version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 15
start: 1 26 117 16 52 38
data:
$ID,626
$MISSION,1
$DIVE,15
$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,-129625.37
$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,29
$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
$GPS1,260117,164658,2241.357,-15803.237,4,1.2,4,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.3
$GPS2,260117,165142,2241.383,-15803.270,6,1.2,7,9.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,-0.074
$KALMAN_X,-17367.1,1461.8,199.6,13793.5,-2576.0
$KALMAN_Y,-3861.2,624.7,348.4,3412.7,-361.4
$MHEAD_RNG_PITCHd_Wd,98.6,8721,-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,13,begin dive
$GC,15,-0.76,-116.8,134,2519,1297,1224,0.0,0.0,0,78,0.00,0.00,-58.17,0.000,16390,0.000,0.000,134,2519,3217,3243,3191,0,0,0,0,0,0,28.83,28.83,14.94
$GC,80,-0.76,-116.8,134,2519,3243,3191,4.4,-8.7,7,99,8.80,2.38,0.00,0.000,2564,0.539,0.050,2556,1073,3217,3243,3191,0,0,0,0,0,0,14.52,14.74,28.83
$GC,117,-0.76,-116.8,2556,1074,3245,3191,22.2,-46.9,11,126,0.00,2.42,0.00,0.000,1030,0.000,0.067,2549,2488,3218,3245,3191,0,0,0,0,0,0,28.83,14.73,28.83
$GC,440,-0.76,-116.8,2549,2488,3246,3191,105.6,-23.8,60,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2488,3218,3246,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,734,-0.76,-116.8,2550,2488,3246,3191,161.9,-19.2,103,742,0.00,2.28,0.00,0.000,516,0.000,0.064,2549,1091,3219,3247,3191,0,0,0,0,0,0,28.83,14.86,28.83
$GC,769,-0.76,-116.8,2549,1090,3246,3191,168.7,-20.4,106,777,0.00,2.40,0.00,0.000,1030,0.000,0.072,2549,2497,3218,3246,3191,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1036,-0.76,-116.8,2549,2497,3247,3191,212.1,-14.8,127,1041,0.00,2.38,0.00,0.000,260,0.000,0.091,2549,3918,3219,3247,3191,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1105,-0.76,-116.8,2549,3918,3248,3191,217.2,-14.5,128,1112,0.00,2.33,0.00,0.000,1030,0.000,0.052,2549,2494,3219,3248,3190,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1352,-0.76,-116.8,2549,2493,3248,3191,255.2,-14.1,135,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2493,3219,3248,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1594,-0.76,-116.8,2549,2492,3248,3191,288.6,-13.5,141,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2493,3219,3248,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1832,-0.76,-116.8,2549,2493,3248,3190,320.4,-13.4,147,1836,0.00,2.28,0.00,0.000,516,0.000,0.067,2549,1083,3219,3248,3190,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1861,-0.76,-116.8,2549,1082,3248,3190,320.4,-13.4,147,1868,0.00,2.40,0.00,0.000,1030,0.000,0.073,2549,2500,3219,3248,3190,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2108,-0.76,-116.8,2549,2500,3248,3188,357.5,-13.5,154,2112,0.00,2.35,0.00,0.000,260,0.000,0.093,2549,3911,3218,3248,3188,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2132,-0.76,-116.8,2549,3911,3248,3187,357.5,-13.5,154,2136,0.00,2.30,0.00,0.000,1030,0.000,0.056,2549,2502,3217,3248,3187,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2385,-0.76,-116.8,2549,2500,3248,3185,393.3,-12.9,161,2391,0.00,2.28,0.00,0.000,516,0.000,0.069,2549,1083,3216,3248,3185,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2433,-0.76,-116.8,2549,1083,3248,3184,398.4,-12.9,162,2438,0.00,2.38,0.00,0.000,1030,0.000,0.076,2549,2512,3215,3247,3184,0,0,0,0,0,0,28.83,15.05,28.83
$STATE,2458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2458,begin apogee
$GC,2462,-0.15,0.0,2549,2424,3247,3184,402.7,-12.7,163,2558,0.57,0.00,93.10,2.325,10246,0.316,0.000,2749,2423,2740,2822,2658,0,0,0,0,0,0,14.92,28.83,13.52
$STATE,2559,end apogee,CONTROL_FINISHED_OK
$STATE,2559,begin climb
$GC,2560,0.76,116.8,2749,2423,2822,2659,405.3,0.0,165,2664,0.77,2.38,96.05,2.303,10756,0.177,0.067,3056,1059,2263,2345,2181,0,0,0,0,0,0,14.26,14.16,13.40
