version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 54
start: 1 30 117 1 14 28
data:
$ID,626
$MISSION,1
$DIVE,54
$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,-129837.06
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,300117,010832,2250.422,-15800.794,25,1.4,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.5
$GPS2,300117,011332,2250.418,-15800.847,23,1.4,24,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.083,-0.222
$KALMAN_X,-65160.7,1020.1,3.9,66367.3,-2658.9
$KALMAN_Y,-1553.7,-82.0,-294.5,19185.7,942.7
$MHEAD_RNG_PITCHd_Wd,149.7,10139,-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,15,-0.66,-136.3,128,2514,1154,1084,0.0,0.0,0,79,0.00,0.00,-60.30,0.000,16390,0.000,0.000,128,2514,3156,3183,3130,0,0,0,0,0,0,28.83,28.83,14.98
$GC,81,-0.66,-136.3,128,2514,3183,3130,3.7,-6.4,7,100,8.82,2.40,0.00,0.000,2564,0.528,0.054,2586,1075,3157,3185,3129,0,0,0,0,0,0,14.47,14.76,28.83
$GC,225,-0.66,-136.3,2586,1074,3186,3130,42.9,-20.7,27,234,0.00,2.42,0.00,0.000,1030,0.000,0.072,2586,2482,3158,3186,3130,0,0,0,0,0,0,28.83,14.76,28.83
$GC,545,-0.66,-136.3,2586,2483,3188,3129,108.3,-19.8,76,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2483,3158,3187,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,846,-0.66,-136.3,2586,2482,3189,3130,153.2,-14.8,123,850,0.00,2.40,0.00,0.000,260,0.000,0.088,2586,3912,3159,3189,3130,0,0,0,0,0,0,28.83,14.87,28.83
$GC,866,-0.66,-136.3,2586,3912,3188,3130,155.6,-15.0,124,874,0.00,2.33,0.00,0.000,1030,0.000,0.051,2586,2501,3159,3189,3130,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1114,-0.66,-136.3,2586,2500,3189,3130,189.0,-12.2,149,1118,0.00,2.28,0.00,0.000,516,0.000,0.061,2586,1087,3159,3189,3130,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1195,-0.66,-136.3,2586,1086,3189,3130,200.2,-14.1,156,1199,0.00,2.38,0.00,0.000,1030,0.000,0.069,2586,2510,3159,3189,3130,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1471,-0.66,-136.3,2586,2510,3190,3130,236.9,-13.2,163,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2510,3160,3190,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1711,-0.66,-136.3,2586,2510,3190,3130,265.6,-11.7,169,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2510,3160,3190,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1951,-0.66,-136.3,2586,2511,3190,3130,292.7,-11.6,175,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2510,3159,3190,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-0.66,-136.3,2586,2510,3189,3129,320.7,-11.6,181,2195,0.00,2.33,0.00,0.000,260,0.000,0.089,2586,3908,3159,3190,3128,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2204,-0.66,-136.3,2586,3908,3190,3128,320.7,-11.6,181,2209,0.00,2.30,0.00,0.000,1030,0.000,0.050,2586,2493,3158,3190,3127,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2467,-0.66,-136.3,2586,2493,3190,3126,353.0,-12.1,188,2471,0.00,2.28,0.00,0.000,516,0.000,0.064,2586,1079,3157,3190,3125,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2570,-0.66,-136.3,2586,1079,3190,3125,362.3,-12.2,190,2575,0.00,2.40,0.00,0.000,1030,0.000,0.070,2586,2497,3157,3190,3125,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2822,-0.66,-136.3,2586,2497,3190,3122,392.4,-10.4,197,2826,0.00,2.38,0.00,0.000,260,0.000,0.091,2586,3918,3156,3190,3122,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2868,-0.66,-136.3,2586,3918,3190,3121,395.9,-10.2,198,2872,0.00,2.28,0.00,0.000,1030,0.000,0.052,2586,2495,3156,3190,3122,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,2932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2932,begin apogee
$GC,2936,-0.15,0.0,2586,2283,3190,3120,403.1,-9.7,200,3048,0.47,0.00,108.50,2.338,10246,0.295,0.000,2755,2283,2600,2678,2522,0,0,0,0,0,0,14.93,28.83,13.53
$STATE,3049,end apogee,CONTROL_FINISHED_OK
$STATE,3049,begin climb
$GC,3050,0.66,136.3,2754,2283,2678,2522,405.2,0.0,202,3169,0.68,2.42,112.00,2.323,11012,0.191,0.068,3023,932,2043,2131,1956,0,0,0,0,0,0,14.21,14.17,13.44
