version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 47
start: 1 29 117 11 38 52
data:
$ID,626
$MISSION,1
$DIVE,47
$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,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,-129804.35
$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,33
$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,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
$GPS1,290117,113306,2245.727,-15759.924,11,1.2,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.7
$GPS2,290117,113757,2245.680,-15759.965,9,1.4,10,9.8
$SPEED_LIMITS,0.144,0.237
$TGT_NAME,T1
$TGT_LATLONG,2250.000,-15801.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,0.158
$KALMAN_X,-58191.8,414.4,343.9,61164.9,-2724.1
$KALMAN_Y,-637.0,-1008.1,-65.2,10202.4,1623.7
$MHEAD_RNG_PITCHd_Wd,38.4,8419,-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,14,begin dive
$GC,15,-0.66,-136.3,128,2512,1150,1085,0.0,0.0,0,79,0.00,0.00,-60.67,0.000,16390,0.000,0.000,128,2512,3157,3182,3132,0,0,0,0,0,0,28.83,28.83,14.99
$GC,81,-0.66,-136.3,128,2512,3182,3132,3.3,-5.3,7,100,8.85,2.38,0.00,0.000,2564,0.535,0.055,2575,1085,3158,3184,3132,0,0,0,0,0,0,14.50,14.76,28.83
$GC,149,-0.66,-136.3,2575,1085,3184,3132,27.9,-25.4,16,159,0.00,2.42,0.00,0.000,1030,0.000,0.073,2575,2489,3158,3184,3132,0,0,0,0,0,0,28.83,14.75,28.83
$GC,476,-0.66,-136.3,2575,2488,3186,3132,98.5,-18.4,65,483,0.00,2.33,0.00,0.000,516,0.000,0.065,2575,1082,3159,3186,3132,0,0,0,0,0,0,28.83,14.87,28.83
$GC,529,-0.66,-136.3,2575,1081,3186,3131,107.7,-17.2,73,536,0.00,2.38,0.00,0.000,1030,0.000,0.070,2575,2502,3159,3186,3132,0,0,0,0,0,0,28.83,14.85,28.83
$GC,828,-0.66,-136.3,2575,2502,3188,3131,156.6,-15.0,118,836,0.00,2.30,0.00,0.000,516,0.000,0.062,2575,1088,3159,3187,3131,0,0,0,0,0,0,28.83,14.87,28.83
$GC,880,-0.66,-136.3,2575,1088,3187,3132,165.4,-16.2,123,884,0.00,2.35,0.00,0.000,1030,0.000,0.070,2575,2500,3159,3188,3131,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1126,-0.66,-136.3,2575,2500,3188,3132,199.6,-12.8,147,1138,0.00,2.35,0.00,0.000,260,0.000,0.092,2575,3909,3160,3189,3132,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1250,-0.66,-136.3,2575,3909,3189,3131,216.3,-13.4,151,1254,0.00,2.28,0.00,0.000,1030,0.000,0.051,2575,2499,3160,3189,3132,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1525,-0.66,-136.3,2575,2499,3188,3132,252.0,-12.4,158,1529,0.00,2.28,0.00,0.000,516,0.000,0.067,2575,1088,3160,3189,3132,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1569,-0.66,-136.3,2575,1087,3188,3131,256.0,-11.9,159,1573,0.00,2.38,0.00,0.000,1030,0.000,0.072,2575,2512,3160,3189,3131,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1841,-0.66,-136.3,2575,2512,3189,3131,285.2,-10.4,166,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2512,3159,3188,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2081,-0.66,-136.3,2575,2512,3188,3130,312.3,-11.6,172,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2512,3159,3188,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2321,-0.66,-136.3,2575,2512,3188,3128,342.0,-12.3,178,2325,0.00,2.33,0.00,0.000,516,0.000,0.068,2575,1088,3158,3188,3128,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2410,-0.66,-136.3,2575,1089,3188,3127,351.3,-12.4,180,2414,0.00,2.40,0.00,0.000,1030,0.000,0.073,2575,2527,3157,3188,3127,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2677,-0.66,-136.3,2575,2526,3188,3125,383.3,-11.2,187,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2526,3156,3188,3124,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2836,begin apogee
$GC,2840,-0.15,0.0,2575,2294,3187,3121,400.6,-10.9,191,2951,0.50,0.00,108.03,2.307,10246,0.309,0.000,2750,2292,2600,2678,2522,0,0,0,0,0,0,14.94,28.83,13.54
$STATE,2952,end apogee,CONTROL_FINISHED_OK
$STATE,2952,begin climb
$GC,2953,0.66,136.3,2750,2292,2679,2522,403.0,0.0,193,3071,0.68,2.42,109.68,2.231,10756,0.195,0.073,3020,912,2043,2132,1954,0,0,0,0,0,0,14.23,14.18,13.48
