version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 66
start: 5 4 116 18 52 32
data:
$ID,512
$MISSION,7
$DIVE,66
$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,-129574.44
$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,2654
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,2340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,20
$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
$GPS1,040516,184301,3618.010,-15754.723,33,0.9,33,11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-72.5
$GPS2,040516,185136,3618.052,-15754.660,6,0.9,6,11.5
$SPEED_LIMITS,0.139,0.234
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.175,-0.155
$KALMAN_X,51899.1,-722.9,-182.0,-42479.7,4003.8
$KALMAN_Y,125579.6,-1188.4,-729.3,-153559.1,17846.4
$MHEAD_RNG_PITCHd_Wd,216.9,1505799,-15.6,-8.000,-18.91,2590
$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,14,begin dive
$GC,15,-0.74,-135.6,167,2333,1116,1205,0.0,0.0,0,88,0.00,0.00,-70.15,0.000,16386,0.000,0.000,159,2307,2863,2838,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.74,-136.3,159,2309,2838,2888,3.1,-2.0,8,118,8.95,0.00,-12.45,0.000,18694,0.230,0.000,2411,2305,3318,3314,3322,0,0,0,0,0,0,25.87,28.83,26.39
$GC,383,-0.74,-136.3,2410,2305,3315,3322,78.8,-26.6,41,394,0.00,2.20,0.00,0.000,2308,0.000,0.060,2401,3714,3318,3315,3321,0,0,0,0,0,0,28.83,26.29,28.83
$GC,498,-0.74,-136.3,2401,3714,3315,3322,108.8,-25.5,51,507,0.00,2.15,0.00,0.000,3078,0.000,0.037,2408,2299,3319,3316,3322,0,0,0,0,0,0,28.83,26.37,28.83
$GC,749,-0.74,-136.3,2408,2267,3316,3322,170.2,-23.8,76,752,0.00,2.12,0.00,0.000,2564,0.000,0.045,2408,890,3319,3317,3322,0,0,0,0,0,0,28.83,26.43,28.83
$GC,772,-0.74,-136.3,1616,890,3305,3319,175.9,-23.1,78,782,0.00,2.25,0.00,0.000,3078,0.000,0.046,2400,2306,3319,3316,3322,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1029,-0.74,-136.3,2399,2305,3317,3322,240.5,-24.9,92,1033,0.00,2.17,0.00,0.000,2308,0.000,0.059,2389,3712,3319,3317,3322,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1053,-0.74,-136.3,2389,3712,3317,3322,240.5,-24.9,92,1058,0.08,2.17,0.00,0.000,3078,0.188,0.037,2408,2282,3319,3317,3322,0,0,0,0,0,0,26.42,26.53,28.83
$GC,1305,-0.74,-136.3,2407,2258,3317,3322,309.2,-24.5,99,1306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2407,2258,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1545,-0.74,-136.3,2407,2258,3317,3322,366.0,-23.5,105,1546,0.00,0.00,0.00,0.000,2054,0.000,0.000,2407,2258,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1785,-0.74,-136.3,2407,2258,3317,3321,422.8,-23.5,111,1786,0.00,0.00,0.00,0.000,2054,0.000,0.000,2407,2258,3320,3318,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-0.74,-136.3,2407,2258,3317,3322,477.6,-22.9,117,2029,0.00,2.25,0.00,0.000,2308,0.000,0.057,2399,3715,3319,3317,3322,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2089,-0.74,-136.3,2398,3714,3317,3321,485.8,-22.8,118,2093,0.00,2.17,0.00,0.000,3078,0.000,0.038,2398,2308,3319,3317,3321,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2341,-0.74,-136.3,2398,2279,3317,3321,549.9,-22.6,125,2342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2398,2279,3319,3317,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2581,-0.74,-136.3,2398,2279,3317,3321,602.6,-21.8,131,2582,0.00,0.00,0.00,0.000,2054,0.000,0.000,2398,2279,3319,3317,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-0.74,-136.3,2398,2279,3317,3320,654.1,-21.4,137,2825,0.00,2.22,0.00,0.000,2308,0.000,0.057,2389,3720,3318,3317,3320,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2856,-0.74,-136.3,2389,3720,3317,3320,661.9,-21.5,138,2861,0.08,2.15,0.00,0.000,3078,0.182,0.037,2409,2295,3318,3317,3320,0,0,0,0,0,0,26.63,26.73,28.83
