version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 193
start: 2 15 117 20 21 42
data:
$ID,626
$MISSION,1
$DIVE,193
$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,-130544.43
$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,2600
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,34
$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
$GPS1,150217,201548,2323.310,-15708.748,35,0.8,35,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.5
$GPS2,150217,202047,2323.283,-15708.730,6,0.8,7,10.0
$SPEED_LIMITS,0.213,0.243
$TGT_NAME,AC2
$TGT_LATLONG,2322.500,-15707.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.115,0.179
$KALMAN_X,-108902.8,-1.4,5.3,200193.3,2775.0
$KALMAN_Y,187028.6,731.5,22.9,-109664.0,-2500.6
$MHEAD_RNG_PITCHd_Wd,317.4,2546,-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,-95.4,127,2615,1142,1096,0.0,0.0,0,78,0.00,0.00,-56.12,0.000,16390,0.000,0.000,127,2615,2989,3018,2961,0,0,0,0,0,0,28.83,28.83,14.91
$GC,81,-0.84,-126.5,127,2615,3017,2961,3.4,-5.1,7,100,8.48,0.00,-2.08,0.000,18950,0.500,0.000,2521,2615,3117,3152,3083,0,0,0,0,0,0,14.41,28.83,14.83
$GC,421,-0.84,-126.5,2521,2615,3153,3084,103.2,-26.5,57,428,0.00,2.17,0.00,0.000,260,0.000,0.075,2521,3908,3118,3153,3084,0,0,0,0,0,0,28.83,14.73,28.83
$GC,490,-0.84,-126.5,2521,3908,3153,3084,121.0,-21.4,68,500,0.00,2.22,0.00,0.000,1030,0.000,0.054,2521,2603,3118,3153,3083,0,0,0,0,0,0,28.83,14.69,28.83
$GC,761,-0.84,-126.5,2521,2602,3154,3084,189.2,-24.1,102,765,0.00,2.22,0.00,0.000,260,0.000,0.076,2521,3911,3119,3154,3084,0,0,0,0,0,0,28.83,14.79,28.83
$GC,915,-0.84,-126.5,2521,3911,3155,3084,213.5,-18.9,109,922,0.00,2.15,0.00,0.000,1030,0.000,0.048,2521,2590,3119,3155,3083,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1163,-0.84,-126.5,2521,2588,3155,3084,263.1,-16.6,116,1169,0.00,2.25,0.00,0.000,516,0.000,0.054,2521,1188,3120,3157,3084,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1201,-0.84,-126.5,2521,1187,3157,3084,269.3,-16.1,117,1206,0.00,2.33,0.00,0.000,1030,0.000,0.059,2521,2591,3120,3157,3084,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1477,-0.84,-126.5,2521,2591,3158,3083,315.3,-17.2,124,1482,0.00,2.22,0.00,0.000,260,0.000,0.081,2521,3924,3120,3157,3083,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1536,-0.84,-126.5,2521,3924,3157,3084,321.3,-17.1,125,1541,0.00,2.12,0.00,0.000,1030,0.000,0.044,2521,2597,3120,3158,3083,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1793,-0.84,-126.5,2521,2595,3157,3083,364.3,-14.7,132,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2595,3121,3158,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2033,-0.84,-126.5,2521,2595,3157,3083,399.1,-14.5,138,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2595,3120,3157,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2273,-0.84,-126.5,2521,2595,3157,3083,434.0,-14.7,144,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2596,3120,3157,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2513,-0.84,-126.5,2521,2595,3157,3081,469.8,-14.7,150,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2595,3118,3157,3080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2755,-0.84,-126.5,2521,2595,3157,3077,502.3,-13.6,156,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2595,3118,3158,3078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2993,-0.84,-126.5,2521,2595,3157,3074,533.0,-12.6,162,2998,0.00,2.28,0.00,0.000,516,0.000,0.057,2521,1193,3115,3157,3073,