version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 45
start: 1 29 117 7 31 57
data:
$ID,626
$MISSION,1
$DIVE,45
$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,-129801.84
$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,2440
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$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,2600
$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
$GPS1,290117,072548,2246.802,-15800.062,6,1.1,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.2
$GPS2,290117,073102,2246.788,-15800.084,15,1.1,15,9.8
$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,-56668.3,983.4,453.3,58759.6,-2561.5
$KALMAN_Y,-2957.6,-376.5,261.0,13604.3,332.6
$MHEAD_RNG_PITCHd_Wd,133.4,3315,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.71,-116.8,133,2452,1152,1085,0.0,0.0,0,79,0.00,0.00,-58.78,0.000,16390,0.000,0.000,131,2452,3079,3106,3053,0,0,0,0,0,0,28.83,28.83,14.97
$GC,82,-0.71,-116.8,131,2452,3106,3053,3.5,-6.0,7,101,8.77,2.35,0.00,0.000,2564,0.532,0.050,2567,1026,3080,3107,3053,0,0,0,0,0,0,14.54,14.76,28.83
$GC,253,-0.71,-116.8,2567,1025,3107,3053,46.4,-20.8,31,262,0.00,2.42,0.00,0.000,1030,0.000,0.071,2562,2438,3079,3107,3052,0,0,0,0,0,0,28.83,14.78,28.83
$GC,572,-0.71,-116.8,2563,2438,3108,3053,114.7,-17.8,80,581,0.00,2.42,0.00,0.000,260,0.000,0.089,2561,3849,3080,3108,3053,0,0,0,0,0,0,28.83,14.83,28.83
$GC,707,-0.71,-116.8,2562,3849,3108,3053,139.7,-19.3,101,714,0.00,2.28,0.00,0.000,1030,0.000,0.054,2561,2439,3080,3109,3052,0,0,0,0,0,0,28.83,14.90,28.83
$GC,968,-0.71,-116.8,2562,2439,3110,3053,182.0,-13.6,130,976,0.00,2.35,0.00,0.000,260,0.000,0.088,2561,3850,3081,3110,3052,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1020,-0.71,-116.8,2561,3850,3110,3053,190.1,-14.4,135,1024,0.00,2.28,0.00,0.000,1030,0.000,0.054,2562,2436,3081,3110,3053,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1295,-0.71,-116.8,2562,2436,3110,3053,227.1,-13.1,147,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2436,3081,3111,3052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1535,-0.71,-116.8,2561,2436,3111,3053,257.6,-13.4,153,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2436,3082,3111,3053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1775,-0.71,-116.8,2562,2436,3111,3052,285.5,-10.8,159,1779,0.00,2.28,0.00,0.000,516,0.000,0.063,2561,1017,3081,3111,3052,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1891,-0.71,-116.8,2561,1016,3111,3052,298.0,-10.8,162,1895,0.00,2.35,0.00,0.000,1030,0.000,0.068,2562,2445,3081,3111,3052,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2167,-0.71,-116.8,2561,2445,3111,3050,329.0,-11.7,169,2171,0.00,2.33,0.00,0.000,260,0.000,0.087,2561,3849,3080,3111,3050,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2282,-0.71,-116.8,2562,3849,3111,3048,342.6,-11.7,172,2287,0.00,2.25,0.00,0.000,1030,0.000,0.050,2561,2432,3080,3111,3049,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2558,-0.71,-116.8,2561,2432,3110,3047,373.0,-11.2,179,2562,0.00,2.25,0.00,0.000,516,0.000,0.064,2562,1032,3078,3111,3046,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2637,-0.71,-116.8,1680,1030,3086,3041,381.8,-11.5,181,2641,0.00,2.38,0.00,0.000,1030,0.000,0.070,2561,2439,3078,3111,3046,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,2833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2833,begin apogee
$GC,2837,-0.15,0.0,2561,2301,3111,3043,403.2,-10.7,186,2932,0.55,0.00,92.43,2.305,10246,0.321,0.000,2751,2300,2600,2678,2523,0,0,0,0,0,0,14.93,28.83,13.58
$STATE,2933,end apogee,CONTROL_FINISHED_OK
$STATE,2933,begin climb
$GC,2935,0.71,116.8,2752,2300,2677,2523,405.2,0.0,188,3038,0.75,2.40,95.55,2.285,10756,0.194,0.067,3044,951,2122,2202,2043,0,0,0,0,0,0,14.28,14.19,13.47
$GC,3107,0.71,116.8,3045,950,2201,2036,392.8,9.8,192,3116,0.03,2.40,0.00,0.000,5126,0.470,0.063,3036,2331,2118,2201,2036,0,0,0,0,0,0,14.36,14.51,28.83
