version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 63
start: 1 30 117 19 51 27
data:
$ID,626
$MISSION,1
$DIVE,63
$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,-129848.39
$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,35
$R_STBD_OVSHOOT,33
$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
$GPS1,300117,194537,2248.942,-15758.229,7,1.8,7,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.3
$GPS2,300117,195031,2248.996,-15758.193,20,1.8,20,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.187,-0.146
$KALMAN_X,-71788.6,269.4,486.8,77788.7,-1122.2
$KALMAN_Y,9212.7,-1289.5,484.2,6220.9,3027.3
$MHEAD_RNG_PITCHd_Wd,118.2,8018,-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,-136.3,129,2511,1154,1083,0.0,0.0,0,78,0.00,0.00,-60.30,0.000,16390,0.000,0.000,128,2512,3156,3182,3131,0,0,0,0,0,0,28.83,28.83,14.98
$GC,81,-0.66,-136.3,128,2512,3182,3131,3.5,-5.7,7,100,8.82,2.38,0.00,0.000,2564,0.528,0.053,2583,1085,3157,3184,3131,0,0,0,0,0,0,14.47,14.76,28.83
$GC,189,-0.66,-136.3,2583,1085,3184,3131,36.0,-20.2,22,199,0.00,2.40,0.00,0.000,1030,0.000,0.070,2577,2481,3157,3185,3130,0,0,0,0,0,0,28.83,14.77,28.83
$GC,513,-0.66,-136.3,2577,2481,3186,3130,106.1,-20.4,71,520,0.00,2.40,0.00,0.000,260,0.000,0.089,2577,3911,3158,3186,3130,0,0,0,0,0,0,28.83,14.83,28.83
$GC,591,-0.66,-136.3,2577,3911,3186,3131,118.7,-14.5,83,597,0.00,2.28,0.00,0.000,1030,0.000,0.049,2577,2494,3159,3187,3131,0,0,0,0,0,0,28.83,14.89,28.83
$GC,874,-0.66,-136.3,2576,2493,3187,3131,163.2,-13.3,123,878,0.00,2.28,0.00,0.000,516,0.000,0.061,2577,1086,3159,3188,3131,0,0,0,0,0,0,28.83,14.92,28.83
$GC,944,-0.66,-136.3,2576,1086,3188,3131,172.2,-12.0,129,948,0.00,2.35,0.00,0.000,1030,0.000,0.068,2576,2500,3159,3187,3131,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1199,-0.66,-136.3,2577,2500,3189,3130,206.6,-13.4,151,1204,0.00,2.35,0.00,0.000,260,0.000,0.089,2577,3919,3159,3188,3131,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1268,-0.66,-136.3,2576,3918,3188,3131,211.5,-13.6,152,1275,0.00,2.33,0.00,0.000,1030,0.000,0.048,2576,2493,3159,3189,3130,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1515,-0.66,-136.3,2576,2492,3189,3130,249.8,-13.5,159,1519,0.00,2.28,0.00,0.000,516,0.000,0.061,2576,1085,3159,3188,3131,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1544,-0.66,-136.3,2577,1084,3189,3130,249.8,-13.5,159,1551,0.00,2.35,0.00,0.000,1030,0.000,0.067,2577,2505,3159,3188,3131,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1792,-0.66,-136.3,2576,2504,3188,3130,281.2,-11.3,166,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2505,3159,3188,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2031,-0.66,-136.3,2577,2504,3188,3130,307.8,-10.8,172,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2504,3159,3188,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2271,-0.66,-136.3,2577,2504,3188,3129,332.1,-10.5,178,2275,0.00,2.30,0.00,0.000,516,0.000,0.063,2575,1089,3158,3188,3129,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2299,-0.66,-136.3,2577,1088,3188,3129,332.1,-10.5,178,2307,0.00,2.35,0.00,0.000,1030,0.000,0.070,2577,2505,3158,3188,3129,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2546,-0.66,-136.3,2576,2505,3187,3127,361.9,-10.7,185,2551,0.00,2.33,0.00,0.000,516,0.000,0.063,2576,1084,3157,3188,3126,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2595,-0.66,-136.3,2576,1085,3188,3126,365.9,-10.8,186,2600,0.00,2.35,0.00,0.000,1030,0.000,0.070,2577,2501,3157,3188,3126,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2862,-0.66,-136.3,2576,2501,3188,3123,395.9,-10.9,193,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2501,3155,3188,3123,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2901,begin apogee
$GC,2905,-0.15,0.0,2577,2268,3188,3121,400.4,-11.1,194,3017,0.50,0.10,108.40,2.332,10246,0.308,0.161,2751,2324,2599,2678,2521,0,0,0,0,0,0,14.92,14.23,13.54
$STATE,3018,end apogee,CONTROL_FINISHED_OK
$STATE,3018,begin climb
$GC,3020,0.66,136.3,2751,2324,2678,2522,403.7,0.0,196,3135,0.68,0.00,111.15,2.320,10758,0.192,0.000,3011,2324,2043,2133,1954,0,0,0,0,0,0,14.24,28.83,13.45
