version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 81
start: 2 1 117 19 40 46
data:
$ID,626
$MISSION,1
$DIVE,81
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,550
$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,300
$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,150
$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,-129954.52
$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,37
$R_STBD_OVSHOOT,33
$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
$GPS1,010217,193449,2250.864,-15805.491,13,1.7,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.9
$GPS2,010217,193950,2250.968,-15805.523,10,1.8,12,9.8
$SPEED_LIMITS,0.193,0.251
$TGT_NAME,T3
$TGT_LATLONG,2252.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.169,-0.112
$KALMAN_X,-55895.8,-648.9,-505.7,51315.2,1084.3
$KALMAN_Y,46280.3,-594.3,-44.6,-27348.0,2894.6
$MHEAD_RNG_PITCHd_Wd,113.8,3227,-21.3,-9.009,-23.94,1555
$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,-0.76,-91.4,128,2522,1150,1086,0.0,0.0,0,78,0.00,0.00,-54.72,0.000,16390,0.000,0.000,128,2522,2972,3000,2944,0,0,0,0,0,0,28.83,28.83,14.93
$GC,80,-0.78,-108.6,128,2522,3000,2944,4.2,-7.9,7,100,8.68,2.40,-1.12,0.000,18948,0.522,0.072,2543,1085,3043,3076,3011,0,0,0,0,0,0,14.47,14.69,14.81
$GC,144,-0.78,-108.6,2543,1085,3077,3011,28.1,-29.3,15,154,0.00,2.42,0.00,0.000,1030,0.000,0.070,2543,2486,3044,3077,3011,0,0,0,0,0,0,28.83,14.69,28.83
$GC,467,-0.78,-108.6,2543,2486,3077,3011,110.4,-22.5,64,476,0.00,2.42,0.00,0.000,260,0.000,0.076,2535,3911,3044,3077,3011,0,0,0,0,0,0,28.83,14.75,28.83
$GC,532,-0.78,-108.6,2535,3911,3077,3011,124.6,-20.2,74,541,0.00,2.33,0.00,0.000,1030,0.000,0.049,2535,2504,3044,3077,3011,0,0,0,0,0,0,28.83,14.79,28.83
$GC,813,-0.78,-108.6,2535,2502,3079,3011,176.3,-14.5,109,821,0.00,2.30,0.00,0.000,2564,0.000,0.063,2535,1088,3045,3079,3011,0,0,0,0,0,0,28.83,14.83,28.83
$GC,833,-0.78,-108.6,2536,1088,3079,3011,179.7,-13.9,111,837,0.00,2.38,0.00,0.000,3078,0.000,0.069,2535,2509,3045,3079,3011,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1088,-0.78,-108.6,2535,2510,3080,3011,218.4,-14.8,127,1089,0.00,0.00,0.00,0.000,2054,0.000,0.000,2535,2509,3045,3080,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1328,-0.78,-108.6,2535,2509,3081,3011,254.6,-15.4,133,1332,0.00,2.35,0.00,0.000,2564,0.000,0.062,2535,1079,3046,3081,3011,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1341,-0.78,-108.6,2535,1077,3081,3011,254.6,-15.4,133,1346,0.00,2.38,0.00,0.000,3078,0.000,0.070,2535,2502,3046,3081,3011,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1603,-0.78,-108.6,2535,2502,3081,3011,293.4,-14.3,140,1608,0.00,2.35,0.00,0.000,2308,0.000,0.083,2535,3915,3046,3081,3011,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1662,-0.78,-108.6,2535,3915,3081,3011,298.6,-14.5,141,1667,0.00,2.28,0.00,0.000,3078,0.000,0.052,2535,2502,3046,3081,3011,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1919,-0.78,-108.6,2535,2501,3081,3011,337.2,-13.4,148,1923,0.00,2.38,0.00,0.000,2308,0.000,0.088,2535,3912,3045,3080,3011,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1995,-0.78,-108.6,2535,3912,3081,3011,347.4,-13.2,150,1999,0.00,2.28,0.00,0.000,3078,0.000,0.051,2534,2493,3045,3080,3011,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2271,-0.78,-108.6,2535,2493,3081,3010,381.8,-12.3,157,2275,0.00,2.28,0.00,0.000,2564,0.000,0.065,2535,1087,3045,3081,3009,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2315,-0.78,-108.6,2534,1086,3080,3009,386.5,-12.5,158,2319,0.00,2.35,0.00,0.000,3078,0.000,0.070,2535,2499,3044,3081,3008,0,0,0,0,0,0,28.83,15.01,28.83
$STATE,2425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2425,begin apogee
$GC,2429,-0.15,0.0,2534,2273,3081,3007,402.8,-13.4,161,2521,0.62,0.10,86.93,2.316,10246,0.317,0.157,2750,2325,2600,2677,2524,0,0,0,0,0,0,14.88,14.26,13.58
$STATE,2522,end apogee,CONTROL_FINISHED_OK
$STATE,2522,begin climb
$GC,2523,0.78,108.6,2750,2325,2677,2524,406.1,0.0,163,2617,0.80,0.00,90.78,2.368,10246,0.190,0.000,3052,2326,2157,2234,2080,0,0,0,0,0,0,14.26,28.83,13.40
