version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 46
start: 1 29 117 9 34 58
data:
$ID,626
$MISSION,1
$DIVE,46
$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,160
$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,-129803.09
$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,2500
$C_ROLL_CLIMB,2310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,36
$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
$GPS1,290117,092834,2246.450,-15759.994,5,1.6,5,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.4
$GPS2,290117,093402,2246.424,-15800.058,30,1.5,30,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.145,-0.188
$KALMAN_X,-57624.2,740.9,579.8,59878.3,-3011.8
$KALMAN_Y,-1251.3,-957.1,119.9,11947.5,1407.4
$MHEAD_RNG_PITCHd_Wd,132.5,2639,-16.1,-8.333,-19.34,2499
$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,-0.66,-136.3,129,2515,1151,1085,0.0,0.0,0,79,0.00,0.00,-60.90,0.000,16390,0.000,0.000,128,2516,3156,3182,3131,0,0,0,0,0,0,28.83,28.83,15.00
$GC,81,-0.66,-136.3,128,2516,3183,3131,3.2,-5.8,7,100,8.77,2.38,0.00,0.000,2564,0.529,0.054,2583,1085,3157,3184,3131,0,0,0,0,0,0,14.48,14.77,28.83
$GC,252,-0.66,-136.3,2583,1084,3185,3131,42.6,-17.3,31,261,0.00,2.40,0.00,0.000,1030,0.000,0.072,2577,2478,3158,3185,3131,0,0,0,0,0,0,28.83,14.77,28.83
$GC,572,-0.66,-136.3,2576,2478,3186,3131,110.8,-19.4,80,582,0.00,2.47,0.00,0.000,260,0.000,0.090,2575,3915,3158,3186,3131,0,0,0,0,0,0,28.83,14.81,28.83
$GC,600,-0.66,-136.3,2575,3917,3186,3131,116.3,-19.6,84,610,0.00,2.35,0.00,0.000,1030,0.000,0.057,2575,2500,3158,3186,3131,0,0,0,0,0,0,28.83,14.85,28.83
$GC,894,-0.66,-136.3,2575,2500,3188,3131,161.9,-14.3,126,898,0.00,2.30,0.00,0.000,516,0.000,0.065,2575,1081,3159,3188,3131,0,0,0,0,0,0,28.83,14.92,28.83
$GC,925,-0.66,-136.3,2575,1081,3188,3131,165.5,-13.6,128,933,0.00,2.42,0.00,0.000,1030,0.000,0.072,2575,2500,3159,3188,3131,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1173,-0.66,-136.3,2575,2500,3188,3131,198.3,-13.3,153,1177,0.00,2.38,0.00,0.000,260,0.000,0.092,2575,3920,3159,3188,3130,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1191,-0.66,-136.3,2575,3920,3189,3131,200.4,-13.2,154,1197,0.00,2.28,0.00,0.000,1030,0.000,0.054,2575,2502,3159,3189,3130,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1449,-0.66,-136.3,2575,2502,3189,3131,233.2,-12.5,161,1453,0.00,2.30,0.00,0.000,516,0.000,0.067,2575,1077,3160,3189,3131,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1524,-0.66,-136.3,2575,1077,3189,3131,242.0,-12.1,163,1529,0.00,2.38,0.00,0.000,1030,0.000,0.073,2575,2506,3160,3189,3131,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1800,-0.66,-136.3,2575,2506,3189,3130,274.2,-11.7,170,1804,0.00,2.33,0.00,0.000,516,0.000,0.066,2575,1080,3159,3189,3130,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1864,-0.66,-136.3,2575,1080,3189,3130,278.3,-11.7,171,1868,0.00,2.40,0.00,0.000,1030,0.000,0.073,2575,2497,3159,3189,3130,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2116,-0.66,-136.3,2575,2497,3189,3130,308.8,-10.5,178,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2497,3159,3189,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2356,-0.66,-136.3,2575,2497,3189,3127,333.9,-10.6,184,2360,0.00,2.38,0.00,0.000,260,0.000,0.093,2575,3911,3158,3189,3127,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2400,-0.66,-136.3,2575,3911,3189,3127,337.8,-10.7,185,2404,0.00,2.33,0.00,0.000,1030,0.000,0.056,2574,2495,3158,3189,3127,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2672,-0.66,-136.3,2575,2495,3189,3124,370.3,-11.7,192,2676,0.00,2.30,0.00,0.000,516,0.000,0.069,2575,1076,3155,3188,3123,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2761,-0.66,-136.3,2575,1076,3189,3123,379.0,-11.5,194,2765,0.00,2.42,0.00,0.000,1030,0.000,0.073,2575,2501,3155,3189,3122,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,2986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2986,begin apogee
$GC,2990,-0.15,0.0,2575,2276,3189,3119,402.8,-9.7,200,3101,0.50,0.08,107.30,2.307,10246,0.311,0.182,2749,2318,2599,2677,2521,0,0,0,0,0,0,14.93,14.23,13.54
$STATE,3102,end apogee,CONTROL_FINISHED_OK
$STATE,3102,begin climb
$GC,3104,0.66,136.3,2749,2317,2677,2521,404.6,0.0,202,3222,0.68,2.45,110.35,2.284,10756,0.194,0.069,3018,928,2044,2133,1955,0,0,0,0,0,0,14.23,14.18,13.45
