version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 137
start: 2 8 117 16 24 54
data:
$ID,626
$MISSION,1
$DIVE,137
$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,-130249.84
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,080217,161900,2250.601,-15803.053,25,0.8,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.2
$GPS2,080217,162400,2250.678,-15803.096,8,0.8,8,9.8
$SPEED_LIMITS,0.213,0.243
$TGT_NAME,T3
$TGT_LATLONG,2252.000,-15804.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.130,-0.169
$KALMAN_X,-96797.6,827.5,137.8,94218.1,-2601.5
$KALMAN_Y,183682.8,385.8,136.7,-166450.7,3815.8
$MHEAD_RNG_PITCHd_Wd,132.5,2894,-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,-95.4,129,2517,1151,1086,0.0,0.0,0,78,0.00,0.00,-56.20,0.000,16390,0.000,0.000,128,2518,2990,3017,2964,0,0,0,0,0,0,28.83,28.83,14.90
$GC,81,-0.84,-126.5,129,2518,3017,2964,3.6,-5.7,7,100,8.50,2.38,-2.05,0.000,19204,0.503,0.088,2520,3905,3118,3153,3084,0,0,0,0,0,0,14.45,14.66,14.83
$GC,118,-0.84,-126.5,2521,3905,3153,3084,19.1,-40.8,11,128,0.00,2.38,0.00,0.000,1030,0.000,0.057,2520,2505,3118,3153,3084,0,0,0,0,0,0,28.83,14.69,28.83
$GC,442,-0.84,-126.5,2520,2504,3154,3084,111.5,-29.7,60,451,0.00,2.38,0.00,0.000,516,0.000,0.063,2520,1095,3119,3155,3084,0,0,0,0,0,0,28.83,14.74,28.83
$GC,569,-0.84,-126.5,2520,1095,3155,3084,142.6,-22.9,80,579,0.00,2.38,0.00,0.000,1030,0.000,0.057,2520,2490,3119,3155,3084,0,0,0,0,0,0,28.83,14.76,28.83
$GC,824,-0.84,-126.5,2520,2490,3157,3084,196.8,-18.5,107,832,0.00,2.38,0.00,0.000,260,0.000,0.081,2520,3909,3120,3157,3084,0,0,0,0,0,0,28.83,14.82,28.83
$GC,907,-0.84,-126.5,2520,3909,3157,3084,211.6,-17.7,111,911,0.00,2.30,0.00,0.000,1030,0.000,0.050,2520,2490,3120,3157,3084,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1183,-0.84,-126.5,2520,2489,3158,3084,261.6,-17.6,118,1187,0.00,2.40,0.00,0.000,260,0.000,0.080,2520,3913,3120,3158,3083,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1302,-0.84,-126.5,2520,3914,3158,3084,282.6,-18.2,121,1306,0.00,2.28,0.00,0.000,1030,0.000,0.047,2520,2495,3120,3158,3083,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1579,-0.84,-126.5,2520,2494,3159,3083,327.4,-16.2,128,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2493,3121,3159,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1819,-0.84,-126.5,2520,2494,3159,3084,364.8,-15.2,134,1823,0.00,2.38,0.00,0.000,260,0.000,0.078,2520,3911,3121,3159,3084,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1848,-0.84,-126.5,2520,3911,3158,3084,364.8,-15.2,134,1855,0.00,2.28,0.00,0.000,1030,0.000,0.048,2520,2501,3121,3159,3083,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2095,-0.84,-126.5,2520,2501,3158,3083,403.9,-14.0,141,2099,0.00,2.30,0.00,0.000,516,0.000,0.061,2520,1080,3121,3159,3083,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2139,-0.84,-126.5,2520,1080,3158,3083,408.7,-13.7,142,2143,0.00,2.35,0.00,0.000,1030,0.000,0.062,2520,2499,3121,3159,3083,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2411,-0.84,-126.5,2520,2498,3158,3081,448.1,-14.4,149,2415,0.00,2.35,0.00,0.000,260,0.000,0.081,2520,3915,3120,3158,3082,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2490,-0.84,-126.5,2520,3915,3158,3081,459.9,-15.0,151,2494,0.00,2.28,0.00,0.000,1030,0.000,0.048,2520,2498,3119,3158,3081,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2767,-0.84,-126.5,2520,2498,3158,3077,502.9,-