version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 62
start: 1 30 117 17 50 4
data:
$ID,626
$MISSION,1
$DIVE,62
$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,-129847.13
$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,39
$R_STBD_OVSHOOT,29
$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
$GPS1,300117,174424,2248.839,-15758.348,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.1
$GPS2,300117,174909,2248.898,-15758.337,8,1.0,8,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.031,-0.235
$KALMAN_X,-71943.3,354.2,-136.0,78245.5,-1534.9
$KALMAN_Y,6992.6,-1128.5,112.7,8470.4,2568.8
$MHEAD_RNG_PITCHd_Wd,177.8,7758,-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,14,-0.66,-136.3,128,2516,1152,1084,0.0,0.0,0,79,0.00,0.00,-59.65,0.000,16390,0.000,0.000,128,2516,3157,3185,3129,0,0,0,0,0,0,28.83,28.83,14.99
$GC,81,-0.66,-136.3,129,2516,3185,3130,4.0,-7.4,7,100,8.80,2.38,0.00,0.000,2820,0.528,0.052,2583,1086,3157,3186,3129,0,0,0,0,0,0,14.46,14.76,28.83
$GC,225,-0.66,-136.3,2583,1086,3187,3129,44.0,-17.1,27,234,0.00,2.40,0.00,0.000,1030,0.000,0.067,2577,2487,3158,3187,3130,0,0,0,0,0,0,28.83,14.78,28.83
$GC,544,-0.66,-136.3,2577,2487,3188,3130,111.7,-20.2,76,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2487,3159,3189,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,840,-0.66,-136.3,2577,2487,3189,3129,163.5,-15.9,118,848,0.00,2.28,0.00,0.000,516,0.000,0.058,2577,1085,3159,3189,3129,0,0,0,0,0,0,28.83,14.88,28.83
$GC,862,-0.66,-136.3,1696,1084,3169,3126,167.4,-16.5,120,873,0.00,2.40,0.00,0.000,1030,0.000,0.067,2577,2497,3159,3189,3129,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1120,-0.66,-136.3,2576,2497,3190,3129,205.4,-13.8,143,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2497,3159,3190,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1360,-0.66,-136.3,2576,2497,3190,3129,237.7,-13.3,149,1364,0.00,2.35,0.00,0.000,260,0.000,0.090,2577,3911,3159,3190,3129,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1409,-0.66,-136.3,2577,3911,3191,3129,242.3,-13.2,150,1413,0.00,2.28,0.00,0.000,1030,0.000,0.049,2577,2508,3160,3191,3129,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1676,-0.66,-136.3,2577,2506,3190,3129,277.2,-11.7,157,1680,0.00,2.28,0.00,0.000,516,0.000,0.060,2576,1085,3159,3190,3129,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1700,-0.66,-136.3,2577,1085,3190,3129,277.2,-11.7,157,1704,0.00,2.40,0.00,0.000,1030,0.000,0.069,2576,2535,3159,3190,3129,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1952,-0.66,-136.3,2577,2534,3190,3129,308.7,-11.5,164,1956,0.00,2.35,0.00,0.000,516,0.000,0.060,2576,1084,3159,3190,3129,0,0,0,0,0,0,28.83,15.05,28.83
$GC,1975,-0.66,-136.3,2575,1083,3190,3129,308.7,-11.5,164,1980,0.00,2.38,0.00,0.000,1030,0.000,0.068,2576,2522,3159,3190,3129,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2227,-0.66,-136.3,2576,2522,3190,3128,337.9,-10.5,171,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2523,3159,3190,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2467,-0.66,-136.3,2577,2522,3190,3126,363.1,-10.5,177,2472,0.00,2.33,0.00,0.000,516,0.000,0.061,2577,1088,3157,3190,3125,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2531,-0.66,-136.3,2577,1086,3190,3125,367.0,-10.5,178,2535,0.00,2.40,0.00,0.000,1030,0.000,0.070,2577,2532,3157,3190,3125,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2783,-0.66,-136.3,2576,2533,3190,3121,396.3,-10.5,185,2787,0.00,2.35,0.00,0.000,516,0.000,0.063,2576,1086,3155,3190,3121,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,2818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2818,begin apogee
$GC,2823,-0.15,0.0,2576,2321,3190,3120,400.3,-10.7,186,2939,0.50,0.00,107.95,2.292,10246,0.315,0.000,2750,2320,2599,2678,2521,0,0,0,0,0,0,14.92,28.83,13.56
$STATE,2940,end apogee,CONTROL_FINISHED_OK
$STATE,2940,begin climb
$GC,2941,0.66,136.3,2749,2321,2678,2521,404.4,0.0,189,3060,0.68,0.00,111.12,2.269,10758,0.194,0.000,3011,2320,2043,2132,1954,0,0,0,0,0,0,14.28,28.83,13.48
