version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 23
start: 1 27 117 8 54 22
data:
$ID,626
$MISSION,1
$DIVE,23
$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,-129667.73
$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,33
$R_STBD_OVSHOOT,37
$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
$GPS1,270117,084832,2241.872,-15801.630,36,0.7,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.5
$GPS2,270117,085326,2241.868,-15801.672,8,0.8,8,9.8
$SPEED_LIMITS,0.122,0.230
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,0.141
$KALMAN_X,-26983.6,226.7,338.7,27239.5,-3704.4
$KALMAN_Y,-2526.1,-793.2,-217.2,4960.9,736.1
$MHEAD_RNG_PITCHd_Wd,42.6,6464,-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,13,begin dive
$GC,15,-0.58,-146.0,133,2525,1183,1137,0.0,0.0,0,79,0.00,0.00,-61.17,0.000,16390,0.000,0.000,133,2525,3237,3263,3211,0,0,0,0,0,0,28.83,28.83,14.99
$GC,81,-0.58,-146.0,133,2525,3263,3211,3.7,-6.6,7,100,8.85,2.33,0.00,0.000,2308,0.528,0.067,2601,3905,3237,3264,3211,0,0,0,0,0,0,14.48,14.73,28.83
$GC,184,-0.58,-146.0,2602,3905,3265,3210,35.0,-18.1,21,194,0.00,2.33,0.00,0.000,1030,0.000,0.054,2602,2502,3238,3265,3211,0,0,0,0,0,0,28.83,14.78,28.83
$GC,508,-0.58,-146.0,2602,2501,3265,3210,96.5,-15.7,70,518,0.00,2.33,0.00,0.000,516,0.000,0.064,2601,1093,3237,3265,3210,0,0,0,0,0,0,28.83,14.83,28.83
$GC,610,-0.58,-146.0,2602,1092,3265,3210,111.8,-14.7,86,620,0.00,2.38,0.00,0.000,1030,0.000,0.070,2601,2484,3238,3266,3210,0,0,0,0,0,0,28.83,14.85,28.83
$GC,914,-0.58,-146.0,2601,2484,3267,3210,153.4,-13.6,133,923,0.00,2.35,0.00,0.000,260,0.000,0.088,2601,3906,3238,3267,3210,0,0,0,0,0,0,28.83,14.85,28.83
$GC,947,-0.58,-146.0,2602,3907,3267,3210,157.6,-13.0,136,956,0.00,2.22,0.00,0.000,1030,0.000,0.050,2601,2502,3238,3267,3210,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1195,-0.58,-146.0,2601,2500,3268,3210,187.1,-11.4,161,1199,0.00,2.28,0.00,0.000,516,0.000,0.063,2602,1088,3239,3268,3210,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1257,-0.58,-146.0,2602,1088,3268,3210,194.2,-12.1,166,1266,0.00,2.33,0.00,0.000,1030,0.000,0.070,2601,2502,3239,3268,3210,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1513,-0.58,-146.0,2601,2501,3268,3210,223.8,-11.5,177,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2502,3239,3269,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1753,-0.58,-146.0,2602,2502,3268,3210,251.1,-11.4,183,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2502,3239,3268,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1993,-0.58,-146.0,2601,2502,3268,3209,277.4,-10.9,189,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2502,3238,3268,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2233,-0.58,-146.0,2601,2502,3268,3208,299.9,-9.1,195,2237,0.00,2.30,0.00,0.000,516,0.000,0.064,2602,1085,3238,3268,3208,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2282,-0.58,-146.0,2601,1084,3268,3207,303.3,-9.2,196,2286,0.00,2.40,0.00,0.000,1030,0.000,0.072,2601,2532,3237,3268,3207,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2549,-0.58,-146.0,2600,2533,3268,3205,327.4,-8.6,203,2553,0.00,2.35,0.00,0.000,516,0.000