version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 57
start: 1 30 117 7 23 25
data:
$ID,626
$MISSION,1
$DIVE,57
$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,160
$T_MISSION,320
$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,140
$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,-129840.83
$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,2310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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,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
$GPS1,300117,071748,2249.816,-15800.509,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.9
$GPS2,300117,072230,2249.829,-15800.510,7,1.1,7,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.075,-0.225
$KALMAN_X,-68029.5,683.8,442.2,69701.1,-2500.4
$KALMAN_Y,1359.6,397.7,251.8,14157.8,1266.9
$MHEAD_RNG_PITCHd_Wd,151.8,8986,-16.1,-8.333,-19.34,2499
$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,-0.66,-136.3,128,2519,1148,1090,0.0,0.0,0,78,0.00,0.00,-59.70,0.000,16390,0.000,0.000,128,2519,3157,3186,3129,0,0,0,0,0,0,28.83,28.83,14.99
$GC,81,-0.66,-136.3,128,2519,3186,3129,3.9,-7.5,7,99,8.73,2.38,0.00,0.000,2564,0.521,0.048,2584,1079,3158,3187,3129,0,0,0,0,0,0,14.54,14.77,28.83
$GC,252,-0.66,-136.3,2584,1079,3188,3129,48.1,-19.4,31,261,0.00,2.42,0.00,0.000,1030,0.000,0.073,2585,2485,3158,3188,3128,0,0,0,0,0,0,28.83,14.78,28.83
$GC,570,-0.66,-136.3,2585,2486,3189,3128,116.7,-20.9,80,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2486,3159,3189,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-0.66,-136.3,2585,2486,3190,3128,165.3,-14.5,119,855,0.00,2.40,0.00,0.000,260,0.000,0.088,2576,3923,3159,3189,3129,0,0,0,0,0,0,28.83,14.89,28.83
$GC,955,-0.66,-136.3,2576,3922,3190,3129,179.6,-13.7,128,964,0.00,2.28,0.00,0.000,1030,0.000,0.050,2576,2501,3159,3190,3129,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1234,-0.66,-136.3,2576,2501,3191,3129,215.4,-12.7,147,1238,0.00,2.28,0.00,0.000,516,0.000,0.066,2577,1089,3160,3191,3129,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1343,-0.66,-136.3,2576,1089,3191,3129,224.6,-12.1,149,1350,0.00,2.40,0.00,0.000,1030,0.000,0.073,2576,2525,3160,3191,3129,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1591,-0.66,-136.3,2576,2525,3190,3129,258.8,-12.2,156,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2525,3160,3192,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1830,-0.66,-136.3,2576,2525,3191,3129,284.6,-10.6,162,1834,0.00,2.30,0.00,0.000,260,0.000,0.090,2577,3911,3159,3190,3128,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1868,-0.66,-136.3,2576,3911,3191,3128,288.7,-10.8,163,1873,0.00,2.30,0.00,0.000,1030,0.000,0.054,2576,2509,3159,3191,3128,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2145,-0.66,-136.3,2576,2510,3191,3128,323.6,-12.5,170,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2509,3159,3191,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2385,-0.66,-136.3,2576,2509,3191,3125,352.7,-12.1,176,2389,0.00,2.30,0.00,0.000,516,0.000,0.070,2577,1088,3157,3191,3124,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2461,-0.66,-136.3,2576,1087,3191,3125,361.8,-12.1,178,2465,0.00,2.35,0.00,0.000,1030,0.000,0.073,2576,2500,3158,3191,3125,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2737,-0.66,-136.3,2576,2500,3191,3120,392.3,-11.1,185,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2500,3155,3190,3120,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2816,begin apogee
$GC,2819,-0.15,0.0,2577,2276,3191,3120,400.7,-10.8,187,2931,0.50,0.08,108.05,2.313,10246,0.308,0.180,2751,2316,2599,2678,2521,0,0,0,0,0,0,14.93,14.23,13.54
$STATE,2932,end apogee,CONTROL_FINISHED_OK
$STATE,2932,begin climb
$GC,2934,0.66,136.3,2751,2316,2678,2521,403.0,0.0,189,3053,0.68,2.45,110.35,2.296,10756,0.194,0.070,3018,925,2043,2133,1954,0,0,0,0,0,0,14.25,14.19,13.47
