version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 38
start: 1 28 117 17 31 49
data:
$ID,626
$MISSION,1
$DIVE,38
$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,-129774.92
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,280117,172601,2248.964,-15801.153,24,1.0,24,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-76.2
$GPS2,280117,173053,2248.950,-15801.175,8,0.9,8,9.8
$SPEED_LIMITS,0.156,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,-0.022
$KALMAN_X,-47227.6,-179.1,177.7,48897.4,-2133.2
$KALMAN_Y,-6928.3,69.3,526.4,20860.2,109.4
$MHEAD_RNG_PITCHd_Wd,85.3,7585,-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,-136.3,130,2472,1157,1126,0.0,0.0,0,79,0.00,0.00,-60.42,0.000,16390,0.000,0.000,129,2472,3177,3203,3151,0,0,0,0,0,0,28.83,28.83,15.00
$GC,81,-0.69,-136.3,129,2472,3203,3151,3.5,-5.7,7,99,8.75,0.00,0.00,0.000,2054,0.528,0.000,2567,2472,3178,3204,3152,0,0,0,0,0,0,14.56,28.83,28.83
$GC,422,-0.69,-136.3,2567,2472,3205,3151,88.3,-22.6,57,429,0.00,2.35,0.00,0.000,516,0.000,0.063,2567,1044,3178,3205,3151,0,0,0,0,0,0,28.83,14.85,28.83
$GC,463,-0.69,-136.3,2567,1044,3205,3151,97.2,-21.9,63,469,0.00,2.35,0.00,0.000,1030,0.000,0.068,2563,2454,3178,3205,3151,0,0,0,0,0,0,28.83,14.85,28.83
$GC,765,-0.69,-136.3,2563,2454,3207,3151,152.4,-15.7,111,770,0.00,2.33,0.00,0.000,516,0.000,0.063,2563,1043,3179,3207,3151,0,0,0,0,0,0,28.83,14.91,28.83
$GC,803,-0.69,-136.3,2563,1042,3207,3151,158.9,-16.8,114,808,0.00,2.35,0.00,0.000,1030,0.000,0.070,2563,2460,3179,3207,3151,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1049,-0.69,-136.3,2563,2460,3208,3151,196.2,-14.0,138,1061,0.00,2.33,0.00,0.000,260,0.000,0.086,2562,3869,3180,3209,3151,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1085,-0.69,-136.3,2562,3869,3208,3151,201.1,-14.5,141,1093,0.00,2.30,0.00,0.000,3078,0.000,0.052,2562,2463,3179,3208,3151,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1332,-0.69,-136.3,2561,2462,3209,3151,234.9,-13.4,148,1337,0.00,2.35,0.00,0.000,2308,0.000,0.086,2562,3869,3180,3209,3151,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1436,-0.69,-136.3,2561,3870,3209,3151,244.1,-12.7,150,1441,0.00,2.30,0.00,0.000,3078,0.000,0.050,2562,2456,3179,3208,3151,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1688,-0.69,-136.3,2562,2454,3209,3151,277.9,-12.0,157,1692,0.00,2.25,0.00,0.000,2564,0.000,0.064,2562,1054,3180,3209,3151,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1717,-0.69,-136.3,2562,1054,3209,3151,277.9,-12.0,157,1724,0.00,2.38,0.00,0.000,1030,0.000,0.070,2561,2461,3179,3208,3151,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1964,-0.69,-136.3,2562,2462,3209,3150,313.5,-12.7,164,1968,0.00,2.33,0.00,0.000,2308,0.000,0.088,2562,3870,3180,3209,3151,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2032,-0.69,-136.3,2561,3870,3209,3150,317.9,-12.3,165,2040,0.00,2.30,0.00,0.000,3078,0.000,0.051,2562,2454,3179,3208,3151,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2280,-0.69,-136.3,2561,2453,3209,3149,348.8,-10.9,172,2284,0.00,2.25,0.00,0.000,2564,0.000,0.065,2562,1056,3178,3209,3148,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2328,-0.69,-136.3,2562,1055,3208,3148,352.8,-11.1,173,2332,0.00,2.35,0.00,0.000,1030,0.000,0.070,2561,2454,3178,3208,3148,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2595,-0.69,-136.3,2561,2454,3208,3146,383.9,-11.2,180,2599,0.00,2.35,0.00,0.000,2308,0.000,0.090,2562,3871,3177,3209,3146,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2674,-0.69,-136.3,1672,3870,3189,3141,392.5,-11.4,182,2678,0.00,2.30,0.00,0.000,3078,0.000,0.053,2562,2458,3177,3209,3145,0,0,0,0,0,0,28.83,15.08,28.83
$STATE,2750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2750,begin apogee
$GC,2754,-0.15,0.0,2562,2324,3208,3144,401.2,-11.1,184,2871,0.52,0.00,109.75,2.430,10246,0.311,0.000,2745,2323,2620,2698,2542,0,0,0,0,0,0,14.94,28.83,13.46
$STATE,2872,end apogee,CONTROL_FINISHED_OK
$STATE,2872,begin climb