$GC,3133,-0.74,-136.3,2409,2267,3316,3319,719.3,-20.5,145,3134,0.00,0.00,0.00,0.000,2054,0.000,0.000,2409,2267,3318,3317,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3373,-0.74,-136.3,2409,2267,3317,3318,768.1,-20.6,151,3374,0.00,0.00,0.00,0.000,2054,0.000,0.000,2409,2267,3317,3317,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3613,-0.74,-136.3,2409,2267,3315,3317,816.6,-20.3,157,3617,0.00,2.25,0.00,0.000,2308,0.000,0.063,2400,3708,3316,3316,3317,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3666,-0.74,-136.3,2399,3707,3316,3317,823.7,-20.2,158,3671,0.03,2.20,0.00,0.000,3078,0.166,0.040,2408,2288,3316,3316,3317,0,0,0,0,0,0,26.67,26.77,28.83
$GC,3929,-0.74,-136.3,2408,2265,3315,3316,879.6,-19.7,165,3933,0.00,2.28,0.00,0.000,2308,0.000,0.063,2399,3717,3315,3315,3316,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3964,-0.74,-136.3,2399,3716,3315,3316,887.0,-20.0,166,3969,0.00,2.15,0.00,0.000,3078,0.000,0.041,2399,2301,3315,3314,3316,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4039,begin apogee
$GC,4043,-0.19,0.0,2399,2362,3315,3316,902.7,-20.8,168,4162,0.60,0.00,115.88,1.101,10246,0.134,0.000,2587,2362,2762,2770,2754,0,0,0,0,0,0,26.65,28.83,24.29
$STATE,4163,end apogee,CONTROL_FINISHED_OK
$STATE,4163,begin climb
$GC,4164,0.74,136.3,2587,2362,2770,2753,909.8,0.0,171,4292,0.90,0.00,123.32,1.047,10502,0.081,0.000,2891,2363,2206,2241,2172,0,0,0,0,0,0,25.08,28.83,24.08
$GC,4521,0.74,136.3,2890,2362,2233,2164,854.2,19.7,180,4526,0.00,2.30,0.00,0.000,516,0.000,0.053,2901,938,2198,2233,2164,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4573,0.74,136.3,2901,938,2231,2164,846.0,20.1,181,4577,0.00,2.30,0.00,0.000,5126,0.000,0.054,2901,2346,2197,2231,2164,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4840,0.74,136.3,2901,2344,2229,2164,787.7,20.7,188,4841,0.00,0.00,0.00,0.000,4102,0.000,0.000,2901,2344,2196,2229,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5080,0.74,136.3,2901,2344,2227,2163,739.9,19.8,194,5081,0.00,0.00,0.00,0.000,4102,0.000,0.000,2901,2344,2195,2227,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5320,0.74,136.3,2901,2344,2226,2162,694.5,18.8,200,5324,0.00,2.22,0.00,0.000,4612,0.000,0.053,2911,932,2194,2226,2162,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5389,0.74,136.3,2911,932,2225,2162,687.6,18.8,201,5397,0.08,2.30,0.00,0.000,5126,0.184,0.060,2897,2369,2193,2225,2162,0,0,0,0,0,0,26.36,26.43,28.83
$GC,5636,0.74,136.3,2897,2367,2224,2162,635.1,18.7,208,5637,0.00,0.00,0.00,0.000,4102,0.000,0.000,2897,2367,2193,2224,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5876,0.74,136.3,2897,2367,2223,2162,591.7,18.0,214,5880,0.00,2.25,0.00,0.000,4612,0.000,0.053,2905,932,2192,2223,2162,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5940,0.74,136.3,2906,932,2223,2162,585.2,18.0,215,5944,0.00,2.25,0.00,0.000,5126,0.000,0.053,2904,2348,2192,2223,2162,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6192,0.74,136.3,2903,2346,2223,2162,536.2,17.0,222,6196,0.00,2.20,0.00,0.000,4612,0.000,0.053,2913,940,2192,2222,2162,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6260,0.74,136.3,2913,940,2222,2162,530.0,17.2,223,6268,0.00,2.28,0.00,0.000,5126,0.000,0.055,2905,2341,2192,2222,2162,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6507,0.74,136.3,2905,2340,2221,2162,483.1,16.6,230,6509,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,2340,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6747,0.74,136.3,2905,2340,2221