version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 22
start: 1 27 117 6 30 52
data:
$ID,626
$MISSION,1
$DIVE,22
$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,190
$T_MISSION,220
$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,150
$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,-129666.47
$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,30
$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
$GPS1,270117,062608,2242.418,-15801.807,4,1.1,4,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.8
$GPS2,270117,062957,2242.425,-15801.829,7,1.1,7,9.8
$SPEED_LIMITS,0.122,0.230
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.094
$KALMAN_X,-25360.2,618.7,400.1,24890.1,-3434.2
$KALMAN_Y,-3216.6,-615.3,236.1,6053.6,-508.6
$MHEAD_RNG_PITCHd_Wd,104.4,5702,-13.1,-7.018,-16.96,3170
$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,-0.58,-146.0,150,2518,1184,1135,0.0,0.0,0,79,0.00,0.00,-62.08,0.000,16386,0.000,0.000,150,2518,3231,3257,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.58,-146.0,150,2518,3258,3206,3.2,-4.5,7,100,8.75,2.38,0.00,0.000,2564,0.529,0.052,2613,1075,3232,3259,3206,0,0,0,0,0,0,14.62,14.85,28.83
$GC,109,-0.58,-146.0,2613,1074,3259,3206,16.6,-36.2,10,119,0.00,2.42,0.00,0.000,1030,0.000,0.071,2613,2493,3232,3259,3206,0,0,0,0,0,0,28.83,14.82,28.83
$GC,446,-0.58,-146.0,2613,2493,3260,3206,81.0,-17.3,59,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2493,3233,3261,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,749,-0.58,-146.0,2613,2493,3260,3206,130.7,-14.6,108,758,0.00,2.35,0.00,0.000,516,0.000,0.062,2613,1086,3233,3260,3206,0,0,0,0,0,0,28.83,14.90,28.83
$GC,799,-0.58,-146.0,2613,1086,3260,3206,136.7,-12.5,115,806,0.00,2.35,0.00,0.000,1030,0.000,0.070,2613,2501,3233,3260,3206,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1071,-0.58,-146.0,2613,2501,3261,3206,167.8,-10.6,149,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2502,3233,3260,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1311,-0.58,-146.0,2613,2501,3261,3206,195.4,-11.7,173,1315,0.00,2.30,0.00,0.000,516,0.000,0.062,2613,1085,3233,3261,3206,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1340,-0.58,-146.0,2613,1085,3261,3206,198.7,-12.6,175,1348,0.00,2.33,0.00,0.000,1030,0.000,0.070,2613,2497,3233,3261,3206,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1597,-0.58,-146.0,2613,2497,3261,3206,225.1,-9.2,183,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2497,3233,3261,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1837,-0.58,-146.0,2613,2497,3261,3206,248.6,-10.1,189,1841,0.00,2.30,0.00,0.000,516,0.000,0.063,2613,1077,3233,3261,3206,0,0,0,0,0,0,28.83,15.05,28.83
$GC,1860,-0.58,-146.0,2613,1076,3261,3206,248.6,-10.1,189,1865,0.00,2.40,0.00,0.000,1030,0.000,0.072,2613,2503,3233,3261,3206,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2112,-0.58,-146.0,2613,2503,3261,3205,272.0,-8.1,196,2117,0.00,2.30,0.00,0.000,516,0.000,0.063,2613,1080,3233,3261,3205,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2171,-0.58,-146.0,2613,1080,3261,3205,275.1,-8.2,197,2175,0.00,2.40,0.00,0.000,1030,0.000,0.071,2613,2503,3233,3261,3205,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2428,-0.58,-146.0,2613,2503,3261,3201,300.4,-9.3,204,2432,0.00,2.30,0.00,0.000,516,0.000,0.064,2613,1084,3231,3261,3201,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2487,-0.58,-146.0,2613,1084,3261,3201,303.8,-9.3,205,2491,0.00,2.40,0.00,0.000,1030,0.000,0.072,2614,2504,3231,3261,3201,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2744,-0.58,-146.0,2613,2504,3261,3199,330.1,-9.8,212,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2504,3230,3261,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2984,-0.58,-146.0,2613,2504,3261,3195,353.9,-9.9,218,2988,0.00,2.35,0.00,0.000,260,0.000,0.094,2613,3918,3228,3261,3195,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3007,-0.58,-146.0,2613,3918,3261,3195,353.9,-9.9,218,3012,0.00,2.33,0.00,0.000,1030,0.000,0.056,2613,2492,3228,3261,3195,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3259,-0.58,-146.0,2613,2490,3261,3192,379.8,-8.9,225,3263,0.00,2.28,0.00,0.000,516,0.000,0.069,2613,1082,3226,3261,3192,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3328,-0.58,-146.0,2613,1082,3261,3191,382.8,-8.7,226,3335,0.00,2.40,0.00,0.000,1030,0.000,0.076,2613,2499,3226,3261,3191,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,3534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3534,begin apogee
$GC,3538,-0.15,0.0,2613,2373,3261,3189,401.1,-7.5,232,3657,0.38,0.08,114.07,2.337,10246,0.273,0.181,2751,2408,2640,2718,2562,0,0,0,0,0,0,14.99,14.19,13.50
$STATE,3658,end apogee,CONTROL_FINISHED_OK
$STATE,3658,begin climb
