version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 13
start: 1 26 117 13 7 20
data:
$ID,626
$MISSION,1
$DIVE,13
$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,-129622.85
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,260117,130147,2240.542,-15803.394,5,1.1,5,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.2
$GPS2,260117,130625,2240.572,-15803.443,8,1.3,8,9.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.226,-0.064
$KALMAN_X,-13443.2,625.8,-215.2,10827.5,-2404.9
$KALMAN_Y,-3793.4,34.6,121.2,2657.4,-327.4
$MHEAD_RNG_PITCHd_Wd,95.9,10092,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.76,-116.8,134,2519,1298,1222,0.0,0.0,0,78,0.00,0.00,-58.53,0.000,16390,0.000,0.000,135,2519,3218,3245,3191,0,0,0,0,0,0,28.83,28.83,14.97
$GC,81,-0.76,-116.8,134,2519,3245,3191,4.0,-7.3,7,99,8.73,2.33,0.00,0.000,2308,0.534,0.064,2535,3902,3218,3246,3191,0,0,0,0,0,0,14.52,14.73,28.83
$GC,130,-0.76,-116.8,2536,3902,3246,3191,26.8,-44.2,13,140,0.03,2.35,0.00,0.000,3078,0.457,0.058,2544,2499,3218,3246,3191,0,0,0,0,0,0,14.59,14.75,28.83
$GC,454,-0.76,-116.8,2544,2497,3247,3191,108.9,-22.2,62,463,0.00,2.35,0.00,0.000,516,0.000,0.067,2545,1091,3219,3247,3191,0,0,0,0,0,0,28.83,14.83,28.83
$GC,490,-0.76,-116.8,2545,1091,3247,3190,116.5,-22.6,67,497,0.00,2.35,0.00,0.000,1030,0.000,0.072,2545,2493,3219,3247,3191,0,0,0,0,0,0,28.83,14.85,28.83
$GC,767,-0.76,-116.8,2545,2496,3252,3187,175.1,-20.1,104,771,0.00,2.35,0.00,0.000,260,0.000,0.086,2535,3913,3219,3251,3187,0,0,0,0,0,0,28.83,14.88,28.83
$GC,815,-0.76,-116.8,2535,3912,3251,3188,185.0,-20.1,108,820,0.08,2.28,0.00,0.000,3078,0.414,0.054,2553,2495,3220,3252,3188,0,0,0,0,0,0,14.78,14.92,28.83
$GC,1070,-0.76,-116.8,2553,2493,3252,3187,225.6,-15.2,121,1075,0.00,2.40,0.00,0.000,260,0.000,0.086,2549,3914,3220,3252,3188,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1094,-0.76,-116.8,2549,3914,3252,3187,225.6,-15.2,121,1098,0.00,2.33,0.00,0.000,1030,0.000,0.054,2549,2497,3220,3252,3188,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1346,-0.76,-116.8,2550,2495,3252,3187,263.2,-13.6,128,1350,0.00,2.30,0.00,0.000,516,0.000,0.065,2549,1080,3220,3252,3188,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1360,-0.76,-116.8,2549,1079,3252,3187,263.2,-13.6,128,1364,0.00,2.40,0.00,0.000,1030,0.000,0.072,2549,2524,3219,3252,3187,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1622,-0.76,-116.8,2549,2524,3252,3187,302.5,-14.5,135,1626,0.00,2.33,0.00,0.000,260,0.000,0.090,2549,3915,3219,3252,3187,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1686,-0.76,-116.8,2548,3915,3252,3187,307.4,-14.4,136,1690,0.00,2.30,0.00,0.000,1030,0.000,0.054,2549,2502,3219,3252,3187,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1938,-0.76,-116.8,2549,2501,3252,3187,345.2,-13.9,143,1942,0.00,2.28,0.00,0.000,516,0.000,0.067,2549,1084,3219,3252,3187,0,0,0,0,0,0,28.83,15.05,28.83
$GC,1986,-0.76,-116.8,2549,1083,3252,3186,350.0,-14.0,144,1990,0.00,2.40,0.00,0.000,1030,0.000,0.075,2549,2500,3219,3252,3186,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2253,-0.76,-116.8,2549,2500,3252,3184,387.3,-12.9,151,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2500,3218,3252,3184,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2372,begin apogee
$GC,2376,-0.15,0.0,2549,2426,3252,3183,401.4,-11.8,154,2472,0.57,0.00,92.88,2.285,10246,0.319,0.000,2749,2425,2739,2822,2657,0,0,0,0,0,0,14.92,28.83,13.55
$STATE,2473,end apogee,CONTROL_FINISHED_OK
$STATE,2473,begin climb
$GC,2474,0.76,116.8,2748,2426,2822,2657,403.6,0.0,156,2575,0.77,0.00,95.88,2.271,10502,0.190,0.000,3049,2425,2262,2344,2181,0,0,0,0,0,0,14.26,28.83,13.43
