version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 27
start: 1 27 117 18 53 15
data:
$ID,626
$MISSION,1
$DIVE,27
$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,-129672.76
$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,33
$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
$GPS1,270117,184731,2243.115,-15800.060,33,0.8,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-75.7
$GPS2,270117,185221,2243.135,-15800.083,7,0.9,8,9.8
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.180,0.166
$KALMAN_X,-34514.4,789.0,412.6,36846.7,-4120.2
$KALMAN_Y,-4108.8,405.7,211.6,7258.5,-469.3
$MHEAD_RNG_PITCHd_Wd,37.6,3457,-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,13,begin dive
$GC,15,-0.65,-146.0,137,2479,1179,1145,0.0,0.0,0,79,0.00,0.00,-62.20,0.000,16390,0.000,0.000,137,2480,3237,3262,3212,0,0,0,0,0,0,28.83,28.83,14.97
$GC,81,-0.65,-146.0,137,2480,3263,3211,3.2,-4.7,7,100,8.82,2.35,0.00,0.000,2308,0.532,0.066,2574,3871,3237,3264,3211,0,0,0,0,0,0,14.47,14.71,28.83
$GC,131,-0.65,-146.0,2575,3871,3265,3211,23.8,-39.6,13,141,0.03,2.38,0.00,0.000,3078,0.462,0.059,2583,2458,3238,3265,3211,0,0,0,0,0,0,14.58,14.73,28.83
$GC,458,-0.65,-146.0,2583,2456,3265,3211,95.1,-21.7,62,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2456,3238,3265,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,765,-0.65,-146.0,2583,2456,3266,3211,146.9,-15.8,111,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2456,3238,3266,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1019,-0.65,-146.0,2583,2456,3268,3211,180.7,-12.2,138,1023,0.00,2.28,0.00,0.000,516,0.000,0.063,2584,1049,3239,3268,3211,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1061,-0.65,-146.0,2584,1048,3268,3211,185.3,-11.8,141,1071,0.00,2.38,0.00,0.000,1030,0.000,0.069,2583,2448,3239,3268,3211,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1307,-0.65,-146.0,2583,2448,3269,3211,215.0,-12.3,157,1311,0.00,2.28,0.00,0.000,516,0.000,0.062,2583,1048,3240,3269,3211,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1376,-0.65,-146.0,2584,1047,3269,3211,219.1,-12.2,158,1383,0.00,2.40,0.00,0.000,1030,0.000,0.068,2584,2469,3240,3269,3211,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1623,-0.65,-146.0,2583,2468,3269,3211,251.1,-11.6,165,1627,0.00,2.33,0.00,0.000,260,0.000,0.089,2584,3869,3240,3269,3211,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1667,-0.65,-146.0,2584,3870,3269,3211,255.2,-11.6,166,1671,0.00,2.30,0.00,0.000,1030,0.000,0.052,2584,2457,3239,3268,3211,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1939,-0.65,-146.0,2583,2455,3269,3211,288.6,-12.1,173,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2455,3240,3269,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2179,-0.65,-146.0,2583,2455,3269,3209,313.4,-10.1,179,2183,0.00,2.38,0.00,0.000,260,0.000,0.090,2583,3870,3238,3269,3208,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2215,-0.65,-146.0,2583,3869,3269,3209,317.0,-10.1,180,2219,0.00,2.25,0.00,0.000,1030,0.000,0.054,2583,2456,3239,3269,3209,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2490,-0.65,-146.0,2583,2454,3269,3206,345.8,-10.7,187,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2454,3237,3268,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2730,-0.65,-146.0,2584,2454,3268,3205,372.1,-11.1,193,2735,0.00,2.40,0.00,0.000,260,0.000,0.092,2584,3875,3236,3269,3204,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