version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 60
start: 1 30 117 13 38 39
data:
$ID,626
$MISSION,1
$DIVE,60
$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,-129844.61
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,300117,133255,2248.413,-15759.274,19,1.3,20,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.9
$GPS2,300117,133744,2248.376,-15759.342,8,1.5,8,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,-0.082
$KALMAN_X,-69629.5,311.1,-25.3,74148.7,-2130.1
$KALMAN_Y,3636.5,122.3,-462.0,10192.7,836.2
$MHEAD_RNG_PITCHd_Wd,100.4,6353,-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,-136.3,129,2516,1151,1085,0.0,0.0,0,77,0.00,0.00,-59.00,0.000,16390,0.000,0.000,128,2516,3157,3184,3130,0,0,0,0,0,0,28.83,28.83,14.98
$GC,80,-0.66,-136.3,128,2516,3184,3130,3.9,-7.2,7,98,8.80,2.38,0.00,0.000,2564,0.528,0.051,2582,1082,3158,3186,3130,0,0,0,0,0,0,14.47,14.76,28.83
$GC,188,-0.66,-136.3,2582,1082,3187,3129,37.8,-20.3,22,198,0.00,2.42,0.00,0.000,1030,0.000,0.070,2577,2492,3158,3187,3129,0,0,0,0,0,0,28.83,14.76,28.83
$GC,512,-0.66,-136.3,2577,2491,3188,3129,107.1,-21.2,71,519,0.00,2.33,0.00,0.000,516,0.000,0.065,2577,1086,3158,3188,3129,0,0,0,0,0,0,28.83,14.86,28.83
$GC,565,-0.66,-136.3,2577,1085,3188,3129,116.7,-16.7,79,572,0.00,2.38,0.00,0.000,1030,0.000,0.069,2577,2505,3158,3188,3129,0,0,0,0,0,0,28.83,14.85,28.83
$GC,851,-0.66,-136.3,2576,2505,3189,3129,161.9,-13.7,120,855,0.00,2.33,0.00,0.000,516,0.000,0.060,2577,1084,3159,3189,3129,0,0,0,0,0,0,28.83,14.92,28.83
$GC,936,-0.66,-136.3,2577,1083,3189,3129,173.3,-13.9,127,944,0.00,2.40,0.00,0.000,1030,0.000,0.070,2577,2496,3159,3189,3129,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1213,-0.66,-136.3,2576,2496,3190,3129,210.9,-13.2,149,1218,0.00,2.35,0.00,0.000,260,0.000,0.089,2577,3911,3159,3190,3129,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1277,-0.66,-136.3,2577,3910,3190,3129,215.7,-13.3,150,1281,0.00,2.30,0.00,0.000,1030,0.000,0.049,2577,2500,3159,3190,3128,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1529,-0.66,-136.3,2576,2499,3190,3129,253.2,-13.2,157,1533,0.00,2.38,0.00,0.000,260,0.000,0.088,2577,3918,3159,3190,3129,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1558,-0.66,-136.3,2577,3918,3190,3129,253.2,-13.2,157,1565,0.00,2.33,0.00,0.000,1030,0.000,0.051,2577,2493,3159,3190,3129,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1805,-0.66,-136.3,2577,2492,3190,3129,283.7,-10.5,164,1809,0.00,2.28,0.00,0.000,516,0.000,0.062,2577,1086,3159,3190,3128,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1884,-0.66,-136.3,2577,1085,3190,3129,291.7,-10.5,166,1888,0.00,2.40,0.00,0.000,1030,0.000,0.069,2576,2531,3159,3190,3129,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2161,-0.66,-136.3,2576,2531,3190,3128,323.6,-11.6,173,2165,0.00,2.35,0.00,0.000,516,0.000,0.062,2576,1085,3158,3190,3127,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2189,-0.66,-136.3,2576,1085,3190,3127,323.6,-11.6,173,2197,0.00,2.38,0.00,0.000,1030,0.000,0.069,2576,2493,3159,3190,3128,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2436,-0.66,-136.3,2576,2493,3190,3126,357.2,-12.1,180,2441,0.00,2.38,0.00,0.000,260,0.000,0.092,2577,3913,3157,3190,3125,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2460,-0.66,-136.3,2576,3914,3190,3125,357.2,-12.1,180,2464,0.00,2.33,0.00,0.000,1030,0.000,0.053,2577,2492,3157,3190,3125,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2712,-0.66,-136.3,2577,2490,3190,3123,388.8,-11.4,187,2716,0.00,2.28,0.00,0.000,516,0.000,0.064,2577,1086,3156,3190,3122,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2761,-0.66,-136.3,2577,1086,3190,3121,392.7,-11.3,188,2765,0.00,2.38,0.00,0.000,1030,0.000,0.070,2577,2519,3155,3190,3121,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,2827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2827,begin apogee
$GC,2831,-0.15,0.0,2576,2279,3190,3120,401.4,-11.0,190,2942,0.50,0.08,107.88,2.281,10246,0.307,0.184,2751,2315,2599,2678,2520,0,0,0,0,0,0,14.92,14.23,13.56
$STATE,2943,end apogee,CONTROL_FINISHED_OK
$STATE,2944,begin climb
$GC,2945,0.66,136.3,2751,2315,2678,2520,403.9,0.0,192,3060,0.68,0.00,111.25,2.254,10758,0.190,0.000,3013,2314,2044,2133,1955,0,0,0,0,0,0,14.24,28.83,13.47