15.6,158,2771,0.00,2.40,0.00,0.000,260,0.000,0.083,2520,3917,3118,3159,3078,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2851,-0.84,-126.5,2520,3917,3158,3077,515.4,-16.2,160,2855,0.00,2.30,0.00,0.000,1030,0.000,0.050,2520,2495,3117,3158,3077,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3123,-0.84,-126.5,2520,2494,3158,3072,557.2,-14.3,167,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2493,3114,3158,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3363,-0.84,-126.5,2520,2493,3158,3069,588.4,-12.9,173,3367,0.00,2.40,0.00,0.000,260,0.000,0.085,2520,3909,3113,3158,3069,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3422,-0.84,-126.5,2520,3909,3158,3069,593.1,-12.9,174,3426,0.00,2.30,0.00,0.000,1030,0.000,0.052,2520,2494,3113,3158,3068,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3679,-0.84,-126.5,2520,2492,3158,3064,627.2,-12.1,181,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2492,3110,3158,3063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3919,-0.84,-126.5,2520,2492,3158,3061,656.8,-12.2,187,3923,0.00,2.42,0.00,0.000,260,0.000,0.086,2520,3914,3109,3158,3060,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4023,-0.84,-126.5,2520,3914,3158,3060,666.2,-12.2,189,4027,0.00,2.30,0.00,0.000,1030,0.000,0.052,2520,2499,3108,3158,3059,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4275,-0.84,-126.5,2520,2498,3158,3056,699.3,-11.8,196,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2498,3107,3158,3056,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4313,begin apogee
$GC,4317,-0.15,0.0,2520,2273,3158,3055,703.9,-11.7,197,4427,0.68,0.10,105.78,2.784,10246,0.319,0.161,2750,2328,2600,2677,2523,0,0,0,0,0,0,14.78,14.14,13.38
$STATE,4428,end apogee,CONTROL_FINISHED_OK
$STATE,4428,begin climb
$GC,4430,0.84,126.5,2750,2328,2678,2523,705.7,0.0,199,4545,0.88,0.00,111.72,2.739,10246,0.193,0.000,3077,2328,2083,2163,2004,0,0,0,0,0,0,14.14,28.83,13.26
$GC,4755,0.84,126.5,3077,2328,2162,1993,657.4,18.3,208,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2328,2078,2163,1993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4995,0.84,126.5,3078,2328,2163,1989,616.5,16.8,214,4999,0.00,2.38,0.00,0.000,260,0.000,0.079,3078,3719,2076,2163,1989,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5104,0.84,126.5,3077,3719,2163,1989,602.5,17.3,216,5112,0.08,2.30,0.00,0.000,5126,0.547,0.057,3075,2344,2075,2162,1989,0,0,0,0,0,0,14.54,14.79,28.83
$GC,5351,0.84,126.5,3075,2343,2163,1985,556.2,15.6,223,5355,0.00,2.35,0.00,0.000,260,0.000,0.080,3075,3710,2073,2163,1984,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5389,0.84,126.5,3075,3710,2163,1984,550.0,15.9,224,5394,0.05,2.35,0.00,0.000,5126,0.605,0.058,3076,2294,2073,2162,1985,0,0,0,0,0,0,14.62,14.87,28.83
$GC,5667,0.84,126.5,3076,2293,2162,1982,507.1,14.9,231,5673,0.00,2.42,0.00,0.000,260,0.000,0.078,3076,3720,2072,2162,1982,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5689,0.84,126.5,3076,3721,2163,1982,507.1,14.9,231,5694,0.05,2.33,0.00,0.000,5126,0.623,0.058,3077,2311,2072,2162,1982,0,0,0,0,0,0,14.64,14.90,28.83
$GC,5946,0.84,126.5,3076,2309,2163,1979,460.9,16.9,238,5951,0.00,2.40,0.00,0.000,260,0.000,0.079,3077,3722,2071,2163,1979,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6175,0.84,126.5,3077,3722,2162,1979,425.8,18.1,243,6183,0.05,2.33,0.00,0.000,5126,0.603,0.058,3077,2309,2070,2162,1979,0,0,0,0,0,0,14.66,14.94,28.83