2749,-0.65,-146.0,2584,3875,3268,3204,372.1,-11.1,193,2753,0.00,2.30,0.00,0.000,1030,0.000,0.054,2584,2468,3236,3269,3204,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3006,-0.65,-146.0,2583,2466,3268,3201,403.8,-11.4,200,3010,0.00,2.30,0.00,0.000,516,0.000,0.066,2583,1041,3235,3269,3201,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3065,-0.65,-146.0,2583,1041,3269,3200,407.8,-11.3,201,3069,0.00,2.35,0.00,0.000,1030,0.000,0.073,2583,2459,3234,3269,3200,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3322,-0.65,-146.0,2584,2459,3269,3197,436.3,-9.9,208,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2459,3232,3267,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3562,-0.65,-146.0,2584,2459,3268,3194,459.2,-9.5,214,3566,0.00,2.35,0.00,0.000,260,0.000,0.095,2583,3868,3231,3269,3193,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3621,-0.65,-146.0,2584,3868,3268,3193,462.6,-9.5,215,3625,0.00,2.30,0.00,0.000,1030,0.000,0.057,2584,2465,3230,3268,3193,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3878,-0.65,-146.0,2583,2463,3268,3190,488.4,-9.2,222,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2463,3229,3268,3191,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4037,begin apogee
$GC,4040,-0.15,0.0,2584,2323,3268,3188,503.3,-9.3,226,4160,0.47,0.00,116.97,2.484,10246,0.301,0.000,2752,2323,2640,2717,2563,0,0,0,0,0,0,14.97,28.83,13.40
$STATE,4161,end apogee,CONTROL_FINISHED_OK
$STATE,4161,begin climb
$GC,4163,0.65,146.0,2752,2323,2717,2563,506.9,0.0,229,4289,0.65,0.00,122.18,2.453,10758,0.183,0.000,3004,2323,2044,2132,1956,0,0,0,0,0,0,14.16,28.83,13.33
$GC,4518,0.65,146.0,3005,2323,2131,1945,472.5,12.7,238,4522,0.00,2.47,0.00,0.000,260,0.000,0.085,3005,3759,2038,2132,1945,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4541,0.65,146.0,3004,3759,2131,1945,472.5,12.7,238,4546,0.00,2.38,0.00,0.000,1030,0.000,0.063,3015,2370,2038,2131,1945,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4793,0.65,146.0,3015,2368,2131,1942,435.1,13.5,245,4798,0.00,2.40,0.00,0.000,260,0.000,0.087,3015,3766,2036,2131,1942,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4857,0.65,146.0,3014,3766,2131,1942,429.7,13.9,246,4862,0.08,2.40,0.00,0.000,5126,0.535,0.067,3012,2352,2036,2131,1942,0,0,0,0,0,0,14.67,14.85,28.83
$GC,5109,0.65,146.0,3012,2350,2131,1939,390.1,13.9,253,5113,0.00,2.38,0.00,0.000,516,0.000,0.080,3021,928,2035,2131,1939,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5227,0.65,146.0,2128,927,2089,1930,373.6,14.2,256,5232,0.00,2.42,0.00,0.000,1030,0.000,0.071,3021,2347,2033,2131,1935,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5505,0.65,146.0,3021,2347,2131,1935,331.5,15.0,263,5509,0.00,2.38,0.00,0.000,260,0.000,0.093,3022,3761,2033,2131,1935,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5574,0.65,146.0,3021,3761,2131,1936,326.1,15.0,264,5582,0.10,2.38,0.00,0.000,5126,0.489,0.066,3010,2318,2033,2131,1936,0,0,0,0,0,0,14.79,14.97,28.83
$GC,5822,0.65,146.0,3011,2318,2131,1933,290.4,11.9,271,5828,0.00,2.42,0.00,0.000,260,0.000,0.090,3010,3760,2032,2131,1933,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5839,0.65,146.0,3010,3760,2131,1934,290.4,11.9,271,5843,0.00,2.38,0.00,0.000,1030,0.000,0.067,3019,2347,2032,2131,1934,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6101,0.65,146.0,3019,2347,2131,1933,260.2,10.3,278,6105,0.00,2.33,0.00,0.000,516,0.000,0.077,3029,935,2031,2131,1932,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6139,0.65,146.0,3028,934,2131,1931,256.5,10.3,279,6145,0.08,2.40,0.00,0.000,5126,0.498,0.072,3014,2375,2031,2131,1931,0,0,0,0,0,0,14.83,15.00,28.83
