version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 133
start: 2 8 117 4 41 38
data:
$ID,626
$MISSION,1
$DIVE,133
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,750
$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,235
$T_MISSION,500
$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,130
$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,0
$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,1
$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,-130244.8
$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,44
$R_STBD_OVSHOOT,26
$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
$GPS1,080217,043524,2250.632,-15803.758,51,0.9,51,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.3
$GPS2,080217,044043,2250.697,-15803.795,8,1.1,8,9.8
$SPEED_LIMITS,0.213,0.243
$TGT_NAME,T3
$TGT_LATLONG,2252.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,-0.152
$KALMAN_X,-91912.0,-253.2,-24.0,89392.6,-2100.6
$KALMAN_Y,175449.7,-1228.9,50.3,-156478.4,4182.1
$MHEAD_RNG_PITCHd_Wd,125.8,2439,-22.5,-9.929,-25.00,1474
$D_GRID,700
$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,-0.80,-95.4,115,2490,1149,1086,0.0,0.0,0,78,0.00,0.00,-55.88,0.000,16390,0.000,0.000,115,2490,2989,3015,2963,0,0,0,0,0,0,28.83,28.83,14.92
$GC,81,-0.84,-126.5,115,2490,3016,2963,3.8,-7.2,7,100,8.57,2.33,-2.03,0.000,18948,0.509,0.067,2522,1089,3117,3151,3084,0,0,0,0,0,0,14.45,14.69,14.82
$GC,212,-0.84,-126.5,2522,1089,3151,3084,45.2,-22.4,25,222,0.00,2.40,0.00,0.000,1030,0.000,0.054,2521,2497,3117,3151,3084,0,0,0,0,0,0,28.83,14.71,28.83
$GC,529,-0.84,-126.5,2521,2497,3153,3084,127.6,-23.9,74,539,0.00,2.40,0.00,0.000,260,0.000,0.072,2522,3908,3118,3152,3084,0,0,0,0,0,0,28.83,14.73,28.83
$GC,616,-0.84,-126.5,2521,3908,3153,3085,147.7,-23.7,87,623,0.00,2.28,0.00,0.000,1030,0.000,0.049,2522,2505,3118,3153,3084,0,0,0,0,0,0,28.83,14.83,28.83
$GC,870,-0.84,-126.5,2521,2503,3153,3084,199.7,-20.3,113,879,0.00,2.30,0.00,0.000,516,0.000,0.054,2521,1081,3119,3154,3084,0,0,0,0,0,0,28.83,14.87,28.83
$GC,888,-0.84,-126.5,2521,1081,3153,3084,201.4,-20.0,114,893,0.00,2.35,0.00,0.000,1030,0.000,0.053,2521,2509,3118,3153,3084,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1150,-0.84,-126.5,2521,2509,3156,3084,251.0,-16.8,121,1155,0.00,2.33,0.00,0.000,260,0.000,0.078,2522,3912,3120,3156,3084,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1186,-0.84,-126.5,2522,3912,3156,3084,256.6,-16.4,122,1191,0.00,2.25,0.00,0.000,1030,0.000,0.042,2522,2492,3120,3156,3084,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1462,-0.84,-126.5,2521,2490,3157,3084,302.1,-16.8,129,1466,0.00,2.38,0.00,0.000,260,0.000,0.076,2521,3911,3120,3157,3084,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1698,-0.84,-126.5,2522,3911,3157,3084,338.7,-15.3,135,1702,0.00,2.25,0.00,0.000,1030,0.000,0.042,2521,2491,3120,3157,3084,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1974,-0.84,-126.5,2521,2490,3156,3084,380.0,-14.8,142,1978,0.00,2.38,0.00,0.000,260,0.000,0.078,2521,3908,3120,3157,3084,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2090,-0.84,-126.5,2521,3908,3156,3084,396.3,-14.0,145,2094,0.00,2.25,0.00,0.000,1030,0.000,0.044,2521,2491,3120,3156,3084,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2366,-0.84,-126.5,2521,2490,3157,3082,435.9,-14.4,152,2370,0.00,2.25,0.00,0.000,516,0.000,0.054,2521,1089,3119,3156,3082,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2425,-0.84,-126.5,2521,1089,3155,3082,441.0,-14.4,153,2429,0.00,2.33,0.00,0.000,1030,0.000,0.057,2521,2500,3118,3156,3081,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2682,-0.84,-126.5,2521,2500,3156,3079,478.9,-13.4,160,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2500,3117,3156,3079