$GC,2828,0.78,108.6,3052,2326,2234,2072,374.2,13.1,171,2834,0.00,2.35,0.00,0.000,516,0.000,0.069,3062,923,2152,2233,2072,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2910,0.78,108.6,3062,925,2234,2069,363.4,13.4,173,2914,0.00,2.33,0.00,0.000,1030,0.000,0.062,3062,2305,2151,2233,2069,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3187,0.78,108.6,3063,2305,2233,2067,330.0,11.4,180,3191,0.00,2.38,0.00,0.000,260,0.000,0.078,3063,3726,2150,2234,2067,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3263,0.78,108.6,3063,3726,2233,2068,320.5,11.6,182,3268,0.10,2.28,0.00,0.000,5126,0.486,0.056,3050,2337,2150,2233,2068,0,0,0,0,0,0,14.69,14.88,28.83
$GC,3539,0.78,108.6,3050,2335,2233,2064,290.1,11.3,189,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2335,2148,2233,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3779,0.78,108.6,3050,2335,2233,2063,262.1,11.9,195,3783,0.00,2.33,0.00,0.000,260,0.000,0.080,3051,3720,2148,2233,2063,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3815,0.78,108.6,3050,3720,2233,2063,257.5,12.2,196,3819,0.00,2.33,0.00,0.000,1030,0.000,0.060,3061,2299,2148,2233,2064,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4091,0.78,111.8,3060,2297,2233,2062,231.2,8.8,203,4097,0.00,2.42,0.00,0.000,260,0.000,0.083,3060,3729,2147,2233,2062,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4131,0.78,111.8,3061,3729,2233,2062,227.1,9.1,204,4136,0.08,2.33,0.00,0.000,5126,0.536,0.060,3057,2301,2147,2233,2062,0,0,0,0,0,0,14.78,15.00,28.83
$GC,4408,0.78,111.8,3057,2300,2233,2060,200.7,9.4,211,4412,0.00,2.28,0.00,0.000,516,0.000,0.067,3067,904,2146,2233,2060,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4680,0.82,142.2,3067,903,2233,2056,180.3,7.0,234,4711,0.00,2.33,25.95,2.123,9222,0.000,0.061,3067,2317,2019,2108,1931,0,0,0,0,0,0,28.83,14.99,14.00
$GC,4952,0.82,142.2,3068,2317,2108,1926,148.5,11.6,262,4961,0.00,2.42,0.00,0.000,260,0.000,0.083,3068,3719,2017,2108,1926,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4992,0.82,142.2,3068,3719,2108,1926,143.5,11.9,268,5002,0.03,2.35,0.00,0.000,5126,0.542,0.060,3071,2323,2017,2109,1926,0,0,0,0,0,0,14.62,14.82,28.83
$GC,5302,0.85,167.8,3070,2322,2108,1926,118.8,7.3,317,5324,0.00,2.42,15.23,1.850,8452,0.000,0.083,3071,3724,1915,2013,1817,0,0,0,0,0,0,28.83,14.71,14.04
$GC,5556,0.85,167.8,3070,3725,2014,1816,90.0,11.1,357,5563,0.00,2.33,0.00,0.000,1030,0.000,0.057,3081,2305,1914,2014,1815,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5886,0.85,167.8,3081,2304,2014,1814,55.9,11.2,406,5896,0.00,2.45,0.00,0.000,260,0.000,0.083,3081,3709,1914,2014,1814,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5953,0.85,167.8,3080,3710,2013,1814,48.2,12.0,415,5963,0.03,2.35,0.00,0.000,5126,0.532,0.057,3083,2305,1914,2014,1814,0,0,0,0,0,0,14.62,14.82,28.83
$GC,6289,0.85,167.8,3083,2305,2013,1814,12.5,10.8,464,6299,0.00,2.35,0.00,0.000,516,0.000,0.065,3093,906,1914,2014,1814,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6310,0.85,167.8,3093,906,2013,1814,10.5,10.7,466,6320,0.05,2.38,0.00,0.000,5126,0.422,0.060,3076,2309,1913,2013,1813,0,0,0,0,0,0,14.66,14.82,28.83
$STATE,6381,end climb,SURFACE_DEPTH_REACHED
$STATE,6381,begin surface coast
$FINISH,0.2,1.023114
$STATE,6417,end surface coast,CONTROL_FINISHED_OK
$STATE,6417,begin surface
$SM_CCo,6431,95.28,0.873,0,0,1130,360.09
$SM_GC,1.09,6.95,0.32,95.28,0.116,0.097,0.873,125,2510,1130,-8.22,-0.68,360.09,0,0,0,0,0,0,14.88,14.86,14.19
$IRIDIUM_FIX,2241.69,-15803.66,291109,090915
$TT8_MAMPS,0.019474,0.019474
$HUMID,38.73
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,23.20
$XPDR_PINGS,3
$24V_AH,13.4,32.133
$10V_AH,13.6,0.000
$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,17.325,76.000,218.875,95.275,0.000,27.788,55.793,128.707,0.750,0.000,12.774,1261.686,3157.239,407.539,1944.214,66.246,33.251,973.484,0.000,1160.155,0.000,0.550,0.000
$DEVICE_MAMPS,541.620,156.825,2367.675,872.865,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,323.327,299.051,542.308,558.191,1155.103,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352976
$DATA_FILE_SIZE,44166,481
$CAP_FILE_SIZE,75377,0
$CFSIZE,2097086464,2086404096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,010217,213031,2251.495,-15804.962,10,0.9,23,9.8