$GC,3126,0.66,136.3,3020,912,2132,1949,390.4,9.1,197,3130,0.00,2.45,0.00,0.000,1030,0.000,0.065,3020,2309,2040,2132,1949,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3393,0.66,136.3,3020,2309,2131,1943,352.2,13.4,204,3397,0.00,2.40,0.00,0.000,260,0.000,0.083,3020,3728,2037,2132,1943,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3532,0.66,136.3,3020,3729,2131,1943,334.3,15.1,207,3537,0.08,2.30,0.00,0.000,5126,0.517,0.059,3017,2327,2037,2131,1943,0,0,0,0,0,0,14.67,14.85,28.83
$GC,3784,0.66,136.3,3017,2325,2131,1939,298.1,12.5,214,3788,0.00,2.38,0.00,0.000,516,0.000,0.073,3027,892,2035,2131,1940,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3837,0.66,136.3,3027,891,2132,1937,293.8,12.3,215,3843,0.03,2.40,0.00,0.000,5126,0.470,0.066,3019,2305,2034,2131,1937,0,0,0,0,0,0,14.76,14.92,28.83
$GC,4100,0.66,136.3,3018,2305,2131,1936,258.4,12.8,222,4104,0.00,2.38,0.00,0.000,260,0.000,0.085,3019,3725,2033,2131,1936,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4203,0.66,136.3,3019,3726,2131,1937,247.9,13.1,224,4208,0.03,2.35,0.00,0.000,5126,0.518,0.060,3020,2309,2033,2131,1936,0,0,0,0,0,0,14.79,14.98,28.83
$GC,4456,0.66,136.3,3021,2306,2131,1933,215.0,11.1,231,4460,0.00,2.38,0.00,0.000,260,0.000,0.086,3020,3719,2032,2131,1933,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4544,0.66,136.3,3020,3719,2131,1934,206.9,10.5,233,4549,0.05,2.35,0.00,0.000,5126,0.440,0.060,3005,2301,2031,2131,1932,0,0,0,0,0,0,14.84,15.02,28.83
$GC,4795,0.66,136.3,3005,2299,2131,1932,184.2,8.8,253,4803,0.00,2.28,0.00,0.000,516,0.000,0.073,3012,905,2031,2131,1931,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4818,0.66,136.3,3013,905,2131,1931,182.1,8.8,255,4828,0.00,2.38,0.00,0.000,1030,0.000,0.068,3013,2306,2031,2131,1931,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5068,0.66,136.3,3013,2306,2131,1931,158.1,8.4,280,5077,0.00,2.35,0.00,0.000,260,0.000,0.087,3013,3717,2031,2131,1931,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5165,0.66,136.3,3013,3717,2132,1932,148.7,9.6,290,5175,0.00,2.33,0.00,0.000,1030,0.000,0.059,3023,2311,2031,2131,1931,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5474,0.67,149.9,3023,2311,2131,1931,123.7,7.8,339,5490,0.00,2.38,6.35,1.668,8708,0.000,0.070,3033,898,1987,2089,1886,0,0,0,0,0,0,28.83,14.89,14.17
$GC,5666,0.67,149.9,3033,898,2088,1884,106.7,9.9,369,5673,0.05,2.35,0.00,0.000,5126,0.516,0.066,3022,2312,1986,2088,1884,0,0,0,0,0,0,14.75,14.90,28.83
$GC,5971,0.76,221.0,3022,2312,2088,1885,83.0,5.4,418,6024,0.08,2.45,39.40,1.542,10756,0.304,0.070,3075,899,1697,1803,1591,0,0,0,0,0,0,14.87,14.57,14.08
$GC,6168,0.76,221.0,3075,899,1802,1583,59.9,15.5,446,6178,0.08,2.42,0.00,0.000,5126,0.363,0.066,3048,2311,1692,1802,1583,0,0,0,0,0,0,14.59,14.72,28.83
$GC,6505,0.76,221.0,3049,2311,1802,1583,14.5,14.3,495,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2311,1692,1802,1582,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6584,end climb,SURFACE_DEPTH_REACHED
$STATE,6584,begin surface coast
$FINISH,0.1,1.011806
$STATE,6607,end surface coast,CONTROL_FINISHED_OK
$STATE,6607,begin surface
$SM_CCo,6620,68.32,0.862,0,0,1130,360.09
$SM_GC,1.08,6.75,0.32,68.32,0.090,0.091,0.862,127,2512,1130,-8.24,-0.59,360.09,0,0,0,0,0,0,14.87,14.85,14.26
$IRIDIUM_FIX,2237.01,-15802.37,261109,010129
$TT8_MAMPS,0.018725,0.018725
$HUMID,41.17
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,13.5,22.827
$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,17.150,71.550,263.450,68.325,0.000,30.304,49.877,125.372,0.250,0.000,11.092,1307.344,3171.170,391.409,2057.604,61.148,33.233,1026.829,0.000,1259.728,0.000,0.550,0.000
$DEVICE_MAMPS,534.735,91.800,2307.240,862.155,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,342.592,333.882,579.128,566.811,1172.894,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353056
$DATA_FILE_SIZE,47311,509
$CAP_FILE_SIZE,76650,0
$CFSIZE,2097086464,2089746432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290117,133122,2246.015,-15759.898,27,1.6,27,9.8