$GC,2815,0.76,116.8,3049,2426,2343,2174,377.8,11.3,165,2820,0.00,2.25,0.00,0.000,516,0.000,0.069,3059,1063,2258,2343,2173,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2961,0.76,116.8,3059,1063,2341,2170,365.2,10.6,168,2966,0.00,2.35,0.00,0.000,1030,0.000,0.070,3060,2462,2255,2341,2169,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3213,0.76,116.8,3059,2462,2341,2169,334.9,11.2,175,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2462,2255,2341,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3453,0.76,116.8,3059,2462,2341,2166,308.3,11.3,181,3457,0.00,2.35,0.00,0.000,260,0.000,0.089,3060,3863,2253,2341,2166,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3577,0.76,116.8,3060,3864,2341,2166,295.2,11.3,184,3582,0.05,2.33,0.00,0.000,5126,0.492,0.061,3054,2462,2254,2341,2167,0,0,0,0,0,0,14.77,14.98,28.83
$GC,3849,0.80,149.2,3054,2461,2341,2163,272.4,8.2,191,3876,0.00,0.00,25.00,2.134,8198,0.000,0.000,3054,2461,2130,2211,2050,0,0,0,0,0,0,28.83,28.83,14.01
$GC,4089,0.80,149.2,3054,2461,2211,2047,246.7,10.9,197,4093,0.00,2.42,0.00,0.000,260,0.000,0.092,3054,3870,2129,2211,2047,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4248,0.80,149.2,3054,3869,2211,2047,228.6,11.6,201,4252,0.00,2.38,0.00,0.000,1030,0.000,0.063,3065,2450,2129,2211,2047,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4525,0.81,149.8,3065,2449,2211,2045,199.8,10.0,208,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2449,2128,2211,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4768,0.85,185.1,3064,2449,2211,2045,175.5,8.0,232,4806,0.00,2.42,28.77,2.001,8452,0.000,0.089,3064,3853,1984,2073,1896,0,0,0,0,0,0,28.83,14.64,13.99
$GC,4811,0.88,212.9,3065,3853,2072,1896,172.2,8.4,236,4840,0.00,2.38,23.58,1.953,9222,0.000,0.063,3075,2454,1870,1967,1774,0,0,0,0,0,0,28.83,14.69,13.81
$GC,5106,0.88,212.9,3075,2454,1967,1769,131.2,13.2,273,5112,0.00,2.38,0.00,0.000,516,0.000,0.075,3085,1033,1867,1967,1768,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5208,0.88,212.9,3086,1033,1967,1765,116.8,13.9,289,5215,0.00,2.40,0.00,0.000,1030,0.000,0.073,3086,2453,1866,1967,1765,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5513,0.88,212.9,3085,2454,1967,1765,81.3,11.1,338,5522,0.00,2.42,0.00,0.000,260,0.000,0.089,3086,3862,1866,1967,1766,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5564,0.88,212.9,3085,3862,1967,1766,75.2,13.0,345,5574,0.00,2.35,0.00,0.000,1030,0.000,0.059,3097,2453,1866,1967,1766,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5900,0.88,212.9,3097,2452,1967,1766,35.5,13.1,394,5909,0.00,2.35,0.00,0.000,516,0.000,0.068,3106,1044,1866,1967,1766,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5938,0.88,212.9,3106,1044,1967,1765,30.4,13.2,399,5948,0.05,2.40,0.00,0.000,5126,0.422,0.069,3090,2452,1866,1967,1766,0,0,0,0,0,0,14.69,14.83,28.83
$STATE,6118,end climb,SURFACE_DEPTH_REACHED
$STATE,6118,begin surface coast
$FINISH,0.2,1.015093
$STATE,6142,end surface coast,CONTROL_FINISHED_OK
$STATE,6142,begin surface
$SM_CCo,6155,71.47,0.838,0,0,1269,360.09
$SM_GC,1.13,6.82,0.10,71.47,0.090,0.167,0.838,134,2523,1269,-8.24,-0.48,360.09,0,0,0,0,0,0,14.90,14.86,14.27
$IRIDIUM_FIX,2230.01,-15810.61,231109,020215
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.04
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,13.4,14.089
$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,17.100,66.100,266.100,71.475,0.000,32.842,57.488,109.893,0.250,0.000,9.086,1125.964,3199.716,397.345,1745.045,50.668,33.225,934.030,0.000,1053.729,0.000,0.549,0.000
$DEVICE_MAMPS,533.970,166.770,2285.055,838.440,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,288.626,259.622,468.296,476.620,986.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353176
$DATA_FILE_SIZE,37488,428
$CAP_FILE_SIZE,69511,0
$CFSIZE,2097086464,2093088768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260117,145220,2240.487,-15803.308,38,0.8,38,9.8