version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 18
start: 4 28 116 18 59 34
data:
$ID,512
$MISSION,7
$DIVE,18
$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,90
$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,390
$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,-129433.16
$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,2655
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2550
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,24
$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
$GPS1,280416,185250,3633.868,-15756.605,36,1.1,36,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-72.3
$GPS2,280416,185839,3633.925,-15756.504,7,1.1,7,11.5
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.001,-0.205
$KALMAN_X,9983.1,-451.3,-129.2,-3637.7,4035.3
$KALMAN_Y,34118.9,-3319.4,-1223.9,-30080.1,22353.2
$MHEAD_RNG_PITCHd_Wd,168.8,1535179,-23.6,-10.000,-26.04,1345
$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,14,-1.05,-87.6,192,2564,1019,1144,0.0,0.0,0,96,0.00,0.00,-79.07,0.000,16386,0.000,0.000,191,2565,2972,2952,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.05,-87.6,191,2581,2952,2994,3.1,-2.2,9,118,8.32,2.20,-4.10,0.000,18692,0.225,0.073,2299,3921,3119,3108,3130,0,0,0,0,0,0,25.82,26.03,26.32
$GC,325,-1.05,-87.6,2299,3921,3109,3130,83.7,-36.0,32,337,0.00,2.12,0.00,0.000,3078,0.000,0.038,2306,2531,3119,3109,3130,0,0,0,0,0,0,28.83,26.26,28.83
$GC,574,-1.05,-87.6,2306,2516,3110,3130,168.0,-32.7,57,577,0.00,2.08,0.00,0.000,2564,0.000,0.044,2316,1156,3120,3110,3130,0,0,0,0,0,0,28.83,26.36,28.83
$GC,606,-1.05,-87.6,2315,1157,3110,3130,178.4,-32.8,60,610,0.00,2.17,0.00,0.000,3078,0.000,0.051,2307,2557,3120,3110,3130,0,0,0,0,0,0,28.83,26.37,28.83
$GC,881,-1.05,-87.6,2307,2555,3111,3130,267.6,-32.4,72,885,0.00,2.15,0.00,0.000,2564,0.000,0.044,2314,1151,3120,3111,3130,0,0,0,0,0,0,28.83,26.47,28.83
$GC,974,-1.05,-87.6,2314,1151,3111,3130,291.2,-31.7,74,978,0.00,2.20,0.00,0.000,3078,0.000,0.050,2306,2555,3120,3111,3130,0,0,1,0,0,0,28.83,26.49,28.83
$GC,1236,-1.05,-87.6,2305,2554,3112,3130,376.7,-30.4,81,1240,0.00,2.12,0.00,0.000,2564,0.000,0.044,2313,1153,3121,3112,3130,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1335,-1.05,-87.6,2313,1153,3112,3130,400.0,-30.8,83,1339,0.00,2.17,0.00,0.000,3078,0.000,0.051,2304,2548,3121,3112,3130,0,0,1,0,0,0,28.83,26.56,28.83
$GC,1592,-1.05,-87.6,2304,2546,3113,3130,482.9,-29.8,90,1593,0.00,0.00,0.00,0.000,2054,0.000,0.000,2304,2546,3121,3112,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1832,-1.05,-87.6,2303,2546,3113,3130,553.1,-29.3,96,1836,0.00,2.10,0.00,0.000,2564,0.000,0.045,2310,1159,3121,3113,3130,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1855,-1.05,-87.6,2310,1158,3112,3130,553.1,-29.3,96,1860,0.03,2.17,0.00,0.000,3078,0.237,0.054,2308,2548,3121,3112,3130,0,0,1,0,0,0,26.53,26.63,28.83
$GC,2107,-1.05,-87.6,2307,2546,3113,3130,635.5,-29.6,103,2111,0.00,2.10,0.00,0.000,2564,0.000,0.046,2316,1159,3121,3113,3130,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2126,-1.05,-87.6,2316,1159,3112,3130,635.5,-29.6,103,2130,0.00,2.20,0.00,0.000,3078,0.000,0.054,2307,2560,3121,3112,3130,0,0,1,0,0,0,28.83,26.67,28.83
