version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 68
start: 1 31 117 6 13 54
data:
$ID,626
$MISSION,1
$DIVE,68
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,-129854.66
$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,39
$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
$GPS1,310117,060800,2249.749,-15755.637,32,0.8,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.6
$GPS2,310117,061258,2249.850,-15755.567,8,1.4,8,9.8
$SPEED_LIMITS,0.179,0.222
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.114,-0.190
$KALMAN_X,-70447.8,1149.0,-217.2,80774.7,-252.8
$KALMAN_Y,17805.8,524.3,-26.2,-2087.9,3239.8
$MHEAD_RNG_PITCHd_Wd,201.1,11747,-17.5,-8.333,-20.60,2145
$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,-0.67,-116.8,114,2519,1155,1081,0.0,0.0,0,78,0.00,0.00,-58.83,0.000,16390,0.000,0.000,114,2519,3078,3107,3049,0,0,0,0,0,0,28.83,28.83,14.98
$GC,81,-0.67,-116.8,114,2519,3107,3049,3.1,-4.6,7,99,8.75,2.35,0.00,0.000,2820,0.519,0.070,2574,3899,3077,3106,3049,0,0,0,0,0,0,14.54,14.74,28.83
$GC,109,-0.67,-116.8,2575,3899,3108,3049,15.8,-34.1,10,118,0.00,2.33,0.00,0.000,1030,0.000,0.055,2575,2508,3078,3108,3048,0,0,0,0,0,0,28.83,14.77,28.83
$GC,438,-0.67,-116.8,2575,2507,3108,3049,96.3,-24.2,59,445,0.00,2.35,0.00,0.000,260,0.000,0.081,2574,3899,3078,3108,3049,0,0,0,0,0,0,28.83,14.83,28.83
$GC,665,-0.67,-116.8,2575,3899,3109,3049,143.1,-17.2,95,672,0.00,2.25,0.00,0.000,1030,0.000,0.047,2575,2492,3079,3109,3049,0,0,0,0,0,0,28.83,14.91,28.83
$GC,923,-0.67,-116.8,2574,2490,3110,3049,184.1,-13.8,123,935,0.00,2.25,0.00,0.000,516,0.000,0.055,2574,1085,3079,3110,3049,0,0,0,0,0,0,28.83,14.95,28.83
$GC,949,-0.67,-116.8,2574,1085,3110,3049,187.2,-13.0,125,957,0.00,2.38,0.00,0.000,1030,0.000,0.062,2574,2521,3079,3110,3049,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1226,-0.67,-116.8,2574,2520,3111,3048,221.9,-13.0,141,1231,0.00,2.30,0.00,0.000,260,0.000,0.086,2575,3908,3079,3111,3048,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1295,-0.67,-116.8,2574,3908,3111,3049,226.7,-13.1,142,1303,0.00,2.28,0.00,0.000,1030,0.000,0.047,2574,2502,3080,3111,3049,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1542,-0.67,-116.8,2574,2501,3111,3049,261.7,-12.1,149,1546,0.00,2.25,0.00,0.000,516,0.000,0.054,2574,1090,3080,3111,3049,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1641,-0.67,-116.8,2574,1089,3111,3049,270.5,-11.4,151,1645,0.00,2.35,0.00,0.000,1030,0.000,0.062,2574,2522,3079,3111,3048,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1898,-0.67,-116.8,2574,2523,3111,3049,298.5,-9.6,158,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2522,3079,3111,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2138,-0.67,-116.8,2574,2522,3111,3049,323.8,-10.8,164,2142,0.00,2.30,0.00,0.000,516,0.000,0.056,2574,1092,3079,3111,3048,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2214,-0.67,-116.8,2574,1092,3111,3048,331.7,-10.7,166,2218,0.00,2.33,0.00,0.000,1030,0.000,0.063,2574,2509,3079,3111,3048,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2490,-0.67,-116.8,2575,2509,3111,3046,358.8,-9.9,173,2494,0.00,2.33,0.00,0.000,260,0.000,0.086,2574,3914,3079,3111,3047,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2525,-0.67,-116.8,2575,3914,3111,3046,362.4,-10.1,174,2530,0.00,2.22,0.00,0.000,1030,0.000,0.047,2574,2498,3078,3111,3046,0,0,0,0,0,0,28.83,15.09,28.83
$GC,2801,-0.67,-116.8,2574,2497,3111,3043,389.7,-9.9,181,2805,0.00,2.38,0.00,0.000,260,0.000,0.086,2574,3914,3077,3111,3043,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2825,-0.67,-116.8,2574,3914,3111,3043,389.7,-9.9,181,2829,0.00,2.25,0.00,0.000,1030,0.000,0.049,2574,2500,3077,3111,3043,0,0,0,0,0,0,28.83,15.09,28.83
$STATE,2916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2916,begin apogee
$GC,2920,-0.15,0.0,2574,2283,3111,3040,401.6,-10.1,184,3016,0.50,0.00,93.22,2.403,10246,0.303,0.000,2750,2283,2600,2677,2523,0,0,0,0,0,0,14.92,28.83,13.54
$STATE,3017,end apogee,CONTROL_FINISHED_OK
$STATE,3017,begin climb
$GC,3018,0.67,116.8,2750,2283,2677,2523,404.1,0.0,186,3125,0.70,2.62,97.65,2.477,10500,0.197,0.080,3017,3716,2123,2204,2042,0,0,0,0,0,0,14.26,14.16,13.42
