version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 29
start: 1 28 117 0 6 33
data:
$ID,626
$MISSION,1
$DIVE,29
$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,-129693.37
$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,31
$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
$GPS1,280117,000025,2244.445,-15759.478,37,0.9,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.7
$GPS2,280117,000538,2244.484,-15759.547,15,1.0,15,9.8
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,0.098
$KALMAN_X,-38172.2,1322.3,203.2,41092.1,-4320.8
$KALMAN_Y,-4687.0,315.8,-133.5,10775.6,-602.0
$MHEAD_RNG_PITCHd_Wd,56.6,1230,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.65,-146.0,134,2473,1178,1145,0.0,0.0,0,79,0.00,0.00,-61.10,0.000,16390,0.000,0.000,134,2473,3236,3264,3209,0,0,0,0,0,0,28.83,28.83,14.95
$GC,81,-0.65,-146.0,134,2473,3265,3209,3.6,-6.5,7,100,8.85,2.35,0.00,0.000,2308,0.532,0.067,2574,3863,3237,3265,3209,0,0,0,0,0,0,14.47,14.70,28.83
$GC,157,-0.65,-146.0,2575,3864,3266,3209,31.1,-23.0,17,167,0.00,2.35,0.00,0.000,1030,0.000,0.055,2574,2462,3237,3266,3209,0,0,0,0,0,0,28.83,14.74,28.83
$GC,481,-0.65,-146.0,2575,2461,3267,3209,107.4,-21.5,66,491,0.03,2.42,0.00,0.000,2308,0.643,0.080,2576,3867,3238,3267,3209,0,0,0,0,0,0,14.71,14.76,28.83
$GC,530,-0.65,-146.0,2576,3867,3267,3209,116.3,-19.2,73,538,0.00,2.28,0.00,0.000,3078,0.000,0.052,2576,2454,3237,3267,3208,0,0,0,0,0,0,28.83,14.84,28.83
$GC,814,-0.65,-146.0,2576,2452,3269,3209,164.2,-15.1,113,815,0.00,0.00,0.00,0.000,2054,0.000,0.000,2576,2452,3238,3269,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1054,-0.65,-146.0,2576,2452,3271,3209,200.3,-14.9,137,1056,0.00,0.00,0.00,0.000,2054,0.000,0.000,2576,2452,3240,3271,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-0.65,-146.0,2576,2452,3271,3209,233.4,-13.5,143,1298,0.00,2.25,0.00,0.000,2564,0.000,0.061,2576,1052,3240,3271,3209,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1330,-0.65,-146.0,2576,1052,3271,3209,238.1,-13.4,144,1334,0.00,2.33,0.00,0.000,3078,0.000,0.067,2576,2464,3239,3271,3208,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1606,-0.65,-146.0,2576,2464,3271,3209,272.5,-12.7,151,1607,0.00,0.00,0.00,0.000,2054,0.000,0.000,2576,2464,3240,3271,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1846,-0.65,-146.0,2576,2464,3271,3208,302.7,-12.4,157,1850,0.00,2.30,0.00,0.000,2564,0.000,0.062,2576,1047,3240,3271,3209,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1870,-0.65,-146.0,2576,1045,3271,3209,302.7,-12.4,157,1874,0.00,2.38,0.00,0.000,1030,0.000,0.070,2576,2455,3240,3271,3209,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2122,-0.65,-146.0,2575,2455,3271,3208,334.4,-11.4,164,2126,0.00,2.35,0.00,0.000,2308,0.000,0.090,2576,3874,3239,3271,3208,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2185,-0.65,-146.0,2576,3874,3271,3207,338.5,-11.4,165,2190,0.00,2.30,0.00,0.000,3078,0.000,0.053,2576,2462,3239,3270,3208,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2437,-0.65,-146.0,2576,2460,3270,3205,370.0,-11.2,172,2441,0.00,2.28,0.00,0.000,2564,0.000,0.066,2576,1049,3238,3271,3205,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2481,-0.65,-146.0,2576,1048,3271,3205,374.3,-11.4,173,2485,0.00,2.38,0.00,0.000,3078,0.000,0.071,2576,2455,3238,3272,3205,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2753,-0.