$GC,3270,0.66,136.3,3013,2314,2133,1946,367.9,14.3,201,3275,0.00,2.33,0.00,0.000,516,0.000,0.069,3023,922,2039,2133,1946,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3356,0.66,136.3,3023,922,2133,1942,356.7,14.2,203,3360,0.00,2.38,0.00,0.000,1030,0.000,0.066,3023,2305,2037,2133,1942,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3628,0.66,136.3,3023,2305,2132,1941,322.3,11.7,210,3632,0.00,2.40,0.00,0.000,260,0.000,0.086,3023,3732,2036,2133,1940,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3712,0.66,136.3,3023,3732,2133,1941,312.6,12.2,212,3717,0.05,2.35,0.00,0.000,5126,0.417,0.061,3010,2331,2036,2133,1940,0,0,0,0,0,0,14.74,14.91,28.83
$GC,3984,0.66,136.3,3010,2330,2132,1937,281.3,11.6,219,3988,0.00,2.35,0.00,0.000,516,0.000,0.072,3018,898,2035,2133,1937,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4092,0.66,136.3,3019,898,2132,1933,272.5,11.6,221,4100,0.00,2.40,0.00,0.000,1030,0.000,0.066,3019,2315,2032,2132,1933,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4339,0.66,136.3,3019,2315,2132,1933,241.3,11.2,228,4344,0.00,2.35,0.00,0.000,516,0.000,0.070,3028,888,2033,2133,1933,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4353,0.66,136.3,3028,887,2132,1932,241.3,11.2,228,4358,0.08,2.38,0.00,0.000,5126,0.468,0.067,3012,2317,2032,2133,1932,0,0,0,0,0,0,14.83,14.99,28.83
$GC,4610,0.66,136.3,3012,2317,2132,1932,214.5,9.6,235,4614,0.00,2.35,0.00,0.000,260,0.000,0.087,3013,3723,2032,2133,1932,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4841,0.66,136.3,3012,3723,2133,1932,191.9,10.5,246,4845,0.00,2.30,0.00,0.000,1030,0.000,0.060,3022,2303,2032,2133,1932,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5087,0.66,139.5,3022,2301,2133,1931,172.1,8.2,270,5099,0.00,2.40,0.00,0.000,260,0.000,0.087,3022,3723,2032,2133,1932,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5199,0.66,139.5,3021,3723,2132,1933,161.3,10.0,280,5208,0.05,2.28,0.00,0.000,5126,0.451,0.058,3014,2301,2032,2133,1932,0,0,0,0,0,0,14.78,14.97,28.83
$GC,5471,0.69,160.8,3015,2301,2132,1931,138.2,7.5,316,5495,0.00,2.38,13.77,1.875,8708,0.000,0.070,3024,905,1942,2045,1839,0,0,0,0,0,0,28.83,14.83,14.16
$GC,5600,0.69,160.8,3024,905,2045,1837,127.4,9.1,336,5610,0.00,2.38,0.00,0.000,1030,0.000,0.063,3024,2307,1941,2045,1837,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5910,0.69,160.8,3024,2307,2045,1837,99.2,9.8,385,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2307,1941,2045,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6225,0.69,165.0,3024,2307,2045,1837,70.6,8.2,434,6235,0.00,2.33,2.25,0.614,8708,0.000,0.065,3034,904,1925,2035,1816,0,0,0,0,0,0,28.83,14.90,14.25
$GC,6266,0.70,168.3,3034,904,2034,1817,67.4,8.2,439,6276,0.00,2.38,1.85,0.380,9222,0.000,0.063,3034,2307,1912,2021,1804,0,0,0,0,0,0,28.83,14.85,14.71
$GC,6603,0.70,168.3,3034,2307,2021,1804,38.5,9.8,488,6613,0.00,2.42,0.00,0.000,260,0.000,0.084,3034,3719,1913,2021,1805,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6765,0.70,168.3,3035,3719,2021,1807,20.0,10.8,511,6775,0.05,2.35,0.00,0.000,5126,0.435,0.058,3029,2308,1913,2020,1807,0,0,0,0,0,0,14.68,14.86,28.83
$STATE,6931,end climb,SURFACE_DEPTH_REACHED
$STATE,6931,begin surface coast
$FINISH,0.2,1.014252
$STATE,6973,end surface coast,CONTROL_FINISHED_OK
$STATE,6973,begin surface
$SM_CCo,6986,94.93,0.829,0,0,1130,360.09
$SM_GC,1.10,6.68,0.35,94.93,0.093,0.088,0.829,134,2514,1130,-8.21,-0.62,360.09,0,0,0,0,0,0,14.92,14.90,14.23
$IRIDIUM_FIX,2237.01,-15757.16,271109,030320
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.76
$INTERNAL_PRESSURE,7.2952
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,13.5,26.002
$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,16.875,85.575,237.000,94.925,0.000,29.201,46.083,130.007,0.500,0.000,9.479,1411.125,3281.180,440.669,2184.602,62.784,33.229,1072.351,0.000,1328.223,0.000,0.551,0.000
$DEVICE_MAMPS,527.850,183.600,2281.230,829.260,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,364.642,353.626,616.447,633.336,1310.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353036
$DATA_FILE_SIZE,47196,541
$CAP_FILE_SIZE,82289,0
$CFSIZE,2097086464,2088468480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,300117,153747,2248.454,-15758.962,31,1.7,32,9.8