$GC,3232,0.66,136.3,3018,928,2132,1953,401.2,5.5,205,3236,0.00,2.45,0.00,0.000,1030,0.000,0.065,3018,2304,2043,2133,1953,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3504,0.66,136.3,3018,2304,2132,1944,358.3,14.0,212,3508,0.00,2.33,0.00,0.000,516,0.000,0.071,3028,924,2038,2132,1945,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3558,0.66,136.3,3027,923,2132,1942,353.4,13.9,213,3563,0.03,2.38,0.00,0.000,5126,0.475,0.066,3020,2312,2036,2130,1942,0,0,0,0,0,0,14.63,14.78,28.83
$GC,3820,0.66,136.3,3020,2312,2132,1941,316.0,13.1,220,3824,0.00,2.38,0.00,0.000,260,0.000,0.086,3020,3719,2036,2132,1941,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3856,0.66,136.3,3020,3719,2132,1941,311.1,13.1,221,3863,0.08,2.28,0.00,0.000,5126,0.529,0.060,3016,2326,2036,2132,1941,0,0,0,0,0,0,14.72,14.92,28.83
$GC,4136,0.66,136.3,3016,2325,2132,1938,275.8,12.6,228,4140,0.00,2.38,0.00,0.000,516,0.000,0.074,3025,893,2035,2132,1938,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4179,0.66,136.3,3025,892,2132,1936,271.4,12.5,229,4184,0.00,2.38,0.00,0.000,1030,0.000,0.067,3025,2323,2034,2132,1936,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4451,0.66,136.3,3025,2323,2132,1935,237.3,11.5,236,4456,0.00,2.35,0.00,0.000,516,0.000,0.071,3035,902,2034,2132,1936,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4480,0.66,136.3,3035,901,2132,1933,237.3,11.5,236,4488,0.05,2.38,0.00,0.000,5126,0.405,0.069,3009,2305,2032,2132,1933,0,0,0,0,0,0,14.84,14.98,28.83
$GC,4727,0.66,136.3,3009,2306,2132,1933,205.9,11.4,243,4731,0.00,2.33,0.00,0.000,516,0.000,0.073,3018,899,2032,2132,1933,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4827,0.66,136.3,3018,899,2132,1932,197.6,8.7,247,4836,0.00,2.38,0.00,0.000,1030,0.000,0.068,3018,2305,2032,2132,1932,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5075,0.66,136.3,3018,2304,2132,1933,172.7,10.0,272,5080,0.00,2.40,0.00,0.000,260,0.000,0.088,3018,3735,2032,2132,1932,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5221,0.66,136.3,3018,3735,2132,1932,156.3,12.0,285,5234,0.08,2.33,0.00,0.000,5126,0.528,0.058,3015,2294,2032,2132,1932,0,0,0,0,0,0,14.81,15.01,28.83
$GC,5514,0.68,155.9,3015,2294,2132,1932,132.4,7.5,327,5529,0.00,0.00,10.15,1.824,8198,0.000,0.000,3015,2294,1963,2065,1862,0,0,0,0,0,0,28.83,28.83,14.18
$GC,5830,0.72,188.2,3015,2294,2065,1860,108.6,7.0,377,5860,0.00,2.38,18.95,1.708,8708,0.000,0.071,3024,906,1831,1936,1726,0,0,0,0,0,0,28.83,14.70,14.12
$GC,5887,0.72,188.2,3024,906,1935,1722,103.3,10.0,385,5894,0.00,2.38,0.00,0.000,1030,0.000,0.067,3024,2319,1829,1936,1722,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6202,0.72,188.2,3024,2319,1936,1719,72.2,9.3,434,6211,0.00,2.42,0.00,0.000,260,0.000,0.086,3024,3723,1828,1936,1720,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6227,0.72,188.2,3024,3723,1936,1720,69.8,9.2,437,6237,0.00,2.35,0.00,0.000,1030,0.000,0.059,3034,2317,1828,1936,1720,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6563,0.72,188.2,3034,2317,1936,1719,38.2,10.4,486,6572,0.00,2.38,0.00,0.000,516,0.000,0.070,3043,906,1827,1936,1719,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6662,0.72,188.2,3043,906,1936,1718,25.7,11.5,500,6671,0.00,2.38,0.00,0.000,1030,0.000,0.063,3043,2309,1827,1936,1719,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,6895,end climb,SURFACE_DEPTH_REACHED
$STATE,6895,begin surface coast
$FINISH,0.3,1.023877
$STATE,6945,end surface coast,CONTROL_FINISHED_OK
$STATE,6946,begin surface
$SM_CCo,6959,84.85,0.839,0,0,1129,360.09
$SM_GC,1.08,6.82,0.32,84.85,0.112,0.095,0.839,136,2507,1129,-8.23,-0.65,360.09,0,0,0,0,0,0,14.90,14.88,14.25
$IRIDIUM_FIX,2237.01,-15801.49,251109,222255
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.99
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,13.4,22.577
$10V_AH,13.3,0.000
$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,17.000,86.050,246.750,84.850,0.000,28.787,51.314,130.323,0.250,0.000,31.747,1401.981,3287.329,403.836,2230.713,59.695,33.229,1059.932,0.000,1324.370,0.000,0.551,0.000
$DEVICE_MAMPS,528.615,182.070,2307.240,839.205,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,364.596,351.448,617.672,641.957,1328.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353044
$DATA_FILE_SIZE,47509,541
$CAP_FILE_SIZE,82374,0
$CFSIZE,2097086464,2089844736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290117,113306,2245.727,-15759.924,11,1.2,11,9.8