version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 10
start: 1 26 117 7 53 36
data:
$ID,626
$MISSION,1
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,160
$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,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,380
$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,-129618.99
$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,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2750
$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
$GPS1,260117,074552,2241.202,-15803.141,4,1.0,4,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.1
$GPS2,260117,075241,2241.198,-15803.245,7,1.1,7,9.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.226,0.064
$KALMAN_X,-7285.0,-784.3,365.4,5844.0,-1609.5
$KALMAN_Y,-2422.4,-199.5,-80.5,2886.0,-704.1
$MHEAD_RNG_PITCHd_Wd,64.5,8962,-20.5,-10.000,-23.06,1790
$D_GRID,300
$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,-0.76,-116.8,135,2416,1227,1147,0.0,0.0,0,79,0.00,0.00,-60.53,0.000,16390,0.000,0.000,135,2417,3228,3256,3200,0,0,0,0,0,0,28.83,28.83,15.05
$GC,81,-0.76,-116.8,135,2416,3256,3200,3.8,-6.8,7,100,8.68,2.33,0.00,0.000,2308,0.533,0.069,2535,3806,3228,3256,3201,0,0,0,0,0,0,14.58,14.79,28.83
$GC,149,-0.76,-116.8,2536,3806,3257,3201,31.7,-29.8,16,159,0.03,2.35,0.00,0.000,3078,0.412,0.057,2545,2399,3229,3257,3201,0,0,0,0,0,0,14.66,14.83,28.83
$GC,474,-0.76,-116.8,2545,2397,3258,3200,107.7,-19.8,65,480,0.00,2.35,0.00,0.000,260,0.000,0.083,2537,3804,3229,3258,3200,0,0,0,0,0,0,28.83,14.88,28.83
$GC,489,-0.76,-116.8,2537,3804,3258,3200,110.7,-19.4,67,496,0.05,2.28,0.00,0.000,3078,0.472,0.054,2548,2392,3228,3257,3200,0,0,0,0,0,0,14.76,14.92,28.83
$GC,780,-0.76,-116.8,2549,2390,3259,3201,161.5,-17.2,110,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2390,3229,3259,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1020,-0.76,-116.8,2549,2390,3260,3201,199.2,-14.2,134,1025,0.00,2.38,0.00,0.000,260,0.000,0.086,2548,3806,3230,3260,3200,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1069,-0.76,-116.8,2548,3806,3259,3201,204.0,-13.7,136,1074,0.00,2.30,0.00,0.000,1030,0.000,0.054,2548,2403,3230,3259,3201,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1336,-0.76,-116.8,2548,2401,3259,3201,241.0,-13.4,143,1341,0.00,2.35,0.00,0.000,260,0.000,0.087,2548,3804,3230,3260,3200,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1365,-0.76,-116.8,2548,3805,3260,3200,241.0,-13.4,143,1372,0.00,2.30,0.00,0.000,1030,0.000,0.055,2548,2399,3230,3260,3200,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1612,-0.76,-116.8,2548,2397,3259,3200,280.9,-14.6,150,1616,0.00,2.35,0.00,0.000,260,0.000,0.088,2548,3802,3229,3259,3200,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1661,-0.76,-116.8,2548,3802,3259,3200,285.9,-14.4,151,1665,0.00,2.30,0.00,0.000,1030,0.000,0.055,2548,2392,3229,3259,3200,0,0,0,0,0,0,28.83,15.05,28.83
$STATE,1767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1767,begin apogee
$GC,1770,-0.15,0.0,2548,2277,3259,3199,301.6,-13.2,154,1865,0.57,0.00,91.75,2.170,10246,0.301,0.000,2751,2277,2750,2830,2670,0,0,0,0,0,0,14.92,28.83,13.62
$STATE,1866,end apogee,CONTROL_FINISHED_OK
$STATE,1866,begin climb
$GC,1868,0.76,116.8,2751,2277,2830,2670,304.6,0.0,156,1969,0.77,0.00,96.18,2.281,10246,0.187,0.000,3047,2277,2272,2353,2192,0,0,0,0,0,0,14.31,28.83,13.45
