version: 66.11
revision: 1138
glider: 146
mission: 10
dive: 4
start: 6 21 115 2 59 4
data:
$ID,146
$MISSION,10
$DIVE,4
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$D_NO_BLEED,200
$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,133
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52388
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-338533.22
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3160
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3140
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-30.675146
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,166
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043040277
$SEABIRD_T_H,0.00062046648
$SEABIRD_T_I,2.2213662e-05
$SEABIRD_T_J,2.2677098e-06
$SEABIRD_C_G,-9.8558731
$SEABIRD_C_H,1.1101665
$SEABIRD_C_I,-0.0020241695
$SEABIRD_C_J,0.00022515637
$GPS1,210615,025412,2243.169,-15755.354,8,1.5,13,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.93
$_SM_ANGLEo,-69.5
$GPS2,210615,025807,2243.105,-15755.351,11,1.5,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.053,0.229
$KALMAN_X,469.0,321.8,191.4,-1518.1,334.6
$KALMAN_Y,-2540.0,-1755.0,-1060.4,-183.8,-1788.2
$MHEAD_RNG_PITCHd_Wd,337.0,8681,-19.8,-10.025,-23.13,1779
$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,-1.38,-116.8,479,2226,1320,1180,0.0,0.0,0,117,0.00,0.00,-97.00,0.000,16390,0.000,0.000,479,2226,3617,3581,3654,0,0,0,0,0,0,28.83,28.83,25.02
$GC,119,-1.38,-116.8,479,2226,3581,3654,1.6,-7.8,15,142,13.02,2.47,0.00,0.000,2308,0.170,0.030,2853,3779,3619,3585,3653,0,0,0,0,0,0,24.47,24.64,28.83
$GC,296,-1.27,-116.8,2853,3779,3587,3652,34.3,-15.0,45,306,0.10,2.45,0.00,0.000,3078,0.109,0.028,2878,2216,3619,3589,3650,0,0,0,0,0,0,24.68,24.73,28.83
$GC,545,-1.19,-116.8,2877,2216,3591,3646,67.7,-12.5,70,555,0.10,2.58,0.00,0.000,2564,0.137,0.052,2897,637,3619,3592,3646,0,0,0,0,0,0,24.76,24.73,28.83
$GC,683,-1.13,-116.8,2897,637,3593,3644,85.3,-13.0,83,692,0.00,2.35,0.00,0.000,1030,0.000,0.018,2897,2217,3618,3593,3643,0,0,0,0,0,0,28.83,24.87,28.83
$GC,932,-1.13,-116.8,2897,2219,3594,3644,112.8,-10.4,108,942,0.00,2.62,0.00,0.000,516,0.000,0.051,2897,625,3619,3594,3644,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1026,-1.09,-116.8,2897,625,3594,3643,123.1,-11.3,117,1036,0.12,2.38,0.00,0.000,3078,0.117,0.018,2922,2210,3619,3595,3643,0,0,0,0,0,0,24.76,24.89,28.83
$GC,1276,-1.13,-116.8,2922,2210,3595,3642,145.5,-8.5,142,1286,0.00,2.62,0.00,0.000,516,0.000,0.053,2922,624,3618,3595,3642,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1401,-1.13,-116.8,2921,623,3595,3642,156.6,-8.5,154,1410,0.00,2.33,0.00,0.000,1030,0.000,0.018,2922,2188,3618,3595,3642,0,0,0,0,0,0,28.83,24.90,28.83
$GC,1651,-1.18,-116.8,2922,2188,3595,3641,178.0,-8.5,179,1660,0.00,2.60,0.00,0.000,516,0.000,0.054,2921,628,3618,3595,3641,0,0,0,0,0,0,28.83,24.78,28.83
$GC,1753,-1.18,-116.8,2922,627,3595,3641,187.2,-8.7,189,1757,0.00,2.35,0.00,0.000,1030,0.000,0.018,2922,2183,3618,3595,3641,0,0,0,0,0,0,28.83,24.90,28.83
$GC,1999,-1.25,-116.8,2922,2184,3595,3640,206.1,-7.0,207,2005,0.12,2.58,0.00,0.000,4612,0.070,0.053,2869,626,3618,3595,3641,0,0,0,0,0,0,24.94,24.78,28.83