$GC,6417,0.65,146.0,3014,2375,2131,1931,226.2,11.1,286,6421,0.00,2.30,0.00,0.000,260,0.000,0.090,3014,3757,2031,2131,1931,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6475,0.65,146.0,3014,3757,2131,1932,221.8,11.6,287,6480,0.03,2.35,0.00,0.000,5126,0.543,0.066,3016,2350,2031,2131,1932,0,0,0,0,0,0,14.82,15.02,28.83
$GC,6722,0.65,146.0,3016,2347,2131,1931,192.4,9.9,299,6726,0.00,2.35,0.00,0.000,516,0.000,0.076,3025,927,2031,2131,1931,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6913,0.65,146.0,3025,926,2131,1926,174.2,10.1,316,6922,0.03,2.35,0.00,0.000,5126,0.493,0.071,3016,2348,2029,2131,1928,0,0,0,0,0,0,14.80,14.96,28.83
$GC,7160,0.65,146.0,3017,2348,2131,1929,150.2,8.9,341,7164,0.00,2.35,0.00,0.000,260,0.000,0.088,3016,3761,2030,2131,1929,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7249,0.65,146.0,3017,3762,2131,1931,140.5,11.3,354,7259,0.05,2.35,0.00,0.000,5126,0.451,0.062,3010,2348,2031,2131,1931,0,0,0,0,0,0,14.79,14.96,28.83
$GC,7560,0.66,152.8,3010,2348,2131,1930,118.0,8.1,403,7568,0.00,2.40,2.05,0.658,8708,0.000,0.074,3017,940,2017,2120,1914,0,0,0,0,0,0,28.83,14.94,13.46
$GC,7614,0.66,154.3,3017,940,2120,1914,113.4,8.3,411,7621,0.00,2.35,0.00,0.000,1030,0.000,0.070,3016,2351,2017,2120,1914,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7919,0.67,162.1,3017,2351,2121,1914,89.8,8.0,460,7928,0.00,0.00,5.57,1.321,8198,0.000,0.000,3017,2351,1978,2080,1876,0,0,0,0,0,0,28.83,28.83,14.23
$GC,8243,0.73,210.2,3017,2351,2080,1876,70.5,6.5,509,8279,0.00,2.45,26.60,1.398,10500,0.000,0.084,3017,3761,1781,1888,1674,0,0,0,0,0,0,28.83,14.65,14.12
$GC,8342,0.73,210.2,3017,3761,1888,1673,61.2,11.2,522,8351,0.00,2.38,0.00,0.000,1030,0.000,0.060,3025,2354,1779,1888,1671,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8679,0.73,210.2,3027,2353,1888,1669,25.9,10.5,571,8688,0.00,2.38,0.00,0.000,516,0.000,0.072,3037,941,1778,1888,1669,0,0,0,0,0,0,28.83,14.77,28.83
$GC,8737,0.73,210.2,3037,941,1888,1667,19.6,10.4,579,8747,0.00,2.40,0.00,0.000,1030,0.000,0.067,3037,2347,1778,1888,1668,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,8884,end climb,SURFACE_DEPTH_REACHED
$STATE,8884,begin surface coast
$FINISH,0.2,1.008735
$STATE,8920,end surface coast,CONTROL_FINISHED_OK
$STATE,8920,begin surface
$SM_CCo,8933,73.82,0.828,0,0,1170,360.09
$SM_GC,1.24,6.72,0.20,73.82,0.094,0.113,0.828,138,2472,1170,-8.21,-0.54,360.09,0,0,0,0,0,0,14.85,14.84,14.24
$IRIDIUM_FIX,2232.34,-15800.20,241109,080851
$TT8_MAMPS,0.018725,0.018725
$HUMID,40.47
$INTERNAL_PRESSURE,7.24637
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,13.3,17.731
$10V_AH,13.2,0.000
$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,17.050,94.800,273.375,73.825,0.000,26.211,48.243,131.766,0.000,0.000,9.305,1578.292,4897.551,427.714,2329.933,70.944,33.235,1152.355,0.000,1453.362,0.000,0.550,0.000
$DEVICE_MAMPS,543.150,113.220,2483.955,828.495,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,409.061,373.242,653.371,650.529,1346.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353192
$DATA_FILE_SIZE,54063,605
$CAP_FILE_SIZE,94472,0
$CFSIZE,2097086464,2091712512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270117,212409,2243.948,-15759.786,13,1.0,13,9.8