version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 36
start: 1 28 117 13 36 58
data:
$ID,626
$MISSION,1
$DIVE,36
$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,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,-129743.51
$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,34
$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,2620
$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
$GPS1,280117,133108,2249.455,-15801.203,16,1.3,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-76.0
$GPS2,280117,133602,2249.445,-15801.257,8,1.3,8,9.8
$SPEED_LIMITS,0.156,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,-0.041
$KALMAN_X,-44081.8,93.3,-236.4,45756.8,-1858.8
$KALMAN_Y,-7501.0,40.0,-335.7,23256.2,-686.2
$MHEAD_RNG_PITCHd_Wd,89.9,8508,-17.3,-9.009,-20.29,2314
$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,-0.69,-136.3,136,2471,1155,1127,0.0,0.0,0,79,0.00,0.00,-59.88,0.000,16390,0.000,0.000,136,2472,3177,3204,3150,0,0,0,0,0,0,28.83,28.83,14.99
$GC,81,-0.69,-136.3,136,2471,3203,3151,3.9,-7.1,7,100,8.75,2.35,0.00,0.000,2308,0.527,0.063,2562,3874,3177,3204,3151,0,0,0,0,0,0,14.56,14.74,28.83
$GC,149,-0.69,-136.3,2562,3874,3205,3151,29.6,-24.8,16,158,0.00,2.35,0.00,0.000,3078,0.000,0.053,2562,2460,3178,3205,3151,0,0,0,0,0,0,28.83,14.78,28.83
$GC,475,-0.69,-136.3,2562,2459,3206,3151,102.7,-21.2,65,482,0.00,2.30,0.00,0.000,2564,0.000,0.063,2562,1046,3178,3206,3151,0,0,0,0,0,0,28.83,14.73,28.83
$GC,566,-0.69,-136.3,2562,1044,3206,3151,119.4,-16.2,79,573,0.00,2.35,0.00,0.000,3078,0.000,0.067,2562,2461,3178,3206,3151,0,0,0,0,0,0,28.83,14.88,28.83
$GC,850,-0.69,-136.3,2562,2461,3207,3151,167.8,-15.9,118,856,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2461,3179,3208,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1107,-0.69,-136.3,2561,2461,3209,3151,206.4,-15.7,141,1111,0.00,2.35,0.00,0.000,2308,0.000,0.086,2562,3874,3180,3209,3151,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1186,-0.69,-136.3,2562,3874,3209,3151,217.1,-14.7,143,1190,0.00,2.30,0.00,0.000,1030,0.000,0.049,2562,2455,3180,3210,3151,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1463,-0.69,-136.3,2562,2453,3209,3151,255.5,-13.7,150,1467,0.00,2.40,0.00,0.000,2308,0.000,0.086,2562,3878,3180,3209,3151,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1482,-0.69,-136.3,2562,3878,3209,3151,255.5,-13.7,150,1486,0.00,2.30,0.00,0.000,3078,0.000,0.051,2562,2465,3180,3209,3151,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1739,-0.69,-136.3,2562,2464,3209,3151,289.2,-12.3,157,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2464,3180,3209,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1979,-0.69,-136.3,2562,2464,3209,3150,319.1,-12.3,163,1980,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2464,3179,3209,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2219,-0.69,-136.3,2562,2464,3208,3148,344.5,-10.4,169,2223,0.00,2.30,0.00,0.000,2564,0.000,0.064,2562,1044,3178,3209,3148,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2294,-0.69,-136.3,2562,1042,3209,3147,352.7,-10.7,171,2298,0.00,2.35,0.00,0.000,3078,0.000,0.070,2562,2470,3178,3209,3147,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2570,-0.69,-136.3,2562,2469,3209,3145,383.7,-11.4,178,2571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2470,3177,3209,3145,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2732,-0.15,0.0,2562,2329,3209,3142,404.1,-12.7,182,2844,0.55,0.00,108.28,2.326,10246,0.314,0.000,2753,2327,2619,2698,2541,0,0,0,0,0,0,14.95,28.83,13.52
$STATE,2845,end apogee,CONTROL_FINISHED_OK
$STATE,2845,begin climb
$GC,2846,0.69,136.3,2753,2327,2698,2542,407.4,0.0,184,2964,0.68,0.00,113.03,2.454,10758,0.187,0.000,3017,2327,2063,2150,1977,0,0,0,0,0,0,14.23,28.83,13.35
