version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 16
start: 1 26 117 18 45 29
data:
$ID,626
$MISSION,1
$DIVE,16
$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,-129643.58
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2700
$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
$GPS1,260117,183959,2241.281,-15802.956,37,2.0,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.9
$GPS2,260117,184432,2241.271,-15802.992,14,0.8,14,9.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.176,0.156
$KALMAN_X,-18870.2,1439.1,542.2,15451.9,-2938.4
$KALMAN_Y,-3354.8,764.3,157.6,2749.4,-206.9
$MHEAD_RNG_PITCHd_Wd,38.8,8590,-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,13,begin dive
$GC,15,-0.76,-116.8,135,2527,1292,1228,0.0,0.0,0,78,0.00,0.00,-57.38,0.000,16390,0.000,0.000,134,2527,3177,3202,3152,0,0,0,0,0,0,28.83,28.83,14.97
$GC,81,-0.76,-116.8,134,2527,3202,3152,4.0,-6.7,7,99,8.75,2.33,0.00,0.000,2308,0.535,0.070,2547,3898,3177,3203,3152,0,0,0,0,0,0,14.52,14.73,28.83
$GC,170,-0.76,-116.8,2547,3897,3204,3152,35.6,-23.1,19,180,0.00,2.35,0.00,0.000,1030,0.000,0.057,2547,2497,3178,3204,3152,0,0,0,0,0,0,28.83,14.76,28.83
$GC,490,-0.76,-116.8,2547,2496,3205,3152,110.9,-20.2,68,499,0.00,2.35,0.00,0.000,516,0.000,0.065,2547,1088,3178,3205,3152,0,0,0,0,0,0,28.83,14.83,28.83
$GC,518,-0.76,-116.8,2547,1088,3205,3152,116.5,-20.1,72,528,0.00,2.38,0.00,0.000,1030,0.000,0.072,2547,2474,3178,3205,3152,0,0,0,0,0,0,28.83,14.81,28.83
$GC,805,-0.76,-116.8,2547,2475,3207,3152,165.3,-15.8,112,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2475,3179,3207,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1062,-0.76,-116.8,2547,2474,3208,3153,207.5,-15.0,135,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2474,3180,3208,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1302,-0.76,-116.8,2547,2473,3209,3152,240.6,-13.4,141,1306,0.00,2.40,0.00,0.000,260,0.000,0.090,2547,3918,3180,3208,3152,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1346,-0.76,-116.8,2547,3918,3209,3152,245.6,-13.4,142,1350,0.00,2.33,0.00,0.000,1030,0.000,0.054,2547,2496,3180,3209,3152,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1618,-0.76,-116.8,2547,2495,3208,3152,284.1,-13.8,149,1622,0.00,2.28,0.00,0.000,516,0.000,0.066,2547,1085,3180,3209,3152,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1702,-0.76,-116.8,2547,1083,3209,3152,294.7,-13.8,151,1706,0.00,2.40,0.00,0.000,1030,0.000,0.073,2547,2503,3180,3208,3152,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1974,-0.76,-116.8,2547,2503,3208,3151,332.6,-13.9,158,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2503,3180,3209,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2214,-0.76,-116.8,2547,2503,3208,3149,365.5,-13.6,164,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2503,3178,3208,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2454,-0.76,-116.8,2547,2503,3208,3147,396.4,-12.7,170,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2503,3177,3208,3146,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2493,begin apogee
$GC,2496,-0.15,0.0,2547,2375,3209,3146,401.2,-12.5,171,2593,0.57,0.00,93.00,2.298,10246,0.310,0.000,2748,2373,2699,2780,2619,0,0,0,0,0,0,14.93,28.83,13.52
$STATE,2593,end apogee,CONTROL_FINISHED_OK
$STATE,2594,begin climb
$GC,2595,0.76,116.8,2747,2373,2780,2620,403.7,0.0,173,2698,0.75,2.38,95.47,2.296,10756,0.189,0.069,3050,1013,2222,2298,2147,0,0,0,0,0,0,14.23,14.16,13.40
$GC,2707,0.76,116.8,3051,1012,2293,2147,401.9,2.7,176,2712,0.00,2.47,0.00,0.000,1030,0.000,0.070,3051,2394,2220,2294,2147,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2975,0.76,116.8,3051,2395,2293,2142,368.8,11.9,183,2979,0.00,2.40,0.00,0.000,260,0.000,0.089,3051,3811,2217,2294,2141,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3148,0.76,116.8,3051,3812,2294,2141,348.3,13.2,187,3154,0.03,2.33,0.00,0.000,5126,0.533,0.061,3054,2426,2217,2293,2141,0,0,0,0,0,0,14.65,14.85,28.83
