version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 56
start: 1 30 117 5 19 20
data:
$ID,626
$MISSION,1
$DIVE,56
$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,320
$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,-129839.57
$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,23
$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
$GPS1,300117,051329,2250.095,-15800.655,5,1.0,5,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.1
$GPS2,300117,051825,2250.129,-15800.663,15,1.1,15,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,-0.222
$KALMAN_X,-67777.8,1101.8,117.5,69103.9,-2855.1
$KALMAN_Y,-210.8,373.6,234.4,16334.2,1076.4
$MHEAD_RNG_PITCHd_Wd,149.5,9567,-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,-136.3,129,2506,1156,1082,0.0,0.0,0,78,0.00,0.00,-60.05,0.000,16390,0.000,0.000,129,2507,3157,3183,3131,0,0,0,0,0,0,28.83,28.83,15.00
$GC,81,-0.66,-136.3,129,2507,3184,3131,3.8,-6.7,7,100,8.75,2.38,0.00,0.000,2820,0.523,0.055,2581,1081,3158,3186,3130,0,0,0,0,0,0,14.49,14.77,28.83
$GC,270,-0.66,-136.3,2581,1080,3186,3130,53.4,-19.6,34,280,0.00,2.42,0.00,0.000,1030,0.000,0.071,2577,2493,3158,3186,3130,0,0,0,0,0,0,28.83,14.79,28.83
$GC,591,-0.66,-136.3,2576,2493,3188,3130,119.3,-19.2,83,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2494,3159,3188,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,873,-0.66,-136.3,2576,2494,3189,3130,166.8,-12.8,122,877,0.00,2.38,0.00,0.000,260,0.000,0.089,2575,3916,3160,3189,3131,0,0,0,0,0,0,28.83,14.89,28.83
$GC,956,-0.66,-136.3,2575,3916,3188,3130,177.8,-14.3,129,967,0.00,2.33,0.00,0.000,1030,0.000,0.050,2575,2495,3159,3189,3130,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1233,-0.66,-136.3,2575,2494,3189,3130,215.8,-13.1,148,1238,0.00,2.28,0.00,0.000,516,0.000,0.065,2575,1087,3159,3189,3130,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1342,-0.66,-136.3,2575,1086,3190,3130,226.7,-14.0,150,1350,0.00,2.35,0.00,0.000,1030,0.000,0.071,2575,2502,3160,3190,3130,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1589,-0.66,-136.3,2575,2502,3190,3130,262.7,-12.8,157,1593,0.00,2.35,0.00,0.000,260,0.000,0.090,2575,3917,3159,3189,3130,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1643,-0.66,-136.3,2575,3916,3190,3130,267.4,-13.0,158,1647,0.00,2.33,0.00,0.000,1030,0.000,0.054,2575,2501,3160,3190,3130,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1905,-0.66,-136.3,2576,2500,3190,3130,300.9,-11.6,165,1909,0.00,2.38,0.00,0.000,260,0.000,0.091,2575,3917,3160,3190,3130,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1964,-0.66,-136.3,2575,3917,3189,3130,304.7,-11.4,166,1968,0.00,2.33,0.00,0.000,1030,0.000,0.054,2575,2494,3159,3189,3130,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2221,-0.66,-136.3,2575,2493,3189,3130,332.3,-9.6,173,2225,0.00,2.28,0.00,0.000,516,0.000,0.069,2575,1084,3159,3190,3129,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2256,-0.66,-136.3,2575,1084,3189,3129,335.9,-9.6,174,2261,0.00,2.35,0.00,0.000,1030,0.000,0.073,2575,2501,3159,3189,3129,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2532,-0.66,-136.3,2575,2501,3189,3126,364.3,-10.4,181,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2501,3158,3190,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2772,-0.66,-136.3,2575,2501,3189,3124,387.3,-9.4,187,2776,0.00,2.33,0.00,0.000,516,0.000,0.069,2575,1083,3156,3189,3123,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2808,-0.66,-136.3,2575,1082,3189,3122,390.8,-9.4,188,2812,0.00,2.38,0.00,0.000,1030,0.000,0.076,2575,2500,3155,3189,3122,0,0,0,0,0,0,28.83,15.05,28.83
$STATE,2923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2923,begin apogee
$GC,2927,-0.15,0.0,2575,2283,3189,3120,402.0,-9.6,191,3038,0.50,0.00,108.03,2.312,10246,0.309,0.000,2749,2282,2599,2678,2521,0,0,0,0,0,0,14.93,28.83,13.55
$STATE,3039,end apogee,CONTROL_FINISHED_OK
$STATE,3039,begin climb
$GC,3040,0.66,136.3,2749,2281,2678,2522,404.6,0.0,193,3158,0.68,2.38,109.90,2.250,10756,0.192,0.070,3020,922,2043,2132,1954,0,0,0,0,0,0,14.24,14.19,13.52