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3038,-0.84,-126.5,2521,1193,3157,3072,537.5,-12.6,163,3042,0.00,2.40,0.00,0.000,1030,0.000,0.062,2521,2596,3114,3157,3072,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3310,-0.84,-126.5,2521,2595,3157,3069,572.0,-12.6,170,3314,0.00,2.33,0.00,0.000,516,0.000,0.057,2520,1187,3113,3157,3069,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3334,-0.84,-126.5,2521,1186,3157,3069,572.0,-12.6,170,3338,0.00,2.38,0.00,0.000,1030,0.000,0.063,2521,2607,3113,3157,3069,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3581,-0.84,-126.5,2521,2607,3157,3066,607.4,-13.2,176,3585,0.00,2.35,0.00,0.000,516,0.000,0.057,2520,1182,3111,3157,3066,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3620,-0.84,-126.5,2521,1182,3157,3065,612.4,-13.3,177,3624,0.00,2.40,0.00,0.000,1030,0.000,0.063,2521,2609,3111,3157,3065,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3892,-0.84,-126.5,2521,2609,3157,3062,649.6,-13.4,184,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2609,3110,3158,3062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4132,-0.84,-126.5,2520,2609,3157,3058,680.1,-12.7,190,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2609,3107,3157,3058,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4330,begin apogee
$GC,4335,-0.15,0.0,2521,2479,3154,3055,704.7,-12.2,195,4445,0.68,0.00,106.53,2.837,10246,0.320,0.000,2749,2479,2600,2678,2523,0,0,0,0,0,0,14.66,28.83,13.33
$STATE,4446,end apogee,CONTROL_FINISHED_OK
$STATE,4446,begin climb
$GC,4447,0.84,126.5,2749,2478,2679,2522,707.1,0.0,197,4567,0.82,2.62,110.40,2.771,10500,0.197,0.080,3062,3915,2083,2164,2003,0,0,0,0,0,0,14.14,14.02,13.22
$GC,4581,0.84,126.5,3062,3915,2164,2003,702.6,7.1,200,4586,0.00,2.40,0.00,0.000,1030,0.000,0.054,3073,2544,2082,2162,2003,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4849,0.84,126.5,3073,2542,2164,1993,646.8,17.9,207,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2542,2078,2164,1993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5089,0.84,126.5,3073,2542,2164,1990,605.5,17.1,213,5093,0.00,2.42,0.00,0.000,516,0.000,0.065,3084,1094,2077,2164,1990,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5150,0.84,126.5,3084,1094,2163,1986,599.6,16.9,214,5154,0.00,2.40,0.00,0.000,1030,0.000,0.060,3084,2510,2074,2163,1985,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5401,0.84,126.5,3084,2510,2163,1985,554.6,16.2,221,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2510,2074,2164,1985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,0.84,126.5,3084,2510,2164,1983,515.9,16.4,227,5645,0.00,2.38,0.00,0.000,260,0.000,0.081,3084,3918,2073,2163,1983,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5660,0.84,126.5,3084,3918,2163,1983,515.9,16.4,227,5665,0.10,2.35,0.00,0.000,5126,0.524,0.055,3074,2497,2073,2164,1983,0,0,0,0,0,0,14.54,14.88,28.83
$GC,5912,0.84,126.5,3074,2496,2164,1981,474.3,15.0,234,5916,0.00,2.30,0.00,0.000,516,0.000,0.063,3084,1099,2072,2163,1981,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5961,0.84,126.5,3084,1099,2163,1978,469.0,14.8,235,5965,0.00,2.38,0.00,0.000,1030,0.000,0.061,3085,2508,2070,2163,1978,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6223,0.84,126.5,3084,2509,2164,1978,427.4,15.3,242,6227,0.00,2.38,0.00,0.000,260,0.000,0.081,3084,3921,2070,2163,1978,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6299,0.84,126.5,3084,3921,2163,1979,414.9,16.1,244,6305,0.10,2.33,0.00,0.000,5126,0.515,0.055,3073,2511,2070,2162,1979,0,0,0,0,0,0,14.54,14.90,28.83
