version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 34
start: 1 28 117 9 48 44
data:
$ID,626
$MISSION,1
$DIVE,34
$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,133
$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,-129740.98
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,280117,094310,2248.418,-15800.312,15,1.5,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-75.9
$GPS2,280117,094748,2248.418,-15800.345,7,1.5,7,9.8
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,T1
$TGT_LATLONG,2250.000,-15801.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.148,0.205
$KALMAN_X,-41874.4,352.8,306.2,44302.4,-1954.5
$KALMAN_Y,-5479.3,-295.6,-124.1,19460.3,-479.2
$MHEAD_RNG_PITCHd_Wd,26.1,3531,-19.0,-10.025,-21.66,2082
$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,-0.74,-136.3,129,2459,1160,1123,0.0,0.0,0,79,0.00,0.00,-60.08,0.000,16390,0.000,0.000,129,2459,3177,3202,3153,0,0,0,0,0,0,28.83,28.83,14.99
$GC,81,-0.74,-136.3,129,2459,3202,3153,4.0,-7.7,7,100,8.70,2.30,0.00,0.000,2564,0.529,0.044,2557,1025,3178,3204,3153,0,0,0,0,0,0,14.54,14.78,28.83
$GC,109,-0.74,-136.3,2556,1025,3204,3153,18.0,-38.5,10,118,0.00,2.45,0.00,0.000,1030,0.000,0.067,2549,2457,3178,3205,3152,0,0,0,0,0,0,28.83,14.75,28.83
$GC,439,-0.74,-136.3,2549,2457,3206,3153,101.6,-24.1,59,445,0.00,2.38,0.00,0.000,260,0.000,0.083,2549,3881,3179,3206,3153,0,0,0,0,0,0,28.83,14.83,28.83
$GC,456,-0.74,-136.3,2549,3881,3206,3153,105.6,-23.8,61,462,0.00,2.33,0.00,0.000,1030,0.000,0.056,2549,2449,3179,3206,3153,0,0,0,0,0,0,28.83,14.87,28.83
$GC,746,-0.74,-136.3,2549,2447,3207,3152,164.4,-19.4,103,755,0.00,2.25,0.00,0.000,516,0.000,0.062,2549,1041,3179,3207,3152,0,0,0,0,0,0,28.83,14.88,28.83
$GC,759,-0.74,-136.3,2549,1041,3207,3152,166.3,-19.3,104,767,0.00,2.40,0.00,0.000,1030,0.000,0.067,2549,2458,3179,3207,3152,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1036,-0.74,-136.3,2549,2458,3208,3153,211.9,-15.0,126,1041,0.00,2.35,0.00,0.000,260,0.000,0.087,2549,3877,3181,3209,3153,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1145,-0.74,-136.3,2549,3877,3209,3152,223.3,-14.8,128,1152,0.00,2.33,0.00,0.000,1030,0.000,0.052,2549,2454,3181,3209,3153,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1392,-0.74,-136.3,2549,2453,3209,3152,262.6,-13.7,135,1396,0.00,2.25,0.00,0.000,516,0.000,0.064,2549,1051,3181,3209,3153,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1456,-0.74,-136.3,2549,1051,3209,3150,267.5,-13.5,136,1460,0.00,2.38,0.00,0.000,1030,0.000,0.069,2549,2487,3180,3209,3152,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1708,-0.74,-136.3,2549,2487,3209,3153,304.8,-13.5,143,1712,0.00,2.30,0.00,0.000,260,0.000,0.089,2549,3878,3180,3208,3152,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1791,-0.74,-136.3,2549,3878,3209,3152,315.0,-13.4,145,1796,0.00,2.30,0.00,0.000,1030,0.000,0.052,2549,2462,3180,3209,3152,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2063,-0.74,-136.3,2549,2459,3209,3150,351.1,-13.1,152,2068,0.00,2.28,0.00,0.000,516,0.000,0.065,2549,1050,3179,3209,3150,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2102,-0.74,-136.3,1664,1049,3189,3146,355.6,-13.2,153,2106,0.00,2.38,0.00,0.000,1030,0.000,0.070,2549,2456,3179,3209,3149,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2379,-0.74,-136.3,2548,2457,3209,3147,390.5,-12.9,160,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2457,3178,3209,3147,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2458,begin apogee
$GC,2462,-0.15,0.0,2549,2323,3209,3146,400.8,-12.6,162,2573,0.57,0.00,108.45,2.304,10246,0.314,0.000,2749,2321,2620,2698,2542,0,0,0,0,0,0,14.94,28.83,13.52
$STATE,2574,end apogee,CONTROL_FINISHED_OK
