version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 59
start: 5 3 116 23 44 48
data:
$ID,512
$MISSION,7
$DIVE,59
$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,375
$T_MISSION,760
$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,140
$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,-129565.62
$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,2657
$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,2300
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,250
$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
$GPS1,030516,233802,3624.199,-15753.899,40,0.9,40,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-71.0
$GPS2,030516,234351,3624.238,-15753.859,5,0.8,5,11.5
$SPEED_LIMITS,0.139,0.234
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,-0.234
$KALMAN_X,52958.3,-1731.3,-43.1,-41492.4,10789.9
$KALMAN_Y,115586.9,-577.2,-1059.0,-132378.6,15979.0
$MHEAD_RNG_PITCHd_Wd,169.2,1517264,-15.5,-8.000,-18.87,2602
$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,-0.79,-136.3,184,2285,1104,1225,0.0,0.0,0,87,0.00,0.00,-70.35,0.000,16386,0.000,0.000,184,2262,2882,2855,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.79,-136.3,184,2262,2855,2909,3.2,-2.3,8,118,8.75,2.33,-11.70,0.000,18692,0.226,0.073,2387,3716,3318,3312,3325,0,0,0,0,0,0,25.88,26.07,26.38
$GC,198,-0.79,-136.3,2387,3716,3313,3325,31.1,-30.0,22,209,0.00,2.22,0.00,0.000,3078,0.000,0.037,2393,2304,3319,3313,3325,0,0,0,0,0,0,28.83,26.17,28.83
$GC,449,-0.79,-136.3,2393,2277,3314,3325,97.0,-26.1,47,457,0.00,2.12,0.00,0.000,2564,0.000,0.045,2393,895,3319,3314,3325,0,0,0,0,0,0,28.83,26.32,28.83
$GC,481,-0.79,-136.3,2393,895,3314,3325,106.4,-26.8,50,486,0.08,2.22,0.00,0.000,3078,0.197,0.047,2397,2316,3319,3314,3325,0,0,0,0,0,0,26.23,26.34,28.83
$GC,726,-0.79,-136.3,2397,2315,3315,3325,167.4,-24.4,74,730,0.00,2.17,0.00,0.000,2308,0.000,0.060,2388,3713,3320,3315,3325,0,0,0,0,0,0,28.83,26.41,28.83
$GC,766,-0.79,-136.3,1600,3713,3303,3322,177.2,-25.6,77,775,0.00,2.20,0.00,0.000,3078,0.000,0.039,2391,2308,3320,3315,3325,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1024,-0.79,-136.3,2391,2280,3316,3325,241.6,-24.6,91,1028,0.00,2.15,0.00,0.000,2564,0.000,0.046,2393,882,3320,3316,3325,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1063,-0.79,-136.3,2393,882,3316,3325,250.8,-24.7,92,1068,0.08,2.22,0.00,0.000,3078,0.195,0.047,2398,2309,3320,3316,3325,0,0,0,0,0,0,26.41,26.51,28.83
$GC,1340,-0.79,-136.3,2397,2308,3316,3324,318.4,-24.1,99,1344,0.00,2.17,0.00,0.000,2308,0.000,0.061,2388,3711,3321,3317,3325,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1383,-0.79,-136.3,2388,3710,3316,3325,327.5,-24.2,100,1388,0.00,2.20,0.00,0.000,3078,0.000,0.037,2392,2297,3320,3316,3325,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1656,-0.79,-136.3,2392,2268,3316,3325,395.1,-23.8,107,1660,0.00,2.12,0.00,0.000,2564,0.000,0.046,2392,884,3320,3316,3325,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1704,-0.79,-136.3,2392,884,3317,3325,404.1,-24.1,108,1709,0.08,2.25,0.00,0.000,3078,0.195,0.047,2397,2307,3321,3317,3325,0,0,0,0,0,0,26.52,26.63,28.83
$GC,1971,-0.79,-136.3,2397,2305,3317,3325,470.9,-23.7,115,1975,0.00,2.17,0.00,0.000,2308,0.000,0.062,2388,3709,3321,3317,3325,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2007,-0.79,-136.3,2388,3710,3318,3325,479.4,-23.7,116,2012,0.00,2.15,0.00,0.000,3078,0.000,0.039,2391,2291,3321,3317,3325,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2283,-0.79,-136.3,2391,2264,3317,3325,545.2,-23.4,123,2284,0.00,0.00,0.00,0.000,2054,0.000,0.000,2391,2264,3321,3317,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2523,-0.79,-136.3,2390,2263,3317,3324,599.5,-22.4,129,2524,0