$GC,2873,0.69,136.3,2745,2323,2698,2542,403.6,0.0,187,2992,0.75,0.00,114.93,2.493,10246,0.194,0.000,3026,2322,2063,2149,1978,0,0,0,0,0,0,14.24,28.83,13.35
$GC,3233,0.69,136.3,3026,2323,2149,1970,359.6,14.8,196,3238,0.00,2.42,0.00,0.000,260,0.000,0.083,3025,3754,2059,2149,1970,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3254,0.69,136.3,3026,3754,2149,1970,359.6,14.8,196,3258,0.00,2.33,0.00,0.000,1030,0.000,0.058,3036,2376,2059,2149,1970,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3511,0.69,136.3,3036,2374,2149,1966,317.6,15.0,203,3515,0.00,2.38,0.00,0.000,516,0.000,0.070,3048,931,2057,2148,1966,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3570,0.69,136.3,3047,931,2148,1963,312.4,15.1,204,3575,0.10,2.42,0.00,0.000,5126,0.435,0.066,3024,2357,2055,2149,1962,0,0,0,0,0,0,14.75,14.89,28.83
$GC,3827,0.69,136.3,3024,2357,2149,1961,277.4,11.9,211,3831,0.00,2.35,0.00,0.000,260,0.000,0.084,3024,3770,2055,2149,1962,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3935,0.69,136.3,3024,3771,2149,1962,267.0,12.4,213,3943,0.00,2.35,0.00,0.000,1030,0.000,0.060,3033,2356,2055,2149,1962,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4182,0.69,136.3,3033,2354,2149,1958,233.9,11.6,220,4187,0.00,2.33,0.00,0.000,516,0.000,0.070,3044,934,2053,2149,1958,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4241,0.69,136.3,3044,934,2148,1956,229.8,11.9,221,4246,0.08,2.40,0.00,0.000,5126,0.485,0.067,3029,2353,2052,2149,1956,0,0,0,0,0,0,14.83,14.99,28.83
$GC,4498,0.69,136.3,3029,2353,2149,1956,201.2,10.0,228,4502,0.00,2.33,0.00,0.000,260,0.000,0.083,3028,3762,2052,2148,1956,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4522,0.69,136.3,3028,3762,2149,1957,201.2,10.0,228,4526,0.00,2.33,0.00,0.000,1030,0.000,0.057,3037,2350,2053,2149,1957,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4777,0.69,136.3,3037,2348,2148,1955,171.3,10.9,253,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2348,2052,2149,1955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5035,0.71,153.5,3037,2348,2148,1954,145.3,8.2,282,5051,0.00,0.00,12.52,2.004,8198,0.000,0.000,3037,2348,1994,2093,1895,0,0,0,0,0,0,28.83,28.83,14.13
$GC,5349,0.71,153.5,3037,2348,2093,1893,117.5,9.9,332,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2348,1993,2093,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5656,0.77,200.0,3037,2348,2093,1893,91.5,6.9,381,5692,0.00,2.42,26.45,1.776,8708,0.000,0.072,3049,942,1803,1908,1698,0,0,0,0,0,0,28.83,14.66,14.03
$GC,5742,0.77,200.0,3049,941,1908,1694,84.3,9.2,394,5751,0.00,2.42,0.00,0.000,1030,0.000,0.068,3048,2348,1800,1907,1694,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6075,0.77,200.0,3049,2348,1907,1692,48.4,12.0,443,6085,0.00,2.40,0.00,0.000,516,0.000,0.073,3059,944,1799,1907,1692,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6134,0.77,200.0,3059,944,1908,1691,40.9,12.7,451,6143,0.00,2.40,0.00,0.000,1030,0.000,0.067,3059,2348,1800,1908,1692,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,6448,end climb,SURFACE_DEPTH_REACHED
$STATE,6448,begin surface coast
$FINISH,0.1,1.010745
$STATE,6485,end surface coast,CONTROL_FINISHED_OK
$STATE,6485,begin surface
$SM_CCo,6498,79.05,0.895,0,0,1151,360.09
$SM_GC,1.22,6.82,0.20,79.05,0.105,0.122,0.895,133,2471,1151,-8.22,-0.51,360.09,0,0,0,0,0,0,14.90,14.88,14.25
$IRIDIUM_FIX,2239.35,-15759.32,251109,060620
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.70
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,13.4,20.624
$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,17.025,70.775,263.650,79.050,0.000,25.892,52.862,130.565,0.750,0.000,9.307,1288.500,3102.816,449.006,1984.999,55.035,33.228,1012.099,0.000,1174.107,0.000,0.550,0.000
$DEVICE_MAMPS,527.850,121.635,2493.135,895.050,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,337.518,329.806,568.782,581.805,1204.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353004
$DATA_FILE_SIZE,44050,502
$CAP_FILE_SIZE,73509,0
$CFSIZE,2097086464,2090631168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280117,192207,2249.083,-15800.629,5,1.5,5,9.8