,0.066,2601,1086,3236,3268,3205,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2572,-0.58,-146.0,2602,1086,3268,3205,327.4,-8.6,203,2577,0.00,2.40,0.00,0.000,1030,0.000,0.074,2601,2529,3236,3268,3205,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2824,-0.58,-146.0,2601,2530,3268,3201,350.9,-8.3,210,2828,0.00,2.35,0.00,0.000,516,0.000,0.067,2601,1086,3234,3268,3201,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2878,-0.58,-146.0,2601,1085,3267,3201,354.0,-8.4,211,2882,0.00,2.35,0.00,0.000,1030,0.000,0.074,2602,2500,3234,3268,3201,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3140,-0.58,-146.0,2601,2500,3267,3199,378.2,-8.9,218,3144,0.00,2.35,0.00,0.000,260,0.000,0.098,2601,3914,3233,3268,3199,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3169,-0.58,-146.0,2601,3914,3268,3198,378.2,-8.9,218,3176,0.00,2.30,0.00,0.000,1030,0.000,0.058,2601,2505,3233,3268,3199,0,0,0,0,0,0,28.83,15.08,28.83
$STATE,3415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3415,begin apogee
$GC,3419,-0.15,0.0,2601,2377,3268,3194,402.6,-8.9,225,3537,0.43,0.00,115.43,2.337,10246,0.277,0.000,2754,2375,2640,2718,2562,0,0,0,0,0,0,14.97,28.83,13.48
$STATE,3538,end apogee,CONTROL_FINISHED_OK
$STATE,3538,begin climb
$GC,3539,0.58,146.0,2755,2376,2718,2563,406.7,0.0,228,3667,0.60,2.40,120.82,2.326,10756,0.182,0.070,2993,1013,2044,2133,1955,0,0,0,0,0,0,14.20,14.14,13.40
$GC,3695,0.58,146.0,2096,1012,2090,1944,400.4,5.8,232,3700,0.00,2.45,0.00,0.000,1030,0.000,0.070,2993,2393,2041,2133,1949,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3973,0.58,146.0,2993,2393,2133,1943,367.6,11.6,239,3978,0.00,2.40,0.00,0.000,260,0.000,0.089,2993,3810,2038,2133,1944,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3997,0.58,146.0,2993,3810,2132,1944,367.6,11.6,239,4002,0.08,2.35,0.00,0.000,5126,0.496,0.064,2988,2426,2038,2133,1944,0,0,0,0,0,0,14.62,14.78,28.83
$GC,4249,0.58,146.0,2988,2425,2133,1942,336.5,11.3,246,4253,0.00,2.40,0.00,0.000,516,0.000,0.076,2998,976,2037,2133,1941,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4358,0.58,146.0,2998,976,2132,1938,328.1,11.3,248,4365,0.00,2.40,0.00,0.000,1030,0.000,0.073,2997,2402,2035,2132,1938,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4605,0.58,146.0,2997,2402,2132,1938,297.9,10.7,255,4609,0.00,2.35,0.00,0.000,516,0.000,0.076,3008,988,2035,2132,1938,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4641,0.58,146.0,3008,988,2132,1936,294.2,10.8,256,4646,0.10,2.38,0.00,0.000,5126,0.439,0.075,2983,2408,2034,2132,1936,0,0,0,0,0,0,14.81,14.95,28.83
$GC,4917,0.58,146.0,2983,2408,2132,1936,265.9,10.0,263,4921,0.00,2.38,0.00,0.000,516,0.000,0.076,2994,984,2033,2132,1935,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5001,0.58,146.0,2994,984,2132,1932,258.7,9.9,265,5005,0.00,2.42,0.00,0.000,1030,0.000,0.074,2994,2405,2032,2132,1932,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5273,0.58,146.0,2993,2405,2132,1933,234.3,8.3,272,5277,0.00,2.35,0.00,0.000,260,0.000,0.095,2993,3810,2032,2133,1932,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5437,0.58,146.0,2993,3810,2132,1934,218.1,10.3,276,5442,0.05,2.35,0.00,0.000,5126,0.449,0.062,2988,2393,2032,2132,1933,0,0,0,0,0,0,14.84,15.02,28.83