$GC,3299,0.66,136.3,3011,2321,2133,1946,366.5,13.2,198,3303,0.00,2.40,0.00,0.000,516,0.000,0.071,3021,903,2039,2133,1945,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3363,0.66,136.3,3021,903,2132,1942,361.9,13.2,199,3367,0.00,2.38,0.00,0.000,1030,0.000,0.066,3021,2312,2037,2133,1942,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3615,0.66,136.3,3021,2313,2132,1942,326.3,12.5,206,3619,0.00,2.38,0.00,0.000,260,0.000,0.086,3021,3722,2037,2132,1942,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3644,0.66,136.3,3021,3722,2133,1942,326.3,12.5,206,3652,0.05,2.38,0.00,0.000,5126,0.412,0.063,3008,2309,2037,2132,1942,0,0,0,0,0,0,14.73,14.90,28.83
$GC,3891,0.66,136.3,3008,2309,2133,1940,291.7,12.4,213,3895,0.00,2.33,0.00,0.000,516,0.000,0.072,3016,895,2036,2132,1940,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3974,0.66,136.3,3016,893,2132,1937,283.2,11.5,215,3979,0.00,2.40,0.00,0.000,1030,0.000,0.065,3015,2339,2034,2132,1937,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4246,0.66,136.3,3016,2340,2133,1937,253.2,10.9,222,4251,0.00,2.38,0.00,0.000,516,0.000,0.071,3026,899,2035,2133,1937,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4305,0.66,136.3,3027,899,2132,1935,249.3,10.7,223,4309,0.00,2.38,0.00,0.000,1030,0.000,0.066,3025,2308,2033,2132,1935,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4562,0.66,136.3,3026,2308,2133,1935,219.2,11.0,230,4566,0.00,2.38,0.00,0.000,260,0.000,0.087,3026,3720,2033,2132,1935,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4786,0.66,136.3,3026,3720,2132,1936,191.7,12.6,240,4797,0.05,2.35,0.00,0.000,5126,0.438,0.062,3020,2311,2034,2132,1936,0,0,0,0,0,0,14.78,14.97,28.83
$GC,5036,0.66,136.3,3020,2311,2132,1935,168.1,9.6,265,5045,0.00,2.30,0.00,0.000,516,0.000,0.072,3029,896,2033,2133,1933,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5134,0.66,136.3,3029,896,2132,1932,159.1,9.0,274,5143,0.03,2.33,0.00,0.000,5126,0.447,0.065,3019,2314,2032,2133,1932,0,0,0,0,0,0,14.79,14.95,28.83
$GC,5410,0.70,172.2,3019,2314,2132,1932,139.8,6.9,311,5441,0.00,2.47,25.33,1.992,8452,0.000,0.086,3019,3721,1896,2001,1792,0,0,0,0,0,0,28.83,14.71,14.07
$GC,5468,0.70,172.2,3019,3721,2001,1793,135.3,8.6,319,5474,0.00,2.33,0.00,0.000,1030,0.000,0.060,3028,2309,1896,2001,1792,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5772,0.70,172.2,3028,2308,2001,1787,103.1,9.7,368,5781,0.00,2.38,0.00,0.000,516,0.000,0.069,3039,899,1893,2001,1786,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5800,0.70,172.2,3039,899,2001,1785,100.6,9.3,372,5809,0.00,2.40,0.00,0.000,1030,0.000,0.064,3039,2309,1893,2001,1785,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6118,0.70,172.2,3039,2309,2002,1786,70.3,9.3,421,6128,0.00,2.42,0.00,0.000,260,0.000,0.086,3039,3716,1894,2001,1787,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6332,0.70,172.2,3039,3716,2001,1789,45.6,11.4,452,6342,0.05,2.35,0.00,0.000,5126,0.425,0.059,3032,2306,1895,2002,1788,0,0,0,0,0,0,14.69,14.86,28.83
$GC,6670,0.70,172.2,3033,2307,2001,1788,9.5,8.8,501,6679,0.00,2.35,0.00,0.000,516,0.000,0.070,3042,903,1894,2001,1788,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6715,0.70,172.2,3041,903,2001,1787,5.1,10.4,507,6725,0.03,2.38,0.00,0.000,5126,0.445,0.059,3031,2314,1894,2001,1788,0,0,0,0,0,0,14.69,14.85,28.83
$STATE,6741,end climb,SURFACE_DEPTH_REACHED
$STATE,6741,begin surface coast
$FINISH,0.4,1.023916
$STATE,6785,end surface coast,CONTROL_FINISHED_OK
$STATE,6785,begin surface
$SM_CCo,6798,92.50,0.850,0,0,1129,360.09
$SM_GC,1.10,6.85,0.30,92.50,0.119,0.094,0.850,130,2509,1129,-8.24,-0.88,360.09,0,0,0,0,0,0,14.91,14.90,14.23
$IRIDIUM_FIX,2241.69,-15758.45,271109,070746
$TT8_MAMPS,0.018725,0.018725
$HUMID,39.68
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,13.5,26.508
$10V_AH,13.4,0.000
$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,17.025,80.375,244.400,92.500,0.000,26.842,48.171,125.703,0.250,0.000,9.297,1330.626,3312.750,448.200,2033.781,61.285,33.232,1046.369,0.000,1220.824,0.000,0.550,0.000
$DEVICE_MAMPS,527.850,94.095,2291.940,849.915,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,347.570,329.640,583.292,596.841,1235.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353036
$DATA_FILE_SIZE,47256,516
$CAP_FILE_SIZE,77206,0
$CFSIZE,2097086464,2088271872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,300117,194537,2248.942,-15758.229,7,1.8,7,9.8