version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 80
start: 5 6 116 7 47 33
data:
$ID,512
$MISSION,7
$DIVE,80
$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,20
$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,-129592.25
$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,58
$R_STBD_OVSHOOT,22
$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
$GPS1,060516,073944,3606.450,-15800.664,13,1.7,13,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-72.6
$GPS2,060516,074620,3606.432,-15800.664,6,1.7,6,11.4
$SPEED_LIMITS,0.330,0.340
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.057,-0.334
$KALMAN_X,56924.4,230.0,-4.8,-57573.4,850.3
$KALMAN_Y,144347.1,-1196.0,-557.9,-194035.3,7724.8
$MHEAD_RNG_PITCHd_Wd,178.2,1484251,-16.8,-12.000,-19.48,2941
$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,-0.73,-136.3,190,2303,1103,1222,0.0,0.0,0,79,0.00,0.00,-61.78,0.000,16386,0.000,0.000,188,2320,2659,2635,2683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.73,-136.3,188,2330,2635,2684,3.0,-1.6,7,119,8.77,2.25,-20.70,0.000,18692,0.226,0.071,2400,3718,3318,3314,3322,0,0,0,0,0,0,25.85,26.09,26.39
$GC,406,-0.73,-136.3,2400,3718,3314,3323,83.2,-26.1,40,417,0.00,2.20,0.00,0.000,3078,0.000,0.037,2406,2311,3318,3314,3322,0,0,0,0,0,0,28.83,26.34,28.83
$GC,657,-0.73,-136.3,2406,2289,3315,3322,151.2,-26.8,65,665,0.00,2.15,0.00,0.000,2564,0.000,0.045,2411,893,3318,3315,3322,0,0,0,0,0,0,28.83,26.39,28.83
$GC,715,-0.73,-136.3,2411,893,3315,3322,166.6,-27.0,70,723,0.00,2.25,0.00,0.000,3078,0.000,0.046,2402,2313,3318,3315,3322,0,0,0,0,0,0,28.83,26.44,28.83
$GC,963,-0.73,-136.3,2402,2312,3316,3322,234.6,-26.6,86,965,0.05,0.00,0.00,0.000,2054,0.233,0.000,2411,2312,3319,3316,3322,0,0,0,0,0,0,26.51,28.83,28.83
$GC,1203,-0.73,-136.3,2411,2312,3317,3322,294.2,-24.8,92,1207,0.00,2.20,0.00,0.000,2564,0.000,0.045,2421,887,3320,3317,3323,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1251,-0.73,-136.3,2421,887,3317,3323,302.9,-24.6,93,1256,0.00,2.25,0.00,0.000,3078,0.000,0.046,2412,2307,3319,3317,3322,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1519,-0.73,-136.3,2411,2305,3317,3322,369.5,-24.1,100,1523,0.00,2.17,0.00,0.000,2564,0.000,0.046,2412,896,3319,3317,3322,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1557,-0.73,-136.3,1600,895,3305,3320,378.2,-24.1,101,1561,0.00,2.22,0.00,0.000,3078,0.000,0.046,2402,2301,3320,3317,3323,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1835,-0.73,-136.3,2402,2300,3317,3322,447.4,-24.8,108,1836,0.05,0.00,0.00,0.000,2054,0.231,0.000,2411,2299,3319,3317,3322,0,0,0,0,0,0,26.66,28.83,28.83
$GC,2074,-0.73,-136.3,2411,2299,3317,3322,505.1,-23.8,114,2075,0.00,0.00,0.00,0.000,2054,0.000,0.000,2411,2299,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2314,-0.73,-136.3,2411,2299,3317,3322,561.0,-23.0,120,2318,0.00,2.17,0.00,0.000,2564,0.000,0.047,2412,891,3319,3317,3322,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2393,-0.73,-136.3,2411,891,3317,3322,578.2,-22.6,122,2397,0.00,2.22,0.00,0.000,3078,0.000,0.048,2403,2298,3319,3317,3322,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2670,-0.73,-136.3,2402,2297,3317,3321,643.9,-23.7,129,2672,0.03,0.00,0.00,0.000,2054,0.276,0.000,2412,2297,3319,3317,3321,0,0,0,0,0,0,26.72,28.83,28.83