65,-146.0,2576,2457,3270,3202,406.8,-11.7,180,2757,0.00,2.30,0.00,0.000,2564,0.000,0.066,2576,1042,3236,3271,3201,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2782,-0.65,-146.0,2576,1041,3270,3201,406.8,-11.7,180,2789,0.00,2.38,0.00,0.000,3078,0.000,0.072,2576,2472,3236,3271,3201,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3029,-0.65,-146.0,2576,2472,3271,3199,438.2,-11.3,187,3033,0.00,2.35,0.00,0.000,2308,0.000,0.091,2576,3877,3235,3271,3199,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3073,-0.65,-146.0,2576,3877,3270,3199,442.3,-11.3,188,3077,0.00,2.33,0.00,0.000,3078,0.000,0.057,2576,2453,3235,3271,3199,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3345,-0.65,-146.0,2576,2451,3271,3194,472.8,-10.8,195,3349,0.00,2.40,0.00,0.000,2308,0.000,0.094,2576,3873,3232,3271,3194,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3373,-0.65,-146.0,2576,3874,3271,3194,472.8,-10.8,195,3381,0.00,2.33,0.00,0.000,3078,0.000,0.057,2576,2453,3232,3271,3194,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,3619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3619,begin apogee
$GC,3623,-0.15,0.0,2576,2324,3270,3191,500.7,-10.1,202,3744,0.50,0.00,117.53,2.476,10246,0.301,0.000,2751,2324,2640,2718,2563,0,0,0,0,0,0,14.95,28.83,13.41
$STATE,3745,end apogee,CONTROL_FINISHED_OK
$STATE,3745,begin climb
$GC,3746,0.65,146.0,2752,2324,2718,2563,504.7,0.0,205,3877,0.65,2.40,122.35,2.450,10756,0.181,0.071,3014,961,2043,2131,1955,0,0,0,0,0,0,14.15,14.09,13.32
$GC,3956,0.65,146.0,3014,960,2131,1948,491.6,8.6,210,3961,0.00,2.45,0.00,0.000,1030,0.000,0.068,3014,2348,2039,2131,1947,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4218,0.65,146.0,3014,2348,2131,1944,453.7,13.5,217,4222,0.00,2.40,0.00,0.000,260,0.000,0.086,3014,3763,2037,2132,1943,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4294,0.65,146.0,3015,3763,2130,1944,442.6,14.0,219,4299,0.05,2.30,0.00,0.000,5126,0.601,0.063,3015,2375,2037,2130,1944,0,0,0,0,0,0,14.61,14.79,28.83
$GC,4571,0.65,146.0,3015,2374,2131,1942,404.6,13.7,226,4575,0.00,2.40,0.00,0.000,516,0.000,0.080,3025,938,2036,2131,1942,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4659,0.65,146.0,3025,938,2130,1939,393.9,14.0,228,4664,0.08,2.38,0.00,0.000,5126,0.505,0.070,3010,2354,2035,2131,1940,0,0,0,0,0,0,14.73,14.89,28.83
$GC,4926,0.65,146.0,3010,2354,2130,1940,357.1,12.9,235,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2354,2035,2131,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5166,0.65,146.0,3010,2354,2130,1939,330.3,10.9,241,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2354,2035,2131,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5406,0.65,146.0,3011,2354,2131,1938,304.5,10.6,247,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2354,2034,2130,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5646,0.65,146.0,3011,2354,2131,1938,279.3,10.4,253,5650,0.00,2.35,0.00,0.000,516,0.000,0.074,3020,942,2034,2131,1938,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5710,0.65,146.0,3020,942,2131,1936,275.6,10.2,254,5714,0.00,2.35,0.00,0.000,1030,0.000,0.070,3019,2358,2033,2131,1936,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5962,0.65,146.0,3020,2358,2131,1936,246.8,10.4,261,5966,0.00,2.35,0.00,0.000,516,0.000,0.076,3030,941,2033,2130,1937,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5991,0.65,146.0,3030,941,2131,1936,246.8,10.4,261,5999,0.05,2.40,0.00,0.000,5126,0.418,0.071,3005,2355,2033,2131,1936,0,0,0,0,0,0,14.86,15.01,28.83