$GC,2383,-1.05,-87.6,2307,2558,3113,3128,713.4,-28.2,110,2384,0.00,0.00,0.00,0.000,2054,0.000,0.000,2307,2558,3121,3114,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2623,-1.05,-87.6,2307,2558,3114,3128,779.2,-27.1,116,2627,0.00,2.12,0.00,0.000,2564,0.000,0.047,2314,1157,3121,3114,3128,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2699,-1.05,-87.6,2314,1157,3114,3128,799.6,-26.8,118,2703,0.00,2.15,0.00,0.000,3078,0.000,0.055,2305,2550,3120,3113,3128,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2974,-1.05,-87.6,2305,2549,3114,3126,869.4,-24.9,125,2978,0.00,2.12,0.00,0.000,2564,0.000,0.048,2312,1154,3120,3114,3127,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3083,-1.05,-87.6,2312,1154,3114,3126,888.3,-25.2,127,3090,0.00,2.20,0.00,0.000,3078,0.000,0.057,2303,2551,3120,3114,3126,0,0,1,0,0,0,28.83,26.72,28.83
$STATE,3128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3128,begin apogee
$GC,3132,-0.20,0.0,2303,2322,3114,3126,908.2,-24.9,129,3212,0.93,0.00,76.05,1.101,10246,0.155,0.000,2583,2319,2763,2770,2756,0,0,0,0,0,0,26.60,28.83,24.49
$STATE,3213,end apogee,CONTROL_FINISHED_OK
$STATE,3213,begin climb
$GC,3214,1.05,87.6,2583,2320,2768,2754,914.5,0.0,131,3300,1.17,0.00,82.32,1.066,10502,0.082,0.000,2985,2320,2404,2405,2404,0,0,0,0,0,0,25.27,28.83,24.05
$GC,3530,1.05,87.6,2985,2320,2398,2396,861.9,20.0,139,3534,0.00,2.33,0.00,0.000,2564,0.000,0.060,2996,889,2397,2398,2396,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3578,1.05,87.6,2995,889,2396,2396,854.9,19.9,140,3583,0.00,2.33,0.00,0.000,5126,0.000,0.059,2995,2297,2396,2397,2395,0,0,1,0,0,0,28.83,25.92,28.83
$GC,3845,1.05,87.6,2995,2296,2395,2393,798.8,19.2,147,3849,0.00,2.25,0.00,0.000,516,0.000,0.057,3004,892,2394,2395,2393,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3869,1.05,87.6,3004,892,2395,2394,798.8,19.2,147,3873,0.00,2.30,0.00,0.000,5126,0.000,0.059,3001,2305,2394,2395,2393,0,0,1,0,0,0,28.83,26.20,28.83
$GC,4121,1.05,87.6,3001,2303,2395,2392,746.7,18.8,154,4122,0.00,0.00,0.00,0.000,4102,0.000,0.000,3002,2303,2393,2394,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4361,1.05,87.6,3001,2303,2394,2392,702.1,18.4,160,4362,0.00,0.00,0.00,0.000,4102,0.000,0.000,3002,2303,2393,2394,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4601,1.05,87.6,3001,2303,2394,2391,658.5,17.9,166,4605,0.00,2.25,0.00,0.000,4356,0.000,0.075,2999,3709,2392,2394,2391,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4805,1.05,87.6,2999,3709,2390,2391,620.4,19.3,171,4810,0.03,2.28,0.00,0.000,5126,0.226,0.052,3002,2293,2390,2390,2391,0,0,0,0,0,0,26.42,26.53,28.83
$GC,5077,1.05,87.6,3002,2273,2390,2390,572.2,17.0,178,5081,0.00,2.30,0.00,0.000,4356,0.000,0.073,3002,3710,2390,2390,2391,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5121,1.05,87.6,3002,3710,2389,2391,565.4,17.3,179,5126,0.05,2.28,0.00,0.000,5126,0.203,0.052,2998,2297,2390,2389,2391,0,0,0,0,0,0,26.44,26.58,28.83
$GC,5393,1.05,87.6,2998,2273,2389,2390,516.5,17.3,186,5397,0.00,2.30,0.00,0.000,4356,0.000,0.072,2999,3713,2389,2389,2390,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5468,1.05,87.6,2998,3714,2389,2390,502.4,17.7,188,5473,0.00,2.22,0.00,0.000,5126,0.000,0.050,3007,2284,2389,2389,2390,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5744,1.05,87.6,3008,2267,2390,2390,452.4,18.0,195,5749,0.05,2.30,0.00,0.000,4356,0.257,0.068,2999,3710,2389,2389,2390,0,0,0,0,0,0,26.65,26.60,28.83
$GC,5909,1.05,87.6,2999,3710,2388,2390,422.1,19.4,199,5914,0.05,2.25,0.00,0.000,5126,0.200,0.049,2995,2298,2389,2389,2390,0,0,0,0,0,0,26.52,26.66,28.83
