version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 556
start: 4 12 117 4 28 31
data:
$ID,626
$MISSION,1
$DIVE,556
$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,290
$T_MISSION,450
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54941
$MASS_COMP,0
$NAV_MODE,0
$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,390
$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,-132538.08
$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,30
$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,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,40
$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
$GPS1,120417,042050,2232.760,-15800.885,16,1.8,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-70.0
$GPS2,120417,042717,2232.729,-15800.912,7,1.8,7,9.8
$SPEED_LIMITS,0.221,0.231
$TGT_NAME,AC11
$TGT_LATLONG,2234.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.162,0.165
$KALMAN_X,-107405.9,-104.1,-63.3,109697.8,233.5
$KALMAN_Y,-399020.0,162.9,329.6,383017.5,-6785.3
$MHEAD_RNG_PITCHd_Wd,23.7,2824,-16.8,-8.046,-20.00,2265
$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,16,-0.69,-107.1,115,2523,1033,964,0.0,0.0,0,79,0.00,0.00,-58.70,0.000,16390,0.000,0.000,115,2523,3038,3070,3006,0,0,0,0,0,0,28.83,28.83,14.88
$GC,82,-0.69,-107.1,115,2523,3070,3006,4.1,-7.6,7,101,8.90,2.38,0.00,0.000,2308,0.480,0.053,2561,3899,3039,3072,3006,0,0,0,0,0,0,13.93,14.51,28.83
$GC,213,-0.69,-107.1,2561,3899,3073,3006,42.4,-18.7,25,223,0.00,2.40,0.00,0.000,3078,0.000,0.047,2561,2500,3040,3074,3006,0,0,0,0,0,0,28.83,14.49,28.83
$GC,535,-0.69,-107.1,2561,2499,3075,3006,106.2,-17.3,74,544,0.00,2.42,0.00,0.000,2564,0.000,0.055,2561,1084,3040,3075,3006,0,0,0,0,0,0,28.83,14.50,28.83
$GC,588,-0.69,-107.1,2561,1084,3075,3006,115.4,-17.0,82,598,0.00,2.45,0.00,0.000,3078,0.000,0.054,2561,2489,3040,3075,3005,0,0,0,0,0,0,28.83,14.50,28.83
$GC,886,-0.69,-107.1,2561,2491,3076,3006,163.8,-16.7,124,894,0.00,2.38,0.00,0.000,2308,0.000,0.074,2561,3902,3041,3077,3006,0,0,0,0,0,0,28.83,14.44,28.83
$GC,931,-0.69,-107.1,1632,3901,3048,3002,171.7,-16.9,128,939,0.00,2.33,0.00,0.000,3078,0.000,0.043,2561,2485,3041,3077,3005,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1209,-0.69,-107.1,2560,2484,3077,3005,211.6,-14.0,150,1215,0.00,2.28,0.00,0.000,2564,0.000,0.051,2561,1086,3041,3077,3005,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1322,-0.69,-107.1,2561,1086,3077,3005,222.1,-13.5,152,1329,0.03,2.38,0.00,0.000,3078,0.656,0.052,2570,2508,3041,3077,3005,0,0,0,0,0,0,14.45,14.71,28.83
$GC,1569,-0.69,-107.1,2570,2508,3077,3005,257.3,-12.3,159,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2508,3041,3077,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1809,-0.69,-107.1,2570,2508,3078,3005,283.2,-10.4,165,1815,0.00,2.35,0.00,0.000,516,0.000,0.051,2570,1082,3041,3077,3005,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1869,-0.69,-107.1,2571,1082,3078,3006,287.2,-10.2,166,1875,0.00,2.38,0.00,0.000,1030,0.000,0.051,2563,2511,3041,3077,3005,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2129,-0.69,-107.1,2563,2511,3077,3005,315.8,-10.4,173,2135,0.00,2.38,0.00,0.000,260,0.000,0.076,2562,3911,3041,3077,3005,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2162,-0.69,-107.1,2562,3911,3077,3005,315.8,-10.4,173,2169,0.00,2.30,0.00,0.000,3078,0.000,0.039,2562,2485,3040,3076,3005,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2409,-0.69,-107.1,2562,2484,3077,3003,347.4,-11.7,180,2410,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2484,3040,3077,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2649,-0.69,-107.1,2562,2484,3077,3001,374.6,-11.3,186,2655,0.00,2.45,0.00,0.000,2308,0.000,0.076,2562,3903,3039,3077,3001,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2672,-0.69,-107.1,2562,3903,3077,3001,374.6,-11.3,186,2676,0.00,2.28,0.00