version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 67
start: 1 31 117 4 8 59
data:
$ID,626
$MISSION,1
$DIVE,67
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,-129853.41
$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,24
$R_STBD_OVSHOOT,34
$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
$GPS1,310117,040314,2249.135,-15756.597,16,1.3,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.5
$GPS2,310117,040804,2249.231,-15756.556,8,1.2,8,9.8
$SPEED_LIMITS,0.179,0.222
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.169,-0.143
$KALMAN_X,-70378.5,1067.9,-270.4,79152.9,57.2
$KALMAN_Y,15733.8,703.4,-575.5,-784.8,3616.2
$MHEAD_RNG_PITCHd_Wd,120.5,9798,-17.5,-8.333,-20.60,2145
$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,-0.67,-116.8,115,2517,1154,1082,0.0,0.0,0,78,0.00,0.00,-57.95,0.000,16390,0.000,0.000,115,2517,3077,3105,3050,0,0,0,0,0,0,28.83,28.83,14.97
$GC,81,-0.67,-116.8,114,2518,3105,3051,3.9,-7.1,7,99,8.82,2.40,0.00,0.000,2564,0.525,0.052,2584,1071,3078,3107,3050,0,0,0,0,0,0,14.47,14.77,28.83
$GC,211,-0.67,-116.8,2584,1071,3107,3050,40.9,-20.8,25,220,0.00,2.42,0.00,0.000,1030,0.000,0.067,2584,2486,3078,3107,3050,0,0,0,0,0,0,28.83,14.77,28.83
$GC,532,-0.67,-116.8,2584,2485,3108,3050,109.6,-21.7,74,542,0.00,2.42,0.00,0.000,260,0.000,0.083,2575,3909,3079,3108,3050,0,0,0,0,0,0,28.83,14.82,28.83
$GC,593,-0.67,-116.8,2575,3909,3108,3050,122.0,-20.9,83,600,0.00,2.30,0.00,0.000,1030,0.000,0.050,2575,2483,3079,3108,3050,0,0,0,0,0,0,28.83,14.88,28.83
$GC,873,-0.67,-116.8,2575,2482,3109,3050,170.5,-15.9,120,877,0.00,2.42,0.00,0.000,260,0.000,0.087,2575,3915,3079,3109,3050,0,0,0,0,0,0,28.83,14.88,28.83
$GC,958,-0.67,-116.8,2575,3915,3110,3050,181.7,-14.0,127,966,0.00,2.33,0.00,0.000,1030,0.000,0.047,2575,2491,3080,3110,3050,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1206,-0.67,-116.8,2575,2489,3110,3050,217.8,-14.3,143,1210,0.00,2.40,0.00,0.000,260,0.000,0.087,2575,3912,3080,3111,3050,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1274,-0.67,-116.8,2575,3912,3111,3050,222.8,-14.0,144,1282,0.00,2.30,0.00,0.000,1030,0.000,0.048,2575,2499,3080,3111,3050,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1521,-0.67,-116.8,2575,2498,3111,3051,257.1,-12.1,151,1526,0.00,2.25,0.00,0.000,516,0.000,0.056,2575,1087,3080,3111,3050,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1580,-0.67,-116.8,2575,1087,3111,3050,261.6,-12.0,152,1585,0.00,2.38,0.00,0.000,1030,0.000,0.064,2575,2498,3080,3111,3050,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1837,-0.67,-116.8,2575,2498,3111,3050,295.6,-12.4,159,1841,0.00,2.35,0.00,0.000,260,0.000,0.088,2575,3915,3080,3111,3050,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1875,-0.67,-116.8,1696,3915,3087,3046,299.7,-12.1,160,1880,0.00,2.30,0.00,0.000,1030,0.000,0.047,2575,2496,3081,3112,3050,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2153,-0.67,-116.8,2575,2495,3111,3050,331.5,-11.6,167,2157,0.00,2.25,0.00,0.000,516,0.000,0.057,2575,1089,3080,3111,3049,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2202,-0.67,-116.8,2576,1089,3111,3049,335.9,-11.8,168,2206,0.00,2.33,0.00,0.000,1030,0.000,0.065,2575,2501,3080,3111,3049,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2469,-0.67,-116.8,2575,2501,3111,3048,366.1,-10.7,175,2473,0.00,2.28,0.00,0.000,516,0.000,0.058,2575,1089,3079,3111,3048,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2497,-0.67,-116.8,2575,1089,3111,3047,366.1,-10.7,175,2505,0.00,2.38,0.00,0.000,1030,0.000,0.067,2575,2497,3079,3111,3048,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2745,-0.67,-116.8,2575,2496,3111,3045,396.9,-11.3,182,2749,0.00,2.35,0.00,0.000,260,0.000,0.091,2575,3908,3078,3111,3045,0,0,0,0,0,0,28.83,15.03,28.83
$STATE,2779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2779,begin apogee
$GC,2785,-0.15,0.0,2575,2299,3111,3045,401.1,-11.5,183,2882,0.50,0.00,93.80,2.377,10246,0.298,0.000,2751,2297,2600,2677,2523,0,0,0,0,0,0,14.92,28.83,13.57
$STATE,2883,end apogee,CONTROL_FINISHED_OK
$STATE,2883,begin climb
$GC,2884,0.67,116.8,2751,2297,2677,2523,404.3,0.0,185,2989,0.68,2.47,95.15,2.291,10756,0.192,0.064,3024,905,2123,2204,2043,0,0,0,0,0,0,14.26,14.20,13.49
