version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 41
start: 1 28 117 23 27 40
data:
$ID,626
$MISSION,1
$DIVE,41
$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,120
$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,-129778.7
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,280117,232144,2247.586,-15800.868,15,1.8,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.6
$GPS2,280117,232644,2247.585,-15800.900,15,1.7,15,9.8
$SPEED_LIMITS,0.156,0.227
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,-0.182
$KALMAN_X,-51066.8,284.6,210.3,52712.7,-2335.6
$KALMAN_Y,-5277.8,774.4,-294.1,16809.7,429.3
$MHEAD_RNG_PITCHd_Wd,133.6,5029,-18.7,-9.009,-21.61,1986
$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,14,-0.71,-116.8,130,2459,1158,1123,0.0,0.0,0,78,0.00,0.00,-58.58,0.000,16390,0.000,0.000,130,2459,3098,3125,3072,0,0,0,0,0,0,28.83,28.83,14.95
$GC,80,-0.71,-116.8,130,2459,3125,3072,3.7,-6.3,7,99,8.70,2.40,0.00,0.000,2308,0.522,0.073,2562,3877,3098,3125,3072,0,0,0,0,0,0,14.53,14.73,28.83
$GC,332,-0.71,-116.8,2561,3877,3128,3071,65.9,-19.9,43,342,0.00,2.35,0.00,0.000,1030,0.000,0.052,2561,2458,3100,3128,3072,0,0,0,0,0,0,28.83,14.81,28.83
$GC,643,-0.71,-116.8,2561,2457,3129,3072,123.9,-14.7,92,653,0.00,2.45,0.00,0.000,260,0.000,0.086,2561,3872,3100,3130,3071,0,0,0,0,0,0,28.83,14.83,28.83
$GC,667,-0.71,-116.8,2561,3872,3129,3071,126.8,-14.1,95,674,0.00,2.28,0.00,0.000,1030,0.000,0.054,2562,2460,3100,3130,3071,0,0,0,0,0,0,28.83,14.89,28.83
$GC,944,-0.71,-116.8,2561,2458,3130,3071,167.5,-14.4,132,948,0.00,2.28,0.00,0.000,516,0.000,0.063,2561,1051,3101,3131,3071,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1014,-0.71,-116.8,2561,1050,3131,3071,177.9,-14.8,138,1018,0.00,2.35,0.00,0.000,1030,0.000,0.069,2561,2467,3101,3131,3071,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1259,-0.71,-116.8,2562,2467,3132,3071,212.4,-14.5,156,1263,0.00,2.33,0.00,0.000,516,0.000,0.063,2561,1043,3101,3132,3071,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1288,-0.71,-116.8,2561,1042,3132,3071,212.4,-14.5,156,1295,0.00,2.38,0.00,0.000,1030,0.000,0.071,2561,2467,3101,3132,3071,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1535,-0.71,-116.8,2561,2467,3132,3071,249.8,-12.7,163,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2466,3101,3132,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1775,-0.71,-116.8,2561,2467,3132,3071,277.9,-11.7,169,1779,0.00,2.33,0.00,0.000,260,0.000,0.088,2561,3870,3101,3132,3071,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1844,-0.71,-116.8,2562,3870,3132,3071,283.2,-12.9,170,1851,0.00,2.30,0.00,0.000,1030,0.000,0.051,2561,2458,3101,3132,3071,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2091,-0.71,-116.8,2562,2457,3131,3071,317.3,-11.6,177,2095,0.00,2.28,0.00,0.000,516,0.000,0.065,2560,1054,3101,3132,3071,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2104,-0.71,-116.8,2561,1053,3131,3071,317.3,-11.6,177,2109,0.00,2.38,0.00,0.000,1030,0.000,0.072,2561,2483,3101,3132,3070,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2366,-0.71,-116.8,2561,2483,3132,3069,349.7,-12.3,184,2370,0.00,2.35,0.00,0.000,516,0.000,0.065,2562,1054,3100,3132,3069,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2410,-0.71,-116.8,2562,1054,3131,3068,354.3,-12.6,185,2414,0.00,2.38,0.00,0.000,1030,0.000,0.073,2562,2456,3100,3132,3069,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2682,-0.71,-116.8,2561,2456,3131,3067,388.3,-12.1,192,2686,0.00,2.35,0.00,0.000,260,0.000,0.090,2561,3873,3099,3132,3066,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2736,-0.71,-116.8,2561,3872,3131,3066,392.5,-11.8,193,2740,0.00,2.30,0.00,0.000,1030,0.000,0.053,2562,2457,3098,3131,3066,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,2797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2797,begin apogee
$GC,2800,-0.15,0.0,2561,2324,3131,3065,401.3,-11.3,195,2897,0.55,0.00,93.20,2.319,10246,0.314,0.000,2752,2324,2619,2696,2543,0,0,0,0,0,0,14.93,28.83,13.58
$STATE,2898,end apogee,CONTROL_FINISHED_OK