$GC,3342,0.66,136.3,3011,2324,2133,1947,371.0,13.6,205,3347,0.00,2.38,0.00,0.000,516,0.000,0.069,3022,923,2040,2133,1947,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3356,0.66,136.3,3022,923,2133,1944,371.0,13.6,205,3361,0.00,2.38,0.00,0.000,1030,0.000,0.065,3022,2323,2038,2133,1943,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3618,0.66,136.3,3022,2323,2133,1942,331.8,14.5,212,3622,0.00,2.35,0.00,0.000,516,0.000,0.070,3031,925,2037,2133,1942,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3667,0.66,136.3,3032,925,2133,1941,326.7,14.6,213,3672,0.08,2.38,0.00,0.000,5126,0.448,0.067,3016,2340,2037,2133,1941,0,0,0,0,0,0,14.72,14.87,28.83
$GC,3934,0.66,136.3,3016,2339,2133,1941,290.1,12.5,220,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2340,2037,2133,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4174,0.66,136.3,3016,2340,2133,1939,262.7,11.4,226,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2340,2036,2133,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4414,0.66,136.3,3016,2340,2132,1938,237.0,10.9,232,4418,0.00,2.33,0.00,0.000,260,0.000,0.086,3016,3729,2035,2133,1938,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4443,0.66,136.3,3016,3729,2132,1939,237.0,10.9,232,4450,0.00,2.30,0.00,0.000,1030,0.000,0.060,3025,2348,2036,2133,1939,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4690,0.66,136.3,3025,2348,2133,1937,209.5,10.0,239,4694,0.00,2.33,0.00,0.000,260,0.000,0.086,3025,3726,2035,2133,1938,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4773,0.66,136.3,3025,3726,2133,1938,200.4,11.2,241,4779,0.05,2.35,0.00,0.000,5126,0.429,0.060,3020,2305,2035,2133,1938,0,0,0,0,0,0,14.84,15.02,28.83
$GC,5026,0.66,136.3,3020,2303,2133,1936,176.2,8.6,264,5030,0.00,2.40,0.00,0.000,260,0.000,0.086,3020,3723,2035,2133,1937,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5144,0.66,136.3,3020,3723,2133,1937,164.2,11.0,274,5152,0.05,2.35,0.00,0.000,5126,0.437,0.060,3013,2310,2035,2133,1937,0,0,0,0,0,0,14.79,14.98,28.83
$GC,5407,0.67,145.0,3013,2310,2133,1937,144.0,8.0,305,5422,0.00,2.38,6.25,1.692,8708,0.000,0.069,3022,896,2009,2109,1910,0,0,0,0,0,0,28.83,14.91,14.17
$GC,5515,0.67,145.9,3022,896,2109,1909,135.1,8.3,322,5525,0.00,2.40,0.00,0.000,1030,0.000,0.064,3021,2312,2008,2109,1908,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5825,0.67,145.9,3022,2312,2109,1908,107.5,9.5,371,5831,0.00,2.38,0.00,0.000,260,0.000,0.086,3022,3719,2009,2109,1909,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5930,0.67,145.9,3022,3720,2109,1910,97.1,8.7,388,5941,0.03,2.35,0.00,0.000,5126,0.485,0.058,3024,2305,2009,2109,1910,0,0,0,0,0,0,14.72,14.91,28.83
$GC,6246,0.75,216.1,3024,2304,2109,1910,77.4,5.4,437,6291,0.00,2.53,39.78,1.493,10500,0.000,0.084,3024,3722,1717,1823,1611,0,0,0,0,0,0,28.83,14.62,14.11
$GC,6363,0.75,216.1,3024,3722,1823,1608,68.0,10.2,452,6372,0.00,2.38,0.00,0.000,1030,0.000,0.057,3030,2313,1714,1823,1606,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6698,0.75,216.1,3030,2313,1823,1602,32.1,10.6,501,6708,0.00,2.38,0.00,0.000,516,0.000,0.067,3041,905,1712,1823,1601,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6786,0.75,216.1,3041,904,1823,1600,24.3,8.9,513,6795,0.00,2.38,0.00,0.000,1030,0.000,0.060,3041,2307,1711,1823,1600,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,6958,end climb,SURFACE_DEPTH_REACHED
$STATE,6958,begin surface coast
$FINISH,0.3,1.023874
$STATE,6987,end surface coast,CONTROL_FINISHED_OK
$STATE,6987,begin surface
$SM_CCo,7000,70.50,0.855,0,0,1130,360.09
$SM_GC,1.23,6.62,0.32,70.50,0.073,0.089,0.855,128,2513,1130,-8.22,-0.68,360.09,0,0,0,0,0,0,14.88,14.88,14.26
$IRIDIUM_FIX,2241.69,-15756.28,271109,090900
$TT8_MAMPS,0.018725,0.018725
$HUMID,39.76
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,13.5,26.766
$10V_AH,13.4,0.000
$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,16.825,76.125,265.575,70.500,0.000,29.347,46.637,122.985,0.250,0.000,21.322,1379.939,3442.875,404.336,2082.295,66.528,33.229,1014.097,0.000,1237.259,0.000,0.551,0.000
$DEVICE_MAMPS,527.850,161.415,2332.485,854.505,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,364.936,348.338,619.013,624.742,1292.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353048
$DATA_FILE_SIZE,47366,542
$CAP_FILE_SIZE,78459,0
$CFSIZE,2097086464,2088173568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,300117,215031,2249.270,-15757.237,38,0.8,38,9.8