$GC,2208,0.76,116.8,3047,2277,2353,2185,278.3,11.3,165,2212,0.00,2.28,0.00,0.000,516,0.000,0.070,3058,907,2269,2353,2185,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2363,0.76,116.8,3058,906,2353,2180,262.7,10.0,169,2368,0.00,2.30,0.00,0.000,1030,0.000,0.067,3058,2293,2266,2352,2180,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2640,0.82,165.4,3058,2293,2353,2179,241.8,7.2,176,2683,0.00,2.42,38.12,2.194,8452,0.000,0.085,3058,3708,2075,2154,1996,0,0,0,0,0,0,28.83,14.56,13.83
$GC,2837,0.82,165.4,2152,3708,2110,1988,218.9,12.6,181,2842,0.00,2.33,0.00,0.000,1030,0.000,0.060,3068,2322,2074,2154,1994,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3085,0.82,165.4,3069,2321,2154,1989,190.5,10.4,191,3089,0.00,2.35,0.00,0.000,516,0.000,0.073,3079,892,2071,2154,1988,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3181,0.82,165.4,3079,891,2154,1985,179.4,12.9,199,3189,0.00,2.38,0.00,0.000,1030,0.000,0.070,3080,2290,2069,2154,1985,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3434,0.82,165.4,3080,2290,2154,1984,148.0,12.7,225,3441,0.03,2.38,0.00,0.000,4356,0.686,0.086,3070,3710,2069,2154,1985,0,0,0,0,0,0,14.82,14.93,28.83
$GC,3549,0.82,165.4,3070,3710,2154,1985,134.5,10.8,243,3557,0.05,2.30,0.00,0.000,5126,0.601,0.061,3071,2290,2069,2154,1985,0,0,0,0,0,0,14.76,14.97,28.83
$GC,3854,0.86,199.0,3071,2289,2154,1984,107.4,8.1,292,3879,0.00,2.40,18.80,1.740,8708,0.000,0.074,3081,890,1937,2030,1844,0,0,0,0,0,0,28.83,14.78,14.14
$GC,3920,0.86,199.0,3082,889,2030,1841,101.2,11.4,301,3927,0.00,2.38,0.00,0.000,1030,0.000,0.070,3082,2311,1935,2030,1841,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4237,0.87,202.3,3081,2311,2031,1839,64.6,9.8,350,4247,0.00,2.40,1.35,0.441,8452,0.000,0.086,3082,3707,1926,2029,1823,0,0,0,0,0,0,28.83,14.84,14.68
$GC,4318,0.87,202.3,3082,3707,2029,1823,55.6,11.8,361,4328,0.00,2.33,0.00,0.000,1030,0.000,0.060,3093,2306,1926,2029,1823,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4653,0.87,202.3,3093,2306,2029,1822,14.4,13.2,410,4663,0.00,2.42,0.00,0.000,260,0.000,0.087,3093,3713,1925,2029,1822,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,4732,end climb,SURFACE_DEPTH_REACHED
$STATE,4733,begin surface coast
$FINISH,0.1,1.013267
$STATE,4755,end surface coast,CONTROL_FINISHED_OK
$STATE,4755,begin surface
$SM_CCo,4771,86.18,0.854,0,0,1196,380.21
$SM_GC,1.18,7.50,2.20,86.18,0.207,0.063,0.854,139,2413,1196,-8.23,1.19,380.21,0,0,0,0,0,0,14.90,14.91,14.26
$IRIDIUM_FIX,2230.01,-15803.24,221109,212138
$TT8_MAMPS,0.019474,0.019474
$HUMID,42.51
$INTERNAL_PRESSURE,7.30497
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,13.4,13.349
$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,17.675,56.250,246.200,86.175,0.000,65.773,103.464,100.411,0.000,0.000,8.076,1087.527,1912.172,415.370,1820.170,46.084,33.204,888.629,0.000,1011.933,0.000,0.551,0.000
$DEVICE_MAMPS,686.205,120.870,2281.230,853.740,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,285.547,283.955,506.882,523.847,1084.030,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,37262,424
$CAP_FILE_SIZE,60866,0
$CFSIZE,2097086464,2093416448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260117,091527,2241.040,-15803.292,19,1.3,19,9.8