version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 58
start: 1 30 117 9 25 6
data:
$ID,626
$MISSION,1
$DIVE,58
$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,-129842.09
$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,28
$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
$GPS1,300117,091927,2249.499,-15800.222,16,1.1,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-69.2
$GPS2,300117,092411,2249.478,-15800.227,8,1.1,8,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.126
$KALMAN_X,-67819.7,269.1,608.4,70224.8,-1964.0
$KALMAN_Y,3229.9,315.7,-0.7,11973.5,1932.9
$MHEAD_RNG_PITCHd_Wd,112.4,8302,-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,-136.2,129,2520,1147,1092,0.0,0.0,0,78,0.00,0.00,-59.42,0.000,16390,0.000,0.000,128,2521,3157,3185,3129,0,0,0,0,0,0,28.83,28.83,14.97
$GC,80,-0.66,-136.2,128,2521,3184,3129,4.3,-8.7,7,99,8.75,2.42,0.00,0.000,2564,0.523,0.056,2584,1071,3158,3187,3129,0,0,0,0,0,0,14.47,14.77,28.83
$GC,175,-0.66,-136.2,2584,1072,3187,3129,35.5,-20.8,20,185,0.00,2.45,0.00,0.000,1030,0.000,0.073,2582,2487,3157,3186,3129,0,0,0,0,0,0,28.83,14.76,28.83
$GC,502,-0.66,-136.2,2582,2487,3188,3129,102.1,-18.0,69,509,0.00,2.33,0.00,0.000,516,0.000,0.067,2582,1085,3158,3188,3129,0,0,0,0,0,0,28.83,14.87,28.83
$GC,556,-0.66,-136.2,2582,1084,3188,3129,112.2,-18.7,77,563,0.00,2.38,0.00,0.000,1030,0.000,0.072,2577,2500,3158,3188,3129,0,0,0,0,0,0,28.83,14.85,28.83
$GC,848,-0.66,-136.2,2576,2500,3189,3129,162.4,-16.2,120,853,0.00,2.35,0.00,0.000,260,0.000,0.090,2575,3911,3159,3189,3129,0,0,0,0,0,0,28.83,14.88,28.83
$GC,941,-0.66,-136.2,2575,3911,3189,3129,174.9,-12.9,128,946,0.00,2.28,0.00,0.000,1030,0.000,0.053,2575,2494,3159,3190,3129,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1186,-0.66,-136.2,2575,2493,3191,3129,206.0,-12.5,149,1191,0.00,2.28,0.00,0.000,516,0.000,0.067,2575,1089,3159,3190,3129,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1210,-0.66,-136.2,2575,1088,3190,3129,206.0,-12.5,149,1214,0.00,2.40,0.00,0.000,1030,0.000,0.073,2575,2525,3159,3190,3129,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1462,-0.66,-136.2,2575,2525,3191,3129,240.3,-12.6,156,1466,0.00,2.38,0.00,0.000,516,0.000,0.070,2575,1079,3159,3190,3129,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1551,-0.66,-136.2,2575,1079,3190,3129,249.2,-12.1,158,1555,0.00,2.42,0.00,0.000,1030,0.000,0.073,2575,2530,3159,3190,3129,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1818,-0.66,-136.2,2575,2531,3190,3129,281.4,-11.4,165,1822,0.00,2.30,0.00,0.000,260,0.000,0.093,2575,3909,3159,3190,3128,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1887,-0.66,-136.2,2575,3910,3190,3129,285.2,-11.0,166,1894,0.00,2.30,0.00,0.000,1030,0.000,0.056,2576,2506,3159,3190,3129,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2134,-0.66,-136.2,2575,2505,3190,3127,315.4,-10.6,173,2138,0.00,2.30,0.00,0.000,516,0.000,0.066,2575,1086,3158,3190,3127,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2194,-0.66,-136.2,2575,1086,3189,3127,319.3,-10.6,174,2198,0.00,2.35,0.00,0.000,1030,0.000,0.072,2575,2499,3158,3190,3127,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2445,-0.66,-136.2,2575,2499,3190,3125,347.7,-10.4,181,2449,0.00,2.35,0.00,0.000,260,0.000,0.094,2575,3909,3157,3190,3125,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2480,-0.66,-136.2,2575,3909,3190,3125,351.8,-10.7,182,2485,0.00,2.28,0.00,0.000,1030,0.000,0.057,2575,2495,3157,3190,3124,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2756,-0.66,-136.2,2574,2494,3190,3120,380.9,-10.7,189,2760,0.00,2.30,0.00,0.000,516,0.000,0.067,2575,1078,3155,3190,3120,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2834,-0.66,-136.2,1696,1076,3170,3116,389.0,-10.8,191,2839,0.00,2.42,0.00,0.000,1030,0.000,0.073,2575,2502,3154,3190,3119,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,2951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2951,begin apogee
$GC,2955,-0.15,0.0,2575,2277,3190,3118,401.2,-10.2,194,3067,0.50,0.08,108.07,2.316,10246,0.307,0.183,2750,2314,2599,2678,2521,0,0,0,0,0,0,14.92,14.23,13.54
$STATE,3068,end apogee,CONTROL_FINISHED_OK
$STATE,3068,begin climb
$GC,3069,0.66,136.2,2750,2315,2678,2521,403.3,0.0,196,3188,0.68,2.45,110.70,2.302,10756,0.193,0.068,3021,924,2043,2133,1954,0,0,0,0,0,0,14.24,14.18,13.45