$GC,6579,0.84,126.5,3073,2509,2163,1977,378.3,12.2,251,6585,0.00,2.40,0.00,0.000,260,0.000,0.080,3073,3920,2070,2163,1977,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6622,0.84,126.5,3073,3920,2163,1977,372.5,12.7,252,6626,0.00,2.35,0.00,0.000,1030,0.000,0.056,3083,2501,2069,2163,1975,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6899,0.84,126.5,3084,2500,2163,1976,334.7,13.0,259,6905,0.00,2.42,0.00,0.000,260,0.000,0.081,3083,3917,2070,2164,1976,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7032,0.84,126.5,3083,3917,2163,1976,317.5,14.1,262,7038,0.10,2.33,0.00,0.000,5126,0.522,0.054,3073,2501,2069,2163,1976,0,0,0,0,0,0,14.54,14.93,28.83
$GC,7294,0.84,126.5,3073,2500,2164,1976,286.3,10.8,269,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2500,2069,2163,1975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7534,0.84,126.5,3073,2500,2163,1975,260.5,11.1,275,7539,0.00,2.33,0.00,0.000,516,0.000,0.063,3083,1091,2069,2163,1975,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7789,0.84,130.8,3083,1091,2163,1974,237.3,9.6,281,7793,0.00,2.40,0.00,0.000,1030,0.000,0.057,3083,2523,2069,2164,1974,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8046,0.87,148.8,3083,2523,2163,1974,213.4,8.7,288,8068,0.00,2.42,16.62,2.058,8708,0.000,0.059,3094,1097,1992,2088,1897,0,0,0,0,0,0,28.83,14.83,14.09
$GC,8114,0.89,169.9,3094,1096,2088,1894,210.3,8.5,289,8138,0.00,2.40,18.40,2.046,9222,0.000,0.059,3094,2517,1906,2007,1805,0,0,0,0,0,0,28.83,14.81,13.96
$GC,8389,0.89,169.9,3094,2517,2008,1802,175.8,12.3,310,8397,0.00,2.35,0.00,0.000,516,0.000,0.060,3105,1105,1903,2007,1800,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8521,0.93,204.6,3104,1105,2008,1799,164.3,7.5,322,8559,0.00,2.40,28.88,2.057,9222,0.000,0.058,3105,2520,1765,1870,1661,0,0,0,0,0,0,28.83,14.76,13.85
$GC,8831,0.93,204.6,3105,2520,1871,1654,127.1,12.9,364,8840,0.00,2.42,0.00,0.000,260,0.000,0.078,3104,3912,1763,1871,1655,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9006,0.93,204.6,3105,3912,1871,1657,100.2,16.1,391,9013,0.00,2.33,0.00,0.000,1030,0.000,0.050,3113,2504,1763,1870,1657,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9333,0.93,204.6,3113,2502,1871,1655,51.7,15.1,440,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2502,1763,1871,1655,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9653,end climb,SURFACE_DEPTH_REACHED
$STATE,9653,begin surface coast
$FINISH,0.1,1.023501
$STATE,9675,end surface coast,CONTROL_FINISHED_OK
$STATE,9675,begin surface
$SM_CCo,9690,77.25,0.881,0,0,1130,360.09
$SM_GC,1.15,6.97,0.17,77.25,0.099,0.099,0.881,125,2615,1130,-8.21,-0.90,360.09,0,0,0,0,0,0,14.82,14.83,14.16
$IRIDIUM_FIX,2312.13,-15709.98,131209,090915
$TT8_MAMPS,0.019474,0.019474
$HUMID,41.77
$INTERNAL_PRESSURE,7.2659
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,13.2,66.522
$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,17.250,84.675,280.825,77.250,0.000,25.554,46.715,138.671,0.500,0.000,7.314,1347.462,6238.852,410.666,1982.935,94.555,33.255,1100.523,0.000,1301.678,0.000,0.550,0.000
$DEVICE_MAMPS,524.025,99.450,2837.385,880.515,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,329.568,252.684,449.938,433.802,897.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353088
$DATA_FILE_SIZE,43973,489
$CAP_FILE_SIZE,92069,0
$CFSIZE,2097086464,2075197440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150217,230519,2323.973,-15708.992,14,1.5,15,10.0