version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 12
start: 4 28 116 4 30 42
data:
$ID,512
$MISSION,7
$DIVE,12
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,970
$D_NO_BLEED,500
$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,300
$T_MISSION,650
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,600
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52650
$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,2
$TGT_DEFAULT_LAT,2155
$TGT_DEFAULT_LON,-15801
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,10
$NOCOMM_ACTION,13
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-129394.15
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,206
$PITCH_MAX,3954
$C_PITCH,2660
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2762
$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,142.39999
$AH0_10V,93.699997
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-90.971657
$PRESSURE_SLOPE,0.000165269
$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,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,165
$DEVICE4,131
$DEVICE5,150
$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,0.0042942334
$SEABIRD_T_H,0.00062847038
$SEABIRD_T_I,2.3239887e-05
$SEABIRD_T_J,2.4096664e-06
$SEABIRD_C_G,-9.769515
$SEABIRD_C_H,1.0891893
$SEABIRD_C_I,0.00078893855
$SEABIRD_C_J,5.7872021e-06
$GPS1,280416,042621,3636.330,-15758.081,5,0.9,5,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-74.2
$GPS2,280416,042946,3636.336,-15758.127,8,0.9,9,11.5
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,-0.244
$KALMAN_X,8510.8,-517.4,-857.5,-3795.9,6996.0
$KALMAN_Y,17184.0,-2217.9,-325.4,-10715.2,11879.2
$MHEAD_RNG_PITCHd_Wd,168.9,1539636,-19.6,-10.000,-22.31,1939
$D_GRID,900
$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,-0.86,-126.5,197,2599,1030,1149,0.0,0.0,0,104,0.00,0.00,-86.95,0.000,16386,0.000,0.000,196,2600,3202,3179,3226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.86,-126.5,195,2600,3179,3226,3.6,-3.8,10,126,8.50,2.15,-1.75,0.000,18948,0.224,0.057,2382,1219,3278,3263,3294,0,0,0,0,0,0,25.98,26.20,26.45
$GC,370,-0.86,-126.5,2382,1219,3266,3292,81.2,-26.7,35,378,0.00,2.10,0.00,0.000,3078,0.000,0.055,2374,2583,3278,3267,3290,0,0,1,0,0,0,28.83,26.35,28.83
$GC,617,-0.86,-126.5,2373,2582,3267,3289,151.0,-27.5,60,621,0.00,2.08,0.00,0.000,2564,0.000,0.047,2373,1225,3278,3267,3290,0,0,0,0,0,0,28.83,26.45,28.83
$GC,702,-0.86,-126.5,2373,1225,3267,3289,173.1,-28.0,67,711,0.05,2.12,0.00,0.000,3078,0.172,0.056,2379,2599,3278,3267,3289,0,0,0,0,0,0,26.36,26.48,28.83
$GC,957,-0.86,-126.5,2379,2598,3267,3289,242.8,-26.6,81,961,0.00,2.10,0.00,0.000,2564,0.000,0.048,2381,1221,3278,3267,3289,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1016,-0.86,-126.5,2381,1221,3266,3289,252.5,-26.7,82,1020,0.00,2.17,0.00,0.000,3078,0.000,0.057,2373,2596,3278,3267,3289,0,0,1,0,0,0,28.83,26.54,28.83
$GC,1273,-0.86,-126.5,2373,2595,3268,3289,329.4,-27.7,89,1277,0.00,2.10,0.00,0.000,2564,0.000,0.048,2373,1218,3278,3267,3289,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1353,-0.86,-126.5,2373,1217,3268,3289,349.9,-27.6,91,1358,0.08,2.15,0.00,0.000,3078,0.198,0.057,2377,2601,3278,3268,3289,0,0,0,0,0,0,26.51,26.60,28.83
$GC,1624,-0.86,-126.5,2377,2600,3268,3289,425.0,-27.3,98,1628,0.00,2.10,0.00,0.000,2564,0.000,0.048,2377,1219,3278,3268,3289,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1678,-0.86,-126.5,2377,1220,3268,3289,434.4,-26.9,99,1682,0.00,2.17,0.00,0.000,3078,0.000,0.059,2368,2593,3278,3268,3289,0,0,1,0,0,0,28.83,26.64,28.83