$GC,6423,0.84,126.5,3077,2308,2163,1976,384.4,14.0,250,6427,0.00,2.38,0.00,0.000,260,0.000,0.077,3077,3713,2069,2163,1976,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6437,0.84,126.5,3077,3713,2162,1976,384.4,14.0,250,6442,0.08,2.33,0.00,0.000,5126,0.546,0.059,3074,2304,2069,2163,1976,0,0,0,0,0,0,14.66,14.95,28.83
$GC,6694,0.84,126.5,3074,2301,2162,1975,351.7,12.1,257,6698,0.00,2.33,0.00,0.000,516,0.000,0.068,3084,898,2068,2162,1975,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6757,0.84,126.5,3084,896,2162,1974,347.2,12.4,258,6762,0.00,2.35,0.00,0.000,1030,0.000,0.058,3084,2309,2068,2162,1974,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7009,0.84,126.5,3084,2309,2162,1974,310.5,13.5,265,7014,0.00,2.38,0.00,0.000,260,0.000,0.079,3084,3726,2068,2162,1974,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7259,0.84,126.5,3084,3726,2162,1974,272.6,16.5,271,7264,0.10,2.33,0.00,0.000,5126,0.519,0.058,3073,2310,2068,2162,1975,0,0,0,0,0,0,14.66,14.97,28.83
$GC,7520,0.84,126.5,3073,2308,2162,1974,240.9,11.1,278,7525,0.00,2.40,0.00,0.000,260,0.000,0.080,3073,3725,2068,2162,1974,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7670,0.84,126.5,3073,3726,2162,1974,228.7,10.6,281,7677,0.00,2.33,0.00,0.000,1030,0.000,0.055,3083,2303,2068,2162,1974,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7917,0.86,143.6,3083,2303,2162,1974,204.2,8.7,288,7934,0.00,2.35,12.32,1.999,8708,0.000,0.066,3094,886,2013,2108,1919,0,0,0,0,0,0,28.83,14.89,14.16
$GC,8009,0.88,158.0,2176,885,2066,1912,195.9,8.9,291,8028,0.00,2.42,13.02,2.000,9222,0.000,0.058,3094,2306,1955,2053,1857,0,0,0,0,0,0,28.83,14.81,14.06
$GC,8266,0.88,158.0,3094,2306,2053,1854,168.4,10.8,317,8271,0.00,2.40,0.00,0.000,260,0.000,0.080,3094,3723,1953,2053,1854,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8557,0.91,183.5,3094,3723,2053,1855,136.0,8.1,352,8581,0.00,2.38,16.25,1.940,9222,0.000,0.053,3105,2309,1851,1955,1747,0,0,0,0,0,0,28.83,14.81,14.02
$GC,8882,0.91,183.5,3105,2309,1955,1744,96.6,13.8,403,8888,0.00,2.42,0.00,0.000,260,0.000,0.078,3105,3732,1849,1954,1744,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9226,0.91,183.5,3105,3732,1954,1747,40.8,16.6,454,9236,0.05,2.40,0.00,0.000,5126,0.456,0.054,3097,2307,1850,1954,1747,0,0,0,0,0,0,14.52,14.77,28.83
$STATE,9500,end climb,SURFACE_DEPTH_REACHED
$STATE,9501,begin surface coast
$FINISH,0.2,1.023674
$STATE,9529,end surface coast,CONTROL_FINISHED_OK
$STATE,9529,begin surface
$SM_CCo,9544,88.43,0.861,0,0,1129,360.09
$SM_GC,1.12,7.03,0.35,88.43,0.112,0.086,0.861,135,2509,1129,-8.21,-0.71,360.09,0,0,0,0,0,0,14.83,14.81,14.16
$IRIDIUM_FIX,2241.69,-15801.49,061209,050529
$TT8_MAMPS,0.018725,0.018725
$HUMID,41.02
$INTERNAL_PRESSURE,7.23661
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,13.3,49.663
$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,17.525,99.675,259.100,88.425,0.000,30.249,45.821,135.942,0.250,0.000,9.320,1389.740,5917.102,454.876,2094.077,84.326,33.248,1161.976,0.000,1408.746,0.000,0.550,0.000
$DEVICE_MAMPS,623.475,160.650,2783.835,861.390,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,335.737,256.466,465.783,448.710,928.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,352948
$DATA_FILE_SIZE,44142,498
$CAP_FILE_SIZE,97115,0
$CFSIZE,2097086464,2080768000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080217,190613,2250.876,-15802.969,11,1.7,11,9.8