version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 72
start: 5 5 116 11 36 37
data:
$ID,512
$MISSION,7
$DIVE,72
$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,250
$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,-129582
$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,30
$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,62
$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
$GPS1,050516,112601,3613.752,-15755.946,32,0.9,32,11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-71.0
$GPS2,050516,113543,3613.720,-15755.830,6,0.9,7,11.5
$SPEED_LIMITS,0.208,0.267
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,-0.267
$KALMAN_X,58751.6,-903.5,-49.5,-51035.7,6315.3
$KALMAN_Y,130852.6,-1074.1,-941.0,-166736.7,8478.5
$MHEAD_RNG_PITCHd_Wd,169.0,1497765,-21.9,-12.000,-24.24,1742
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.90,-136.3,125,2349,1102,1222,0.0,0.0,0,97,0.00,0.00,-79.15,0.000,16386,0.000,0.000,121,2348,3108,3083,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.90,-136.3,120,2349,3083,3133,4.0,-4.0,9,119,8.82,2.22,-4.65,0.000,18692,0.226,0.070,2347,3719,3318,3307,3330,0,0,0,0,0,0,25.91,26.10,26.39
$GC,397,-0.90,-136.3,2348,3719,3309,3330,107.3,-33.6,37,403,0.00,2.15,0.00,0.000,3078,0.000,0.036,2356,2322,3319,3309,3330,0,0,0,0,0,0,28.83,26.33,28.83
$GC,643,-0.90,-136.3,2356,2289,3311,3330,191.2,-34.2,62,652,0.00,2.22,0.00,0.000,2308,0.000,0.057,2347,3716,3320,3311,3330,0,0,0,0,0,0,28.83,26.40,28.83
$GC,755,-0.90,-136.3,2347,3716,3311,3330,220.6,-35.2,67,759,0.00,2.20,0.00,0.000,3078,0.000,0.036,2355,2301,3320,3311,3330,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1007,-0.90,-136.3,2354,2269,3312,3330,309.8,-31.8,74,1010,0.00,2.10,0.00,0.000,2564,0.000,0.045,2356,899,3321,3312,3330,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1044,-0.90,-136.3,1568,898,3301,3327,321.3,-31.8,75,1049,0.00,2.22,0.00,0.000,3078,0.000,0.044,2347,2309,3321,3312,3330,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1322,-0.90,-136.3,2347,2309,3313,3330,410.0,-31.7,82,1324,0.05,0.00,0.00,0.000,2054,0.240,0.000,2357,2309,3321,3312,3330,0,0,0,0,0,0,26.57,28.83,28.83
$GC,1562,-0.90,-136.3,2357,2308,3312,3330,479.3,-28.7,88,1566,0.00,2.15,0.00,0.000,2308,0.000,0.059,2348,3707,3321,3312,3330,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1631,-0.90,-136.3,2348,3707,3312,3330,489.2,-28.6,89,1638,0.00,2.15,0.00,0.000,3078,0.000,0.037,2355,2289,3321,3313,3330,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1878,-0.90,-136.3,2355,2258,3312,3330,569.8,-28.3,96,1879,0.00,0.00,0.00,0.000,2054,0.000,0.000,2355,2258,3321,3313,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,-0.90,-136.3,2355,2258,3313,3329,639.2,-29.2,102,2119,0.00,0.00,0.00,0.000,2054,0.000,0.000,2355,2258,3321,3313,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-0.90,-136.3,2355,2258,3313,3329,706.1,-27.8,108,2362,0.00,2.25,0.00,0.000,2308,0.000,0.057,2346,3709,3320,3312,3329,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2396,-0.90,-136.3,2346,3709,3313,3328,716.1,-27.9,109,2401,0.00,2.12,0.00,0.000,3078,0.000,0.038,2354,2299,3320,3312,3329,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2674,-0.90,-136.3,2354,2269,3313,3327,791.4,-26.5,116,2678,0.00,2.10,0.00,0.000,2564,0.000,0.047,2362,895,3319,3312,3327,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2711,-0.90,-136.3,2362,896,3312,3327,800.7,-26.3,117,2717,0.00,2.17,0.00,0.000,3078,0.000,0.048,2354,2308,3319,3312,3327,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2990,-0.90,-136.3,2353,2306,3312,3325,873.5,-26.1,124,2994,0.00,2.17,0.00,0.000,2308,0.000,0.062,2343,3714,3319,3313,3325,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3053,-0.90,-136.3,2343,3714,3312,3324,883.0,-26.0,125,3058,0.05,2.20,0.00,0.000,3078,0.158,0.040,2359,2290,3318,3313,3324,0,0,0,0,0,0,26.60,26.73,28.83
$STATE,3104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3104,begin apogee
$GC,3108,-0.17,0.0,2359,2349,3312,3324,903.8,-26.0,127,3228,0.75,0.00,116.18,1.092,10246,0.142,0.000,2592,2349,2762,2770,2755,0,0,0,0,0,0,26.60,28.83,24.29
$STATE,3229,end apogee,CONTROL_FINISHED_OK
$STATE,3229,begin climb
$GC,3230,0.90,136.3,2592,2348,2768,2754,911.5,0.0,130,3358,1.05,0.00,123.80,1.040,10246,0.076,0.000,2943,2348,2206,2236,2176,0,0,0,0,0,0,25.07,28.83,24.09