$GC,2910,-0.73,-136.3,2411,2296,3317,3320,696.3,-21.2,135,2914,0.00,2.15,0.00,0.000,2564,0.000,0.047,2416,902,3318,3317,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2946,-0.73,-136.3,2416,902,3317,3320,703.7,-21.0,136,2950,0.00,2.17,0.00,0.000,3078,0.000,0.048,2407,2310,3318,3317,3320,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3221,-0.73,-136.3,2407,2309,3316,3319,760.2,-20.4,143,3223,0.00,0.00,0.00,0.000,2054,0.000,0.000,2407,2309,3318,3317,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3461,-0.73,-136.3,2407,2308,3316,3319,807.8,-19.7,149,3465,0.00,2.17,0.00,0.000,2564,0.000,0.049,2411,901,3317,3316,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3530,-0.73,-136.3,2412,901,3316,3319,814.7,-19.6,150,3537,0.00,2.22,0.00,0.000,3078,0.000,0.048,2402,2304,3316,3315,3318,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3777,-0.73,-136.3,2402,2303,3315,3318,868.2,-19.1,157,3779,0.03,0.00,0.00,0.000,2054,0.274,0.000,2412,2303,3316,3315,3317,0,0,0,0,0,0,26.77,28.83,28.83
$STATE,3976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3976,begin apogee
$GC,3980,-0.17,0.0,2412,2335,3315,3316,904.2,-18.0,162,4099,0.57,0.00,115.80,1.097,10246,0.128,0.000,2595,2334,2762,2771,2754,0,0,0,0,0,0,26.65,28.83,24.30
$STATE,4100,end apogee,CONTROL_FINISHED_OK
$STATE,4100,begin climb
$GC,4101,0.73,136.3,2595,2335,2769,2754,910.3,0.0,165,4232,0.85,2.45,122.18,1.047,10500,0.073,0.070,2888,3745,2205,2240,2171,0,0,0,0,0,0,25.09,24.79,24.09
$GC,4281,0.73,136.3,2888,3745,2235,2169,894.3,12.4,169,4286,0.00,2.35,0.00,0.000,5126,0.000,0.047,2899,2349,2202,2235,2169,0,0,0,0,0,0,28.83,25.36,28.83
$GC,4534,0.73,136.3,2900,2324,2231,2165,838.1,19.7,176,4538,0.00,2.22,0.00,0.000,4612,0.000,0.054,2910,932,2198,2231,2165,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4573,0.73,136.3,2910,932,2230,2165,831.3,19.7,177,4578,0.05,2.28,0.00,0.000,5126,0.201,0.053,2894,2338,2197,2229,2165,0,0,0,0,0,0,25.96,26.02,28.83
$GC,4850,0.73,136.3,2893,2336,2228,2164,782.0,17.4,184,4851,0.00,0.00,0.00,0.000,4102,0.000,0.000,2894,2336,2196,2228,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5090,0.73,136.3,2893,2336,2226,2164,740.2,17.5,190,5094,0.00,2.22,0.00,0.000,4612,0.000,0.054,2903,933,2195,2226,2164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5143,0.73,136.3,2902,933,2225,2164,733.9,17.5,191,5148,0.00,2.30,0.00,0.000,5126,0.000,0.054,2902,2345,2194,2225,2164,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5405,0.73,136.3,2901,2344,2224,2163,681.1,19.2,198,5409,0.00,2.22,0.00,0.000,4612,0.000,0.052,2912,929,2194,2224,2164,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5441,0.73,136.3,2912,929,2223,2163,674.1,19.5,199,5446,0.08,2.25,0.00,0.000,5126,0.180,0.053,2892,2349,2193,2224,2163,0,0,0,0,0,0,26.39,26.47,28.83