$GC,3213,0.66,136.2,3022,923,2132,1950,400.1,5.5,199,3217,0.00,2.45,0.00,0.000,1030,0.000,0.065,3022,2305,2040,2132,1949,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3470,0.66,136.2,3021,2305,2132,1944,356.2,14.3,206,3474,0.00,2.33,0.00,0.000,516,0.000,0.073,3031,927,2038,2132,1944,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3534,0.66,136.2,3031,925,2132,1941,351.1,14.4,207,3539,0.08,2.35,0.00,0.000,5126,0.447,0.066,3016,2321,2036,2132,1941,0,0,0,0,0,0,14.65,14.79,28.83
$GC,3786,0.66,136.2,3015,2321,2132,1940,314.7,12.6,214,3790,0.00,2.35,0.00,0.000,260,0.000,0.088,3016,3719,2036,2132,1940,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3835,0.66,136.2,3016,3719,2132,1940,310.0,12.6,215,3839,0.00,2.30,0.00,0.000,1030,0.000,0.067,3025,2334,2036,2132,1941,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4102,0.66,136.2,3025,2332,2132,1938,275.3,11.8,222,4106,0.00,2.38,0.00,0.000,516,0.000,0.075,3036,895,2034,2132,1937,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4220,0.66,136.2,3036,895,2131,1934,261.3,12.2,225,4225,0.10,2.40,0.00,0.000,5126,0.437,0.067,3012,2335,2033,2132,1934,0,0,0,0,0,0,14.82,14.97,28.83
$GC,4497,0.66,136.2,3012,2335,2131,1933,231.1,10.9,232,4501,0.00,2.30,0.00,0.000,260,0.000,0.086,3011,3719,2032,2131,1933,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4521,0.66,136.2,3011,3719,2131,1934,231.1,10.9,232,4526,0.00,2.33,0.00,0.000,1030,0.000,0.063,3021,2295,2032,2131,1934,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4768,0.66,136.2,3021,2294,2132,1932,202.6,10.4,238,4772,0.00,2.30,0.00,0.000,516,0.000,0.076,3032,897,2031,2131,1932,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4966,0.66,136.2,3031,896,2132,1930,182.8,9.6,254,4970,0.08,2.35,0.00,0.000,5126,0.477,0.068,3016,2314,2030,2131,1930,0,0,0,0,0,0,14.83,15.00,28.83
$GC,5211,0.66,136.2,3016,2313,2131,1930,159.2,10.0,278,5215,0.00,2.35,0.00,0.000,516,0.000,0.073,3024,901,2031,2132,1930,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5273,0.66,136.2,3024,901,2131,1929,153.8,9.4,283,5282,0.00,2.33,0.00,0.000,1030,0.000,0.070,3024,2308,2030,2131,1930,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5566,0.66,136.2,3025,2308,2132,1929,130.1,9.0,328,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2308,2030,2132,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5876,0.68,152.1,3024,2308,2131,1929,106.9,7.7,377,5892,0.00,2.40,7.18,1.521,8708,0.000,0.071,3035,901,1980,2082,1878,0,0,0,0,0,0,28.83,14.87,14.21
$GC,5981,0.70,173.0,3035,900,2081,1877,99.2,7.5,393,6002,0.00,2.35,12.00,1.570,9222,0.000,0.067,3035,2312,1893,1997,1790,0,0,0,0,0,0,28.83,14.89,14.17
$GC,6316,0.71,180.0,3035,2312,1997,1788,68.9,8.0,444,6326,0.00,2.38,3.90,1.005,8708,0.000,0.070,3044,899,1864,1972,1756,0,0,0,0,0,0,28.83,14.84,14.25
$GC,6384,0.71,181.6,3044,899,1972,1755,63.4,8.3,453,6394,0.03,2.40,0.00,0.000,5126,0.424,0.066,3035,2305,1863,1972,1755,0,0,0,0,0,0,14.67,14.81,28.83
$GC,6720,0.71,181.6,3034,2305,1972,1755,30.6,10.2,502,6730,0.00,2.40,0.00,0.000,516,0.000,0.070,3044,895,1863,1972,1755,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6813,0.71,181.6,3044,894,1972,1755,21.1,10.7,515,6823,0.03,2.40,0.00,0.000,5126,0.415,0.067,3034,2305,1863,1972,1755,0,0,0,0,0,0,14.69,14.83,28.83
$STATE,7001,end climb,SURFACE_DEPTH_REACHED
$STATE,7001,begin surface coast
$FINISH,0.2,1.022363
$STATE,7036,end surface coast,CONTROL_FINISHED_OK
$STATE,7037,begin surface
$SM_CCo,7050,88.90,0.854,0,0,1130,360.09
$SM_GC,1.24,6.78,0.32,88.90,0.106,0.092,0.854,130,2509,1130,-8.22,-0.74,360.09,0,0,0,0,0,0,14.90,14.88,14.23
$IRIDIUM_FIX,2241.69,-15758.45,261109,222250
$TT8_MAMPS,0.018725,0.018725
$HUMID,40.19
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.5,25.495
$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,17.000,90.275,241.850,88.900,0.000,28.539,47.885,122.786,0.000,0.000,9.081,1438.739,3282.695,399.930,2244.433,67.912,33.226,1068.717,0.000,1377.968,0.000,0.548,0.000
$DEVICE_MAMPS,523.260,182.835,2316.420,853.740,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,369.126,355.998,625.720,646.230,1337.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353008
$DATA_FILE_SIZE,50697,547
$CAP_FILE_SIZE,85513,0
$CFSIZE,2097086464,2088665088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,300117,112518,2248.997,-15759.672,37,0.8,37,9.8