$GC,3586,0.90,136.3,2943,2348,2229,2169,844.7,23.8,139,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2349,2199,2229,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3826,0.90,136.3,2943,2348,2226,2168,790.1,22.5,145,3830,0.00,2.25,0.00,0.000,260,0.000,0.072,2943,3730,2197,2226,2168,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3864,0.90,136.3,2088,3730,2189,2162,781.5,22.8,146,3869,0.00,2.22,0.00,0.000,5126,0.000,0.048,2953,2351,2196,2224,2168,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4141,0.90,136.3,2953,2327,2223,2167,717.2,22.8,153,4145,0.00,2.20,0.00,0.000,4612,0.000,0.055,2963,927,2195,2223,2167,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4185,0.90,136.3,2963,927,2222,2167,709.2,22.9,154,4190,0.03,2.28,0.00,0.000,5126,0.187,0.054,2950,2323,2195,2222,2168,0,0,0,0,0,0,26.27,26.34,28.83
$GC,4457,0.90,136.3,2950,2322,2222,2167,646.9,22.7,161,4461,0.00,2.28,0.00,0.000,4356,0.000,0.068,2944,3752,2194,2222,2167,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4471,0.90,136.3,2944,3752,2221,2167,646.9,22.7,161,4476,0.00,2.28,0.00,0.000,5126,0.000,0.048,2953,2341,2194,2221,2167,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4733,0.90,136.3,2953,2314,2221,2166,586.9,21.4,168,4737,0.00,2.15,0.00,0.000,4612,0.000,0.055,2964,931,2193,2221,2166,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4787,0.90,136.3,2963,931,2220,2166,578.8,21.6,169,4792,0.08,2.25,0.00,0.000,5126,0.195,0.054,2945,2352,2193,2220,2167,0,0,0,0,0,0,26.43,26.51,28.83
$GC,5049,0.90,136.3,2945,2351,2220,2165,517.3,22.2,176,5053,0.00,2.20,0.00,0.000,4356,0.000,0.070,2944,3745,2192,2219,2166,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5078,0.90,136.3,2943,3744,2219,2166,517.3,22.2,176,5085,0.00,2.20,0.00,0.000,5126,0.000,0.047,2953,2335,2192,2219,2165,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5325,0.90,136.3,2953,2307,2219,2165,454.3,22.3,183,5326,0.00,0.00,0.00,0.000,4102,0.000,0.000,2953,2307,2192,2219,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,0.90,136.3,2953,2307,2219,2165,403.5,21.1,189,5569,0.00,2.30,0.00,0.000,4356,0.000,0.069,2953,3752,2192,2220,2165,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5619,0.90,136.3,2953,3751,2219,2165,395.5,21.1,190,5623,0.10,2.25,0.00,0.000,5126,0.191,0.046,2942,2312,2191,2218,2165,0,0,0,0,0,0,26.52,26.65,28.83
$GC,5881,0.90,136.3,2942,2284,2218,2165,339.8,19.5,197,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2284,2191,2218,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6120,0.90,136.3,2942,2284,2218,2164,291.8,20.1,203,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2284,2192,2219,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6361,0.90,136.3,2942,2284,2218,2165,241.4,20.9,209,6364,0.00,2.08,0.00,0.000,516,0.000,0.050,2951,933,2191,2218,2165,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6379,0.90,136.3,2951,932,2218,2165,241.4,20.9,209,6384,0.00,2.20,0.00,0.000,1030,0.000,0.050,2944,2341,2191,2218,2165,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6631,0.90,136.3,2943,2340,2218,2165,185.4,20.1,219,6635,0.00,2.17,0.00,0.000,516,0.000,0.047,2952,930,2191,2218,2165,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6747,0.90,136.3,2952,930,2218,2165,164.2,17.9,229,6756,0.00,2.20,0.00,0.000,5126,0.000,0.050,2952,2351,2191,2218,2165,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6995,0.90,136.3,2952,2350,2218,2165,116.5,19.5,254,7007,0.00,2.17,0.00,0.000,4356,0.000,0.067,2952,3744,2191,2218,2165,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7254,0.90,136.3,2952,3744,2217,2165,56.9,25.6,276,7266,0.05,2.12,0.00,0.000,5126,0.165,0.043,2946,2344,2191,2217,2165,0,0,0,0,0,0,26.58,26.71,28.83
$GC,7545,0.90,136.3,2946,2314,2217,2165,4.3,18.1,311,7554,0.00,0.00,0.00,0.000,4102,0.000,0.000,2946,2314,2191,2217,2165,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7561,end climb,SURFACE_DEPTH_REACHED
$STATE,7561,begin surface coast
$FINISH,1.1,2.574139
$STATE,7584,end surface coast,CONTROL_FINISHED_OK
$STATE,7584,begin surface
$SM_CCo,7597,110.20,0.662,0,0,1171,390.02
$SM_GC,2.09,6.90,0.00,110.20,0.024,0.000,0.662,191,2311,1171,-7.61,0.34,390.02,0,0,0,0,0,0,26.75,28.83,24.94
$IRIDIUM_FIX,3557.52,-15758.53,020309,000031
$TT8_MAMPS,0.02247,0.02247
$HUMID,44.84
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,17.40
$XPDR_PINGS,254
$24V_AH,24.1,9.816
$10V_AH,10.3,6.592
$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,17.875,70.375,239.975,110.200,0.000,56.533,95.625,244.784,63.500,0.000,8.305,920.689,5262.807,465.366,1583.589,68.415,33.265,953.103,0.000,866.182,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,84.915,1091.655,662.490,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,230.963,136.910,273.248,247.333,512.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353028
$DATA_FILE_SIZE,27251,316
$CAP_FILE_SIZE,76400,0
$CFSIZE,259248128,254996480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050516,134550,3612.636,-15755.499,12,1.9,12,11.5