$STATE,2574,begin climb
$GC,2576,0.74,136.3,2749,2321,2698,2543,403.4,0.0,164,2700,0.75,2.42,111.57,2.365,10756,0.190,0.069,3047,971,2063,2148,1979,0,0,0,0,0,0,14.22,14.15,13.39
$GC,2745,0.76,153.5,3047,971,2148,1975,390.7,9.2,169,2766,0.00,2.38,15.32,2.223,9222,0.000,0.064,3047,2352,1993,2088,1899,0,0,0,0,0,0,28.83,14.44,13.58
$GC,3017,0.76,153.5,3047,2353,2088,1893,345.5,16.8,176,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2353,1990,2088,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,0.76,153.5,3047,2353,2088,1890,307.2,15.9,182,3261,0.00,2.30,0.00,0.000,516,0.000,0.068,3058,967,1988,2088,1889,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3321,0.76,153.5,3058,967,2088,1886,301.6,15.8,183,3325,0.00,2.35,0.00,0.000,1030,0.000,0.066,3058,2351,1987,2088,1886,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3573,0.76,153.5,3058,2351,2088,1885,259.5,14.6,190,3577,0.00,2.35,0.00,0.000,260,0.000,0.084,3058,3760,1986,2088,1885,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3631,0.76,153.5,3058,3760,2086,1886,253.6,14.8,191,3637,0.05,2.30,0.00,0.000,5126,0.472,0.060,3053,2377,1986,2087,1885,0,0,0,0,0,0,14.78,14.95,28.83
$GC,3889,0.76,153.5,3052,2375,2087,1883,216.2,12.3,198,3893,0.00,2.35,0.00,0.000,516,0.000,0.070,3063,935,1985,2088,1883,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3967,0.76,153.5,3063,934,2087,1881,205.7,13.4,200,3972,0.05,2.40,0.00,0.000,5126,0.528,0.067,3050,2383,1984,2088,1880,0,0,0,0,0,0,14.84,14.99,28.83
$GC,4215,0.76,153.5,3050,2383,2088,1881,174.3,12.0,219,4227,0.00,2.30,0.00,0.000,260,0.000,0.086,3050,3767,1984,2088,1881,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4295,0.76,153.5,3050,3768,2088,1881,164.2,13.3,226,4304,0.03,2.35,0.00,0.000,5126,0.521,0.059,3053,2345,1984,2088,1881,0,0,0,0,0,0,14.79,14.98,28.83
$GC,4569,0.78,171.2,3053,2344,2087,1880,137.2,9.2,262,4585,0.00,2.40,9.93,1.879,8452,0.000,0.083,3053,3763,1920,2025,1815,0,0,0,0,0,0,28.83,14.86,14.15
$GC,4660,0.78,171.2,3053,3763,2025,1815,126.5,13.0,276,4670,0.00,2.35,0.00,0.000,1030,0.000,0.060,3063,2356,1920,2025,1815,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4969,0.80,182.2,3064,2355,2025,1814,91.9,9.5,325,4984,0.00,2.38,5.93,1.353,8708,0.000,0.069,3074,945,1876,1984,1768,0,0,0,0,0,0,28.83,14.85,14.21
$GC,5089,0.81,194.9,3073,945,1984,1768,80.8,9.4,344,5105,0.00,2.38,7.18,1.319,9222,0.000,0.065,3073,2346,1824,1932,1717,0,0,0,0,0,0,28.83,14.88,14.23
$GC,5432,0.81,194.9,3074,2346,1931,1716,43.2,12.0,394,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2346,1823,1931,1716,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5752,end climb,SURFACE_DEPTH_REACHED
$STATE,5752,begin surface coast
$FINISH,0.1,1.012063
$STATE,5788,end surface coast,CONTROL_FINISHED_OK
$STATE,5788,begin surface
$SM_CCo,5801,81.62,0.842,0,0,1150,360.09
$SM_GC,1.17,6.88,0.20,81.62,0.107,0.113,0.842,133,2471,1150,-8.23,-0.57,360.09,0,0,0,0,0,0,14.90,14.90,14.26
$IRIDIUM_FIX,2239.35,-15801.49,241109,232329
$TT8_MAMPS,0.017976,0.017976
$HUMID,40.27
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,13.4,19.567
$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,17.025,66.025,258.375,81.625,0.000,28.478,49.144,120.718,0.500,0.000,8.280,1156.973,2708.323,403.111,1853.982,53.141,33.241,957.753,0.000,1101.103,0.000,0.550,0.000
$DEVICE_MAMPS,528.615,113.220,2365.380,842.265,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,299.265,288.805,505.372,525.998,1088.459,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353192
$DATA_FILE_SIZE,40501,445
$CAP_FILE_SIZE,69437,0
$CFSIZE,2097086464,2091024384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280117,112801,2248.746,-15800.453,39,0.8,39,9.8