version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 25
start: 1 27 117 13 49 10
data:
$ID,626
$MISSION,1
$DIVE,25
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$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,200
$T_MISSION,400
$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,-129670.24
$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,2460
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,27
$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
$GPS1,270117,134330,2242.083,-15801.160,31,1.6,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-74.5
$GPS2,270117,134817,2242.107,-15801.204,8,1.1,8,9.8
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,0.164
$KALMAN_X,-30524.8,105.6,39.3,32002.3,-3385.3
$KALMAN_Y,-3758.6,-62.5,-82.4,5769.9,445.0
$MHEAD_RNG_PITCHd_Wd,38.1,5739,-15.5,-8.333,-18.79,2682
$D_GRID,500
$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,-0.65,-146.0,137,2467,1184,1135,0.0,0.0,0,79,0.00,0.00,-61.92,0.000,16386,0.000,0.000,137,2468,3226,3252,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.65,-146.0,137,2468,3252,3200,3.0,-4.2,7,100,8.82,2.35,0.00,0.000,2308,0.533,0.066,2575,3863,3226,3253,3199,0,0,0,0,0,0,14.53,14.72,28.83
$GC,225,-0.65,-146.0,2575,3864,3253,3199,43.2,-18.5,27,235,0.00,2.35,0.00,0.000,3078,0.000,0.054,2575,2450,3227,3254,3200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,544,-0.65,-146.0,2575,2449,3255,3199,111.9,-19.0,76,553,0.00,2.33,0.00,0.000,2564,0.000,0.064,2575,1054,3227,3255,3199,0,0,0,0,0,0,28.83,14.83,28.83
$GC,580,-0.65,-146.0,2575,1054,3255,3199,118.2,-18.1,81,587,0.00,2.35,0.00,0.000,3078,0.000,0.069,2575,2464,3227,3255,3199,0,0,0,0,0,0,28.83,14.85,28.83
$GC,863,-0.65,-146.0,2575,2464,3256,3199,169.7,-17.4,120,868,0.00,2.35,0.00,0.000,2308,0.000,0.087,2575,3874,3227,3256,3199,0,0,0,0,0,0,28.83,14.88,28.83
$GC,924,-0.65,-146.0,2575,3875,3256,3198,179.5,-15.6,125,928,0.00,2.28,0.00,0.000,3078,0.000,0.050,2575,2450,3227,3256,3199,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1179,-0.65,-146.0,2575,2449,3257,3199,217.3,-13.6,141,1180,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,2448,3228,3257,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1419,-0.65,-146.0,2575,2449,3257,3199,245.7,-12.1,147,1420,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,2448,3228,3257,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1659,-0.65,-146.0,2575,2449,3257,3199,271.9,-11.1,153,1663,0.00,2.38,0.00,0.000,2308,0.000,0.086,2575,3869,3228,3257,3199,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1735,-0.65,-146.0,2575,3870,3257,3199,280.6,-11.3,155,1739,0.00,2.25,0.00,0.000,3078,0.000,0.051,2575,2450,3228,3257,3199,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2010,-0.65,-146.0,2575,2449,3257,3199,314.6,-12.7,162,2015,0.00,2.38,0.00,0.000,2308,0.000,0.089,2575,3871,3228,3257,3199,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2046,-0.65,-146.0,2575,3871,3257,3199,319.3,-12.9,163,2050,0.00,2.25,0.00,0.000,3078,0.000,0.054,2575,2458,3228,3257,3199,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2322,-0.65,-146.0,2575,2455,3257,3195,350.7,-11.1,170,2326,0.00,2.28,0.00,0.000,2564,0.000,0.067,2575,1055,3226,3257,3195,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2360,-0.65,-146.0,2575,1054,3256,3194,354.5,-10.9,171,2365,0.00,2.38,0.00,0.000,3078,0.000,0.073,2575,2463,3226,3257,3195,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2637,-0.65,-146.0,2575,2464,3257,3193,380.2,-9.0,178,2639,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,2464,3224,3257,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,-0.65,-146.0,2575,2464,3257,3190,404.8,-10.3,184,2879,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,2464,3223,3257,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3117,-0.65,-146.0,2575,2464,3257,3186,429.3,-10.1,190,3119,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,2464,3221,3257,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3358,-0.65,-146.0,2575,2464,3256,3184,453.9,-10.3,196,3359,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,2464,3220,3256,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3597,-0.65,-146.0,2575,2464,3256,3181,479.1,-10.5,202,3602,0.00,2.35,0.00,0.000,2308,0.000,0.093,2575,3875,3218,3257,3180,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3616,-0.65,-146.0,2575,3876,3256,3180,479.1,-10.5,202,3621,0.00,2.33,0.00,0.000,3078,0.000,0.058,2575,2457,3218,3256,3180,0,0,0,0,0,0,28.83,15.09,28.83
$STATE,3832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3832,begin apogee
$GC,3836,-0.15,0.0,2575,2328,3257,3176,504.1,-10.6,208,3955,0.50,0.00,114.90,2.494,10246,0.309,0.000,2750,2327,2640,2717,2563,0,0,0,0,0,0,14.95,28.83,13.42
$STATE,3956,end apogee,CONTROL_FINISHED_OK
$STATE,3956,begin climb
$GC,3957,0.65,146.0,2750,2327,2717,2562,508.4,0.0,211,4087,0.70,2.45,122.28,2.466,10756,0.192,0.073,3021,970,2044,2131,1957,0,0,0,0,0,0,14.16,14.09,13.33
