version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 26
start: 1 27 117 16 22 58
data:
$ID,626
$MISSION,1
$DIVE,26
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$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,200
$T_MISSION,400
$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,150
$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,-129671.5
$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,2460
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2640
$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
$GPS1,270117,161539,2243.116,-15800.733,17,1.1,17,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.4
$GPS2,270117,162204,2243.145,-15800.761,7,1.3,7,9.8
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.242,-0.036
$KALMAN_X,-32277.4,330.8,265.5,34055.4,-3311.0
$KALMAN_Y,-4559.2,346.2,234.7,7771.2,-623.4
$MHEAD_RNG_PITCHd_Wd,88.7,3674,-15.5,-8.333,-18.79,2682
$D_GRID,500
$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,-0.65,-146.0,129,2467,1179,1144,0.0,0.0,0,79,0.00,0.00,-61.10,0.000,16390,0.000,0.000,129,2467,3236,3263,3210,0,0,0,0,0,0,28.83,28.83,14.98
$GC,81,-0.65,-146.0,129,2467,3264,3211,3.8,-7.0,7,100,8.80,2.38,0.00,0.000,2564,0.527,0.051,2583,1036,3237,3265,3210,0,0,0,0,0,0,14.48,14.74,28.83
$GC,144,-0.65,-146.0,2583,1035,3265,3210,28.0,-27.1,15,154,0.00,2.42,0.00,0.000,1030,0.000,0.070,2577,2448,3237,3265,3210,0,0,0,0,0,0,28.83,14.74,28.83
$GC,468,-0.65,-146.0,2577,2448,3265,3210,100.5,-19.6,64,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2448,3238,3265,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,773,-0.65,-146.0,2577,2448,3266,3210,156.4,-17.4,111,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2448,3238,3266,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1014,-0.65,-146.0,2577,2448,3267,3210,196.6,-15.2,135,1018,0.00,2.38,0.00,0.000,2308,0.000,0.089,2575,3871,3238,3267,3210,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1105,-0.65,-146.0,2575,3871,3267,3210,207.0,-13.2,139,1109,0.00,2.30,0.00,0.000,3078,0.000,0.051,2575,2459,3239,3268,3210,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1372,-0.65,-146.0,2575,2457,3269,3210,242.7,-13.3,146,1376,0.00,2.28,0.00,0.000,2564,0.000,0.064,2575,1045,3239,3269,3210,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1466,-0.65,-146.0,2575,1045,3268,3210,252.1,-12.8,148,1470,0.00,2.38,0.00,0.000,3078,0.000,0.069,2575,2454,3239,3268,3210,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1728,-0.65,-146.0,2576,2455,3268,3210,285.0,-11.8,155,1732,0.00,2.35,0.00,0.000,2308,0.000,0.090,2575,3871,3239,3268,3210,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1807,-0.65,-146.0,2575,3872,3268,3210,292.9,-11.0,157,1811,0.00,2.25,0.00,0.000,3078,0.000,0.050,2575,2456,3238,3267,3210,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2083,-0.65,-146.0,2575,2454,3268,3209,322.8,-11.4,164,2085,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,2455,3238,3268,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2323,-0.65,-146.0,2575,2455,3268,3207,352.9,-12.7,170,2325,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,2454,3238,3269,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2563,-0.65,-146.0,2575,2454,3268,3205,383.1,-12.3,176,2565,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,2454,3236,3268,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