$STATE,2898,begin climb
$GC,2899,0.71,116.8,2752,2324,2696,2543,403.3,0.0,197,3002,0.75,2.40,95.12,2.239,10756,0.187,0.067,3046,970,2142,2221,2064,0,0,0,0,0,0,14.26,14.17,13.46
$GC,3038,0.71,116.8,3046,970,2219,2061,392.2,8.8,201,3043,0.08,2.38,0.00,0.000,5126,0.482,0.063,3032,2353,2139,2219,2060,0,0,0,0,0,0,14.26,14.40,28.83
$GC,3315,0.71,116.8,3032,2354,2219,2055,355.3,13.0,208,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2354,2137,2220,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3555,0.71,116.8,3032,2354,2219,2052,325.9,12.1,214,3559,0.00,2.30,0.00,0.000,516,0.000,0.069,3041,969,2135,2219,2052,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3591,0.71,116.8,3041,968,2219,2049,321.6,12.2,215,3595,0.00,2.33,0.00,0.000,1030,0.000,0.067,3041,2352,2134,2220,2049,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3866,0.71,116.8,3041,2352,2219,2048,288.1,12.0,222,3870,0.00,2.38,0.00,0.000,260,0.000,0.086,3040,3769,2133,2219,2048,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3890,0.71,116.8,3041,3769,2219,2048,288.1,12.0,222,3895,0.05,2.33,0.00,0.000,5126,0.467,0.059,3036,2371,2133,2219,2047,0,0,0,0,0,0,14.78,14.95,28.83
$GC,4142,0.71,116.8,3036,2369,2219,2046,255.3,12.3,229,4146,0.00,2.35,0.00,0.000,260,0.000,0.086,3036,3767,2132,2219,2046,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4266,0.71,116.8,3036,3767,2219,2046,242.3,11.2,232,4271,0.08,2.30,0.00,0.000,5126,0.527,0.058,3032,2347,2132,2219,2046,0,0,0,0,0,0,14.81,15.01,28.83
$GC,4538,0.74,140.0,3032,2345,2219,2043,218.5,7.8,239,4557,0.00,0.00,17.48,1.994,8198,0.000,0.000,3032,2345,2049,2138,1960,0,0,0,0,0,0,28.83,28.83,14.14
$GC,4778,0.74,140.0,3032,2345,2137,1957,194.7,9.6,248,4782,0.00,2.33,0.00,0.000,516,0.000,0.072,3042,939,2047,2138,1957,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4915,0.75,147.7,3042,938,2137,1954,182.1,8.6,260,4928,0.00,2.35,7.35,1.737,9222,0.000,0.067,3042,2358,2016,2109,1923,0,0,0,0,0,0,28.83,14.90,14.14
$GC,5168,0.75,147.7,3042,2358,2110,1923,156.5,12.3,285,5172,0.00,2.38,0.00,0.000,516,0.000,0.070,3053,932,2016,2110,1923,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5249,0.75,147.7,3052,931,2109,1921,147.0,11.7,293,5255,0.00,2.38,0.00,0.000,1030,0.000,0.067,3052,2356,2015,2110,1920,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5553,0.76,153.8,3052,2356,2110,1921,116.5,8.7,342,5563,0.00,2.38,3.65,1.229,8708,0.000,0.069,3063,939,1991,2088,1894,0,0,0,0,0,0,28.83,14.90,14.18
$GC,5652,0.76,153.9,3063,938,2087,1893,108.5,9.0,357,5660,0.08,2.35,0.00,0.000,5126,0.466,0.067,3048,2350,1990,2088,1893,0,0,0,0,0,0,14.73,14.89,28.83
$GC,5958,0.83,215.1,3048,2351,2088,1894,86.3,5.8,406,6002,0.05,2.45,34.28,1.514,10500,0.392,0.084,3079,3752,1740,1843,1638,0,0,0,0,0,0,14.84,14.61,14.09
$GC,6250,0.83,215.1,3080,3753,1842,1633,47.2,15.0,448,6260,0.05,2.35,0.00,0.000,5126,0.453,0.056,3074,2351,1737,1842,1632,0,0,0,0,0,0,14.60,14.78,28.83
$STATE,6571,end climb,SURFACE_DEPTH_REACHED
$STATE,6571,begin surface coast
$FINISH,0.1,1.010131
$STATE,6600,end surface coast,CONTROL_FINISHED_OK
$STATE,6600,begin surface
$SM_CCo,6613,71.40,0.863,0,0,1150,360.09
$SM_GC,0.89,6.90,0.20,71.40,0.108,0.119,0.863,133,2459,1150,-8.23,-0.85,360.09,0,0,0,0,0,0,14.87,14.85,14.24
$IRIDIUM_FIX,2239.35,-15801.49,251109,121202
$TT8_MAMPS,0.019474,0.019474
$HUMID,41.92
$INTERNAL_PRESSURE,7.2659
$TCM_TEMP,22.30
$XPDR_PINGS,5
$24V_AH,13.5,21.366
$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,17.275,75.500,251.075,71.400,0.000,31.375,47.346,130.525,1.250,0.000,16.265,1294.354,3279.255,389.118,1977.700,55.510,33.226,964.811,0.000,1182.869,0.000,0.550,0.000
$DEVICE_MAMPS,527.085,119.340,2318.715,862.920,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,336.409,315.376,563.499,556.063,1150.703,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353064
$DATA_FILE_SIZE,43830,499
$CAP_FILE_SIZE,76322,0
$CFSIZE,2097086464,2090336256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290117,012014,2247.022,-15800.999,35,1.9,35,9.8