$GC,4116,0.65,146.0,3022,970,2130,1952,499.7,7.5,215,4121,0.00,2.45,0.00,0.000,1030,0.000,0.070,3021,2345,2040,2130,1951,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4393,0.65,146.0,3021,2345,2130,1946,461.3,13.7,222,4398,0.00,2.35,0.00,0.000,516,0.000,0.076,3032,960,2038,2130,1946,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4447,0.65,146.0,3032,959,2130,1943,456.5,13.6,223,4452,0.05,2.42,0.00,0.000,5126,0.404,0.073,3007,2357,2036,2130,1943,0,0,0,0,0,0,14.63,14.76,28.83
$GC,4709,0.65,146.0,3007,2357,2130,1942,421.0,12.6,230,4713,0.00,2.35,0.00,0.000,516,0.000,0.080,3016,963,2036,2130,1942,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4758,0.65,146.0,3016,962,2130,1942,416.4,12.6,231,4762,0.00,2.38,0.00,0.000,1030,0.000,0.073,3016,2345,2035,2130,1941,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5025,0.65,146.0,3016,2345,2130,1941,380.0,13.3,238,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2345,2035,2130,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5265,0.65,146.0,3015,2345,2130,1941,346.0,13.8,244,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2345,2035,2130,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5505,0.65,146.0,3016,2345,2130,1940,314.8,13.0,250,5509,0.00,2.33,0.00,0.000,516,0.000,0.080,3026,959,2034,2129,1940,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5584,0.65,146.0,3026,959,2130,1938,305.3,12.9,252,5589,0.03,2.38,0.00,0.000,5126,0.494,0.076,3017,2349,2033,2129,1938,0,0,0,0,0,0,14.82,14.98,28.83
$GC,5861,0.65,146.0,3017,2350,2130,1938,273.1,11.2,259,5865,0.00,2.38,0.00,0.000,260,0.000,0.092,3017,3770,2034,2130,1939,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5976,0.65,146.0,3017,3770,2130,1939,259.3,11.6,262,5981,0.08,2.28,0.00,0.000,5126,0.533,0.066,3013,2375,2034,2130,1939,0,0,0,0,0,0,14.83,15.02,28.83
$GC,6253,0.65,146.0,3012,2374,2130,1938,230.8,10.3,269,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2373,2034,2130,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6493,0.65,146.0,3013,2374,2130,1939,209.0,9.2,275,6497,0.00,2.38,0.00,0.000,516,0.000,0.082,3023,937,2034,2130,1938,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6651,0.69,175.2,3023,937,2130,1937,196.4,7.2,282,6682,0.00,2.35,22.67,2.067,9222,0.000,0.073,3023,2353,1925,2025,1825,0,0,0,0,0,0,28.83,15.02,14.08
$GC,6921,0.69,175.2,3022,2353,2025,1821,171.8,10.7,309,6925,0.00,2.38,0.00,0.000,260,0.000,0.090,3023,3760,1923,2025,1821,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6962,0.69,175.2,2112,3759,1984,1816,167.6,10.9,312,6973,0.00,2.38,0.00,0.000,1030,0.000,0.063,3033,2350,1923,2025,1821,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7225,0.69,175.2,3032,2350,2025,1821,140.7,10.6,344,7234,0.00,2.45,0.00,0.000,260,0.000,0.090,3033,3766,1922,2024,1821,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7325,0.69,175.2,3033,3766,2025,1822,129.0,12.8,359,7332,0.10,2.35,0.00,0.000,5126,0.467,0.065,3021,2337,1923,2025,1821,0,0,0,0,0,0,14.73,14.90,28.83
$GC,7629,0.69,181.5,3021,2337,2025,1822,100.8,8.1,408,7640,0.00,2.33,3.42,1.112,8708,0.000,0.073,3030,940,1901,2007,1795,0,0,0,0,0,0,28.83,14.88,14.19
$GC,7766,0.72,201.8,3030,940,2006,1795,89.8,7.6,429,7787,0.00,2.35,12.00,1.487,9222,0.000,0.070,3030,2349,1815,1922,1709,0,0,0,0,0,0,28.83,14.88,14.19
$GC,8108,0.72,201.8,3030,2350,1922,1707,58.8,10.5,480,8118,0.00,2.40,0.00,0.000,516,0.000,0.073,3040,938,1814,1922,1706,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8149,0.72,201.8,3040,938,1922,1706,54.8,10.3,485,8158,0.00,2.42,0.00,0.000,1030,0.000,0.070,3040,2354,1814,1922,1706,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8483,0.72,201.8,3040,2354,1922,1707,17.0,11.6,534,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2354,1814,1922,1707,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8609,end climb,SURFACE_DEPTH_REACHED
$STATE,8609,begin surface coast
$FINISH,0.1,1.010393
$STATE,8645,end surface coast,CONTROL_FINISHED_OK
$STATE,8645,begin surface
$SM_CCo,8658,78.60,0.842,0,0,1170,360.09
$SM_GC,1.12,6.80,0.17,78.60,0.105,0.119,0.842,130,2465,1170,-8.24,-0.74,360.09,0,0,0,0,0,0,14.88,14.88,14.23
$IRIDIUM_FIX,2232.34,-15800.20,241109,030351
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.43
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.3,17.171
$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,17.075,80.425,275.275,78.600,0.000,31.696,49.872,122.395,0.000,0.000,9.299,1451.903,4940.413,433.010,2145.612,60.791,33.228,1092.034,0.000,1333.469,0.000,0.549,0.000
$DEVICE_MAMPS,533.205,119.340,2493.900,841.500,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,376.437,327.776,587.255,588.264,1217.310,0.000,0.000,0.000,0.000,0.000
$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,50633,557
$CAP_FILE_SIZE,86551,0
$CFSIZE,2097086464,2091909120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270117,161539,2243.116,-15800.733,17,1.1,17,9.8