$GC,2131,-1.25,-116.8,2869,626,3595,3640,217.4,-8.8,210,2135,0.00,2.33,0.00,0.000,1030,0.000,0.019,2869,2164,3617,3595,3640,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2398,-1.25,-116.8,2869,2164,3595,3638,243.9,-9.3,217,2404,0.00,2.58,0.00,0.000,516,0.000,0.056,2869,626,3617,3595,3639,0,0,0,0,0,0,28.83,24.78,28.83
$GC,2451,-1.25,-116.8,2869,626,3596,3638,247.7,-9.5,218,2455,0.00,2.33,0.00,0.000,1030,0.000,0.020,2869,2158,3616,3595,3638,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2718,-1.25,-116.8,2869,2158,3595,3637,271.3,-8.0,225,2724,0.00,2.55,0.00,0.000,516,0.000,0.057,2869,627,3616,3595,3637,0,0,0,0,0,0,28.83,24.77,28.83
$GC,2841,-1.25,-116.8,2869,627,3595,3637,282.1,-8.6,228,2845,0.00,2.30,0.00,0.000,1030,0.000,0.022,2869,2123,3616,3595,3637,0,0,0,0,0,0,28.83,24.90,28.83
$GC,3113,-1.25,-116.8,2869,2123,3595,3635,306.3,-8.9,235,3119,0.00,2.53,0.00,0.000,516,0.000,0.063,2869,631,3615,3595,3635,0,0,0,0,0,0,28.83,24.77,28.83
$GC,3211,-1.25,-116.8,2869,631,3595,3635,313.6,-8.8,237,3215,0.00,2.30,0.00,0.000,1030,0.000,0.032,2869,2109,3615,3595,3635,0,0,0,0,0,0,28.83,24.89,28.83
$GC,3473,-1.25,-116.8,2869,2109,3595,3632,335.3,-7.4,244,3479,0.00,2.53,0.00,0.000,516,0.000,0.067,2869,631,3613,3595,3631,0,0,0,0,0,0,28.83,24.75,28.83
$GC,3586,-1.25,-116.8,2869,631,3595,3630,341.5,-7.6,246,3593,0.00,2.28,0.00,0.000,1030,0.000,0.037,2869,2082,3612,3595,3630,0,0,0,0,0,0,28.83,24.88,28.83
$GC,3833,-1.25,-116.8,2869,2082,3595,3627,362.2,-6.9,253,3839,0.00,2.47,0.00,0.000,516,0.000,0.070,2869,636,3610,3595,3626,0,0,0,0,0,0,28.83,24.75,28.83
$GC,3981,-1.25,-116.8,2869,635,3595,3625,371.4,-7.6,256,3985,0.00,2.25,0.00,0.000,1030,0.000,0.040,2869,2053,3610,3595,3625,0,0,0,0,0,0,28.83,24.87,28.83
$GC,4228,-1.25,-116.8,2869,2053,3595,3621,392.2,-7.6,262,4234,0.00,2.47,0.00,0.000,516,0.000,0.074,2869,636,3608,3595,3621,0,0,0,0,0,0,28.83,24.74,28.83
$GC,4268,-1.25,-116.8,2869,636,3595,3621,395.4,-7.8,263,4272,0.00,2.25,0.00,0.000,1030,0.000,0.034,2869,2042,3607,3595,3620,0,0,0,0,0,0,28.83,24.86,28.83
$STATE,4342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4342,begin apogee
$GC,4346,-0.31,0.0,2869,2343,3595,3619,401.4,-7.9,265,4440,0.98,0.00,90.72,0.841,10244,0.077,0.000,3090,2343,3140,3191,3090,0,0,0,0,0,0,24.79,28.83,23.65
$STATE,4441,end apogee,CONTROL_FINISHED_OK
$STATE,4441,begin climb
$GC,4442,1.38,116.8,3090,2343,3191,3090,403.3,0.0,267,4545,1.55,2.67,94.05,0.814,10500,0.061,0.055,3456,3923,2662,2717,2608,0,0,0,0,0,0,24.30,24.27,23.61
$GC,4690,1.38,116.8,3456,3923,2706,2608,383.2,10.7,273,4695,0.00,2.55,0.00,0.000,1030,0.000,0.041,3456,2378,2657,2706,2608,0,0,0,0,0,0,28.83,24.43,28.83
$GC,4948,1.41,140.3,3456,2379,2703,2602,357.1,8.7,280,4974,0.00,2.60,19.70,0.767,8452,0.000,0.046,3456,3927,2566,2627,2506,0,0,0,0,0,0,28.83,24.30,23.73
$GC,5068,1.43,159.0,3456,3927,2621,2506,346.2,8.9,283,5090,0.00,2.60,16.33,0.747,9222,0.000,0.037,3457,2345,2492,2554,2430,0,0,0,0,0,0,28.83,24.53,23.75
$GC,5348,1.49,177.5,3456,2345,2547,2427,321.4,9.0,290,5371,0.12,2.75,16.40,0.744,10756,0.086,0.074,3493,774,2416,2481,2351,0,0,0,0,0,0,24.68,24.30,23.77
$GC,5561,1.43,177.5,3493,774,2474,2349,295.8,13.1,295,5565,0.00,2.47,0.00,0.000,1030,0.000,0.028,3493,2332,2411,2474,2348,0,0,0,0,0,0,28.83,24.65,28.83
$GC,5823,1.43,177.5,3493,2332,2471,2348,261.6,12.2,302,5827,0.00,2.60,0.00,0.000,516,0.000,0.055,3493,778,2409,2470,2348,0,0,0,0,0,0,28.83,24.65,28.83
