,2452,2341,2164,279.6,9.8,192,3749,0.00,2.35,0.00,0.000,260,0.000,0.093,3048,3860,2252,2341,2164,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3764,0.78,125.7,3048,3861,2340,2164,279.6,9.8,192,3775,0.00,2.28,6.53,1.841,9222,0.000,0.062,3059,2461,2226,2308,2144,0,0,0,0,0,0,28.83,15.01,14.15
$GC,4016,0.85,184.3,3059,2461,2308,2145,259.5,6.7,198,4069,0.00,2.47,47.78,2.187,8452,0.000,0.093,3059,3859,1987,2075,1900,0,0,0,0,0,0,28.83,14.48,13.78
$GC,4173,0.85,184.3,3059,3859,2075,1899,242.8,10.9,202,4178,0.00,2.40,0.00,0.000,1030,0.000,0.065,3069,2453,1986,2074,1899,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4451,0.85,184.3,3069,2452,2074,1893,202.8,15.0,209,4455,0.00,2.35,0.00,0.000,516,0.000,0.074,3080,1032,1983,2074,1893,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4532,0.85,184.3,3080,1031,2075,1889,191.9,13.7,214,4540,0.00,2.35,0.00,0.000,1030,0.000,0.073,3080,2443,1981,2074,1889,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4779,0.85,184.3,3080,2443,2074,1888,161.9,10.6,239,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2443,1982,2075,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5051,0.85,184.3,3080,2443,2075,1889,129.9,12.2,276,5061,0.00,2.40,0.00,0.000,516,0.000,0.075,3091,1035,1982,2075,1889,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5213,0.85,184.3,3091,1035,2074,1887,110.2,11.5,301,5220,0.08,2.38,0.00,0.000,5126,0.492,0.073,3075,2455,1981,2075,1887,0,0,0,0,0,0,14.76,14.92,28.83
$GC,5518,0.86,190.8,3076,2454,2075,1887,80.9,9.7,350,5528,0.00,2.38,3.05,0.920,8452,0.000,0.087,3076,3863,1961,2057,1865,0,0,0,0,0,0,28.83,14.88,14.28
$GC,5626,0.86,190.8,3075,3864,2057,1865,69.4,11.0,365,5635,0.00,2.35,0.00,0.000,1030,0.000,0.057,3086,2445,1961,2057,1865,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5961,0.86,190.8,3086,2444,2058,1865,32.1,12.5,414,5970,0.00,2.35,0.00,0.000,516,0.000,0.069,3097,1041,1961,2057,1865,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6028,0.86,190.8,3096,1041,2057,1864,23.7,12.5,423,6038,0.05,2.40,0.00,0.000,5126,0.424,0.069,3080,2449,1961,2058,1864,0,0,0,0,0,0,14.69,14.85,28.83
$STATE,6207,end climb,SURFACE_DEPTH_REACHED
$STATE,6208,begin surface coast
$FINISH,0.1,1.014615
$STATE,6244,end surface coast,CONTROL_FINISHED_OK
$STATE,6245,begin surface
$SM_CCo,6258,82.82,0.869,0,0,1270,360.09
$SM_GC,1.23,6.90,0.10,82.82,0.112,0.180,0.869,137,2515,1270,-8.22,-0.54,360.09,0,0,0,0,0,0,14.90,14.86,14.23
$IRIDIUM_FIX,2232.34,-15800.20,231109,000009
$TT8_MAMPS,0.019474,0.019474
$HUMID,42.04
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.4,13.842
$10V_AH,13.3,0.000
$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,17.200,61.425,246.850,82.825,0.000,29.318,47.082,124.725,0.000,0.000,8.103,1186.511,3170.924,382.231,1844.904,51.825,33.220,926.394,0.000,1099.834,0.000,0.549,0.000
$DEVICE_MAMPS,543.150,179.775,2338.605,869.040,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,306.856,286.744,504.228,523.856,1084.020,0.000,0.000,0.000,0.000,0.000
$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,40636,454
$CAP_FILE_SIZE,69783,0
$CFSIZE,2097086464,2093187072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260117,130147,2240.542,-15803.394,5,1.1,5,9.8