$GC,3213,0.66,136.3,2128,931,2088,1944,393.5,9.0,206,3218,0.00,2.42,0.00,0.000,1030,0.000,0.063,3023,2310,2039,2130,1949,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3491,0.66,136.3,3023,2310,2130,1944,356.6,12.9,213,3495,0.00,2.40,0.00,0.000,260,0.000,0.083,3022,3734,2037,2130,1944,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3540,0.66,136.3,3022,3734,2130,1945,351.7,12.9,214,3545,0.10,2.35,0.00,0.000,5126,0.458,0.060,3011,2310,2037,2130,1945,0,0,0,0,0,0,14.64,14.82,28.83
$GC,3807,0.66,136.3,3011,2309,2129,1942,319.6,11.1,221,3811,0.00,2.33,0.00,0.000,516,0.000,0.072,3020,899,2036,2130,1942,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3941,0.66,136.3,3020,898,2130,1938,304.7,12.5,224,3946,0.00,2.35,0.00,0.000,1030,0.000,0.065,3020,2318,2034,2130,1938,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4198,0.66,136.3,3019,2318,2130,1938,267.4,14.0,231,4202,0.00,2.35,0.00,0.000,260,0.000,0.086,3020,3719,2034,2130,1938,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4252,0.66,136.3,3020,3719,2129,1938,262.0,14.4,232,4257,0.08,2.38,0.00,0.000,5126,0.507,0.061,3017,2295,2033,2129,1938,0,0,0,0,0,0,14.79,14.97,28.83
$GC,4514,0.66,136.3,3017,2293,2129,1935,229.6,10.8,239,4518,0.00,2.40,0.00,0.000,260,0.000,0.085,3017,3720,2032,2129,1936,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4532,0.66,136.3,3017,3720,2130,1936,229.6,10.8,239,4537,0.00,2.35,0.00,0.000,1030,0.000,0.061,3026,2312,2033,2130,1936,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4789,0.66,136.3,3026,2310,2129,1933,201.9,9.4,246,4794,0.00,2.33,0.00,0.000,516,0.000,0.073,3037,889,2031,2130,1933,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4848,0.67,147.7,2112,889,2086,1926,197.4,7.9,249,4863,0.05,2.40,8.30,1.851,13318,0.400,0.066,3020,2310,1996,2095,1897,0,0,0,0,0,0,14.81,14.95,14.20
$GC,5110,0.68,153.0,3020,2309,2095,1897,175.0,8.1,275,5121,0.00,2.42,5.65,1.672,8708,0.000,0.072,3029,896,1976,2078,1874,0,0,0,0,0,0,28.83,14.91,14.17
$GC,5177,0.68,153.0,3029,896,2078,1872,169.4,8.6,281,5182,0.00,2.35,0.00,0.000,1030,0.000,0.066,3028,2311,1975,2078,1872,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5430,0.68,153.0,3029,2311,2078,1872,145.8,9.1,308,5439,0.00,2.42,0.00,0.000,260,0.000,0.087,3027,3717,1975,2078,1873,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5668,0.68,153.0,3029,3717,2078,1874,122.6,11.0,346,5678,0.05,2.35,0.00,0.000,5126,0.441,0.058,3023,2300,1975,2077,1874,0,0,0,0,0,0,14.74,14.91,28.83
$GC,5979,0.71,178.5,3023,2300,2078,1873,97.0,7.3,395,6001,0.00,2.42,14.73,1.574,8452,0.000,0.083,3023,3716,1872,1977,1767,0,0,0,0,0,0,28.83,14.79,14.19
$GC,6063,0.71,178.5,3023,3716,1977,1767,88.9,9.6,408,6073,0.00,2.35,0.00,0.000,1030,0.000,0.058,3031,2314,1871,1977,1765,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6392,0.71,178.5,3031,2313,1977,1763,59.7,9.5,457,6401,0.00,2.38,0.00,0.000,516,0.000,0.070,3042,905,1869,1977,1762,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6538,0.71,178.5,3042,905,1977,1761,45.0,11.8,478,6548,0.03,2.38,0.00,0.000,5126,0.412,0.063,3032,2309,1869,1977,1762,0,0,0,0,0,0,14.69,14.83,28.83
$GC,6874,0.71,178.5,3032,2309,1977,1763,12.7,12.5,527,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2309,1870,1977,1763,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6958,end climb,SURFACE_DEPTH_REACHED
$STATE,6958,begin surface coast
$FINISH,0.3,1.023668
$STATE,6995,end surface coast,CONTROL_FINISHED_OK
$STATE,6995,begin surface
$SM_CCo,7008,89.68,0.840,0,0,1130,360.09
$SM_GC,1.38,6.85,0.32,89.68,0.119,0.084,0.840,134,2517,1130,-8.24,-0.59,360.09,0,0,0,0,0,0,14.90,14.90,14.23
$IRIDIUM_FIX,2239.35,-15941.42,261109,141406
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.28
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,23.00
$XPDR_PINGS,3
$24V_AH,13.4,24.478
$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,17.125,76.300,249.175,89.675,0.000,32.892,59.459,111.184,0.750,0.000,25.559,1410.236,3356.461,419.221,2159.940,64.558,33.225,1036.707,0.000,1289.540,0.000,0.551,0.000
$DEVICE_MAMPS,527.850,91.035,2337.840,839.970,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,367.034,357.605,621.765,637.689,1319.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353024
$DATA_FILE_SIZE,47301,544
$CAP_FILE_SIZE,79723,0
$CFSIZE,2097086464,2089058304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300117,031400,2249.985,-15801.056,40,0.8,41,9.8