$GC,6238,0.65,146.0,3005,2354,2131,1936,220.2,9.4,268,6242,0.00,2.35,0.00,0.000,516,0.000,0.075,3014,937,2033,2131,1936,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6322,0.65,146.0,3013,937,2131,1936,213.7,8.9,270,6326,0.00,2.35,0.00,0.000,1030,0.000,0.071,3014,2353,2033,2131,1936,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6574,0.65,146.0,3014,2353,2131,1936,192.8,8.5,281,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2353,2033,2131,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6814,0.65,146.0,3014,2352,2131,1936,171.0,10.6,305,6818,0.00,2.35,0.00,0.000,260,0.000,0.086,3014,3767,2034,2131,1937,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6886,0.65,146.0,3014,3767,2131,1939,162.5,12.4,311,6895,0.05,2.30,0.00,0.000,5126,0.581,0.060,3014,2342,2034,2130,1938,0,0,0,0,0,0,14.83,15.02,28.83
$GC,7164,0.67,160.0,3014,2342,2131,1938,138.4,7.8,347,7179,0.00,2.35,7.40,1.749,8708,0.000,0.072,3023,945,1987,2086,1889,0,0,0,0,0,0,28.83,14.90,14.17
$GC,7284,0.67,160.0,3023,946,2085,1888,127.3,9.4,366,7294,0.00,2.38,0.00,0.000,1030,0.000,0.068,3023,2342,1986,2085,1888,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7595,0.73,212.6,3023,2342,2086,1888,103.1,6.3,415,7631,0.00,2.50,30.73,1.669,8452,0.000,0.084,3024,3766,1772,1876,1668,0,0,0,0,0,0,28.83,14.64,14.04
$GC,7728,0.73,212.6,3023,3766,1874,1666,91.6,10.3,435,7735,0.00,2.33,0.00,0.000,1030,0.000,0.057,3032,2352,1770,1875,1665,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8051,0.73,212.6,3033,2350,1876,1660,59.5,10.4,484,8060,0.00,2.38,0.00,0.000,516,0.000,0.074,3042,946,1767,1875,1660,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8104,0.73,212.6,3042,946,1875,1660,54.0,10.9,491,8114,0.00,2.40,0.00,0.000,1030,0.000,0.067,3042,2349,1768,1876,1660,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8439,0.73,212.6,3043,2349,1876,1660,14.9,12.0,540,8449,0.00,2.40,0.00,0.000,260,0.000,0.080,3042,3763,1768,1876,1661,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8492,0.73,212.6,3043,3763,1875,1663,8.0,13.5,547,8503,0.03,2.35,0.00,0.000,5126,0.499,0.056,3045,2352,1768,1875,1662,0,0,0,0,0,0,14.62,14.82,28.83
$STATE,8531,end climb,SURFACE_DEPTH_REACHED
$STATE,8531,begin surface coast
$FINISH,0.1,1.013823
$STATE,8560,end surface coast,CONTROL_FINISHED_OK
$STATE,8560,begin surface
$SM_CCo,8573,72.62,0.857,0,0,1169,360.09
$SM_GC,1.10,6.82,0.20,72.62,0.111,0.106,0.857,137,2468,1169,-8.21,-0.76,360.09,0,0,0,0,0,0,14.88,14.86,14.23
$IRIDIUM_FIX,2234.68,-15757.16,241109,131346
$TT8_MAMPS,0.018725,0.018725
$HUMID,39.72
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,13.3,18.295
$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,17.100,94.575,278.000,72.625,0.000,30.008,58.169,126.449,0.500,0.000,18.725,1456.013,4852.421,429.762,2164.334,66.540,33.236,1109.901,0.000,1341.729,0.000,0.550,0.000
$DEVICE_MAMPS,643.365,111.690,2476.305,856.800,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,374.915,330.123,587.149,579.683,1199.563,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353180
$DATA_FILE_SIZE,50661,556
$CAP_FILE_SIZE,90519,0
$CFSIZE,2097086464,2091515904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280117,023126,2244.875,-15759.048,12,1.4,13,9.8