.00,0.00,0.00,0.000,2054,0.000,0.000,2391,2263,3320,3317,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2763,-0.79,-136.3,2391,2263,3317,3323,652.0,-21.6,135,2764,0.00,0.00,0.00,0.000,2054,0.000,0.000,2391,2263,3320,3317,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3003,-0.79,-136.3,2391,2262,3317,3323,703.2,-21.1,141,3008,0.00,2.25,0.00,0.000,2308,0.000,0.063,2382,3705,3319,3317,3322,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3032,-0.79,-136.3,2382,3705,3317,3322,703.2,-21.1,141,3040,0.03,2.17,0.00,0.000,3078,0.174,0.041,2392,2301,3319,3317,3322,0,0,0,0,0,0,26.64,26.73,28.83
$GC,3279,-0.79,-136.3,2391,2277,3317,3321,761.7,-20.8,148,3283,0.00,2.22,0.00,0.000,2308,0.000,0.062,2383,3706,3319,3317,3321,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3323,-0.79,-136.3,2382,3706,3317,3321,769.6,-21.1,149,3328,0.03,2.17,0.00,0.000,3078,0.172,0.039,2394,2296,3319,3317,3321,0,0,0,0,0,0,26.66,26.74,28.83
$GC,3595,-0.79,-136.3,2394,2273,3316,3320,826.7,-20.1,156,3596,0.00,0.00,0.00,0.000,2054,0.000,0.000,2394,2273,3318,3316,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3835,-0.79,-136.3,2394,2273,3316,3319,874.4,-19.7,162,3839,0.00,2.25,0.00,0.000,2308,0.000,0.065,2385,3709,3317,3316,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3879,-0.79,-136.3,2385,3709,3315,3319,881.6,-19.5,163,3883,0.03,2.17,0.00,0.000,3078,0.168,0.041,2393,2304,3317,3315,3319,0,0,0,0,0,0,26.67,26.76,28.83
$STATE,3989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3990,begin apogee
$GC,3993,-0.20,0.0,2393,2385,3315,3319,905.4,-19.9,166,4113,0.62,0.00,116.12,1.106,10246,0.133,0.000,2591,2385,2762,2771,2754,0,0,0,0,0,0,26.65,28.83,24.27
$STATE,4114,end apogee,CONTROL_FINISHED_OK
$STATE,4114,begin climb
$GC,4115,0.79,136.3,2591,2385,2770,2754,911.3,0.0,169,4243,0.93,0.00,123.07,1.064,10502,0.076,0.000,2905,2385,2205,2239,2172,0,0,0,0,0,0,25.06,28.83,24.06
$GC,4471,0.79,136.3,2905,2385,2231,2165,852.1,21.0,178,4475,0.00,2.30,0.00,0.000,2564,0.000,0.054,2916,957,2198,2232,2165,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4499,0.79,136.3,2916,957,2230,2165,852.1,21.0,178,4507,0.00,2.30,0.00,0.000,5126,0.000,0.054,2916,2336,2197,2230,2165,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4746,0.79,136.3,2916,2335,2228,2164,795.5,20.5,185,4748,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2335,2196,2228,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4986,0.79,136.3,2916,2335,2226,2164,747.3,20.0,191,4988,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2335,2195,2226,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5226,0.79,136.3,2915,2334,2225,2164,699.9,19.8,197,5227,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2334,2194,2225,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5466,0.79,136.3,2916,2334,2224,2162,652.4,19.9,203,5470,0.00,2.15,0.00,0.000,4612,0.000,0.053,2926,965,2193,2224,2163,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5485,0.79,136.3,2925,965,2224,2163,652.4,19.9,203,5489,0.00,2.28,0.00,0.000,5126,0.000,0.055,2917,2364,2193,2224,2163,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5742,0.79,136.3,2916,2362,2223,2163,596.9,20.7,210,5746,0.00,2.20,0.00,0.000,4612,0.000,0.053,2926,965,2193,2223,2163,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5756,0.79,136.3,2926,966,2223,2162,596.9,20.7,210,5760,0.00,2.28,0.00,0.000,5126,0.000,0.054,2917,2366,2192,2222,2162,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6018,0.79,136.3,2917,2365,2223,2162,541.4,20.3,217,6022,0.00,2.20,0.00,0.000,4612,0.000,0.052,2926,965,2192,2223,2162,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6106,0.79,136.3,2926,964,2222,2162,526.6,19.8,219,6110,0.00,