2803,-0.65,-146.0,2575,2454,3268,3202,408.6,-10.6,182,2807,0.00,2.28,0.00,0.000,2564,0.000,0.069,2575,1057,3234,3268,3201,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2822,-0.65,-146.0,2575,1056,3268,3200,408.6,-10.6,182,2826,0.00,2.38,0.00,0.000,3078,0.000,0.074,2575,2458,3234,3268,3201,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3079,-0.65,-146.0,2575,2458,3268,3199,438.3,-10.7,189,3083,0.00,2.38,0.00,0.000,2308,0.000,0.095,2575,3877,3233,3268,3199,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3118,-0.65,-146.0,2575,3877,3268,3199,442.0,-10.6,190,3122,0.00,2.33,0.00,0.000,3078,0.000,0.057,2575,2432,3233,3268,3199,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3395,-0.65,-146.0,2575,2432,3268,3194,470.0,-10.1,197,3399,0.00,2.25,0.00,0.000,2564,0.000,0.070,2575,1044,3231,3268,3194,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3414,-0.65,-146.0,2575,1044,3268,3194,470.0,-10.1,197,3418,0.00,2.40,0.00,0.000,3078,0.000,0.077,2576,2458,3231,3268,3194,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3671,-0.65,-146.0,2575,2458,3268,3191,498.6,-10.3,204,3675,0.00,2.33,0.00,0.000,2564,0.000,0.071,2575,1041,3229,3268,3191,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3689,-0.65,-146.0,2575,1040,3268,3191,498.6,-10.3,204,3694,0.00,2.42,0.00,0.000,3078,0.000,0.078,2575,2461,3229,3269,3190,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,3705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3705,begin apogee
$GC,3709,-0.15,0.0,2575,2329,3268,3191,502.3,-10.3,205,3829,0.50,0.00,116.88,2.480,10246,0.312,0.000,2749,2329,2640,2717,2563,0,0,0,0,0,0,14.95,28.83,13.41
$STATE,3830,end apogee,CONTROL_FINISHED_OK
$STATE,3830,begin climb
$GC,3831,0.65,146.0,2749,2329,2717,2563,505.7,0.0,208,3961,0.68,2.42,121.75,2.462,10756,0.190,0.073,3020,957,2043,2131,1956,0,0,0,0,0,0,14.15,14.09,13.33
$GC,4051,0.65,146.0,3020,957,2130,1948,491.0,9.4,213,4055,0.00,2.45,0.00,0.000,1030,0.000,0.070,3020,2372,2039,2130,1948,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4303,0.65,146.0,3020,2372,2130,1943,449.1,15.1,220,4307,0.00,2.40,0.00,0.000,516,0.000,0.076,3030,954,2036,2130,1943,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4397,0.65,146.0,3031,952,2130,1940,437.8,15.0,222,4402,0.10,2.38,0.00,0.000,5126,0.456,0.072,3009,2358,2035,2130,1940,0,0,0,0,0,0,14.66,14.79,28.83
$GC,4659,0.65,146.0,3009,2358,2129,1939,402.5,12.1,229,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2358,2035,2130,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4899,0.65,146.0,3009,2358,2130,1938,374.7,11.5,235,4903,0.00,2.35,0.00,0.000,516,0.000,0.078,3017,954,2034,2130,1938,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4962,0.65,146.0,3017,953,2130,1935,370.9,11.3,236,4967,0.00,2.40,0.00,0.000,1030,0.000,0.073,3017,2382,2033,2130,1936,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5214,0.65,146.0,3017,2382,2130,1935,336.7,12.9,243,5219,0.00,2.33,0.00,0.000,260,0.000,0.093,3018,3767,2032,2130,1935,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5253,0.65,146.0,2112,3767,2087,1929,331.3,13.6,244,5259,0.05,2.35,0.00,0.000,5126,0.466,0.067,3013,2367,2032,2130,1935,0,0,0,0,0,0,14.79,14.97,28.83
