version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 61
start: 1 30 117 15 43 39
data:
$ID,626
$MISSION,1
$DIVE,61
$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,-129845.88
$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,36
$R_STBD_OVSHOOT,32
$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
$GPS1,300117,153747,2248.454,-15758.962,31,1.7,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.8
$GPS2,300117,154244,2248.493,-15759.022,23,1.7,23,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.098
$KALMAN_X,-70896.7,378.1,-374.0,76243.8,-1828.5
$KALMAN_Y,5277.5,-563.1,-412.6,9393.6,1900.9
$MHEAD_RNG_PITCHd_Wd,104.6,6682,-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,-136.3,128,2518,1149,1087,0.0,0.0,0,78,0.00,0.00,-59.08,0.000,16390,0.000,0.000,129,2518,3157,3185,3130,0,0,0,0,0,0,28.83,28.83,14.99
$GC,80,-0.66,-136.3,129,2518,3185,3130,4.4,-8.8,7,99,8.75,2.35,0.00,0.000,2564,0.520,0.048,2584,1084,3158,3187,3130,0,0,0,0,0,0,14.54,14.77,28.83
$GC,211,-0.66,-136.3,2584,1084,3188,3130,41.7,-19.0,25,220,0.00,2.40,0.00,0.000,1030,0.000,0.068,2584,2484,3159,3188,3130,0,0,0,0,0,0,28.83,14.78,28.83
$GC,532,-0.66,-136.3,2583,2484,3189,3130,104.3,-16.3,74,541,0.00,2.35,0.00,0.000,516,0.000,0.062,2584,1086,3159,3189,3130,0,0,0,0,0,0,28.83,14.85,28.83
$GC,560,-0.66,-136.3,2584,1086,3189,3130,109.4,-18.3,78,569,0.00,2.42,0.00,0.000,1030,0.000,0.070,2584,2501,3159,3189,3130,0,0,0,0,0,0,28.83,14.83,28.83
$GC,859,-0.66,-136.3,2584,2501,3190,3130,160.1,-15.9,122,863,0.00,2.33,0.00,0.000,516,0.000,0.062,2584,1082,3160,3190,3130,0,0,0,0,0,0,28.83,14.92,28.83
$GC,898,-0.66,-136.3,2583,1081,3190,3130,166.3,-16.0,125,902,0.00,2.38,0.00,0.000,1030,0.000,0.070,2584,2507,3160,3190,3130,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1143,-0.66,-136.3,2584,2508,3190,3130,200.2,-13.3,149,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2508,3160,3191,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1383,-0.66,-136.3,2584,2508,3191,3130,228.7,-12.0,155,1387,0.00,2.35,0.00,0.000,260,0.000,0.088,2580,3915,3160,3191,3130,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1517,-0.66,-136.3,2581,3915,3191,3130,243.1,-12.4,158,1521,0.00,2.25,0.00,0.000,1030,0.000,0.049,2581,2499,3160,3190,3130,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1778,-0.66,-136.3,2581,2498,3190,3130,276.6,-12.2,165,1782,0.00,2.28,0.00,0.000,516,0.000,0.062,2580,1082,3160,3191,3130,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1827,-0.66,-136.3,2581,1081,3190,3130,280.7,-11.9,166,1831,0.00,2.40,0.00,0.000,1030,0.000,0.068,2577,2537,3160,3191,3130,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2094,-0.66,-136.3,2577,2536,3191,3130,314.3,-11.6,173,2098,0.00,2.35,0.00,0.000,516,0.000,0.060,2577,1086,3160,3191,3130,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2130,-0.66,-136.3,2577,1085,3191,3129,318.0,-11.2,174,2134,0.00,2.35,0.00,0.000,1030,0.000,0.069,2576,2504,3160,3191,3130,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2406,-0.66,-136.3,2577,2504,3191,3127,344.2,-10.2,181,2410,0.00,2.35,0.00,0.000,260,0.000,0.092,2577,3916,3158,3190,3127,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2441,-0.66,-136.3,2577,3916,3190,3127,348.2,-10.6,182,2446,0.00,2.25,0.00,0.000,1030,0.000,0.052,2576,2499,3159,3191,3127,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2717,-0.66,-136.3,2577,2499,3191,3125,376.9,-10.1,189,2721,0.00,2.28,0.00,0.000,516,0.000,0.066,2577,1086,3157,3190,3124,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2753,-0.66,-136.3,2577,1085,3190,3124,380.4,-9.8,190,2757,0.00,2.35,0.00,0.000,1030,0.000,0.070,2577,2504,3157,3191,3124,0,0,0,0,0,0,28.83,15.05,28.83
$STATE,2987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2987,begin apogee
$GC,2991,-0.15,0.0,2577,2271,3190,3120,403.0,-9.8,196,3104,0.50,0.10,108.15,2.298,10246,0.309,0.161,2750,2326,2599,2678,2520,0,0,0,0,0,0,14.92,14.25,13.56
$STATE,3105,end apogee,CONTROL_FINISHED_OK
$STATE,3105,begin climb
$GC,3106,0.66,136.3,2750,2326,2678,2521,405.3,0.0,198,3221,0.68,0.00,111.15,2.286,10758,0.192,0.000,3010,2327,2043,2133,1954,0,0,0,0,0,0,14.23,28.83,13.47