$GC,3355,0.71,116.8,3036,2331,2201,2032,352.4,13.7,199,3359,0.00,2.30,0.00,0.000,516,0.000,0.068,3046,953,2117,2201,2033,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3403,0.71,116.8,3045,953,2201,2030,347.5,13.6,200,3409,0.03,2.35,0.00,0.000,5126,0.473,0.066,3037,2331,2115,2202,2029,0,0,0,0,0,0,14.65,14.81,28.83
$GC,3671,0.71,116.8,3037,2331,2201,2027,311.6,12.5,207,3675,0.00,2.38,0.00,0.000,260,0.000,0.084,3036,3738,2114,2201,2028,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3759,0.71,116.8,3036,3738,2201,2028,300.4,13.6,209,3764,0.03,2.30,0.00,0.000,5126,0.523,0.058,3038,2360,2114,2201,2028,0,0,0,0,0,0,14.74,14.93,28.83
$GC,4026,0.71,116.8,3039,2359,2201,2025,264.3,11.9,216,4031,0.00,2.38,0.00,0.000,516,0.000,0.071,3048,911,2113,2201,2025,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4156,0.71,116.8,3048,911,2201,2022,251.2,11.3,219,4161,0.08,2.35,0.00,0.000,5126,0.473,0.066,3032,2329,2111,2201,2021,0,0,0,0,0,0,14.82,14.98,28.83
$GC,4417,0.71,116.8,3032,2330,2200,2021,221.3,11.0,226,4421,0.00,2.35,0.00,0.000,260,0.000,0.086,3032,3739,2111,2201,2021,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4461,0.71,116.8,3032,3739,2201,2022,217.5,10.9,227,4465,0.00,2.35,0.00,0.000,1030,0.000,0.059,3042,2320,2111,2201,2022,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4716,0.71,116.8,3042,2319,2199,2020,191.3,9.3,238,4724,0.00,2.25,0.00,0.000,516,0.000,0.071,3052,927,2110,2201,2019,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4866,0.73,131.5,3053,926,2200,2018,178.0,8.2,252,4883,0.08,2.33,10.43,1.894,13318,0.478,0.066,3037,2337,2063,2153,1974,0,0,0,0,0,0,14.85,15.01,14.19
$GC,5130,0.74,137.8,3037,2337,2153,1974,153.2,8.7,278,5141,0.00,2.45,6.60,1.709,8452,0.000,0.086,3037,3747,2038,2130,1946,0,0,0,0,0,0,28.83,14.86,14.16
$GC,5246,0.74,141.9,3037,3747,2130,1947,143.3,8.8,293,5262,0.00,2.30,4.95,1.554,9222,0.000,0.057,3047,2329,2021,2116,1926,0,0,0,0,0,0,28.83,14.91,14.11
$GC,5563,0.74,141.9,3047,2329,2115,1926,113.1,11.2,343,5569,0.00,2.40,0.00,0.000,260,0.000,0.084,3047,3745,2020,2115,1926,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5640,0.75,145.0,3047,3746,2115,1926,105.6,8.8,355,5649,0.08,2.30,1.88,0.539,13318,0.526,0.056,3043,2327,2007,2104,1911,0,0,0,0,0,0,14.71,14.91,14.67
$GC,5948,0.77,164.2,3043,2327,2105,1911,84.5,8.0,404,5964,0.00,2.47,10.80,1.440,8452,0.000,0.083,3043,3742,1929,2030,1829,0,0,0,0,0,0,28.83,14.81,14.24
$GC,6037,0.77,164.2,3043,3742,2030,1830,76.4,9.7,417,6047,0.00,2.35,0.00,0.000,1030,0.000,0.056,3053,2331,1928,2030,1827,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6374,0.77,164.2,3053,2331,2030,1827,43.6,11.1,466,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2331,1928,2030,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6716,0.79,180.6,3053,2330,2030,1827,10.8,8.2,515,6735,0.00,2.38,8.35,0.846,8708,0.000,0.066,3064,923,1861,1967,1755,0,0,0,0,0,0,28.83,14.80,14.44
$STATE,6810,end climb,SURFACE_DEPTH_REACHED
$STATE,6810,begin surface coast
$FINISH,0.2,1.001227
$STATE,6853,end surface coast,CONTROL_FINISHED_OK
$STATE,6853,begin surface
$SM_CCo,6868,87.78,0.849,0,0,1129,360.09
$SM_GC,1.22,6.78,2.60,87.78,0.093,0.069,0.849,139,2439,1129,-8.22,-0.76,360.09,0,0,0,0,0,0,14.88,14.85,14.23
$IRIDIUM_FIX,2239.35,-15804.53,251109,202023
$TT8_MAMPS,0.018725,0.018725
$HUMID,40.15
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,13.5,22.322
$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,17.150,75.475,230.975,87.775,0.000,32.913,57.986,133.400,0.250,0.000,18.731,1382.801,3220.081,395.767,2219.191,64.346,33.225,1026.667,0.000,1321.517,0.000,0.551,0.000
$DEVICE_MAMPS,531.675,99.450,2304.945,849.150,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,359.773,348.794,609.737,633.332,1310.647,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353052
$DATA_FILE_SIZE,47231,534
$CAP_FILE_SIZE,79677,0
$CFSIZE,2097086464,2089943040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290117,092834,2246.450,-15759.994,5,1.6,5,9.8