version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 28
start: 1 27 117 21 29 51
data:
$ID,626
$MISSION,1
$DIVE,28
$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,-129674.01
$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
$GPS1,270117,212409,2243.948,-15759.786,13,1.0,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-74.1
$GPS2,270117,212857,2243.967,-15759.856,7,1.0,7,9.8
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,0.127
$KALMAN_X,-36325.9,1113.8,328.3,38801.0,-4287.3
$KALMAN_Y,-4345.1,513.5,-101.6,9246.3,-552.8
$MHEAD_RNG_PITCHd_Wd,48.9,1929,-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,-146.0,136,2473,1182,1142,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,16390,0.000,0.000,136,2474,3237,3264,3210,0,0,0,0,0,0,28.83,28.83,14.95
$GC,81,-0.65,-146.0,136,2474,3264,3211,4.1,-8.1,7,100,8.77,2.35,0.00,0.000,2308,0.526,0.065,2575,3869,3237,3264,3211,0,0,0,0,0,0,14.43,14.71,28.83
$GC,203,-0.65,-146.0,2575,3869,3265,3211,41.3,-19.8,24,212,0.00,2.35,0.00,0.000,3078,0.000,0.054,2575,2457,3237,3265,3210,0,0,0,0,0,0,28.83,14.75,28.83
$GC,526,-0.65,-146.0,2575,2455,3267,3210,107.5,-16.0,73,532,0.00,2.40,0.00,0.000,2308,0.000,0.086,2574,3871,3238,3266,3210,0,0,0,0,0,0,28.83,14.81,28.83
$GC,578,-0.65,-146.0,2575,3871,3266,3210,115.8,-15.5,81,585,0.00,2.28,0.00,0.000,3078,0.000,0.052,2575,2454,3238,3267,3210,0,0,0,0,0,0,28.83,14.85,28.83
$GC,866,-0.65,-146.0,2574,2453,3269,3210,161.4,-15.5,123,871,0.00,2.28,0.00,0.000,2564,0.000,0.062,2574,1046,3239,3268,3210,0,0,0,0,0,0,28.83,14.89,28.83
$GC,959,-0.65,-146.0,2575,1046,3269,3210,174.4,-13.4,131,964,0.00,2.33,0.00,0.000,3078,0.000,0.067,2574,2456,3239,3269,3210,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1204,-0.65,-146.0,2575,2455,3270,3211,206.7,-13.6,152,1208,0.00,2.35,0.00,0.000,2308,0.000,0.086,2574,3871,3239,3269,3210,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1223,-0.65,-146.0,2574,3871,3270,3210,206.7,-13.6,152,1227,0.00,2.30,0.00,0.000,3078,0.000,0.051,2575,2464,3240,3270,3210,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1480,-0.65,-146.0,2574,2462,3270,3210,243.4,-12.9,159,1485,0.05,2.28,0.00,0.000,2564,0.528,0.060,2587,1052,3240,3270,3210,0,0,0,0,0,0,14.85,14.99,28.83
$GC,1529,-0.65,-146.0,2587,1051,3270,3210,248.2,-13.0,160,1534,0.00,2.38,0.00,0.000,1030,0.000,0.068,2587,2464,3240,3270,3210,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1796,-0.65,-146.0,2587,2464,3270,3210,281.5,-11.8,167,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2464,3240,3270,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2036,-0.65,-146.0,2587,2464,3271,3209,307.2,-10.4,173,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2464,3239,3270,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2276,-0.65,-146.0,2587,2463,3270,3208,332.9,-10.9,179,2281,0.00,2.33,0.00,0.000,260,0.000,0.090,2587,3869,3238,3269,3208,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2325,-0.65,-146.0,2587,3869,3269,3207,336.8,-11.0,180,2330,0.00,2.30,0.00,0.000,1030,0.000,0.054,2587,2454,3238,3270,3207,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2592,-0.65,-146.0,2587,2452,3270,3205,365.0,-10.0,187,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2452,3237,3270,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2832,-0.65,-146.0,2587,2452,3269,3202,385.9,-8.6,193,2836,0.00,2.25,0.00,0.000,516,0.000,0.066,2587,1054,3235,3270,3201,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