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,-0.84,-126.5,2521,2500,3156,3076,509.6,-12.8,166,2926,0.00,2.33,0.00,0.000,260,0.000,0.082,2521,3905,3115,3156,3075,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3016,-0.84,-126.5,2522,3905,3156,3074,520.3,-13.6,168,3020,0.00,2.25,0.00,0.000,1030,0.000,0.044,2521,2498,3115,3156,3074,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3278,-0.84,-126.5,2521,2496,3156,3070,560.1,-14.5,175,3282,0.00,2.38,0.00,0.000,260,0.000,0.082,2521,3906,3113,3156,3070,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3313,-0.84,-126.5,2521,3906,3156,3070,565.5,-14.7,176,3318,0.00,2.25,0.00,0.000,1030,0.000,0.047,2521,2500,3113,3156,3070,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3589,-0.84,-126.5,2521,2498,3156,3066,604.1,-14.0,183,3594,0.00,2.38,0.00,0.000,260,0.000,0.083,2521,3905,3111,3156,3066,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3638,-0.84,-126.5,2521,3905,3156,3066,609.0,-13.9,184,3642,0.00,2.25,0.00,0.000,1030,0.000,0.047,2521,2500,3111,3156,3066,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3905,-0.84,-126.5,2522,2498,3156,3061,643.8,-12.1,191,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2498,3108,3156,3061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4145,-0.84,-126.5,2522,2498,3156,3058,673.0,-12.2,197,4150,0.00,2.40,0.00,0.000,260,0.000,0.084,2521,3906,3107,3156,3058,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4174,-0.84,-126.5,2522,3906,3156,3057,673.0,-12.2,197,4181,0.00,2.28,0.00,0.000,1030,0.000,0.048,2521,2498,3106,3156,3056,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,4380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4380,begin apogee
$GC,4384,-0.15,0.0,2522,2290,3156,3055,703.9,-13.2,203,4493,0.68,0.00,105.70,2.818,10246,0.317,0.000,2752,2289,2600,2677,2523,0,0,0,0,0,0,14.78,28.83,13.35
$STATE,4494,end apogee,CONTROL_FINISHED_OK
$STATE,4494,begin climb
$GC,4496,0.84,126.5,2752,2289,2677,2523,707.1,0.0,205,4615,0.82,2.45,110.82,2.795,10756,0.191,0.066,3076,913,2084,2164,2004,0,0,0,0,0,0,14.13,14.04,13.24
$GC,4640,0.84,126.5,3076,913,2162,1999,698.2,8.7,209,4644,0.00,2.47,0.00,0.000,1030,0.000,0.057,3076,2316,2080,2162,1998,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4904,0.84,126.5,3076,2316,2162,1991,648.9,17.8,216,4909,0.00,2.38,0.00,0.000,260,0.000,0.076,3075,3713,2076,2162,1991,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5075,0.84,126.5,3076,3714,2162,1991,616.7,20.2,220,5080,0.05,2.30,0.00,0.000,5126,0.599,0.054,3077,2334,2076,2162,1991,0,0,0,0,0,0,14.52,14.76,28.83
$GC,5342,0.84,126.5,3077,2333,2162,1985,564.4,18.2,227,5346,0.00,2.38,0.00,0.000,260,0.000,0.074,3077,3731,2073,2162,1985,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5380,0.84,126.5,2184,3730,2119,1980,557.4,18.5,228,5386,0.05,2.40,0.00,0.000,5126,0.490,0.053,3072,2299,2074,2162,1986,0,0,0,0,0,0,14.60,14.84,28.83
$GC,5658,0.84,126.5,3073,2298,2162,1982,507.9,17.7,235,5662,0.00,2.42,0.00,0.000,260,0.000,0.076,3073,3721,2072,2162,1982,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5837,0.84,126.5,3073,3720,2162,1982,480.8,17.4,239,5841,0.00,2.33,0.00,0.000,1030,0.000,0.053,3083,2296,2072,2162,1983,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6094,0.84,126.5,3083,2294,2162,1979,438.1,15.3,246,6098,0.00,2.30,0.00,0.000,516,0.000,0.066,3094,903,2070,2162,1979,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6148,0.84,126.5,3094,902,2162,1976,432.5,15.4,247,6153,0.10,2.35,0.00,0.000,5126,0.493,0.057,3071,2315,2068,2162,1975,0,0,0,0,0,0,14.67,14.92,28.83