$GC,6181,1.05,87.6,2995,2272,2389,2389,372.3,17.2,206,6185,0.00,2.30,0.00,0.000,260,0.000,0.070,2995,3718,2388,2388,2389,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6280,1.05,87.6,2995,3718,2388,2390,357.9,17.8,208,6284,0.00,2.25,0.00,0.000,5126,0.000,0.047,3005,2293,2388,2388,2389,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6537,1.05,87.6,3005,2274,2388,2390,308.8,17.3,215,6541,0.00,2.28,0.00,0.000,4356,0.000,0.070,3005,3713,2388,2388,2389,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6580,1.05,87.6,3005,3713,2388,2390,302.3,17.3,216,6585,0.05,2.22,0.00,0.000,5126,0.204,0.047,3002,2304,2389,2388,2390,0,0,0,0,0,0,26.55,26.70,28.83
$GC,6852,1.05,87.6,3002,2281,2388,2390,253.7,17.2,223,6856,0.00,2.25,0.00,0.000,4356,0.000,0.068,3002,3710,2389,2388,2390,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6921,1.05,87.6,3002,3710,2388,2390,247.1,17.5,224,6929,0.05,2.22,0.00,0.000,5126,0.201,0.050,2998,2295,2388,2388,2389,0,0,0,0,0,0,26.57,26.72,28.83
$GC,7168,1.05,87.6,2998,2284,2388,2390,198.5,16.9,231,7172,0.00,2.25,0.00,0.000,4356,0.000,0.067,2998,3711,2389,2388,2390,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7206,1.05,87.6,2998,3711,2388,2390,191.8,16.9,234,7211,0.00,2.17,0.00,0.000,5126,0.000,0.046,3008,2290,2389,2388,2390,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7452,1.05,87.6,3008,2289,2387,2389,152.8,15.8,258,7464,0.03,2.28,0.00,0.000,4356,0.290,0.064,3000,3714,2389,2388,2390,0,0,0,0,0,0,26.73,26.68,28.83
$GC,7513,1.05,87.6,3000,3714,2388,2390,143.4,16.7,263,7522,0.03,2.22,0.00,0.000,5126,0.216,0.044,3002,2274,2389,2388,2390,0,0,0,0,0,0,26.61,26.70,28.83
$GC,7761,1.05,87.6,3002,2273,2388,2390,105.2,15.1,288,7765,0.00,2.25,0.00,0.000,4356,0.000,0.067,3002,3710,2389,2388,2390,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8040,1.05,87.6,3002,3709,2388,2390,56.6,17.7,311,8052,0.05,2.17,0.00,0.000,5126,0.200,0.044,2998,2296,2389,2388,2390,0,0,0,0,0,0,26.58,26.73,28.83
$GC,8318,1.05,87.6,2998,2292,2388,2390,15.6,13.4,343,8327,0.00,0.00,0.00,0.000,4102,0.000,0.000,2998,2293,2388,2388,2389,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8410,end climb,SURFACE_DEPTH_REACHED
$STATE,8410,begin surface coast
$FINISH,0.9,2.774930
$STATE,8432,end surface coast,CONTROL_FINISHED_OK
$STATE,8433,begin surface
$SM_CCo,8446,132.27,0.665,0,0,1171,390.02
$SM_GC,2.13,7.18,0.45,132.27,0.037,0.063,0.665,193,2562,1171,-7.61,-0.59,390.02,0,0,0,0,0,0,26.75,26.72,24.77
$IRIDIUM_FIX,3618.89,-15809.43,230209,060631
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.21
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,16.80
$XPDR_PINGS,196
$24V_AH,24.0,3.272
$10V_AH,10.3,3.358
$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,18.000,89.450,158.375,132.275,0.000,27.667,65.200,173.728,49.000,0.000,8.271,1073.829,5690.107,407.948,1713.664,56.701,33.231,1010.718,0.000,1109.738,0.000,0.540,0.000
$DEVICE_MAMPS,289.935,74.970,1100.835,664.785,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,261.315,158.133,318.137,292.131,605.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353144
$DATA_FILE_SIZE,30675,359
$CAP_FILE_SIZE,88358,0
$CFSIZE,259248128,257654784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,2,0
$GPS,280416,212349,3633.732,-15755.697,41,0.8,41,11.5