2871,-0.65,-146.0,2587,1054,3269,3202,389.1,-8.6,194,2875,0.00,2.38,0.00,0.000,1030,0.000,0.072,2587,2458,3235,3269,3201,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3148,-0.65,-146.0,2587,2458,3269,3199,413.2,-8.8,201,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2458,3233,3269,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,-0.65,-146.0,2587,2458,3269,3195,435.6,-9.4,207,3392,0.00,2.35,0.00,0.000,260,0.000,0.094,2587,3874,3231,3269,3194,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3447,-0.65,-146.0,2587,3874,3269,3194,439.0,-9.4,208,3451,0.00,2.33,0.00,0.000,1030,0.000,0.057,2587,2455,3232,3270,3194,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3704,-0.65,-146.0,2587,2454,3269,3191,465.8,-9.7,215,3708,0.00,2.28,0.00,0.000,516,0.000,0.071,2587,1054,3230,3269,3191,0,0,0,0,0,0,28.83,15.08,28.83
$GC,3727,-0.65,-146.0,2587,1054,3269,3191,465.8,-9.7,215,3731,0.00,2.38,0.00,0.000,1030,0.000,0.077,2587,2478,3229,3268,3191,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3979,-0.65,-146.0,2587,2479,3269,3188,492.7,-9.8,222,3983,0.00,2.33,0.00,0.000,260,0.000,0.093,2587,3874,3228,3270,3187,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4015,-0.65,-146.0,2587,3874,3269,3188,496.2,-9.8,223,4019,0.00,2.28,0.00,0.000,1030,0.000,0.060,2587,2460,3228,3269,3187,0,0,0,0,0,0,28.83,15.08,28.83
$STATE,4089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4090,begin apogee
$GC,4093,-0.15,0.0,2587,2320,3269,3186,503.2,-9.5,225,4214,0.45,0.08,117.03,2.479,10246,0.293,0.188,2748,2357,2640,2717,2563,0,0,0,0,0,0,14.95,14.12,13.40
$STATE,4215,end apogee,CONTROL_FINISHED_OK
$STATE,4215,begin climb
$GC,4217,0.65,146.0,2747,2357,2717,2563,506.6,0.0,228,4346,0.68,2.47,121.47,2.413,10756,0.188,0.073,3018,966,2043,2131,1955,0,0,0,0,0,0,14.15,14.09,13.34
$GC,4416,0.65,146.0,3019,965,2130,1948,491.1,10.0,233,4421,0.00,2.42,0.00,0.000,1030,0.000,0.068,3018,2342,2039,2130,1948,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4688,0.65,146.0,3019,2341,2130,1943,449.5,15.0,240,4692,0.00,2.42,0.00,0.000,260,0.000,0.086,3019,3772,2036,2130,1943,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4764,0.65,146.0,3018,3772,2130,1943,437.4,15.4,242,4769,0.10,2.33,0.00,0.000,5126,0.485,0.064,3009,2372,2036,2130,1943,0,0,0,0,0,0,14.62,14.78,28.83
$GC,5040,0.65,146.0,3009,2370,2130,1942,399.9,13.2,249,5045,0.00,2.38,0.00,0.000,260,0.000,0.088,3009,3767,2036,2130,1942,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5069,0.65,146.0,3009,3767,2130,1942,399.9,13.2,249,5077,0.00,2.40,0.00,0.000,1030,0.000,0.066,3017,2315,2036,2130,1942,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5316,0.65,146.0,3017,2314,2130,1940,364.0,12.8,256,5320,0.00,2.30,0.00,0.000,516,0.000,0.080,3027,934,2035,2130,1940,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5434,0.65,146.0,2112,933,2087,1932,349.4,12.6,259,5440,0.05,2.40,0.00,0.000,5126,0.435,0.072,3011,2342,2034,2130,1938,0,0,0,0,0,0,14.77,14.92,28.83
$GC,5712,0.65,146.0,3011,2342,2130,1938,317.0,11.3,266,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2342,2033,2129,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5952,0.65,146.0,3011,2342,2129,1938,290.1,11.2,272,5956,0.00,2.38,0.00,0.000,260,0.000,0.092,3011,3760,2034,2130,1938,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5966,0.65,146.0,3011,3760,2130,1938,290.1,11.2,272,5971,0.00,2.38,0.00,0.000,1030,0.000,0.067,3021,2346,2034,2130,1938,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6228,0.65,146.0,3020,2344,2130,1938,258.8,10.8,279,6232,0.00,2.33,0.00,0.000,516,0.000,0.079,3031,936,2033,2130,1937,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6263,0.65,146.0,3031,937,2130,1936,254.9,10.6,280,6269,0.10,2.35,0.00,0.000,5126,0.461,0.072,3009,2352,2033,2130,1936,0,0,0,0,0,0,14.85,15.00,28.83