$GC,3157,0.67,116.8,3017,3716,2204,2042,393.5,8.5,190,3161,0.00,2.33,0.00,0.000,1030,0.000,0.054,3027,2337,2122,2203,2042,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3433,0.67,116.8,3027,2334,2204,2032,356.0,13.8,197,3437,0.00,2.35,0.00,0.000,260,0.000,0.080,3028,3717,2118,2204,2032,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3491,0.67,116.8,3027,3717,2203,2033,350.8,13.9,198,3496,0.10,2.35,0.00,0.000,5126,0.467,0.055,3015,2308,2118,2204,2032,0,0,0,0,0,0,14.66,14.83,28.83
$GC,3748,0.67,116.8,3015,2308,2203,2027,314.1,12.9,205,3753,0.00,2.33,0.00,0.000,516,0.000,0.070,3024,896,2115,2204,2027,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3837,0.67,116.8,3024,897,2203,2025,305.1,12.5,207,3842,0.00,2.38,0.00,0.000,1030,0.000,0.060,3024,2307,2114,2203,2025,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4104,0.67,116.8,3024,2307,2203,2023,272.4,11.8,214,4108,0.00,2.33,0.00,0.000,516,0.000,0.068,3035,901,2113,2203,2023,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4300,0.67,116.8,3034,900,2203,2019,251.3,10.5,219,4305,0.08,2.33,0.00,0.000,5126,0.454,0.065,3019,2308,2111,2203,2019,0,0,0,0,0,0,14.83,14.99,28.83
$GC,4577,0.68,122.0,3018,2309,2203,2019,227.2,8.1,226,4585,0.00,2.33,3.50,1.403,8708,0.000,0.069,3028,902,2102,2196,2008,0,0,0,0,0,0,28.83,15.00,14.19
$GC,4635,0.68,122.0,3028,902,2195,2008,223.9,8.4,227,4639,0.00,2.38,0.00,0.000,1030,0.000,0.066,3028,2332,2101,2195,2008,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4892,0.68,122.0,3028,2332,2195,2008,196.9,9.7,234,4896,0.00,2.30,0.00,0.000,260,0.000,0.083,3028,3719,2101,2195,2008,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5020,0.68,122.0,2112,3718,2151,2003,184.3,10.4,245,5028,0.05,2.33,0.00,0.000,5126,0.445,0.057,3023,2305,2102,2195,2009,0,0,0,0,0,0,14.82,14.99,28.83
$GC,5267,0.70,140.5,3023,2305,2195,2008,164.6,7.4,270,5289,0.00,2.47,15.95,2.031,8452,0.000,0.082,3022,3719,2027,2121,1933,0,0,0,0,0,0,28.83,14.83,14.13
$GC,5390,0.70,140.5,3022,3719,2121,1934,153.8,9.0,281,5398,0.00,2.28,0.00,0.000,1030,0.000,0.057,3031,2312,2027,2121,1933,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5686,0.70,140.5,3031,2312,2121,1932,126.5,8.6,326,5696,0.00,2.42,0.00,0.000,260,0.000,0.083,3031,3710,2026,2121,1932,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5822,0.70,140.5,3031,3710,2121,1933,114.2,9.6,347,5829,0.05,2.28,0.00,0.000,5126,0.535,0.055,3032,2303,2026,2121,1932,0,0,0,0,0,0,14.73,14.92,28.83
$GC,6128,0.76,189.9,3032,2303,2121,1932,92.3,6.0,396,6166,0.00,2.38,28.12,1.730,8708,0.000,0.068,3040,913,1824,1928,1720,0,0,0,0,0,0,28.83,14.66,14.06
$GC,6300,0.76,189.9,3041,914,1927,1715,77.3,9.4,422,6310,0.00,2.38,0.00,0.000,1030,0.000,0.061,3041,2306,1822,1928,1716,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6638,0.76,189.9,3041,2307,1928,1716,40.0,10.7,471,6647,0.00,2.42,0.00,0.000,260,0.000,0.081,3041,3720,1821,1927,1716,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6746,0.76,189.9,3041,3720,1928,1717,25.9,14.4,486,6755,0.00,2.35,0.00,0.000,1030,0.000,0.057,3052,2309,1821,1927,1716,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,6938,end climb,SURFACE_DEPTH_REACHED
$STATE,6939,begin surface coast
$FINISH,0.2,1.013029
$STATE,6967,end surface coast,CONTROL_FINISHED_OK
$STATE,6967,begin surface
$SM_CCo,6981,84.65,1.061,0,0,1130,360.09
$SM_GC,1.28,6.80,0.35,84.65,0.104,0.090,1.061,128,2514,1130,-8.22,-0.59,360.09,0,0,0,0,0,0,14.90,14.88,14.21
$IRIDIUM_FIX,2239.35,-15756.28,271109,191923
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.28
$INTERNAL_PRESSURE,7.31473
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,13.4,28.042
$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,17.025,84.800,238.450,84.650,0.000,31.266,51.302,125.861,0.250,0.000,9.298,1353.346,3431.317,405.292,2114.991,68.719,33.231,1049.298,0.000,1301.852,0.000,0.551,0.000
$DEVICE_MAMPS,534.735,89.505,2477.070,1061.055,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,347.945,331.700,580.634,581.803,1203.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353016
$DATA_FILE_SIZE,47413,518
$CAP_FILE_SIZE,81920,0
$CFSIZE,2097086464,2087682048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,310117,081221,2250.627,-15755.519,8,1.4,8,9.9