$GC,3411,0.76,116.8,3054,2424,2293,2135,318.1,10.4,194,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2424,2214,2293,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3651,0.76,116.8,3054,2424,2293,2133,291.9,10.8,200,3655,0.00,2.38,0.00,0.000,260,0.000,0.090,3054,3819,2213,2293,2133,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3759,0.76,116.8,3054,3819,2293,2133,283.5,10.6,202,3767,0.08,2.38,0.00,0.000,5126,0.562,0.063,3051,2365,2213,2293,2133,0,0,0,0,0,0,14.78,14.98,28.83
$GC,4007,0.77,120.9,3051,2363,2293,2132,254.8,9.8,209,4011,0.00,2.28,0.00,0.000,516,0.000,0.074,3060,985,2212,2293,2131,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4261,0.79,137.9,3060,985,2288,2131,233.4,9.0,215,4284,0.00,2.35,15.80,2.040,9222,0.000,0.072,3060,2405,2136,2214,2059,0,0,0,0,0,0,28.83,15.00,14.11
$GC,4523,0.79,137.9,3060,2405,2214,2057,204.6,10.8,222,4527,0.00,2.38,0.00,0.000,260,0.000,0.091,3061,3810,2135,2214,2057,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4644,0.79,137.9,3061,3810,2214,2057,190.2,12.3,228,4655,0.05,2.35,0.00,0.000,5126,0.491,0.064,3055,2402,2135,2214,2057,0,0,0,0,0,0,14.71,14.90,28.83
$GC,4895,0.83,167.5,3055,2402,2214,2057,165.7,8.3,253,4926,0.00,2.42,24.27,1.997,8708,0.000,0.073,3066,990,2016,2100,1932,0,0,0,0,0,0,28.83,14.71,14.00
$GC,5006,0.83,173.3,3066,990,2099,1927,155.6,9.7,263,5017,0.00,2.40,5.82,1.631,9222,0.000,0.072,3066,2407,1992,2082,1903,0,0,0,0,0,0,28.83,14.76,14.01
$GC,5306,0.83,173.3,3066,2407,2082,1903,121.8,10.6,308,5316,0.00,2.42,0.00,0.000,516,0.000,0.074,3076,994,1991,2082,1901,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5468,0.83,173.3,3076,994,2082,1900,102.6,11.2,333,5475,0.00,2.38,0.00,0.000,1030,0.000,0.071,3076,2408,1991,2082,1901,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5782,0.85,189.2,3076,2408,2082,1901,71.4,9.1,382,5801,0.00,2.42,8.90,1.304,8452,0.000,0.089,3076,3810,1927,2023,1832,0,0,0,0,0,0,28.83,14.77,14.21
$GC,5917,0.85,189.2,3077,3810,2023,1831,57.3,11.7,401,5927,0.00,2.35,0.00,0.000,1030,0.000,0.059,3087,2404,1927,2023,1831,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6254,0.85,189.2,3087,2404,2022,1831,19.2,12.2,450,6264,0.00,2.38,0.00,0.000,516,0.000,0.073,3097,992,1926,2023,1829,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6286,0.85,189.2,3098,992,2023,1828,15.0,12.2,454,6296,0.05,2.40,0.00,0.000,5126,0.423,0.070,3081,2396,1925,2023,1828,0,0,0,0,0,0,14.65,14.81,28.83
$STATE,6385,end climb,SURFACE_DEPTH_REACHED
$STATE,6385,begin surface coast
$FINISH,0.3,1.023897
$STATE,6414,end surface coast,CONTROL_FINISHED_OK
$STATE,6414,begin surface
$SM_CCo,6427,83.97,0.858,0,0,1229,360.09
$SM_GC,1.21,6.95,0.17,83.97,0.116,0.118,0.858,136,2507,1229,-8.23,-0.71,360.09,0,0,0,0,0,0,14.88,14.88,14.20
$IRIDIUM_FIX,2234.68,-15804.53,231109,080817
$TT8_MAMPS,0.019474,0.019474
$HUMID,41.49
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,13.4,14.821
$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,17.225,62.000,243.275,83.975,0.000,29.654,46.265,112.599,0.250,0.000,17.586,1227.158,3182.096,384.399,1949.181,58.106,33.205,981.924,0.000,1193.739,0.000,0.550,0.000
$DEVICE_MAMPS,561.510,117.810,2298.060,858.330,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,318.642,304.306,527.721,543.170,1124.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353168
$DATA_FILE_SIZE,44007,472
$CAP_FILE_SIZE,72443,0
$CFSIZE,2097086464,2092793856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260117,203439,2241.733,-15802.850,4,1.0,5,9.8