$GC,3173,0.66,136.3,3020,922,2132,1952,402.9,4.2,196,3177,0.00,2.47,0.00,0.000,1030,0.000,0.065,3020,2315,2041,2132,1951,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3440,0.66,136.3,3020,2315,2132,1944,363.6,12.8,203,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2315,2038,2132,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3680,0.66,136.3,3020,2315,2132,1942,332.1,13.5,209,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2315,2037,2132,1942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3920,0.66,136.3,3020,2315,2132,1940,298.6,14.1,215,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2315,2036,2132,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4160,0.66,136.3,3020,2315,2131,1937,268.2,12.6,221,4164,0.00,2.38,0.00,0.000,260,0.000,0.085,3020,3725,2034,2132,1937,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4276,0.66,136.3,3020,3725,2132,1938,253.4,12.5,224,4281,0.08,2.28,0.00,0.000,5126,0.512,0.060,3017,2322,2034,2131,1938,0,0,0,0,0,0,14.81,15.00,28.83
$GC,4553,0.66,136.3,3017,2321,2132,1934,228.3,8.7,231,4557,0.00,2.38,0.00,0.000,260,0.000,0.087,3017,3729,2033,2132,1934,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4592,0.66,136.3,3017,3729,2132,1934,224.2,9.4,232,4596,0.00,2.33,0.00,0.000,1030,0.000,0.062,3026,2304,2033,2132,1934,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4839,0.66,136.3,3026,2302,2132,1932,198.7,9.9,239,4843,0.00,2.30,0.00,0.000,516,0.000,0.074,3037,902,2032,2132,1932,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5064,0.66,136.3,3036,902,2131,1929,174.0,11.1,259,5073,0.05,2.33,0.00,0.000,5126,0.391,0.069,3018,2315,2030,2131,1930,0,0,0,0,0,0,14.83,14.97,28.83
$GC,5310,0.66,139.9,3018,2314,2131,1929,151.9,8.2,284,5319,0.00,2.38,0.00,0.000,260,0.000,0.086,3018,3729,2030,2131,1930,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5459,0.67,144.8,3018,3729,2131,1931,138.6,8.1,306,5470,0.00,2.35,3.42,1.336,9222,0.000,0.059,3027,2308,2008,2109,1908,0,0,0,0,0,0,28.83,14.97,14.19
$GC,5770,0.67,144.8,3027,2308,2109,1908,115.0,8.5,355,5776,0.00,2.40,0.00,0.000,260,0.000,0.085,3028,3728,2007,2110,1905,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5798,0.67,144.8,3027,3728,2110,1909,112.2,9.2,359,5805,0.10,2.30,0.00,0.000,5126,0.467,0.059,3015,2309,2009,2109,1909,0,0,0,0,0,0,14.77,14.95,28.83
$GC,6102,0.74,205.2,3015,2308,2110,1908,91.2,5.9,408,6147,0.08,2.40,34.53,1.633,10756,0.278,0.070,3069,912,1761,1867,1656,0,0,0,0,0,0,14.90,14.64,14.09
$GC,6207,0.74,205.2,3070,912,1866,1651,82.1,10.8,423,6214,0.10,2.35,0.00,0.000,5126,0.422,0.065,3044,2312,1758,1866,1650,0,0,0,0,0,0,14.59,14.73,28.83
$GC,6546,0.74,205.2,3044,2312,1866,1649,44.5,11.6,472,6555,0.00,2.40,0.00,0.000,516,0.000,0.070,3054,906,1757,1866,1648,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6578,0.74,205.2,3054,906,1866,1647,40.4,12.6,476,6588,0.03,2.40,0.00,0.000,5126,0.418,0.065,3044,2314,1756,1866,1646,0,0,0,0,0,0,14.66,14.81,28.83
$STATE,6914,end climb,SURFACE_DEPTH_REACHED
$STATE,6914,begin surface coast
$FINISH,0.2,1.023816
$STATE,6945,end surface coast,CONTROL_FINISHED_OK
$STATE,6945,begin surface
$SM_CCo,6958,75.28,0.841,0,0,1130,360.09
$SM_GC,1.36,6.70,0.32,75.28,0.089,0.093,0.841,131,2515,1130,-8.22,-0.51,360.09,0,0,0,0,0,0,14.90,14.88,14.27
$IRIDIUM_FIX,2239.35,-15837.10,261109,181803
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.64
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,13.5,24.989
$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,17.050,71.275,255.875,75.275,0.000,32.913,52.413,123.227,0.250,0.000,16.119,1364.512,3398.787,388.806,2123.574,66.497,33.226,1012.317,0.000,1275.533,0.000,0.550,0.000
$DEVICE_MAMPS,523.260,93.330,2311.830,840.735,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,356.001,343.828,600.459,605.467,1252.912,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352992
$DATA_FILE_SIZE,47304,529
$CAP_FILE_SIZE,78108,0
$CFSIZE,2097086464,2088861696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,300117,071748,2249.816,-15800.509,40,0.8,40,9.8