$GC,5689,0.58,146.0,2987,2391,2133,1932,197.5,7.2,284,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2391,2032,2132,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5929,0.59,154.0,2987,2391,2132,1932,182.3,6.8,308,5940,0.00,2.38,5.47,1.675,8708,0.000,0.076,2996,991,2011,2113,1910,0,0,0,0,0,0,28.83,14.97,14.21
$GC,6031,0.59,154.0,2084,991,2072,1904,174.2,8.6,317,6039,0.00,2.40,0.00,0.000,1030,0.000,0.072,2996,2404,2011,2113,1910,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6279,0.59,154.0,2996,2404,2113,1910,152.8,8.6,342,6291,0.00,2.35,0.00,0.000,260,0.000,0.088,2996,3812,2012,2113,1911,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6318,0.59,154.0,2996,3812,2113,1911,148.8,10.4,346,6328,0.03,2.35,0.00,0.000,5126,0.500,0.060,2998,2394,2012,2113,1911,0,0,0,0,0,0,14.78,14.95,28.83
$GC,6628,0.65,201.3,2997,2394,2113,1911,127.8,5.5,395,6664,0.00,2.45,29.12,1.909,8452,0.000,0.084,2998,3817,1818,1922,1714,0,0,0,0,0,0,28.83,14.66,14.00
$GC,6702,0.65,201.3,2998,3818,1922,1714,121.8,9.3,406,6712,0.00,2.40,0.00,0.000,1030,0.000,0.060,3004,2398,1817,1922,1712,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7011,0.65,201.3,3005,2399,1922,1709,95.9,8.5,455,7017,0.00,2.35,0.00,0.000,516,0.000,0.074,3014,985,1815,1922,1708,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7232,0.65,201.3,3014,985,1922,1706,77.4,8.3,490,7241,0.00,2.42,0.00,0.000,1030,0.000,0.070,3014,2407,1814,1922,1706,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7567,0.65,201.3,3014,2407,1922,1707,47.4,9.3,539,7576,0.00,2.40,0.00,0.000,516,0.000,0.072,3021,989,1814,1921,1707,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7653,0.65,201.3,3021,989,1922,1707,39.4,9.5,551,7662,0.00,2.40,0.00,0.000,1030,0.000,0.068,3021,2399,1814,1922,1707,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7989,0.65,201.3,3022,2399,1922,1710,6.0,10.6,600,7999,0.00,2.38,0.00,0.000,516,0.000,0.069,3031,996,1815,1922,1709,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,8020,end climb,SURFACE_DEPTH_REACHED
$STATE,8020,begin surface coast
$FINISH,0.5,1.023852
$STATE,8042,end surface coast,CONTROL_FINISHED_OK
$STATE,8042,begin surface
$SM_CCo,8057,78.12,0.826,0,0,1168,360.09
$SM_GC,1.22,6.72,2.58,78.12,0.101,0.070,0.826,141,2500,1168,-8.21,-0.74,360.09,0,0,0,0,0,0,14.90,14.86,14.26
$IRIDIUM_FIX,2230.01,-15800.20,231109,222256
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.95
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,13.4,16.607
$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,16.850,94.950,270.850,78.125,0.000,30.088,49.859,131.120,0.250,0.000,9.312,1548.521,4026.393,473.423,2317.646,73.103,33.222,1147.378,0.000,1413.237,0.000,0.550,0.000
$DEVICE_MAMPS,527.850,111.690,2337.075,826.200,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,409.517,395.053,684.908,684.881,1417.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353208
$DATA_FILE_SIZE,54070,607
$CAP_FILE_SIZE,87496,0
$CFSIZE,2097086464,2092105728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270117,111045,2242.268,-15801.491,13,1.1,13,9.8