$GC,5906,1.43,177.5,3493,777,2470,2347,251.9,12.4,304,5911,0.08,2.45,0.00,0.000,5126,0.114,0.031,3470,2310,2408,2470,2347,0,0,0,0,0,0,24.65,24.74,28.83
$GC,6179,1.50,189.8,3469,2310,2468,2347,223.5,9.3,311,6196,0.00,2.60,10.48,0.662,8708,0.000,0.050,3469,783,2364,2431,2298,0,0,0,0,0,0,28.83,24.51,23.98
$GC,6304,1.56,212.3,3469,783,2429,2297,212.8,8.7,314,6332,0.12,2.38,20.35,0.692,11270,0.085,0.031,3503,2295,2274,2348,2201,0,0,0,0,0,0,24.68,24.70,23.81
$GC,6579,1.56,212.3,3503,2295,2341,2199,181.4,12.1,330,6589,0.00,2.53,0.00,0.000,516,0.000,0.047,3503,773,2270,2340,2200,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6694,1.56,212.3,2720,772,2280,2189,165.9,13.8,341,6702,0.00,2.40,0.00,0.000,1030,0.000,0.021,3503,2291,2268,2339,2198,0,0,0,0,0,0,28.83,24.73,28.83
$GC,6943,1.56,212.3,3503,2291,2339,2199,133.5,12.6,366,6953,0.00,2.50,0.00,0.000,516,0.000,0.046,3503,772,2268,2338,2198,0,0,0,0,0,0,28.83,24.71,28.83
$GC,7059,1.56,212.3,3503,772,2337,2198,119.1,12.5,377,7067,0.00,2.35,0.00,0.000,1030,0.000,0.020,3503,2271,2267,2337,2198,0,0,0,0,0,0,28.83,24.80,28.83
$GC,7307,1.60,212.3,3503,2270,2337,2198,90.5,11.0,402,7317,0.00,2.42,0.00,0.000,516,0.000,0.046,3503,776,2268,2338,2198,0,0,0,0,0,0,28.83,24.75,28.83
$GC,7351,1.60,212.3,2720,776,2278,2189,85.3,12.3,406,7361,0.00,2.33,0.00,0.000,1030,0.000,0.019,3503,2266,2267,2337,2198,0,0,0,0,0,0,28.83,24.83,28.83
$GC,7602,1.67,220.1,3502,2267,2337,2198,58.5,9.6,431,7614,0.00,2.50,7.22,0.491,8708,0.000,0.046,3503,771,2242,2313,2171,0,0,0,0,0,0,28.83,24.65,24.18
$GC,7738,1.71,223.7,3503,771,2311,2169,44.3,9.8,444,7749,0.08,2.25,4.38,0.396,11270,0.058,0.019,3532,2244,2228,2299,2157,0,0,0,0,0,0,24.74,24.79,24.18
$GC,7989,1.71,223.7,2624,2241,2224,2146,17.6,11.9,480,7996,0.00,2.42,0.00,0.000,516,0.000,0.044,3532,776,2227,2298,2157,0,0,0,0,0,0,28.83,24.73,28.83
$GC,8071,1.71,223.7,3532,775,2297,2157,8.9,10.4,495,8078,0.00,2.28,0.00,0.000,1030,0.000,0.019,3532,2243,2227,2297,2157,0,0,0,0,0,0,28.83,24.82,28.83
$STATE,8119,end climb,SURFACE_DEPTH_REACHED
$STATE,8119,begin surface coast
$FINISH,-1.3,1.023206
$STATE,8163,end surface coast,CONTROL_FINISHED_OK
$STATE,8163,begin surface
$SM_CCo,8181,176.80,0.524,0,0,1305,450.13
$SM_GC,-0.92,12.27,0.08,176.80,0.026,0.107,0.524,466,2163,1305,-12.27,0.54,450.13,0,0,0,0,0,0,24.83,24.87,23.80
$IRIDIUM_FIX,2237.01,-15801.49,160408,161654
$TT8_MAMPS,0.025466,0.025466
$HUMID,58.62
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.00
$XPDR_PINGS,12
$24V_AH,23.6,0.699
$10V_AH,10.5,1.154
$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,28.675,108.675,279.625,176.800,0.000,0.000,0.000,0.000,3.000,0.000,13.387,1405.451,4697.627,592.373,1678.307,54.892,32.233,1383.705,0.000,1651.694,0.000,0.537,0.000
$DEVICE_MAMPS,169.830,107.100,840.735,524.025,0.000,0.000,0.000,0.000,420.000,0.000,32.960,13.460,2.190,13.460,39.680,47.920,65.140,15.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,345.304,305.855,429.268,472.168,667.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,47.190,105.000,83.140,0.000,0.000,0.000,0.000,0.000
$MEM,353208
$DATA_FILE_SIZE,40679,512
$CAP_FILE_SIZE,116161,0
$CFSIZE,259252224,258220032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210615,051929,2242.358,-15755.495,10,99.0,30,10.1