version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 37
start: 1 28 117 15 33 52
data:
$ID,626
$MISSION,1
$DIVE,37
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,148
$T_MISSION,260
$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,140
$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,-129744.77
$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,28
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2620
$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
$GPS1,280117,152820,2249.286,-15801.099,20,1.8,20,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.9
$GPS2,280117,153256,2249.279,-15801.143,8,1.7,8,9.8
$SPEED_LIMITS,0.156,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.121,-0.212
$KALMAN_X,-46038.6,-9.3,-114.1,47894.4,-2256.7
$KALMAN_Y,-7860.4,101.5,53.7,22850.9,-534.7
$MHEAD_RNG_PITCHd_Wd,140.5,8162,-17.3,-9.009,-20.29,2314
$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,-0.69,-136.3,135,2468,1161,1120,0.0,0.0,0,79,0.00,0.00,-60.88,0.000,16390,0.000,0.000,135,2468,3176,3202,3151,0,0,0,0,0,0,28.83,28.83,15.00
$GC,81,-0.69,-136.3,135,2468,3202,3152,3.3,-4.8,7,99,8.73,0.00,0.00,0.000,2310,0.529,0.000,2569,2468,3178,3204,3152,0,0,0,0,0,0,14.50,28.83,28.83
$GC,423,-0.69,-136.3,2569,2468,3205,3152,88.0,-21.2,57,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2468,3178,3205,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,726,-0.69,-136.3,2569,2468,3206,3152,143.9,-15.9,106,735,0.00,2.38,0.00,0.000,516,0.000,0.062,2569,1046,3179,3206,3152,0,0,0,0,0,0,28.83,14.88,28.83
$GC,789,-0.69,-136.3,1696,1045,3186,3148,153.2,-15.3,114,800,0.00,2.40,0.00,0.000,1030,0.000,0.067,2563,2460,3179,3206,3152,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1040,-0.69,-136.3,2563,2460,3208,3152,191.2,-16.2,139,1048,0.00,2.30,0.00,0.000,260,0.000,0.084,2562,3867,3180,3208,3152,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1110,-0.69,-136.3,2562,3867,3207,3152,200.9,-17.9,144,1115,0.00,2.30,0.00,0.000,1030,0.000,0.050,2562,2457,3180,3208,3152,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1362,-0.69,-136.3,2562,2455,3208,3151,238.1,-13.2,151,1367,0.00,2.40,0.00,0.000,2308,0.000,0.086,2562,3878,3180,3208,3152,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1431,-0.69,-136.3,2562,3879,3208,3152,242.9,-13.0,152,1438,0.00,2.33,0.00,0.000,3078,0.000,0.051,2561,2451,3180,3209,3152,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1678,-0.69,-136.3,2562,2449,3208,3152,279.7,-12.5,159,1682,0.00,2.25,0.00,0.000,2564,0.000,0.063,2561,1049,3180,3208,3152,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1762,-0.69,-136.3,2562,1049,3208,3152,288.5,-11.5,161,1766,0.00,2.35,0.00,0.000,3078,0.000,0.070,2562,2471,3180,3208,3152,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2034,-0.69,-136.3,2562,2471,3208,3151,321.5,-12.0,168,2038,0.00,2.33,0.00,0.000,2308,0.000,0.087,2562,3879,3179,3208,3151,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2093,-0.69,-136.3,2562,3880,3208,3150,325.8,-11.9,169,2097,0.00,2.30,0.00,0.000,3078,0.000,0.053,2562,2466,3179,3208,3151,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2350,-0.69,-136.3,2562,2464,3208,3148,358.1,-11.4,176,2354,0.00,2.28,0.00,0.000,2564,0.000,0.067,2562,1051,3178,3208,3148,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2413,-0.69,-136.3,2562,1051,3208,3148,362.0,-11.2,177,2418,0.00,2.38,0.00,0.000,1030,0.000,0.070,2562,2459,3178,3208,3148,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2666,-0.69,-136.3,2562,2459,3208,3146,392.7,-11.2,184,2670,0.00,2.35,0.00,0.000,2308,0.000,0.091,2562,3877,3177,3208,3146,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2715,-0.69,-136.3,2562,3877,3208,3146,397.0,-11.4,185,2719,0.03,2.30,0.00,0.000,3078,0.574,0.054,2572,2461,3176,3208,3145,0,0,0,0,0,0,14.95,15.07,28.83
$STATE,2740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2740,begin apogee
$GC,2744,-0.15,0.0,2572,2314,3208,3144,401.5,-11.5,186,2856,0.50,0.08,108.22,2.320,10246,0.300,0.185,2750,2358,2620,2698,2542,0,0,0,0,0,0,14.95,14.22,13.53
$STATE,2858,end apogee,CONTROL_FINISHED_OK
$STATE,2858,begin climb
$GC,2859,0.69,136.3,2750,2358,2698,2542,403.7,0.0,188,2974,0.70,0.00,111.43,2.297,10758,0.187,0.000,3018,2358,2063,2149,1977,0,0,0,0,0,0,14.23,28.83,13.44