$GC,1940,-0.86,-126.5,2368,2591,3268,3289,510.6,-27.5,106,1944,0.00,2.08,0.00,0.000,2564,0.000,0.050,2368,1225,3278,3267,3289,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1998,-0.86,-126.5,2368,1225,3268,3289,520.2,-27.5,107,2003,0.05,2.17,0.00,0.000,3078,0.165,0.059,2375,2599,3278,3268,3289,0,0,1,0,0,0,26.57,26.67,28.83
$GC,2255,-0.86,-126.5,2374,2598,3268,3289,591.8,-25.4,114,2259,0.00,2.10,0.00,0.000,2564,0.000,0.049,2376,1216,3278,3268,3289,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2304,-0.86,-126.5,2376,1216,3268,3289,600.4,-24.9,115,2308,0.00,2.17,0.00,0.000,3078,0.000,0.058,2367,2596,3279,3269,3289,0,0,1,0,0,0,28.83,26.70,28.83
$GC,2571,-0.86,-126.5,2367,2594,3268,3288,670.9,-25.3,122,2575,0.05,2.10,0.00,0.000,2564,0.230,0.049,2381,1219,3278,3268,3288,0,0,0,0,0,0,26.77,26.72,28.83
$GC,2710,-0.86,-126.5,2381,1218,3268,3288,698.2,-24.0,125,2714,0.00,2.17,0.00,0.000,3078,0.000,0.060,2372,2592,3278,3268,3288,0,0,1,0,0,0,28.83,26.72,28.83
$GC,2967,-0.86,-126.5,2373,2591,3268,3287,764.8,-23.7,132,2971,0.00,2.08,0.00,0.000,2564,0.000,0.052,2373,1227,3277,3268,3287,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3066,-0.86,-126.5,2373,1227,3268,3287,782.3,-23.4,134,3070,0.05,2.17,0.00,0.000,3078,0.166,0.061,2379,2601,3277,3268,3287,0,0,1,0,0,0,26.63,26.74,28.83
$GC,3323,-0.86,-126.5,2378,2600,3268,3286,845.2,-22.6,141,3324,0.00,0.00,0.00,0.000,2054,0.000,0.000,2379,2600,3277,3268,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3563,-0.86,-126.5,2379,2599,3268,3285,898.0,-21.7,147,3566,0.00,2.10,0.00,0.000,2564,0.000,0.054,2380,1226,3276,3268,3285,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,3597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3597,begin apogee
$GC,3602,-0.18,0.0,2373,2306,3268,3284,906.0,-21.9,148,3719,0.73,0.00,108.80,1.102,10246,0.141,0.000,2599,2305,2762,2769,2755,0,0,0,0,0,0,26.65,28.83,24.22
$STATE,3720,end apogee,CONTROL_FINISHED_OK
$STATE,3720,begin climb
$GC,3722,0.86,126.5,2599,2305,2769,2755,913.6,0.0,151,3842,1.00,0.00,116.22,1.057,10502,0.076,0.000,2935,2305,2246,2266,2227,0,0,0,0,0,0,25.08,28.83,23.98
$GC,4078,0.86,126.5,2934,2305,2260,2217,848.3,23.3,160,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2305,2238,2260,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4318,0.86,126.5,2934,2305,2258,2216,792.6,23.2,166,4322,0.00,2.30,0.00,0.000,260,0.000,0.081,2934,3702,2236,2257,2216,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4436,0.86,126.5,2080,3701,2220,2210,762.7,25.3,169,4441,0.00,2.22,0.00,0.000,5126,0.000,0.054,2944,2336,2235,2255,2216,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4714,0.86,126.5,2945,2317,2255,2215,697.1,23.1,176,4718,0.00,2.28,0.00,0.000,4612,0.000,0.064,2956,889,2235,2255,2215,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4818,0.86,126.5,2956,889,2252,2216,680.1,22.7,178,4823,0.05,2.30,0.00,0.000,5126,0.168,0.062,2940,2301,2233,2252,2215,0,0,1,0,0,0,26.32,26.40,28.83
$GC,5070,0.86,126.5,2940,2299,2253,2215,619.0,21.7,185,5074,0.00,2.25,0.00,0.000,4612,0.000,0.061,2949,900,2234,2253,2215,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5113,0.86,126.5,2949,899,2252,2215,611.0,21.6,186,5118,0.00,2.28,0.00,0.000,5126,0.000,0.060,2943,2300,2233,2252,2215,0,0,1,0,0,0,28.83,26.48,28.83
