version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 20
start: 1 27 117 2 20 37
data:
$ID,626
$MISSION,1
$DIVE,20
$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,-129648.59
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2640
$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
$GPS1,270117,021520,2241.888,-15802.423,12,1.4,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.9
$GPS2,270117,021941,2241.938,-15802.460,7,1.4,7,9.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,-0.044
$KALMAN_X,-23123.7,1127.9,41.1,21430.4,-2297.4
$KALMAN_Y,-3530.8,215.6,107.1,4760.5,-261.4
$MHEAD_RNG_PITCHd_Wd,91.0,7057,-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,14,-0.76,-116.8,133,2515,1187,1133,0.0,0.0,0,78,0.00,0.00,-58.83,0.000,16390,0.000,0.000,133,2516,3118,3148,3089,0,0,0,0,0,0,28.83,28.83,14.95
$GC,81,-0.76,-116.8,133,2516,3149,3089,3.6,-6.6,7,99,8.70,2.33,0.00,0.000,2308,0.531,0.068,2535,3902,3119,3150,3088,0,0,0,0,0,0,14.53,14.71,28.83
$GC,108,-0.76,-116.8,2535,3902,3151,3089,16.5,-35.0,10,118,0.03,2.35,0.00,0.000,3078,0.446,0.055,2544,2497,3119,3150,3089,0,0,0,0,0,0,14.58,14.74,28.83
$GC,436,-0.76,-116.8,2544,2495,3151,3089,103.5,-23.7,59,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2495,3119,3151,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,733,-0.76,-116.8,2544,2495,3153,3088,161.4,-18.5,103,742,0.00,2.35,0.00,0.000,260,0.000,0.084,2535,3898,3120,3152,3089,0,0,0,0,0,0,28.83,14.83,28.83
$GC,778,-0.76,-116.8,1664,3897,3131,3085,169.6,-18.2,107,787,0.03,2.30,0.00,0.000,3078,0.396,0.052,2546,2496,3120,3153,3088,0,0,0,0,0,0,14.73,14.88,28.83
$GC,1046,-0.76,-116.8,2546,2495,3153,3089,214.0,-16.3,128,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2495,3121,3154,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1286,-0.76,-116.8,2546,2495,3154,3088,248.3,-14.3,134,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2495,3121,3154,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1526,-0.76,-116.8,2545,2495,3154,3088,281.2,-13.7,140,1530,0.00,2.28,0.00,0.000,516,0.000,0.065,2546,1080,3121,3154,3088,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1625,-0.76,-116.8,2546,1080,3154,3088,291.4,-13.6,142,1629,0.00,2.38,0.00,0.000,1030,0.000,0.071,2546,2486,3121,3155,3088,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1882,-0.76,-116.8,2546,2487,3154,3088,328.4,-13.1,149,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2487,3121,3154,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2122,-0.76,-116.8,2545,2487,3154,3087,360.2,-13.3,155,2126,0.00,2.38,0.00,0.000,260,0.000,0.092,2546,3917,3121,3155,3087,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2157,-0.76,-116.8,2546,3916,3154,3087,364.7,-13.1,156,2161,0.00,2.28,0.00,0.000,1030,0.000,0.056,2546,2492,3120,3154,3087,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2433,-0.76,-116.8,2546,2491,3154,3085,397.4,-11.4,163,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2491,3119,3154,3085,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2472,begin apogee
$GC,2476,-0.15,0.0,2546,2374,3154,3084,402.0,-11.3,164,2572,0.57,0.00,93.35,2.286,10246,0.313,0.000,2747,2374,2639,2716,2563,0,0,0,0,0,0,14.93,28.83,13.54
$STATE,2573,end apogee,CONTROL_FINISHED_OK
$STATE,2573,begin climb
$GC,2574,0.76,116.8,2747,2374,2716,2563,404.4,0.0,166,2675,0.80,0.00,96.80,2.298,10246,0.196,0.000,3048,2374,2162,2238,2087,0,0,0,0,0,0,14.25,28.83,13.42
