version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 42
start: 1 29 117 1 25 57
data:
$ID,626
$MISSION,1
$DIVE,42
$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,148
$T_MISSION,260
$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,-129779.96
$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,2440
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,23
$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
$GPS1,290117,012014,2247.022,-15800.999,35,1.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-76.5
$GPS2,290117,012502,2247.057,-15801.021,26,0.9,26,9.8
$SPEED_LIMITS,0.156,0.227
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.049
$KALMAN_X,-52532.2,669.1,-58.0,53852.4,-2241.7
$KALMAN_Y,-4497.6,814.3,-457.4,15174.6,1020.7
$MHEAD_RNG_PITCHd_Wd,92.6,4190,-18.7,-9.009,-21.61,1986
$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,-0.71,-116.8,133,2461,1158,1122,0.0,0.0,0,78,0.00,0.00,-58.38,0.000,16390,0.000,0.000,132,2461,3078,3104,3053,0,0,0,0,0,0,28.83,28.83,14.97
$GC,81,-0.71,-116.8,132,2461,3104,3053,3.6,-5.5,7,100,8.68,2.38,0.00,0.000,2564,0.521,0.052,2569,1020,3079,3106,3053,0,0,0,0,0,0,14.54,14.76,28.83
$GC,257,-0.71,-116.8,2568,1019,3107,3053,48.8,-19.1,32,266,0.00,2.42,0.00,0.000,1030,0.000,0.070,2563,2435,3080,3107,3053,0,0,0,0,0,0,28.83,14.78,28.83
$GC,576,-0.71,-116.8,2563,2436,3108,3053,113.8,-17.4,81,583,0.00,2.38,0.00,0.000,260,0.000,0.089,2562,3849,3080,3108,3053,0,0,0,0,0,0,28.83,14.84,28.83
$GC,757,-0.71,-116.8,2562,3849,3108,3053,142.4,-15.3,110,766,0.00,2.33,0.00,0.000,1030,0.000,0.056,2562,2443,3081,3109,3053,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1023,-0.71,-116.8,2562,2442,3110,3053,181.9,-14.6,139,1032,0.00,2.28,0.00,0.000,516,0.000,0.067,2562,1032,3081,3110,3053,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1131,-0.71,-116.8,2562,1032,3110,3053,197.5,-14.1,149,1135,0.00,2.35,0.00,0.000,1030,0.000,0.069,2562,2448,3082,3111,3053,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1396,-0.71,-116.8,2561,2449,3111,3053,235.9,-14.2,157,1400,0.00,2.33,0.00,0.000,516,0.000,0.064,2561,1017,3082,3111,3053,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1431,-0.71,-116.8,2561,1016,3111,3053,241.1,-14.5,158,1435,0.00,2.35,0.00,0.000,1030,0.000,0.070,2562,2441,3082,3111,3053,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1707,-0.71,-116.8,2562,2440,3111,3053,279.4,-13.5,165,1711,0.00,2.35,0.00,0.000,260,0.000,0.088,2562,3855,3082,3111,3053,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1846,-0.71,-116.8,2562,3855,3111,3053,293.8,-12.7,168,1850,0.00,2.25,0.00,0.000,1030,0.000,0.051,2562,2441,3082,3111,3053,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2103,-0.71,-116.8,2562,2440,3111,3053,323.3,-10.1,175,2107,0.00,2.25,0.00,0.000,516,0.000,0.063,2562,1028,3081,3111,3052,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2161,-0.71,-116.8,2562,1028,3111,3052,327.1,-10.2,176,2166,0.00,2.38,0.00,0.000,1030,0.000,0.070,2562,2439,3081,3111,3052,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2418,-0.71,-116.8,2561,2439,3111,3049,357.3,-11.1,183,2423,0.00,2.35,0.00,0.000,260,0.000,0.089,2562,3852,3080,3111,3049,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2494,-0.71,-116.8,2562,3852,3111,3048,365.4,-10.9,185,2498,0.00,2.28,0.00,0.000,1030,0.000,0.053,2562,2439,3079,3111,3048,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2770,-0.71,-116.8,2562,2439,3111,3047,393.9,-10.2,192,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2439,3079,3111,3047,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2850,begin apogee
$GC,2854,-0.15,0.0,2562,2297,3111,3045,402.0,-10.3,194,2950,0.55,0.08,92.10,2.267,10246,0.314,0.178,2753,2333,2600,2677,2523,0,0,0,0,0,0,14.94,14.27,13.59
$STATE,2951,end apogee,CONTROL_FINISHED_OK
$STATE,2951,begin climb
$GC,2953,0.71,116.8,2752,2333,2676,2523,404.7,0.0,196,3052,0.73,0.00,96.07,2.252,10246,0.187,0.000,3027,2333,2122,2202,2043,0,0,0,0,0,0,14.28,28.83,13.45