$GC,3004,0.67,116.8,3024,905,2202,2039,399.5,6.4,188,3008,0.00,2.47,0.00,0.000,1030,0.000,0.061,3024,2308,2121,2203,2039,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3261,0.67,116.8,3024,2308,2203,2033,363.1,13.0,195,3265,0.00,2.40,0.00,0.000,260,0.000,0.083,3024,3725,2118,2203,2033,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3350,0.67,116.8,3024,3725,2203,2034,352.6,13.2,197,3355,0.08,2.35,0.00,0.000,5126,0.476,0.058,3021,2300,2118,2202,2034,0,0,0,0,0,0,14.66,14.83,28.83
$GC,3617,0.67,116.8,3021,2299,2202,2028,319.0,11.9,204,3621,0.00,2.30,0.00,0.000,516,0.000,0.067,3030,896,2115,2202,2028,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3696,0.67,116.8,3030,896,2202,2025,310.4,11.6,206,3700,0.00,2.35,0.00,0.000,1030,0.000,0.061,3030,2315,2113,2202,2025,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3968,0.67,116.8,3030,2314,2202,2025,282.7,9.2,213,3972,0.00,2.35,0.00,0.000,260,0.000,0.083,3030,3719,2113,2202,2025,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4047,0.67,116.8,3030,3719,2202,2025,274.0,10.2,215,4052,0.10,2.30,0.00,0.000,5126,0.474,0.059,3018,2307,2113,2202,2025,0,0,0,0,0,0,14.81,15.00,28.83
$GC,4318,0.67,116.8,3018,2306,2202,2021,246.7,10.1,222,4322,0.00,2.30,0.00,0.000,516,0.000,0.067,3025,891,2111,2202,2021,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4447,0.67,116.8,3027,890,2201,2019,236.7,8.9,225,4452,0.00,2.33,0.00,0.000,1030,0.000,0.060,3027,2310,2110,2202,2019,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4709,0.69,133.3,3027,2309,2202,2019,215.4,7.5,232,4727,0.00,2.42,11.98,1.919,8452,0.000,0.083,3027,3719,2056,2147,1966,0,0,0,0,0,0,28.83,14.90,14.21
$GC,4762,0.71,148.4,3027,3719,2147,1966,212.1,7.6,233,4782,0.00,2.30,13.62,1.903,9222,0.000,0.059,3037,2304,1993,2088,1898,0,0,0,0,0,0,28.83,14.94,14.10
$GC,5030,0.71,148.4,3038,2304,2088,1894,181.3,11.4,249,5041,0.00,2.40,0.00,0.000,260,0.000,0.084,3038,3716,1991,2088,1894,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5195,0.71,148.4,2152,3715,2049,1889,161.7,11.4,264,5207,0.03,2.35,0.00,0.000,5126,0.468,0.057,3040,2306,1991,2088,1894,0,0,0,0,0,0,14.69,14.87,28.83
$GC,5474,0.73,164.0,3040,2307,2087,1893,137.9,7.6,301,5490,0.00,2.42,9.68,1.762,8452,0.000,0.081,3040,3727,1930,2031,1829,0,0,0,0,0,0,28.83,14.83,14.15
$GC,5605,0.73,164.0,3040,3727,2030,1829,126.0,9.7,321,5612,0.00,2.33,0.00,0.000,1030,0.000,0.056,3050,2298,1929,2031,1828,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5910,0.73,164.0,3050,2297,2030,1826,97.9,8.8,370,5919,0.00,2.33,0.00,0.000,516,0.000,0.063,3059,905,1927,2030,1825,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5962,0.73,164.0,3059,905,2030,1825,93.1,9.2,378,5973,0.05,2.38,0.00,0.000,5126,0.383,0.060,3040,2312,1927,2030,1825,0,0,0,0,0,0,14.72,14.87,28.83
$GC,6287,0.73,164.0,3040,2312,2030,1825,65.4,8.8,427,6296,0.00,2.40,0.00,0.000,260,0.000,0.082,3040,3713,1928,2031,1826,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6435,0.73,164.0,3041,3713,2031,1828,50.5,10.2,448,6445,0.03,2.33,0.00,0.000,5126,0.483,0.054,3042,2308,1929,2031,1828,0,0,0,0,0,0,14.69,14.87,28.83
$GC,6771,0.74,168.7,3042,2307,2031,1827,17.7,8.1,497,6781,0.00,0.00,2.50,0.516,8198,0.000,0.000,3042,2307,1909,2021,1798,0,0,0,0,0,0,28.83,28.83,14.38
$STATE,6923,end climb,SURFACE_DEPTH_REACHED
$STATE,6923,begin surface coast
$FINISH,0.2,1.023731
$STATE,6966,end surface coast,CONTROL_FINISHED_OK
$STATE,6966,begin surface
$SM_CCo,6979,94.22,0.880,0,0,1129,360.09
$SM_GC,1.26,6.82,0.35,94.22,0.114,0.088,0.880,124,2513,1129,-8.22,-0.62,360.09,0,0,0,0,0,0,14.92,14.90,14.22
$IRIDIUM_FIX,2237.01,-15759.32,271109,171738
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.09
$INTERNAL_PRESSURE,7.31473
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,13.5,27.785
$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,17.100,90.100,226.725,94.225,0.000,28.141,46.373,133.101,0.500,0.000,9.279,1380.787,3339.418,405.486,2179.921,68.341,33.231,1063.548,0.000,1338.951,0.000,0.550,0.000
$DEVICE_MAMPS,524.790,91.035,2376.855,879.750,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,352.923,336.482,591.311,622.600,1288.379,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353020
$DATA_FILE_SIZE,47363,525
$CAP_FILE_SIZE,83400,0
$CFSIZE,2097086464,2087780352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,310117,060800,2249.749,-15755.637,32,0.8,32,9.8