$GC,3094,0.66,136.3,3018,924,2132,1949,390.0,9.5,193,3098,0.00,2.38,0.00,0.000,1030,0.000,0.066,3017,2305,2040,2132,1949,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3370,0.66,136.3,3018,2305,2132,1943,352.3,13.7,200,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2305,2037,2132,1943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3610,0.66,136.3,3019,2305,2132,1941,320.8,13.1,206,3614,0.00,2.30,0.00,0.000,516,0.000,0.073,3028,928,2036,2132,1941,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3689,0.66,136.3,3028,927,2132,1938,311.2,12.6,208,3694,0.03,2.35,0.00,0.000,5126,0.454,0.067,3020,2311,2035,2132,1938,0,0,0,0,0,0,14.73,14.90,28.83
$GC,3966,0.66,136.3,3020,2311,2132,1937,278.1,12.0,215,3970,0.00,2.30,0.00,0.000,516,0.000,0.073,3028,927,2034,2132,1937,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4009,0.66,136.3,3029,927,2132,1935,273.6,12.3,216,4014,0.08,2.35,0.00,0.000,5126,0.479,0.068,3013,2311,2033,2132,1935,0,0,0,0,0,0,14.81,14.95,28.83
$GC,4281,0.66,136.3,3013,2311,2132,1933,240.5,11.8,223,4286,0.00,2.38,0.00,0.000,260,0.000,0.086,3013,3720,2033,2132,1934,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4360,0.66,136.3,2112,3720,2089,1929,230.6,12.5,225,4365,0.00,2.30,0.00,0.000,1030,0.000,0.060,3022,2337,2033,2132,1935,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4637,0.66,136.3,3022,2335,2132,1932,201.5,10.0,232,4641,0.00,2.35,0.00,0.000,516,0.000,0.073,3032,899,2032,2132,1932,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4696,0.66,136.3,3032,898,2132,1931,195.7,10.0,235,4705,0.05,2.33,0.00,0.000,5126,0.422,0.067,3015,2314,2031,2132,1931,0,0,0,0,0,0,14.82,14.97,28.83
$GC,4943,0.66,136.3,3015,2314,2132,1931,172.1,9.6,260,4947,0.00,2.35,0.00,0.000,516,0.000,0.073,3023,894,2031,2132,1931,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5079,0.66,138.1,3023,893,2132,1928,160.7,8.3,272,5088,0.00,2.38,0.00,0.000,1030,0.000,0.069,3023,2316,2030,2132,1928,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5355,0.66,142.7,3023,2316,2132,1928,140.5,8.1,307,5363,0.00,2.42,2.53,1.018,8452,0.000,0.087,3023,3719,2017,2120,1915,0,0,0,0,0,0,28.83,14.95,14.18
$GC,5437,0.66,142.7,3023,3719,2121,1917,132.4,9.9,320,5448,0.05,2.35,0.00,0.000,5126,0.438,0.060,3018,2303,2019,2121,1917,0,0,0,0,0,0,14.75,14.94,28.83
$GC,5748,0.70,174.5,3018,2303,2121,1916,108.1,7.0,369,5777,0.00,2.38,18.88,1.698,8708,0.000,0.073,3025,912,1886,1991,1782,0,0,0,0,0,0,28.83,14.74,14.16
$GC,5792,0.72,190.1,3025,912,1991,1781,104.8,7.7,375,5808,0.00,2.35,8.88,1.537,9222,0.000,0.067,3025,2312,1824,1931,1718,0,0,0,0,0,0,28.83,14.79,14.11
$GC,6114,0.72,190.1,3025,2312,1931,1714,72.3,9.7,425,6124,0.00,2.42,0.00,0.000,260,0.000,0.087,3026,3711,1822,1931,1714,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6140,0.72,190.1,3025,3711,1931,1714,69.6,10.7,428,6149,0.00,2.35,0.00,0.000,1030,0.000,0.061,3034,2319,1822,1931,1714,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6477,0.72,190.1,3035,2318,1931,1714,35.0,10.3,477,6486,0.00,2.40,0.00,0.000,516,0.000,0.073,3043,901,1822,1931,1714,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6610,0.72,190.1,3043,900,1931,1713,21.3,10.9,496,6619,0.00,2.40,0.00,0.000,1030,0.000,0.067,3044,2310,1822,1931,1713,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,6776,end climb,SURFACE_DEPTH_REACHED
$STATE,6777,begin surface coast
$FINISH,0.2,1.013105
$STATE,6813,end surface coast,CONTROL_FINISHED_OK
$STATE,6813,begin surface
$SM_CCo,6826,83.85,0.864,0,0,1129,360.09
$SM_GC,0.92,6.75,0.32,83.85,0.099,0.084,0.864,135,2516,1129,-8.21,-0.57,360.09,0,0,0,0,0,0,14.90,14.90,14.24
$IRIDIUM_FIX,2239.35,-15801.49,261109,202011
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.76
$INTERNAL_PRESSURE,7.2952
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,13.5,25.241
$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,16.850,71.400,248.675,83.850,0.000,27.910,44.915,122.069,0.250,0.000,8.054,1357.349,3282.751,396.511,2106.269,60.030,33.227,1025.419,0.000,1274.635,0.000,0.550,0.000
$DEVICE_MAMPS,520.965,179.775,2312.595,864.450,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,353.516,344.722,599.149,609.719,1261.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352996
$DATA_FILE_SIZE,47374,525
$CAP_FILE_SIZE,78205,0
$CFSIZE,2097086464,2088763392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,300117,091927,2249.499,-15800.222,16,1.1,17,9.8