$GC,5385,0.86,126.5,2943,2299,2252,2214,549.0,21.8,193,5386,0.00,0.00,0.00,0.000,4102,0.000,0.000,2943,2299,2233,2252,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5625,0.86,126.5,2943,2299,2252,2214,496.7,21.9,199,5626,0.00,0.00,0.00,0.000,4102,0.000,0.000,2943,2298,2232,2251,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5865,0.86,126.5,2943,2298,2251,2214,446.7,20.8,205,5869,0.00,2.25,0.00,0.000,4356,0.000,0.074,2943,3713,2232,2251,2214,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5919,0.86,126.5,2943,3713,2250,2214,438.9,20.9,206,5924,0.03,2.28,0.00,0.000,5126,0.203,0.054,2945,2296,2232,2251,2214,0,0,0,0,0,0,26.53,26.63,28.83
$GC,6181,0.86,126.5,2945,2275,2250,2214,382.9,19.4,213,6182,0.00,0.00,0.00,0.000,4102,0.000,0.000,2945,2275,2232,2251,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6421,0.86,126.5,2945,2275,2250,2214,336.6,19.2,219,6422,0.00,0.00,0.00,0.000,4102,0.000,0.000,2945,2275,2232,2250,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6661,0.86,126.5,2945,2275,2250,2214,291.4,18.8,225,6665,0.00,2.15,0.00,0.000,4612,0.000,0.060,2954,893,2232,2250,2214,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6679,0.86,126.5,2954,893,2250,2214,291.4,18.8,225,6685,0.05,2.25,0.00,0.000,5126,0.164,0.058,2939,2302,2232,2250,2214,0,0,1,0,0,0,26.59,26.69,28.83
$GC,6937,0.86,126.5,2938,2301,2250,2214,240.5,18.5,232,6938,0.00,0.00,0.00,0.000,4102,0.000,0.000,2938,2301,2232,2250,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7177,0.86,126.5,2938,2300,2250,2214,195.5,18.6,238,7178,0.00,0.00,0.00,0.000,4102,0.000,0.000,2939,2301,2232,2250,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7420,0.86,126.5,2939,2300,2250,2214,149.5,19.8,262,7431,0.00,2.22,0.00,0.000,4356,0.000,0.073,2931,3705,2232,2250,2214,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7435,0.86,126.5,2931,3705,2250,2214,147.8,19.2,263,7443,0.00,2.22,0.00,0.000,5126,0.000,0.050,2940,2296,2232,2250,2214,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7683,0.86,126.5,2940,2277,2250,2214,99.2,17.6,288,7695,0.00,2.12,0.00,0.000,4612,0.000,0.057,2951,896,2231,2249,2214,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7774,0.86,126.5,2950,896,2250,2214,81.7,19.1,296,7778,0.00,2.20,0.00,0.000,5126,0.000,0.055,2950,2309,2231,2249,2214,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8022,0.86,126.5,2950,2308,2249,2214,35.8,18.9,320,8034,0.00,2.15,0.00,0.000,4612,0.000,0.055,2959,904,2231,2249,2214,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8136,0.86,126.5,2958,904,2249,2214,13.2,20.7,334,8147,0.05,2.22,0.00,0.000,5126,0.164,0.056,2943,2300,2231,2249,2214,0,0,0,0,0,0,26.68,26.75,28.83
$STATE,8189,end climb,SURFACE_DEPTH_REACHED
$STATE,8190,begin surface coast
$FINISH,0.7,1.014865
$STATE,8205,end surface coast,CONTROL_FINISHED_OK
$STATE,8205,begin surface
$SM_CCo,8219,123.70,0.666,0,0,1089,410.13
$SM_GC,1.97,6.97,0.50,123.70,0.031,0.066,0.666,185,2611,1089,-7.64,-0.62,410.13,0,0,0,0,0,0,26.79,26.76,24.84
$IRIDIUM_FIX,3618.89,-15757.47,220209,171734
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.70
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,16.50
$XPDR_PINGS,1
$24V_AH,24.0,2.623
$10V_AH,10.3,3.049
$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,17.650,78.300,225.025,123.700,0.000,0.000,0.000,0.000,0.250,0.000,10.316,1000.762,5629.230,465.071,1265.680,46.708,33.230,1009.537,0.000,973.083,0.000,0.539,0.000
$DEVICE_MAMPS,229.500,81.090,1101.600,666.315,0.000,0.000,0.000,0.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,245.918,147.966,298.367,268.508,556.306,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353180
$DATA_FILE_SIZE,30535,343
$CAP_FILE_SIZE,89744,0
$CFSIZE,259248128,257937408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,2,0
$GPS,280416,065033,3635.886,-15758.174,14,1.2,14,11.5