$GC,2913,0.76,116.8,3049,2374,2238,2079,368.6,12.7,175,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2374,2158,2238,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3154,0.76,116.8,3048,2374,2238,2076,338.5,12.8,181,3160,0.00,2.42,0.00,0.000,260,0.000,0.087,3048,3813,2157,2238,2077,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3275,0.76,116.8,2160,3813,2194,2070,320.2,14.7,184,3281,0.03,2.33,0.00,0.000,5126,0.532,0.060,3052,2426,2157,2238,2077,0,0,0,0,0,0,14.71,14.90,28.83
$GC,3555,0.76,116.8,3052,2424,2238,2072,286.4,11.3,191,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2424,2155,2238,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3793,0.76,116.8,3052,2424,2238,2071,260.9,10.2,197,3797,0.00,2.35,0.00,0.000,516,0.000,0.072,3063,988,2154,2238,2070,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3997,0.78,125.6,3062,988,2235,2068,242.3,9.5,202,4008,0.00,2.35,6.40,1.897,9222,0.000,0.071,3063,2406,2127,2210,2045,0,0,0,0,0,0,28.83,15.00,14.16
$GC,4265,0.78,132.7,3063,2406,2210,2046,215.6,9.6,209,4278,0.00,2.42,7.30,1.948,8708,0.000,0.074,3073,984,2098,2181,2016,0,0,0,0,0,0,28.83,14.90,14.14
$GC,4363,0.79,133.6,3073,984,2180,2016,207.4,10.0,211,4368,0.08,2.38,0.00,0.000,5126,0.500,0.072,3058,2402,2098,2181,2015,0,0,0,0,0,0,14.76,14.92,28.83
$GC,4614,0.80,147.6,3058,2403,2181,2015,184.1,9.2,229,4634,0.00,2.42,13.43,2.043,8708,0.000,0.073,3069,990,2038,2124,1952,0,0,0,0,0,0,28.83,14.81,14.09
$GC,4708,0.80,147.6,3068,989,2123,1950,174.6,10.9,238,4716,0.00,2.35,0.00,0.000,1030,0.000,0.071,3068,2397,2036,2123,1949,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4960,0.81,151.1,3068,2398,2123,1949,147.4,9.8,265,4976,0.00,2.45,4.22,1.567,8452,0.000,0.091,3068,3812,2024,2113,1935,0,0,0,0,0,0,28.83,14.79,14.10
$GC,4994,0.81,151.1,3068,3812,2113,1936,143.2,11.4,270,5005,0.03,2.38,0.00,0.000,5126,0.568,0.062,3071,2391,2024,2113,1936,0,0,0,0,0,0,14.65,14.85,28.83
$GC,5304,0.84,175.1,3071,2391,2113,1936,111.2,8.6,319,5326,0.00,2.45,14.10,1.806,8452,0.000,0.086,3071,3818,1928,2024,1832,0,0,0,0,0,0,28.83,14.74,14.09
$GC,5386,0.84,175.1,3071,3819,2023,1833,102.8,11.1,331,5393,0.00,2.33,0.00,0.000,1030,0.000,0.059,3082,2400,1927,2023,1832,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5700,0.84,175.1,3083,2400,2023,1829,70.9,10.3,380,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,1926,2023,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,0.84,175.1,3082,2400,2023,1829,36.0,10.6,429,6043,0.00,2.35,0.00,0.000,516,0.000,0.070,3092,994,1925,2022,1829,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6079,0.84,175.1,3092,994,2023,1828,31.3,10.5,435,6090,0.05,2.40,0.00,0.000,5126,0.440,0.068,3076,2405,1925,2024,1827,0,0,0,0,0,0,14.66,14.83,28.83
$STATE,6326,end climb,SURFACE_DEPTH_REACHED
$STATE,6326,begin surface coast
$FINISH,0.1,1.023823
$STATE,6355,end surface coast,CONTROL_FINISHED_OK
$STATE,6355,begin surface
$SM_CCo,6368,91.20,0.828,0,0,1169,360.09
$SM_GC,0.92,6.82,0.15,91.20,0.099,0.129,0.828,138,2505,1169,-8.23,-0.90,360.09,0,0,0,0,0,0,14.89,14.89,14.23
$IRIDIUM_FIX,2230.01,-15803.24,231109,151538
$TT8_MAMPS,0.018725,0.018725
$HUMID,40.07
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,13.4,15.779
$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,17.125,52.275,235.600,91.200,0.000,28.431,47.335,109.086,0.500,0.000,8.122,1223.285,3178.293,417.569,1865.013,50.883,33.227,947.494,0.000,1113.531,0.000,0.550,0.000
$DEVICE_MAMPS,567.630,128.520,2298.060,827.730,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,320.085,309.817,533.003,549.618,1137.337,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353160
$DATA_FILE_SIZE,43840,475
$CAP_FILE_SIZE,69187,0
$CFSIZE,2097086464,2092400640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270117,040931,2241.779,-15802.067,39,0.8,40,9.8