,0.000,3078,0.000,0.040,2562,2496,3039,3077,3001,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2924,-0.69,-107.1,2562,2493,3077,2997,403.5,-10.5,193,2930,0.00,2.30,0.00,0.000,2564,0.000,0.053,2562,1093,3036,3077,2996,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2952,-0.69,-107.1,2562,1093,3077,2996,403.5,-10.5,193,2956,0.00,2.35,0.00,0.000,3078,0.000,0.053,2562,2497,3036,3076,2996,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3199,-0.69,-107.1,2562,2497,3077,2994,432.4,-10.4,199,3205,0.00,2.35,0.00,0.000,2564,0.000,0.053,2562,1084,3035,3077,2994,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3232,-0.69,-107.1,2561,1084,3077,2994,432.4,-10.4,199,3239,0.00,2.40,0.00,0.000,3078,0.000,0.054,2562,2507,3035,3077,2994,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3481,-0.69,-107.1,2561,2507,3077,2990,463.5,-11.1,206,3482,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2506,3033,3077,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3719,-0.69,-107.1,2562,2507,3078,2987,490.2,-11.0,212,3720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2507,3032,3077,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3959,-0.69,-107.1,2562,2507,3077,2984,513.9,-9.6,218,3965,0.00,2.40,0.00,0.000,2308,0.000,0.079,2562,3906,3030,3077,2984,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4007,-0.69,-107.1,2562,3907,3077,2984,517.9,-9.5,219,4011,0.00,2.30,0.00,0.000,3078,0.000,0.041,2562,2497,3030,3077,2983,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4274,-0.69,-107.1,2562,2496,3077,2980,542.9,-9.0,226,4275,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2496,3028,3077,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4514,-0.69,-107.1,2562,2496,3077,2977,564.4,-9.0,232,4520,0.00,2.33,0.00,0.000,2564,0.000,0.054,2562,1095,3026,3077,2976,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4556,-0.69,-107.1,1664,1094,3050,2971,568.2,-9.2,233,4561,0.00,2.40,0.00,0.000,3078,0.000,0.056,2562,2501,3026,3077,2976,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4829,-0.69,-107.1,2562,2501,3077,2974,594.1,-9.5,240,4835,0.00,2.42,0.00,0.000,2308,0.000,0.080,2562,3909,3025,3077,2974,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4877,-0.69,-107.1,2561,3909,3078,2974,598.2,-9.7,241,4881,0.00,2.30,0.00,0.000,3078,0.000,0.041,2562,2501,3025,3077,2973,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5144,-0.69,-107.1,2562,2499,3077,2970,623.7,-9.1,248,5145,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2500,3023,3076,2970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5384,-0.69,-107.1,2562,2500,3077,2968,644.2,-8.4,254,5390,0.00,2.35,0.00,0.000,2564,0.000,0.054,2561,1091,3021,3076,2967,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5452,-0.69,-107.1,2562,1092,3076,2967,647.5,-8.4,255,5456,0.00,2.40,0.00,0.000,3078,0.000,0.057,2562,2498,3021,3076,2967,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5699,-0.69,-107.1,2562,2498,3076,2965,670.3,-8.4,261,5705,0.00,2.45,0.00,0.000,2308,0.000,0.082,2562,3911,3020,3076,2965,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5727,-0.69,-107.1,2562,3911,3076,2966,670.3,-8.4,261,5731,0.00,2.33,0.00,0.000,3078,0.000,0.042,2561,2496,3020,3076,2965,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5974,-0.69,-107.1,2562,2494,3073,2965,694.9,-9.0,267,5975,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,2494,3019,3073,2965,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6052,begin apogee
$GC,6057,-0.17,0.0,2562,2494,3073,2965,702.1,-9.1,269,6153,0.55,0.00,92.93,2.650,10246,0.308,0.000,2739,2493,2599,2677,2522,0,0,0,0,0,0,14.08,28.83,12.94
$STATE,6154,end apogee,CONTROL_FINISHED_OK
$STATE,6154,begin climb
$GC,6156,0.69,107.1,2739,2493,2678,2522,704.4,0.0,271,6264,0.75,2.53,98.05,2.637,10500,0.197,0.075,3022,3862,2163,2241,2085,0,0,0,0,0,0,14.07,13.98,12.84