$GC,3659,0.58,146.0,2751,2408,2718,2562,404.8,0.0,235,3788,0.60,2.53,119.47,2.314,10756,0.190,0.070,2995,1014,2043,2133,1954,0,0,0,0,0,0,14.22,14.16,13.42
$GC,3898,0.58,146.0,2088,1012,2089,1941,387.7,10.4,241,3903,0.00,2.42,0.00,0.000,1030,0.000,0.070,2994,2399,2039,2132,1947,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4175,0.58,146.0,2995,2401,2132,1944,353.7,12.2,248,4179,0.00,2.33,0.00,0.000,516,0.000,0.073,3004,1004,2038,2132,1944,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4194,0.58,146.0,3004,1004,2132,1942,353.7,12.2,248,4199,0.05,2.40,0.00,0.000,5126,0.409,0.073,2988,2396,2037,2133,1942,0,0,0,0,0,0,14.68,14.82,28.83
$GC,4451,0.58,146.0,2988,2397,2132,1942,319.5,12.4,255,4455,0.00,2.38,0.00,0.000,260,0.000,0.090,2988,3813,2037,2132,1942,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4490,0.58,146.0,2988,3813,2132,1942,314.9,12.5,256,4494,0.00,2.33,0.00,0.000,1030,0.000,0.064,2996,2428,2037,2132,1943,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4767,0.58,146.0,2997,2428,2132,1942,282.7,11.0,263,4771,0.00,2.38,0.00,0.000,516,0.000,0.076,3007,989,2037,2132,1942,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4886,0.58,146.0,3007,989,2132,1940,270.2,10.7,266,4891,0.10,2.35,0.00,0.000,5126,0.435,0.073,2983,2403,2036,2132,1940,0,0,0,0,0,0,14.83,14.97,28.83
$GC,5157,0.58,146.0,2984,2403,2132,1940,240.4,10.8,273,5162,0.00,2.35,0.00,0.000,516,0.000,0.074,2993,987,2036,2132,1940,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5276,0.58,146.0,2080,986,2089,1933,229.6,9.6,276,5280,0.00,2.40,0.00,0.000,1030,0.000,0.073,2994,2397,2035,2132,1939,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5553,0.58,146.0,2993,2398,2132,1939,203.4,9.7,283,5557,0.00,2.35,0.00,0.000,516,0.000,0.076,3003,981,2035,2132,1939,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5646,0.58,146.0,3002,981,2132,1938,194.6,10.0,289,5655,0.03,2.40,0.00,0.000,5126,0.484,0.073,2994,2400,2035,2132,1939,0,0,0,0,0,0,14.83,15.00,28.83
$GC,5894,0.58,146.0,2994,2399,2132,1939,172.3,8.3,314,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2400,2035,2132,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6134,0.58,146.0,2994,2400,2132,1939,152.1,8.6,338,6138,0.00,2.35,0.00,0.000,260,0.000,0.093,2993,3807,2035,2132,1939,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6272,0.58,146.0,2994,3807,2132,1940,139.6,8.5,358,6282,0.05,2.35,0.00,0.000,5126,0.443,0.061,2987,2390,2036,2132,1940,0,0,0,0,0,0,14.81,14.97,28.83
$GC,6581,0.58,146.0,2987,2390,2132,1940,118.7,7.2,407,6588,0.00,2.30,0.00,0.000,516,0.000,0.073,2996,992,2035,2132,1939,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6762,0.63,191.6,2996,992,2131,1939,106.2,5.5,436,6793,0.00,2.38,25.50,1.714,9222,0.000,0.070,2996,2393,1858,1961,1755,0,0,0,0,0,0,28.83,14.92,14.10
$GC,7090,0.63,191.6,2996,2393,1959,1748,83.6,8.6,488,7100,0.00,2.40,0.00,0.000,516,0.000,0.074,3003,991,1854,1960,1748,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7200,0.63,191.6,3004,991,1960,1747,74.6,7.4,504,7210,0.00,2.42,0.00,0.000,1030,0.000,0.072,3003,2407,1853,1960,1747,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7542,0.63,191.6,3004,2407,1960,1747,47.4,8.7,553,7551,0.00,2.40,0.00,0.000,516,0.000,0.071,3013,994,1853,1960,1747,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7594,0.63,191.6,3013,994,1960,1747,43.0,8.5,560,7603,0.00,2.40,0.00,0.000,1030,0.000,0.070,3013,2401,1853,1960,1747,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7931,0.63,191.6,3013,2402,1960,1748,15.4,9.0,609,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2401,1854,1960,1748,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8057,end climb,SURFACE_DEPTH_REACHED
$STATE,8058,begin surface coast
$FINISH,0.3,1.023862
$STATE,8093,end surface coast,CONTROL_FINISHED_OK
$STATE,8094,begin surface
$SM_CCo,8107,82.82,0.845,0,0,1169,360.09
$SM_GC,1.10,6.82,0.17,82.82,0.125,0.117,0.845,135,2522,1169,-8.23,-0.54,360.09,0,0,0,0,0,0,14.90,14.90,14.25
$IRIDIUM_FIX,2232.34,-15800.20,231109,191902
$TT8_MAMPS,0.018725,0.018725
$HUMID,39.95
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.4,16.330
$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,16.775,85.600,259.050,82.825,0.000,0.000,0.000,0.000,0.000,0.000,8.285,1608.850,3907.665,426.747,2251.647,57.084,33.235,1133.163,0.000,1497.118,0.000,0.552,0.000
$DEVICE_MAMPS,529.380,180.540,2337.075,844.560,0.000,0.000,0.000,0.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,426.957,408.080,720.820,738.534,1528.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353184
$DATA_FILE_SIZE,57382,632
$CAP_FILE_SIZE,96789,0
$CFSIZE,2097086464,2092204032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270117,084832,2241.872,-15801.630,36,0.7,36,9.8