$GC,3170,0.69,136.3,3015,2327,2150,1970,377.1,13.1,193,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2327,2060,2150,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3410,0.69,136.3,3017,2327,2150,1966,345.6,13.0,199,3415,0.00,2.45,0.00,0.000,260,0.000,0.083,3017,3767,2058,2150,1966,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3446,0.69,136.3,3017,3767,2150,1966,340.6,13.0,200,3451,0.00,2.30,0.00,0.000,1030,0.000,0.060,3027,2360,2057,2149,1966,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3722,0.69,136.3,3027,2359,2150,1962,304.0,13.3,207,3726,0.00,2.33,0.00,0.000,516,0.000,0.070,3038,943,2056,2150,1962,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3831,0.69,136.3,3038,943,2149,1959,293.7,13.7,209,3839,0.03,2.40,0.00,0.000,5126,0.484,0.067,3029,2356,2054,2150,1959,0,0,0,0,0,0,14.78,14.94,28.83
$GC,4078,0.69,136.3,3030,2356,2150,1958,255.3,13.9,216,4082,0.00,2.35,0.00,0.000,260,0.000,0.086,3029,3767,2054,2150,1959,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4121,0.69,136.3,3030,3767,2149,1959,250.6,13.8,217,4126,0.03,2.35,0.00,0.000,5126,0.552,0.060,3032,2352,2054,2150,1958,0,0,0,0,0,0,14.81,15.00,28.83
$GC,4393,0.69,136.3,3031,2350,2149,1956,222.7,9.3,224,4398,0.00,2.38,0.00,0.000,260,0.000,0.089,3031,3760,2052,2149,1956,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4577,0.69,136.3,3031,3760,2150,1956,204.8,11.5,228,4582,0.03,2.35,0.00,0.000,5126,0.529,0.059,3033,2341,2053,2149,1957,0,0,0,0,0,0,14.83,15.03,28.83
$GC,4833,0.69,136.3,3033,2340,2149,1955,177.8,9.6,250,4841,0.00,2.28,0.00,0.000,516,0.000,0.071,3042,938,2052,2150,1954,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4888,0.69,136.3,2144,938,2106,1947,172.5,9.3,255,4899,0.05,2.38,0.00,0.000,5126,0.412,0.066,3025,2345,2050,2149,1952,0,0,0,0,0,0,14.81,14.95,28.83
$GC,5139,0.74,178.9,3025,2345,2149,1953,153.2,7.1,280,5178,0.00,2.50,32.25,2.039,8452,0.000,0.086,3025,3765,1890,1994,1786,0,0,0,0,0,0,28.83,14.66,13.97
$GC,5278,0.74,178.9,3025,3766,1994,1785,138.0,11.8,300,5288,0.00,2.38,0.00,0.000,1030,0.000,0.059,3034,2358,1888,1994,1782,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5588,0.74,178.9,3034,2357,1994,1780,104.0,9.2,349,5595,0.00,2.35,0.00,0.000,516,0.000,0.070,3044,933,1887,1994,1780,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5769,0.79,212.2,3044,934,1995,1779,89.1,7.5,378,5794,0.00,2.40,18.40,1.593,9222,0.000,0.066,3044,2346,1754,1862,1646,0,0,0,0,0,0,28.83,14.85,14.12
$GC,6116,0.79,212.2,3044,2346,1862,1641,51.7,12.1,429,6126,0.00,2.40,0.00,0.000,516,0.000,0.070,3055,937,1751,1862,1640,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6155,0.79,212.2,3055,937,1862,1639,46.9,12.4,434,6165,0.00,2.40,0.00,0.000,1030,0.000,0.066,3055,2345,1750,1862,1639,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6492,0.79,212.2,3055,2345,1862,1639,4.9,12.5,483,6501,0.00,2.40,0.00,0.000,516,0.000,0.068,3065,928,1750,1862,1639,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,6509,end climb,SURFACE_DEPTH_REACHED
$STATE,6509,begin surface coast
$FINISH,0.2,1.023670
$STATE,6538,end surface coast,CONTROL_FINISHED_OK
$STATE,6538,begin surface
$SM_CCo,6553,72.85,0.856,0,0,1150,360.09
$SM_GC,1.17,6.72,2.62,72.85,0.085,0.068,0.856,136,2465,1150,-8.21,-0.59,360.09,0,0,0,0,0,0,14.89,14.86,14.27
$IRIDIUM_FIX,2239.35,-15801.49,251109,020234
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.35
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,13.4,20.098
$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,16.825,66.550,271.950,72.850,0.000,33.279,49.781,128.918,0.250,0.000,9.292,1255.516,3264.126,403.915,1954.403,53.676,33.236,985.850,0.000,1165.040,0.000,0.550,0.000
$DEVICE_MAMPS,551.565,88.740,2454.120,856.035,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,328.711,311.581,550.194,551.755,1141.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353048
$DATA_FILE_SIZE,43802,489
$CAP_FILE_SIZE,72500,0
$CFSIZE,2097086464,2090827776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280117,152820,2249.286,-15801.099,20,1.8,20,9.8