$GC,3184,0.69,136.3,3018,2358,2149,1969,369.8,13.7,197,3189,0.00,2.35,0.00,0.000,260,0.000,0.083,3018,3758,2059,2149,1969,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3214,0.69,136.3,3018,3758,2149,1969,369.8,13.7,197,3222,0.00,2.35,0.00,0.000,1030,0.000,0.060,3029,2373,2059,2149,1969,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3461,0.69,136.3,3029,2372,2149,1965,331.3,13.4,204,3466,0.00,2.40,0.00,0.000,516,0.000,0.072,3040,928,2057,2149,1965,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3545,0.69,136.3,3040,928,2149,1962,320.9,13.5,206,3550,0.08,2.40,0.00,0.000,5126,0.478,0.066,3025,2371,2055,2149,1961,0,0,0,0,0,0,14.73,14.89,28.83
$GC,3817,0.69,136.3,3025,2372,2149,1960,283.2,13.2,213,3821,0.00,2.30,0.00,0.000,260,0.000,0.083,3025,3758,2054,2149,1960,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3911,0.69,136.3,3025,3758,2149,1961,272.4,13.3,215,3915,0.00,2.35,0.00,0.000,1030,0.000,0.059,3034,2349,2055,2149,1961,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4173,0.69,136.3,3034,2347,2149,1958,243.7,9.3,222,4178,0.00,2.33,0.00,0.000,516,0.000,0.073,3045,928,2053,2149,1958,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4232,0.69,136.3,3045,927,2149,1955,239.9,9.3,223,4237,0.10,2.38,0.00,0.000,5126,0.452,0.068,3022,2362,2051,2149,1954,0,0,0,0,0,0,14.85,15.00,28.83
$GC,4489,0.69,136.3,3022,2361,2149,1954,211.4,10.2,230,4493,0.00,2.33,0.00,0.000,260,0.000,0.085,3022,3759,2052,2150,1955,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4647,0.69,136.3,3021,3759,2149,1956,192.7,11.2,237,4652,0.00,2.30,0.00,0.000,1030,0.000,0.060,3031,2338,2052,2149,1956,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4893,0.70,141.5,3031,2337,2149,1954,170.9,8.8,261,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2337,2051,2149,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5133,0.71,151.8,3031,2337,2148,1954,150.5,8.6,285,5155,0.00,2.47,11.20,1.897,8452,0.000,0.086,3031,3763,2001,2100,1903,0,0,0,0,0,0,28.83,14.85,14.18
$GC,5170,0.71,151.8,3031,3763,2100,1903,147.1,9.7,289,5176,0.00,2.30,0.00,0.000,1030,0.000,0.059,3042,2351,2001,2100,1902,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5474,0.71,151.8,3042,2349,2101,1901,119.8,9.4,338,5483,0.00,2.35,0.00,0.000,516,0.000,0.070,3052,949,2000,2100,1900,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5709,0.78,209.2,3052,949,2099,1900,100.0,6.5,375,5753,0.00,2.33,33.05,1.691,9222,0.000,0.065,3053,2350,1765,1870,1661,0,0,0,0,0,0,28.83,14.92,14.03
$GC,6067,0.78,209.2,3053,2350,1870,1653,62.6,11.0,429,6077,0.00,2.40,0.00,0.000,516,0.000,0.072,3063,940,1761,1870,1652,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6127,0.78,209.2,3063,940,1870,1651,56.3,10.8,437,6136,0.00,2.40,0.00,0.000,1030,0.000,0.065,3063,2347,1760,1870,1651,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6462,0.78,209.2,3063,2347,1870,1652,14.5,12.6,486,6472,0.00,2.40,0.00,0.000,516,0.000,0.068,3073,932,1761,1870,1652,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6529,0.78,209.2,3073,933,1870,1651,6.2,12.4,495,6539,0.05,2.40,0.00,0.000,5126,0.405,0.061,3055,2356,1760,1870,1651,0,0,0,0,0,0,14.69,14.84,28.83
$STATE,6554,end climb,SURFACE_DEPTH_REACHED
$STATE,6554,begin surface coast
$FINISH,0.3,1.023690
$STATE,6583,end surface coast,CONTROL_FINISHED_OK
$STATE,6583,begin surface
$SM_CCo,6596,73.88,0.852,0,0,1150,360.09
$SM_GC,1.18,6.82,0.17,73.88,0.106,0.116,0.852,131,2469,1150,-8.24,-0.68,360.09,0,0,0,0,0,0,14.90,14.90,14.27
$IRIDIUM_FIX,2237.01,-15801.49,251109,040439
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.64
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,13.4,20.354
$10V_AH,13.7,0.000
$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,17.000,75.575,263.900,73.875,0.000,29.333,47.353,121.454,0.500,0.000,9.272,1305.564,3152.794,418.956,2020.445,62.605,33.232,1036.846,0.000,1234.577,0.000,0.550,0.000
$DEVICE_MAMPS,573.750,185.130,2320.245,852.210,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,337.353,326.993,568.711,568.949,1177.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352988
$DATA_FILE_SIZE,43987,502
$CAP_FILE_SIZE,77930,0
$CFSIZE,2097086464,2090729472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280117,172601,2248.964,-15801.153,24,1.0,24,9.8