$GC,3290,0.71,116.8,3027,2333,2202,2035,373.4,11.6,205,3294,0.00,2.33,0.00,0.000,516,0.000,0.067,3037,952,2118,2202,2034,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3309,0.71,116.8,3037,951,2202,2032,373.4,11.6,205,3313,0.00,2.38,0.00,0.000,1030,0.000,0.063,3037,2334,2117,2202,2032,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3566,0.71,116.8,3037,2334,2202,2032,333.9,14.5,212,3570,0.00,2.38,0.00,0.000,260,0.000,0.083,3037,3741,2117,2202,2032,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3619,0.71,116.8,3037,3741,2201,2031,328.7,14.4,213,3625,0.05,2.30,0.00,0.000,5126,0.458,0.057,3034,2364,2117,2202,2032,0,0,0,0,0,0,14.71,14.89,28.83
$GC,3881,0.71,116.8,3033,2363,2202,2030,295.7,10.4,220,3886,0.00,2.38,0.00,0.000,516,0.000,0.070,3043,919,2115,2202,2029,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3930,0.71,116.8,3043,918,2202,2026,292.1,9.9,221,3935,0.00,2.40,0.00,0.000,1030,0.000,0.068,3043,2329,2114,2202,2026,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4197,0.71,116.8,3044,2329,2202,2026,262.3,10.6,228,4202,0.03,2.38,0.00,0.000,4356,0.661,0.084,3035,3745,2114,2202,2026,0,0,0,0,0,0,14.86,14.97,28.83
$GC,4332,0.71,116.8,3035,3745,2202,2027,248.1,11.9,231,4337,0.03,2.35,0.00,0.000,5126,0.532,0.057,3037,2321,2114,2202,2027,0,0,0,0,0,0,14.81,15.00,28.83
$GC,4594,0.71,116.9,3037,2320,2202,2026,220.9,9.0,238,4598,0.00,2.28,0.00,0.000,516,0.000,0.069,3046,925,2114,2202,2026,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4740,0.74,139.9,3046,924,2201,2024,211.8,7.8,241,4763,0.00,2.33,17.77,2.018,9222,0.000,0.067,3046,2333,2029,2119,1939,0,0,0,0,0,0,28.83,15.02,14.13
$GC,5013,0.74,139.9,3046,2333,2119,1936,179.7,11.4,259,5021,0.00,2.33,0.00,0.000,516,0.000,0.070,3057,927,2026,2119,1934,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5100,0.74,139.9,3057,926,2119,1932,169.9,10.9,267,5112,0.03,2.38,0.00,0.000,5126,0.448,0.067,3047,2321,2026,2119,1933,0,0,0,0,0,0,14.72,14.87,28.83
$GC,5352,0.77,162.4,3047,2321,2119,1933,148.5,7.8,293,5381,0.00,2.40,18.62,1.908,8708,0.000,0.071,3057,924,1937,2036,1838,0,0,0,0,0,0,28.83,14.73,14.09
$GC,5586,0.77,163.5,3057,924,2035,1835,126.2,8.9,330,5595,0.00,2.40,0.00,0.000,1030,0.000,0.067,3057,2329,1934,2035,1834,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5894,0.77,163.5,3057,2329,2035,1835,99.2,9.7,379,5901,0.00,2.38,0.00,0.000,260,0.000,0.086,3057,3742,1936,2036,1836,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6103,0.77,163.5,3057,3742,2036,1836,76.9,10.8,412,6113,0.03,2.35,0.00,0.000,5126,0.526,0.057,3059,2325,1936,2036,1837,0,0,0,0,0,0,14.68,14.87,28.83
$GC,6439,0.77,163.5,3059,2325,2036,1836,42.6,9.8,461,6449,0.00,2.35,0.00,0.000,516,0.000,0.067,3068,922,1936,2035,1837,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6493,0.77,163.5,3068,922,2035,1836,37.4,10.1,468,6503,0.05,2.38,0.00,0.000,5126,0.402,0.063,3051,2327,1936,2036,1836,0,0,0,0,0,0,14.70,14.85,28.83
$GC,6831,0.77,163.5,3051,2327,2036,1837,3.5,10.3,517,6840,0.00,2.38,0.00,0.000,516,0.000,0.067,3060,919,1936,2035,1837,0,0,0,0,0,0,28.83,14.86,28.83
$STATE,6848,end climb,SURFACE_DEPTH_REACHED
$STATE,6848,begin surface coast
$FINISH,0.2,1.014925
$STATE,6890,end surface coast,CONTROL_FINISHED_OK
$STATE,6890,begin surface
$SM_CCo,6905,97.90,0.838,0,0,1131,360.09
$SM_GC,1.09,6.82,2.60,97.90,0.107,0.069,0.838,134,2442,1131,-8.22,-0.74,360.09,0,0,0,0,0,0,14.90,14.88,14.23
$IRIDIUM_FIX,2237.01,-15759.32,251109,141431
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.56
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.90
$XPDR_PINGS,3
$24V_AH,13.5,21.606
$10V_AH,13.7,0.000
$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,16.975,80.275,224.575,97.900,0.000,25.327,45.192,116.561,0.750,0.000,27.958,1365.402,3328.496,426.041,2122.969,60.319,33.230,1036.906,0.000,1281.345,0.000,0.550,0.000
$DEVICE_MAMPS,660.960,178.245,2266.695,838.440,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,353.428,344.559,592.581,614.041,1270.623,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353052
$DATA_FILE_SIZE,47260,525
$CAP_FILE_SIZE,78795,0
$CFSIZE,2097086464,2090237952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290117,032320,2247.018,-15800.742,6,1.5,6,9.8