$GC,6410,0.84,126.5,3070,2315,2162,1976,390.4,14.7,254,6414,0.00,2.35,0.00,0.000,516,0.000,0.063,3081,899,2069,2162,1976,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6424,0.84,126.5,3081,897,2161,1975,390.4,14.7,254,6428,0.00,2.35,0.00,0.000,1030,0.000,0.059,3081,2312,2068,2161,1975,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6686,0.84,126.5,3081,2312,2162,1974,350.8,13.9,261,6690,0.00,2.35,0.00,0.000,260,0.000,0.076,3081,3716,2068,2162,1975,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6802,0.84,126.5,3081,3717,2162,1976,331.8,16.0,264,6807,0.10,2.30,0.00,0.000,5126,0.531,0.054,3070,2302,2068,2162,1975,0,0,0,0,0,0,14.66,14.97,28.83
$GC,7079,0.84,126.5,3070,2301,2162,1975,294.7,12.6,271,7083,0.00,2.40,0.00,0.000,260,0.000,0.076,3070,3725,2068,2161,1975,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7093,0.84,126.5,3070,3725,2162,1975,294.7,12.6,271,7097,0.00,2.30,0.00,0.000,1030,0.000,0.053,3080,2307,2068,2162,1975,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7355,0.84,126.5,3081,2306,2162,1975,265.2,9.9,278,7359,0.00,2.40,0.00,0.000,260,0.000,0.078,3081,3726,2068,2162,1975,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7609,0.84,126.5,3081,3726,2162,1975,236.1,12.6,284,7614,0.10,2.30,0.00,0.000,5126,0.515,0.050,3069,2306,2068,2162,1975,0,0,0,0,0,0,14.67,14.97,28.83
$GC,7871,0.87,149.4,3069,2304,2161,1975,212.0,8.3,291,7893,0.00,2.45,16.95,2.066,8452,0.000,0.075,3069,3716,1990,2086,1894,0,0,0,0,0,0,28.83,14.82,14.13
$GC,8071,0.87,149.4,3069,3716,2086,1894,190.5,12.3,301,8078,0.00,2.35,0.00,0.000,1030,0.000,0.050,3079,2306,1989,2085,1893,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8319,0.89,165.4,3079,2306,2086,1893,164.4,8.8,326,8341,0.00,0.00,14.65,1.954,8198,0.000,0.000,3079,2306,1923,2025,1822,0,0,0,0,0,0,28.83,28.83,14.04
$GC,8608,0.91,188.3,3079,2306,2025,1821,138.3,8.3,364,8632,0.00,2.38,15.32,1.920,8708,0.000,0.061,3090,914,1831,1937,1726,0,0,0,0,0,0,28.83,14.66,13.97
$GC,8748,0.91,188.3,3090,914,1936,1721,123.5,12.5,385,8755,0.00,2.35,0.00,0.000,1030,0.000,0.054,3090,2318,1829,1937,1721,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9052,0.91,188.3,3090,2318,1936,1721,85.9,12.3,434,9062,0.00,2.40,0.00,0.000,260,0.000,0.074,3090,3713,1829,1937,1722,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9189,0.91,188.3,3090,3713,1937,1725,66.8,14.3,454,9198,0.00,2.33,0.00,0.000,1030,0.000,0.048,3100,2313,1831,1937,1725,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9526,0.93,203.7,3100,2314,1937,1726,26.2,8.9,503,9545,0.00,2.42,8.43,0.995,8452,0.000,0.070,3100,3713,1766,1879,1654,0,0,0,0,0,0,28.83,14.72,14.28
$GC,9622,0.93,203.7,3100,3713,1879,1655,13.1,16.0,516,9631,0.00,2.35,0.00,0.000,1030,0.000,0.052,3109,2310,1766,1879,1654,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,9688,end climb,SURFACE_DEPTH_REACHED
$STATE,9688,begin surface coast
$FINISH,0.1,1.020415
$STATE,9718,end surface coast,CONTROL_FINISHED_OK
$STATE,9718,begin surface
$SM_CCo,9732,77.40,0.852,0,0,1130,360.09
$SM_GC,1.07,6.88,0.35,77.40,0.081,0.086,0.852,126,2521,1130,-8.23,-0.59,360.09,0,0,0,0,0,0,14.81,14.80,14.17
$IRIDIUM_FIX,2241.69,-15801.49,051209,181853
$TT8_MAMPS,0.018725,0.018725
$HUMID,41.14
$INTERNAL_PRESSURE,7.25614
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,13.2,48.493
$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,17.350,113.125,271.875,77.400,0.000,29.097,50.775,151.180,0.250,0.000,9.289,1479.728,5844.176,425.878,2300.610,86.201,33.254,1231.691,0.000,1543.632,0.000,0.550,0.000
$DEVICE_MAMPS,598.995,85.680,2818.260,852.210,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,356.331,292.410,507.842,493.790,1021.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352964
$DATA_FILE_SIZE,47207,529
$CAP_FILE_SIZE,104263,0
$CFSIZE,2097086464,2081161216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080217,072601,2251.007,-15803.301,18,1.4,18,9.8