version: 66.11 revision: 1138 glider: 626 mission: 1 dive: 13 start: 1 26 117 13 7 20 data: $ID,626 $MISSION,1 $DIVE,13 $N_DIVES,0 $D_SURF,3 $D_FLARE,3 $D_TGT,400 $D_ABORT,450 $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,133 $T_MISSION,200 $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,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,-129622.85 $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,2450 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,34 $R_STBD_OVSHOOT,31 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,649 $VBD_MAX,3962 $C_VBD,2740 $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 $GPS1,260117,130147,2240.542,-15803.394,5,1.1,5,9.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.15 $_SM_ANGLEo,-75.2 $GPS2,260117,130625,2240.572,-15803.443,8,1.3,8,9.8 $SPEED_LIMITS,0.174,0.235 $TGT_NAME,ALOHA $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,1500.000 $KALMAN_CONTROL,0.226,-0.064 $KALMAN_X,-13443.2,625.8,-215.2,10827.5,-2404.9 $KALMAN_Y,-3793.4,34.6,121.2,2657.4,-327.4 $MHEAD_RNG_PITCHd_Wd,95.9,10092,-20.5,-10.025,-23.10,1786 $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,14,begin dive $GC,15,-0.76,-116.8,134,2519,1298,1222,0.0,0.0,0,78,0.00,0.00,-58.53,0.000,16390,0.000,0.000,135,2519,3218,3245,3191,0,0,0,0,0,0,28.83,28.83,14.97 $GC,81,-0.76,-116.8,134,2519,3245,3191,4.0,-7.3,7,99,8.73,2.33,0.00,0.000,2308,0.534,0.064,2535,3902,3218,3246,3191,0,0,0,0,0,0,14.52,14.73,28.83 $GC,130,-0.76,-116.8,2536,3902,3246,3191,26.8,-44.2,13,140,0.03,2.35,0.00,0.000,3078,0.457,0.058,2544,2499,3218,3246,3191,0,0,0,0,0,0,14.59,14.75,28.83 $GC,454,-0.76,-116.8,2544,2497,3247,3191,108.9,-22.2,62,463,0.00,2.35,0.00,0.000,516,0.000,0.067,2545,1091,3219,3247,3191,0,0,0,0,0,0,28.83,14.83,28.83 $GC,490,-0.76,-116.8,2545,1091,3247,3190,116.5,-22.6,67,497,0.00,2.35,0.00,0.000,1030,0.000,0.072,2545,2493,3219,3247,3191,0,0,0,0,0,0,28.83,14.85,28.83 $GC,767,-0.76,-116.8,2545,2496,3252,3187,175.1,-20.1,104,771,0.00,2.35,0.00,0.000,260,0.000,0.086,2535,3913,3219,3251,3187,0,0,0,0,0,0,28.83,14.88,28.83 $GC,815,-0.76,-116.8,2535,3912,3251,3188,185.0,-20.1,108,820,0.08,2.28,0.00,0.000,3078,0.414,0.054,2553,2495,3220,3252,3188,0,0,0,0,0,0,14.78,14.92,28.83 $GC,1070,-0.76,-116.8,2553,2493,3252,3187,225.6,-15.2,121,1075,0.00,2.40,0.00,0.000,260,0.000,0.086,2549,3914,3220,3252,3188,0,0,0,0,0,0,28.83,14.94,28.83 $GC,1094,-0.76,-116.8,2549,3914,3252,3187,225.6,-15.2,121,1098,0.00,2.33,0.00,0.000,1030,0.000,0.054,2549,2497,3220,3252,3188,0,0,0,0,0,0,28.83,14.97,28.83 $GC,1346,-0.76,-116.8,2550,2495,3252,3187,263.2,-13.6,128,1350,0.00,2.30,0.00,0.000,516,0.000,0.065,2549,1080,3220,3252,3188,0,0,0,0,0,0,28.83,15.01,28.83 $GC,1360,-0.76,-116.8,2549,1079,3252,3187,263.2,-13.6,128,1364,0.00,2.40,0.00,0.000,1030,0.000,0.072,2549,2524,3219,3252,3187,0,0,0,0,0,0,28.83,14.99,28.83 $GC,1622,-0.76,-116.8,2549,2524,3252,3187,302.5,-14.5,135,1626,0.00,2.33,0.00,0.000,260,0.000,0.090,2549,3915,3219,3252,3187,0,0,0,0,0,0,28.83,15.00,28.83 $GC,1686,-0.76,-116.8,2548,3915,3252,3187,307.4,-14.4,136,1690,0.00,2.30,0.00,0.000,1030,0.000,0.054,2549,2502,3219,3252,3187,0,0,0,0,0,0,28.83,15.02,28.83 $GC,1938,-0.76,-116.8,2549,2501,3252,3187,345.2,-13.9,143,1942,0.00,2.28,0.00,0.000,516,0.000,0.067,2549,1084,3219,3252,3187,0,0,0,0,0,0,28.83,15.05,28.83 $GC,1986,-0.76,-116.8,2549,1083,3252,3186,350.0,-14.0,144,1990,0.00,2.40,0.00,0.000,1030,0.000,0.075,2549,2500,3219,3252,3186,0,0,0,0,0,0,28.83,15.02,28.83 $GC,2253,-0.76,-116.8,2549,2500,3252,3184,387.3,-12.9,151,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2500,3218,3252,3184,0,0,0,0,0,0,28.83,28.83,28.83 $STATE,2372,end dive,TARGET_DEPTH_EXCEEDED $STATE,2372,begin apogee $GC,2376,-0.15,0.0,2549,2426,3252,3183,401.4,-11.8,154,2472,0.57,0.00,92.88,2.285,10246,0.319,0.000,2749,2425,2739,2822,2657,0,0,0,0,0,0,14.92,28.83,13.55 $STATE,2473,end apogee,CONTROL_FINISHED_OK $STATE,2473,begin climb $GC,2474,0.76,116.8,2748,2426,2822,2657,403.6,0.0,156,2575,0.77,0.00,95.88,2.271,10502,0.190,0.000,3049,2425,2262,2344,2181,0,0,0,0,0,0,14.26,28.83,13.43 $GC,2815,0.76,116.8,3049,2426,2343,2174,377.8,11.3,165,2820,0.00,2.25,0.00,0.000,516,0.000,0.069,3059,1063,2258,2343,2173,0,0,0,0,0,0,28.83,14.73,28.83 $GC,2961,0.76,116.8,3059,1063,2341,2170,365.2,10.6,168,2966,0.00,2.35,0.00,0.000,1030,0.000,0.070,3060,2462,2255,2341,2169,0,0,0,0,0,0,28.83,14.82,28.83 $GC,3213,0.76,116.8,3059,2462,2341,2169,334.9,11.2,175,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2462,2255,2341,2169,0,0,0,0,0,0,28.83,28.83,28.83 $GC,3453,0.76,116.8,3059,2462,2341,2166,308.3,11.3,181,3457,0.00,2.35,0.00,0.000,260,0.000,0.089,3060,3863,2253,2341,2166,0,0,0,0,0,0,28.83,14.95,28.83 $GC,3577,0.76,116.8,3060,3864,2341,2166,295.2,11.3,184,3582,0.05,2.33,0.00,0.000,5126,0.492,0.061,3054,2462,2254,2341,2167,0,0,0,0,0,0,14.77,14.98,28.83 $GC,3849,0.80,149.2,3054,2461,2341,2163,272.4,8.2,191,3876,0.00,0.00,25.00,2.134,8198,0.000,0.000,3054,2461,2130,2211,2050,0,0,0,0,0,0,28.83,28.83,14.01 $GC,4089,0.80,149.2,3054,2461,2211,2047,246.7,10.9,197,4093,0.00,2.42,0.00,0.000,260,0.000,0.092,3054,3870,2129,2211,2047,0,0,0,0,0,0,28.83,14.85,28.83 $GC,4248,0.80,149.2,3054,3869,2211,2047,228.6,11.6,201,4252,0.00,2.38,0.00,0.000,1030,0.000,0.063,3065,2450,2129,2211,2047,0,0,0,0,0,0,28.83,14.92,28.83 $GC,4525,0.81,149.8,3065,2449,2211,2045,199.8,10.0,208,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2449,2128,2211,2046,0,0,0,0,0,0,28.83,28.83,28.83 $GC,4768,0.85,185.1,3064,2449,2211,2045,175.5,8.0,232,4806,0.00,2.42,28.77,2.001,8452,0.000,0.089,3064,3853,1984,2073,1896,0,0,0,0,0,0,28.83,14.64,13.99 $GC,4811,0.88,212.9,3065,3853,2072,1896,172.2,8.4,236,4840,0.00,2.38,23.58,1.953,9222,0.000,0.063,3075,2454,1870,1967,1774,0,0,0,0,0,0,28.83,14.69,13.81 $GC,5106,0.88,212.9,3075,2454,1967,1769,131.2,13.2,273,5112,0.00,2.38,0.00,0.000,516,0.000,0.075,3085,1033,1867,1967,1768,0,0,0,0,0,0,28.83,14.76,28.83 $GC,5208,0.88,212.9,3086,1033,1967,1765,116.8,13.9,289,5215,0.00,2.40,0.00,0.000,1030,0.000,0.073,3086,2453,1866,1967,1765,0,0,0,0,0,0,28.83,14.80,28.83 $GC,5513,0.88,212.9,3085,2454,1967,1765,81.3,11.1,338,5522,0.00,2.42,0.00,0.000,260,0.000,0.089,3086,3862,1866,1967,1766,0,0,0,0,0,0,28.83,14.81,28.83 $GC,5564,0.88,212.9,3085,3862,1967,1766,75.2,13.0,345,5574,0.00,2.35,0.00,0.000,1030,0.000,0.059,3097,2453,1866,1967,1766,0,0,0,0,0,0,28.83,14.84,28.83 $GC,5900,0.88,212.9,3097,2452,1967,1766,35.5,13.1,394,5909,0.00,2.35,0.00,0.000,516,0.000,0.068,3106,1044,1866,1967,1766,0,0,0,0,0,0,28.83,14.84,28.83 $GC,5938,0.88,212.9,3106,1044,1967,1765,30.4,13.2,399,5948,0.05,2.40,0.00,0.000,5126,0.422,0.069,3090,2452,1866,1967,1766,0,0,0,0,0,0,14.69,14.83,28.83 $STATE,6118,end climb,SURFACE_DEPTH_REACHED $STATE,6118,begin surface coast $FINISH,0.2,1.015093 $STATE,6142,end surface coast,CONTROL_FINISHED_OK $STATE,6142,begin surface $SM_CCo,6155,71.47,0.838,0,0,1269,360.09 $SM_GC,1.13,6.82,0.10,71.47,0.090,0.167,0.838,134,2523,1269,-8.24,-0.48,360.09,0,0,0,0,0,0,14.90,14.86,14.27 $IRIDIUM_FIX,2230.01,-15810.61,231109,020215 $TT8_MAMPS,0.018725,0.018725 $HUMID,42.04 $INTERNAL_PRESSURE,7.28544 $TCM_TEMP,22.30 $XPDR_PINGS,1 $24V_AH,13.4,14.089 $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,17.100,66.100,266.100,71.475,0.000,32.842,57.488,109.893,0.250,0.000,9.086,1125.964,3199.716,397.345,1745.045,50.668,33.225,934.030,0.000,1053.729,0.000,0.549,0.000 $DEVICE_MAMPS,533.970,166.770,2285.055,838.440,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty $SENSOR_SECS,288.626,259.622,468.296,476.620,986.277,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000 $MEM,353176 $DATA_FILE_SIZE,37488,428 $CAP_FILE_SIZE,69511,0 $CFSIZE,2097086464,2093088768 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $GPS,260117,145220,2240.487,-15803.308,38,0.8,38,9.8