$GC,6540,0.65,146.0,3009,2352,2130,1936,230.5,8.7,287,6544,0.00,2.35,0.00,0.000,260,0.000,0.089,3008,3760,2032,2130,1935,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6619,0.65,146.0,3008,3760,2130,1937,222.7,9.3,289,6623,0.00,2.35,0.00,0.000,1030,0.000,0.063,3017,2350,2033,2130,1937,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6896,0.65,146.0,3017,2348,2130,1935,196.5,9.8,296,6900,0.00,2.35,0.00,0.000,516,0.000,0.077,3027,928,2033,2130,1937,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7067,0.65,146.0,3027,928,2130,1936,178.6,10.1,311,7075,0.05,2.42,0.00,0.000,5126,0.427,0.071,3010,2355,2033,2130,1936,0,0,0,0,0,0,14.83,15.00,28.83
$GC,7314,0.67,163.5,3011,2355,2130,1936,156.5,7.7,336,7335,0.00,2.40,13.27,1.971,8708,0.000,0.075,3020,935,1972,2072,1872,0,0,0,0,0,0,28.83,14.86,14.16
$GC,7439,0.67,163.5,3020,935,2072,1870,145.6,9.0,350,7448,0.00,2.42,0.00,0.000,1030,0.000,0.070,3020,2355,1971,2072,1871,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7747,0.67,163.5,3020,2355,2072,1871,118.0,9.5,399,7753,0.00,2.38,0.00,0.000,516,0.000,0.073,3030,932,1971,2072,1870,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7800,0.67,163.5,3030,932,2072,1870,112.7,10.1,407,7806,0.00,2.38,0.00,0.000,1030,0.000,0.070,3030,2352,1971,2072,1871,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8104,0.75,228.0,3030,2352,2072,1871,89.7,5.9,456,8148,0.00,2.40,36.83,1.611,8452,0.000,0.083,3030,3758,1708,1813,1604,0,0,0,0,0,0,28.83,14.58,14.01
$GC,8240,0.75,228.0,3030,3758,1812,1600,77.1,11.4,476,8250,0.00,2.38,0.00,0.000,1030,0.000,0.057,3041,2350,1705,1812,1598,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8575,0.75,228.0,3041,2350,1812,1596,38.7,11.8,525,8585,0.00,2.38,0.00,0.000,516,0.000,0.073,3052,944,1703,1812,1595,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8656,0.75,228.0,3051,944,1812,1594,29.0,11.8,536,8665,0.00,2.40,0.00,0.000,1030,0.000,0.066,3052,2348,1703,1812,1594,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,8855,end climb,SURFACE_DEPTH_REACHED
$STATE,8856,begin surface coast
$FINISH,0.2,1.010553
$STATE,8884,end surface coast,CONTROL_FINISHED_OK
$STATE,8884,begin surface
$SM_CCo,8897,65.12,0.845,0,0,1171,360.09
$SM_GC,1.10,6.82,0.20,65.12,0.102,0.119,0.845,136,2471,1171,-8.23,-0.54,360.09,0,0,0,0,0,0,14.83,14.83,14.24
$IRIDIUM_FIX,2234.68,-15800.20,241109,101033
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.98
$INTERNAL_PRESSURE,7.24637
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,13.3,18.014
$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,17.075,104.050,288.600,65.125,0.000,31.781,46.348,125.390,0.500,0.000,8.290,1498.656,5033.369,426.191,2227.533,70.399,33.226,1146.304,0.000,1425.346,0.000,0.550,0.000
$DEVICE_MAMPS,527.850,188.190,2478.600,844.560,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,384.618,337.926,597.698,583.986,1208.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353168
$DATA_FILE_SIZE,50561,569
$CAP_FILE_SIZE,95323,0
$CFSIZE,2097086464,2091614208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280117,000025,2244.445,-15759.478,37,0.9,37,9.8