2.28,0.00,0.000,5126,0.000,0.055,2917,2367,2192,2222,2162,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6374,0.79,136.3,2917,2365,2222,2162,472.9,19.0,226,6375,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2365,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,0.79,136.3,2917,2365,2222,2162,427.4,19.0,232,6615,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2365,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6853,0.79,136.3,2917,2365,2221,2162,381.2,19.2,238,6857,0.00,2.17,0.00,0.000,4612,0.000,0.051,2927,965,2191,2221,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6912,0.79,136.3,2927,965,2221,2162,374.3,19.4,239,6916,0.00,2.25,0.00,0.000,5126,0.000,0.054,2918,2359,2191,2220,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7169,0.79,136.3,2918,2357,2221,2162,319.8,19.3,246,7173,0.00,2.15,0.00,0.000,4612,0.000,0.050,2928,963,2191,2220,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7208,0.79,136.3,2927,963,2221,2162,313.1,19.2,247,7212,0.00,2.25,0.00,0.000,5126,0.000,0.053,2919,2362,2191,2220,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7485,0.79,136.3,2919,2360,2220,2162,262.3,18.1,254,7486,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2360,2191,2221,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7725,0.79,136.3,2918,2360,2220,2162,217.9,18.5,260,7729,0.00,2.20,0.00,0.000,4612,0.000,0.051,2928,956,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7754,0.79,136.3,2928,956,2220,2162,217.9,18.5,260,7761,0.00,2.28,0.00,0.000,5126,0.000,0.052,2919,2371,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8001,0.79,136.3,2919,2369,2220,2162,164.9,18.9,279,8005,0.00,2.17,0.00,0.000,4612,0.000,0.049,2929,960,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8065,0.79,136.3,2928,960,2220,2162,153.4,18.6,284,8073,0.08,2.25,0.00,0.000,5126,0.187,0.053,2914,2365,2191,2220,2162,0,0,0,0,0,0,26.62,26.71,28.83
$GC,8315,0.79,136.3,2913,2364,2220,2162,109.1,17.7,309,8321,0.00,0.00,0.00,0.000,4102,0.000,0.000,2914,2365,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8565,0.79,136.3,2913,2364,2220,2162,65.1,17.5,334,8576,0.00,2.15,0.00,0.000,4612,0.000,0.048,2922,955,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8604,0.79,136.3,2922,955,2220,2162,58.4,17.5,337,8615,0.00,2.20,0.00,0.000,5126,0.000,0.052,2917,2368,2191,2220,2162,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8890,0.79,136.3,2916,2367,2220,2162,9.0,15.0,371,8899,0.00,2.25,0.00,0.000,4356,0.000,0.068,2916,3770,2191,2220,2162,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,8921,end climb,SURFACE_DEPTH_REACHED
$STATE,8921,begin surface coast
$FINISH,1.1,3.154479
$STATE,8930,end surface coast,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$SM_CCo,8945,113.10,0.669,0,0,1171,390.02
$SM_GC,2.31,6.82,2.35,113.10,0.024,0.043,0.669,196,2301,1171,-7.62,0.96,390.02,0,0,0,0,0,0,26.72,26.71,24.91
$IRIDIUM_FIX,3613.54,-15755.99,280209,101005
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.03
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.10
$XPDR_PINGS,306
$24V_AH,24.1,8.232
$10V_AH,10.3,5.882
$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,17.500,88.775,239.200,113.100,0.000,30.092,46.568,188.725,76.500,0.000,7.106,1071.584,6264.113,457.674,1562.637,66.157,33.243,1015.460,0.000,958.970,0.000,0.540,0.000
$DEVICE_MAMPS,226.440,80.325,1106.190,668.610,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.121,162.945,327.703,296.484,614.637,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353068
$DATA_FILE_SIZE,33914,376
$CAP_FILE_SIZE,85926,0
$CFSIZE,259248128,255582208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040516,021632,3623.299,-15753.575,10,1.7,10,11.5