$GC,5530,0.65,146.0,3013,2365,2130,1933,293.3,13.4,251,5535,0.00,2.38,0.00,0.000,516,0.000,0.080,3023,931,2031,2130,1933,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5554,0.65,146.0,3023,929,2130,1931,293.3,13.4,251,5558,0.00,2.42,0.00,0.000,1030,0.000,0.074,3023,2380,2031,2130,1932,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5806,0.65,146.0,3022,2380,2130,1932,259.8,11.8,258,5810,0.00,2.30,0.00,0.000,260,0.000,0.091,3023,3760,2031,2130,1932,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5975,0.65,146.0,3023,3760,2130,1932,239.0,13.4,262,5980,0.05,2.35,0.00,0.000,5126,0.482,0.063,3017,2345,2031,2130,1932,0,0,0,0,0,0,14.83,15.02,28.83
$GC,6242,0.65,146.0,3018,2344,2130,1932,212.7,9.0,269,6246,0.00,2.33,0.00,0.000,516,0.000,0.078,3027,935,2031,2130,1932,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6256,0.65,146.0,3027,935,2130,1930,212.7,9.0,269,6260,0.08,2.40,0.00,0.000,5126,0.484,0.072,3011,2348,2030,2130,1930,0,0,0,0,0,0,14.87,15.02,28.83
$GC,6508,0.65,146.0,3012,2348,2130,1930,188.2,9.1,284,6512,0.00,2.35,0.00,0.000,516,0.000,0.076,3021,934,2030,2130,1930,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6612,0.65,146.0,3021,934,2130,1928,177.9,10.5,293,6621,0.00,2.35,0.00,0.000,1030,0.000,0.072,3020,2359,2029,2130,1929,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6861,0.65,146.0,3021,2358,2130,1929,153.5,8.8,318,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2359,2029,2130,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7146,0.68,170.3,3019,2359,2130,1929,133.6,7.4,361,7168,0.00,2.40,13.02,1.873,8452,0.000,0.089,3020,3778,1944,2045,1844,0,0,0,0,0,0,28.83,14.82,14.14
$GC,7305,0.68,170.3,3021,3778,2045,1844,117.7,10.9,386,7314,0.00,2.40,0.00,0.000,1030,0.000,0.060,3030,2344,1944,2045,1843,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7613,0.69,182.7,3031,2344,2045,1841,91.7,7.9,435,7629,0.00,2.45,7.05,1.402,8452,0.000,0.084,3031,3757,1893,1999,1788,0,0,0,0,0,0,28.83,14.79,14.19
$GC,7758,0.72,200.1,3030,3757,1999,1789,78.4,7.7,457,7777,0.00,2.35,9.68,1.366,9222,0.000,0.057,3042,2345,1823,1930,1716,0,0,0,0,0,0,28.83,14.84,14.19
$GC,8104,0.72,200.1,3042,2344,1930,1713,43.4,10.7,507,8114,0.00,2.38,0.00,0.000,516,0.000,0.072,3052,943,1821,1930,1712,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8156,0.72,200.1,3051,943,1930,1712,37.2,11.5,514,8166,0.05,2.40,0.00,0.000,5126,0.383,0.069,3034,2347,1821,1930,1712,0,0,0,0,0,0,14.66,14.80,28.83
$STATE,8477,end climb,SURFACE_DEPTH_REACHED
$STATE,8477,begin surface coast
$FINISH,0.1,1.013166
$STATE,8513,end surface coast,CONTROL_FINISHED_OK
$STATE,8513,begin surface
$SM_CCo,8526,79.35,0.848,0,0,1170,360.09
$SM_GC,1.19,6.72,0.20,79.35,0.097,0.106,0.848,139,2476,1170,-8.21,-0.51,360.09,0,0,0,0,0,0,14.88,14.87,14.23
$IRIDIUM_FIX,2232.34,-15802.37,241109,050539
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.72
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,13.3,17.450
$10V_AH,13.2,0.000
$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,17.025,90.200,268.375,79.350,0.000,60.981,53.548,126.718,0.500,0.000,8.291,1493.301,4742.309,413.583,2281.079,68.803,33.225,1112.812,0.000,1409.649,0.000,0.550,0.000
$DEVICE_MAMPS,527.085,106.335,2480.130,847.620,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,382.133,341.144,601.893,603.280,1248.391,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353200
$DATA_FILE_SIZE,50715,565
$CAP_FILE_SIZE,91388,0
$CFSIZE,2097086464,2091810816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270117,184731,2243.115,-15800.060,33,0.8,34,9.8