$GC,2713,0.76,116.8,3056,1058,2341,2177,402.3,3.1,169,2717,0.00,2.45,0.00,0.000,1030,0.000,0.070,3056,2449,2259,2341,2177,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2975,0.76,116.8,3056,2449,2341,2175,366.4,12.4,176,2979,0.00,2.35,0.00,0.000,516,0.000,0.071,3067,1048,2257,2341,2174,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3044,0.76,116.8,3067,1048,2341,2172,362.3,12.2,177,3052,0.08,2.42,0.00,0.000,5126,0.516,0.071,3052,2455,2256,2341,2172,0,0,0,0,0,0,14.64,14.81,28.83
$GC,3291,0.76,116.8,3052,2455,2342,2173,332.2,10.5,184,3295,0.00,2.38,0.00,0.000,260,0.000,0.091,3051,3863,2257,2342,2172,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3370,0.76,116.8,3051,3863,2341,2173,322.9,11.3,186,3375,0.03,2.33,0.00,0.000,5126,0.540,0.061,3054,2470,2257,2341,2173,0,0,0,0,0,0,14.72,14.94,28.83
$GC,3647,0.76,116.8,3054,2469,2341,2170,293.3,10.7,193,3651,0.00,2.35,0.00,0.000,516,0.000,0.073,3064,1038,2255,2341,2170,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3816,0.79,134.5,3064,1038,2341,2167,279.4,9.0,197,3836,0.00,2.38,13.68,2.053,9222,0.000,0.073,3064,2457,2190,2270,2111,0,0,0,0,0,0,28.83,14.97,14.09
$GC,4083,0.80,147.8,3064,2457,2270,2110,253.6,9.3,204,4097,0.00,0.00,12.12,1.991,8198,0.000,0.000,3064,2456,2136,2216,2057,0,0,0,0,0,0,28.83,28.83,14.07
$GC,4322,0.80,147.8,3064,2457,2216,2056,228.8,10.8,210,4327,0.00,2.38,0.00,0.000,260,0.000,0.090,3064,3860,2136,2216,2056,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4462,0.80,147.8,3064,3860,2216,2056,214.9,11.9,213,4466,0.05,2.33,0.00,0.000,5126,0.599,0.062,3065,2444,2136,2216,2056,0,0,0,0,0,0,14.74,14.94,28.83
$GC,4717,0.84,175.6,3064,2443,2215,2054,189.0,8.4,229,4747,0.00,0.00,22.30,2.003,8198,0.000,0.000,3064,2442,2026,2110,1942,0,0,0,0,0,0,28.83,28.83,14.01
$GC,4987,0.84,175.6,3064,2442,2110,1941,159.0,11.0,256,4995,0.00,2.30,0.00,0.000,516,0.000,0.073,3075,1044,2024,2110,1939,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5085,0.85,183.4,3075,1044,2110,1938,149.6,9.6,265,5100,0.00,2.38,7.85,1.760,9222,0.000,0.072,3075,2452,1992,2083,1901,0,0,0,0,0,0,28.83,14.86,14.07
$GC,5401,0.85,183.4,3075,2452,2083,1901,113.4,12.6,315,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2452,1992,2083,1902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5705,0.92,240.3,3075,2452,2083,1900,84.1,6.7,364,5744,0.05,2.40,31.67,1.510,10756,0.402,0.069,3115,1041,1757,1855,1660,0,0,0,0,0,0,14.81,14.64,14.07
$GC,5793,0.92,240.3,3115,1040,1854,1655,74.4,13.8,376,5803,0.05,2.45,0.00,0.000,5126,0.441,0.071,3099,2450,1754,1854,1655,0,0,0,0,0,0,14.51,14.67,28.83
$GC,6130,0.92,240.3,3099,2451,1854,1653,26.7,16.5,425,6140,0.00,2.40,0.00,0.000,516,0.000,0.071,3109,1042,1753,1854,1652,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6189,0.92,240.3,3108,1042,1854,1652,17.4,14.8,433,6199,0.05,2.40,0.00,0.000,5126,0.412,0.068,3091,2446,1753,1854,1652,0,0,0,0,0,0,14.64,14.78,28.83
$STATE,6274,end climb,SURFACE_DEPTH_REACHED
$STATE,6275,begin surface coast
$FINISH,0.2,1.023920
$STATE,6298,end surface coast,CONTROL_FINISHED_OK
$STATE,6299,begin surface
$SM_CCo,6312,58.00,0.835,0,0,1270,360.09
$SM_GC,1.37,6.93,0.10,58.00,0.106,0.162,0.835,139,2523,1270,-8.22,-0.62,360.09,0,0,0,0,0,0,14.85,14.83,14.28
$IRIDIUM_FIX,2232.34,-15802.37,231109,060616
$TT8_MAMPS,0.019474,0.019474
$HUMID,42.16
$INTERNAL_PRESSURE,7.2659
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,13.4,14.580
$10V_AH,13.6,0.000
$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,17.375,66.425,276.775,58.000,0.000,29.610,49.326,126.001,0.000,0.000,8.087,1175.144,3222.509,407.176,1808.945,53.919,33.212,976.196,0.000,1104.913,0.000,0.549,0.000
$DEVICE_MAMPS,598.995,162.180,2324.835,835.380,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,301.579,281.634,494.612,483.060,999.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353188
$DATA_FILE_SIZE,40586,448
$CAP_FILE_SIZE,73094,0
$CFSIZE,2097086464,2092892160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260117,183959,2241.281,-15802.956,37,2.0,37,9.8