$GC,3431,0.66,136.3,3011,2327,2133,1945,369.8,13.9,207,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2326,2039,2133,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3669,0.66,136.3,3011,2327,2133,1942,338.2,13.1,213,3673,0.00,2.33,0.00,0.000,516,0.000,0.068,3021,931,2037,2133,1942,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3687,0.66,136.3,3020,931,2133,1940,338.2,13.1,213,3692,0.00,2.35,0.00,0.000,1030,0.000,0.067,3021,2304,2036,2132,1940,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3944,0.66,136.3,3021,2304,2133,1938,303.3,12.8,220,3949,0.00,2.38,0.00,0.000,260,0.000,0.086,3021,3719,2035,2133,1938,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4028,0.66,136.3,3021,3719,2132,1939,293.0,12.8,222,4033,0.05,2.30,0.00,0.000,5126,0.415,0.061,3007,2347,2035,2133,1938,0,0,0,0,0,0,14.78,14.95,28.83
$GC,4300,0.66,136.3,3007,2345,2132,1935,263.4,9.9,229,4305,0.00,2.38,0.00,0.000,516,0.000,0.072,3017,898,2034,2133,1935,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4384,0.66,136.3,3016,896,2132,1932,256.3,9.8,231,4388,0.00,2.40,0.00,0.000,1030,0.000,0.067,3016,2341,2032,2133,1932,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4656,0.66,136.3,3016,2340,2132,1932,229.3,9.3,238,4660,0.00,2.30,0.00,0.000,260,0.000,0.086,3017,3719,2032,2133,1932,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4750,0.66,136.3,3017,3719,2132,1933,220.5,10.5,240,4755,0.05,2.33,0.00,0.000,5126,0.567,0.061,3017,2293,2032,2132,1932,0,0,0,0,0,0,14.83,15.02,28.83
$GC,4997,0.66,136.3,3018,2291,2133,1931,191.0,10.1,252,5001,0.00,2.40,0.00,0.000,260,0.000,0.085,3018,3720,2032,2133,1931,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5083,0.66,136.3,3018,3720,2132,1932,182.1,10.6,259,5091,0.03,2.35,0.00,0.000,5126,0.516,0.060,3019,2304,2032,2132,1932,0,0,0,0,0,0,14.80,14.99,28.83
$GC,5331,0.66,136.3,3020,2304,2132,1930,158.1,8.3,284,5340,0.00,2.30,0.00,0.000,516,0.000,0.068,3029,896,2030,2133,1928,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5364,0.67,149.9,3029,895,2132,1927,155.5,7.8,287,5379,0.00,2.33,9.77,1.829,9222,0.000,0.063,3029,2312,1987,2090,1884,0,0,0,0,0,0,28.83,15.00,14.21
$GC,5661,0.67,149.9,3029,2312,2090,1884,132.0,8.4,330,5671,0.00,2.40,0.00,0.000,516,0.000,0.069,3038,896,1986,2090,1883,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5686,0.68,157.4,3038,896,2090,1884,130.3,8.0,333,5702,0.08,2.35,4.28,1.416,13318,0.456,0.064,3022,2312,1958,2063,1854,0,0,0,0,0,0,14.76,14.92,14.15
$GC,6003,0.70,169.5,3022,2313,2062,1854,105.7,7.8,383,6019,0.00,2.40,7.53,1.496,8452,0.000,0.083,3022,3726,1908,2014,1802,0,0,0,0,0,0,28.83,14.83,14.19
$GC,6083,0.70,169.5,3022,3726,2013,1803,98.6,9.4,395,6090,0.00,2.33,0.00,0.000,1030,0.000,0.057,3031,2298,1908,2014,1802,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6400,0.70,169.5,3031,2298,2014,1801,67.1,10.8,444,6410,0.00,2.33,0.00,0.000,516,0.000,0.066,3041,909,1906,2013,1800,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6454,0.70,169.5,3041,909,2014,1799,61.8,10.5,451,6464,0.03,2.38,0.00,0.000,5126,0.425,0.063,3031,2312,1906,2013,1800,0,0,0,0,0,0,14.69,14.85,28.83
$GC,6790,0.70,169.5,3031,2312,2014,1800,26.1,11.7,500,6799,0.00,2.40,0.00,0.000,260,0.000,0.083,3031,3713,1908,2014,1802,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6843,0.70,169.5,3031,3714,2014,1803,19.6,12.5,507,6853,0.03,2.33,0.00,0.000,5126,0.487,0.056,3032,2308,1908,2014,1803,0,0,0,0,0,0,14.68,14.87,28.83
$STATE,7023,end climb,SURFACE_DEPTH_REACHED
$STATE,7023,begin surface coast
$FINISH,0.2,0.999907
$STATE,7065,end surface coast,CONTROL_FINISHED_OK
$STATE,7065,begin surface
$SM_CCo,7078,94.40,0.854,0,0,1131,360.09
$SM_GC,0.94,6.78,0.35,94.40,0.109,0.099,0.854,132,2509,1131,-8.22,-0.65,360.09,0,0,0,0,0,0,14.91,14.89,14.23
$IRIDIUM_FIX,2239.35,-15757.16,271109,050512
$TT8_MAMPS,0.018725,0.018725
$HUMID,39.88
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,23.00
$XPDR_PINGS,3
$24V_AH,13.5,26.255
$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,16.950,85.225,240.875,94.400,0.000,29.342,46.465,121.572,0.750,0.000,24.792,1405.603,3429.078,426.816,2146.868,70.810,33.231,1057.026,0.000,1307.388,0.000,0.551,0.000
$DEVICE_MAMPS,566.865,160.650,2298.060,853.740,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,363.817,340.359,609.775,622.604,1288.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353008
$DATA_FILE_SIZE,47430,539
$CAP_FILE_SIZE,82903,0
$CFSIZE,2097086464,2088370176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,300117,174424,2248.839,-15758.348,38,0.9,38,9.8