$GC,6299,0.69,107.1,3021,3863,2240,2083,698.5,5.4,275,6304,0.00,2.42,0.00,0.000,1030,0.000,0.048,3032,2456,2162,2241,2083,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6566,0.69,107.1,3032,2453,2240,2073,668.9,10.6,282,6572,0.00,2.45,0.00,0.000,260,0.000,0.073,3032,3859,2156,2240,2073,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6619,0.69,107.1,3032,3859,2240,2073,664.1,10.8,283,6625,0.10,2.35,0.00,0.000,5126,0.470,0.047,3022,2445,2156,2240,2073,0,0,0,0,0,0,14.21,14.64,28.83
$GC,6882,0.69,107.1,3022,2443,2238,2070,635.5,9.9,290,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2443,2155,2240,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7122,0.69,107.1,3022,2443,2240,2068,612.2,9.9,296,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2443,2153,2240,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,0.69,107.1,3023,2443,2240,2064,589.9,9.3,302,7368,0.00,2.38,0.00,0.000,516,0.000,0.057,3031,1032,2152,2240,2064,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7415,0.69,107.1,3032,1032,2238,2063,586.4,9.1,303,7420,0.00,2.42,0.00,0.000,1030,0.000,0.054,3031,2455,2150,2238,2063,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7677,0.69,107.1,3033,2455,2238,2063,561.2,9.0,310,7683,0.00,2.40,0.00,0.000,260,0.000,0.074,3031,3858,2150,2238,2063,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7757,0.69,107.1,3032,3857,2238,2063,553.1,9.6,312,7764,0.08,2.33,0.00,0.000,5126,0.492,0.046,3029,2445,2150,2238,2063,0,0,0,0,0,0,14.26,14.72,28.83
$GC,8037,0.69,107.1,3029,2445,2238,2063,527.8,9.1,319,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2444,2150,2238,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8277,0.69,107.1,3029,2444,2238,2062,504.3,10.1,325,8283,0.00,2.45,0.00,0.000,260,0.000,0.073,3028,3858,2150,2238,2062,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8360,0.69,107.1,2096,3857,2192,2055,494.9,11.2,327,8364,0.00,2.33,0.00,0.000,1030,0.000,0.045,3037,2450,2150,2238,2062,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8632,0.69,107.1,3038,2449,2238,2060,464.5,11.3,334,8634,0.03,0.00,0.00,0.000,4102,0.658,0.000,3028,2449,2149,2238,2060,0,0,0,0,0,0,14.60,28.83,28.83
$GC,8872,0.69,107.1,3027,2449,2238,2059,439.2,10.6,340,8878,0.00,2.35,0.00,0.000,516,0.000,0.056,3036,1037,2148,2238,2058,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8915,0.69,107.1,2096,1036,2190,2051,435.1,10.6,341,8919,0.00,2.40,0.00,0.000,1030,0.000,0.052,3036,2453,2146,2235,2057,0,0,0,0,0,0,28.83,14.66,28.83
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$GC,11227,0.78,182.5,3050,1045,1961,1743,235.5,8.4,397,11232,0.00,2.40,0.00,0.000,1030,0.000,0.052,3050,2456,1852,1961,1743,0,0,0,0,0,0,28.83,14.60,28.83
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$STATE,13834,end climb,SURFACE_DEPTH_REACHED
$STATE,13834,begin surface coast
$FINISH,0.1,1.023027
$STATE,13879,end surface coast,CONTROL_FINISHED_OK
$STATE,13879,begin surface
$SM_CCo,13895,89.40,0.827,0,0,1008,390.02
$SM_GC,0.95,6.93,0.12,89.40,0.083,0.123,0.827,127,2524,1008,-8.22,-0.74,390.02,0,0,0,0,0,0,14.66,14.66,13.89
$IRIDIUM_FIX,2223.01,-15759.78,060210,171748
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.60
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,23.80
$XPDR_PINGS,5
$24V_AH,12.8,178.454
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,17.650,152.800,294.525,89.400,0.000,32.168,45.899,180.912,1.250,0.000,8.278,1979.688,8855.006,482.743,2846.535,224.841,33.253,1493.040,0.000,1878.482,0.000,0.550,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,486.870,391.082,678.044,676.287,1399.488,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353008
$DATA_FILE_SIZE,63975,721
$CAP_FILE_SIZE,136256,0
$CFSIZE,2097086464,2030960640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120417,082254,2233.066,-15800.796,40,0.9,40,9.8