,2161,440.9,17.9,236,6749,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,2340,2191,2221,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,0.74,136.3,2905,2339,2221,2161,397.6,18.1,242,6988,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,2340,2191,2221,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7227,0.74,136.3,2905,2339,2221,2162,354.5,17.9,248,7231,0.00,2.20,0.00,0.000,4612,0.000,0.051,2914,940,2191,2221,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7265,0.74,136.3,2056,940,2186,2156,348.0,17.8,249,7271,0.05,2.25,0.00,0.000,5126,0.151,0.053,2896,2339,2191,2221,2162,0,0,0,0,0,0,26.58,26.67,28.83
$GC,7543,0.74,136.3,2895,2337,2220,2161,301.4,16.4,256,7547,0.00,2.17,0.00,0.000,516,0.000,0.051,2904,940,2190,2220,2161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7592,0.74,136.3,2904,940,2220,2162,295.6,16.2,257,7596,0.00,2.25,0.00,0.000,5126,0.000,0.054,2905,2364,2191,2220,2162,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7859,0.74,136.3,2904,2363,2220,2162,248.1,16.8,264,7863,0.00,2.20,0.00,0.000,4612,0.000,0.047,2914,936,2190,2220,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7898,0.74,136.3,2914,936,2220,2161,241.8,17.0,265,7903,0.05,2.25,0.00,0.000,5126,0.154,0.053,2896,2338,2191,2220,2162,0,0,0,0,0,0,26.61,26.70,28.83
$GC,8175,0.74,136.3,2896,2336,2220,2161,195.7,16.4,272,8176,0.00,0.00,0.00,0.000,4102,0.000,0.000,2896,2336,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8415,0.74,136.3,2896,2336,2220,2162,157.1,16.4,296,8419,0.00,2.15,0.00,0.000,4612,0.000,0.047,2905,936,2191,2220,2162,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8498,0.74,136.3,2904,936,2220,2162,144.4,15.8,303,8507,0.00,2.20,0.00,0.000,5126,0.000,0.053,2905,2349,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8746,0.74,136.3,2904,2347,2220,2162,101.7,16.9,328,8758,0.00,2.17,0.00,0.000,4612,0.000,0.047,2915,933,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8762,0.74,136.3,2914,933,2220,2162,100.4,17.0,329,8770,0.05,2.25,0.00,0.000,5126,0.158,0.050,2898,2340,2191,2220,2162,0,0,0,0,0,0,26.60,26.70,28.83
$GC,9013,0.74,136.3,2898,2339,2220,2162,60.0,15.6,354,9022,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,2338,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9274,0.74,136.3,2898,2338,2220,2162,23.4,15.8,382,9284,0.00,2.22,0.00,0.000,4356,0.000,0.066,2898,3741,2191,2220,2162,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,9388,end climb,SURFACE_DEPTH_REACHED
$STATE,9388,begin surface coast
$FINISH,0.9,3.127242
$STATE,9403,end surface coast,CONTROL_FINISHED_OK
$STATE,9403,begin surface
$SM_CCo,9419,109.18,0.646,0,0,1172,390.02
$SM_GC,2.17,6.93,2.28,109.18,0.035,0.039,0.646,196,2287,1172,-7.62,0.88,390.02,0,0,0,0,0,0,26.70,26.74,24.96
$IRIDIUM_FIX,3605.52,-15755.52,010309,080835
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.03
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.40
$XPDR_PINGS,334
$24V_AH,24.1,9.076
$10V_AH,10.3,6.266
$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,17.775,75.575,239.200,109.175,0.000,55.346,104.902,207.207,83.500,0.000,7.299,1121.618,6686.786,454.946,1724.672,67.630,33.249,1015.683,0.000,990.131,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,87.975,1100.835,646.425,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,286.374,179.078,352.903,322.234,667.821,0.000,0.000,0.000,0.000,0.000
$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,33849,400
$CAP_FILE_SIZE,85674,0
$CFSIZE,259248128,255258624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040516,213251,3617.611,-15755.654,36,2.3,56,11.5