$GC,5718,0.73,136.3,2892,2348,2223,2162,624.8,17.5,206,5719,0.00,0.00,0.00,0.000,4102,0.000,0.000,2892,2347,2192,2223,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5958,0.73,136.3,2892,2348,2223,2162,581.8,17.7,212,5962,0.00,2.22,0.00,0.000,4612,0.000,0.053,2901,932,2192,2223,2162,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5986,0.73,136.3,2901,932,2223,2162,581.8,17.7,212,5994,0.03,2.28,0.00,0.000,5126,0.176,0.058,2893,2339,2192,2223,2162,0,0,0,0,0,0,26.49,26.56,28.83
$GC,6233,0.73,136.3,2893,2338,2222,2162,531.5,18.1,219,6235,0.00,0.00,0.00,0.000,4102,0.000,0.000,2893,2338,2192,2223,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6473,0.73,136.3,2893,2338,2222,2162,490.9,16.7,225,6477,0.00,2.20,0.00,0.000,4612,0.000,0.051,2902,925,2192,2222,2162,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6532,0.73,136.3,2901,925,2222,2161,484.8,16.7,226,6536,0.00,2.28,0.00,0.000,5126,0.000,0.052,2902,2340,2191,2221,2161,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6789,0.73,136.3,2902,2339,2221,2161,437.8,16.7,233,6793,0.00,2.20,0.00,0.000,4612,0.000,0.050,2912,920,2191,2221,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6808,0.73,136.3,2911,920,2222,2162,437.8,16.7,233,6813,0.05,2.28,0.00,0.000,5126,0.155,0.052,2887,2338,2191,2221,2162,0,0,0,0,0,0,26.54,26.65,28.83
$GC,7065,0.73,136.3,2886,2337,2221,2162,396.6,14.8,240,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2337,2191,2221,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7305,0.73,136.3,2887,2336,2221,2162,360.6,15.2,246,7309,0.00,2.22,0.00,0.000,260,0.000,0.069,2887,3746,2191,2221,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7319,0.73,136.3,2886,3746,2220,2162,360.6,15.2,246,7323,0.00,2.20,0.00,0.000,5126,0.000,0.044,2896,2317,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7581,0.73,136.3,2896,2292,2220,2162,315.0,16.5,253,7582,0.00,0.00,0.00,0.000,4102,0.000,0.000,2897,2292,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7821,0.73,136.3,2896,2292,2220,2162,274.9,16.8,259,7825,0.00,2.30,0.00,0.000,4356,0.000,0.069,2896,3743,2191,2220,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7840,0.73,136.3,2896,3743,2220,2162,274.9,16.8,259,7844,0.08,2.20,0.00,0.000,5126,0.187,0.045,2893,2319,2191,2220,2162,0,0,0,0,0,0,26.61,26.72,28.83
$GC,8097,0.73,136.3,2892,2294,2220,2162,228.4,16.8,266,8103,0.00,2.30,0.00,0.000,4356,0.000,0.067,2893,3750,2191,2220,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8120,0.73,136.3,2892,3749,2220,2162,228.4,16.8,266,8124,0.00,2.22,0.00,0.000,5126,0.000,0.043,2902,2342,2191,2220,2162,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8367,0.73,136.3,2902,2322,2220,2162,180.3,17.9,281,8371,0.00,2.12,0.00,0.000,4612,0.000,0.050,2912,924,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8428,0.73,136.3,2912,924,2220,2162,170.0,17.5,286,8437,0.05,2.20,0.00,0.000,5126,0.148,0.050,2894,2346,2191,2220,2162,0,0,0,0,0,0,26.63,26.71,28.83
$GC,8678,0.73,136.3,2894,2345,2220,2162,129.2,15.7,311,8686,0.00,2.17,0.00,0.000,4612,0.000,0.049,2904,926,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8727,0.73,136.3,2903,926,2220,2162,121.6,16.8,315,8733,0.00,2.22,0.00,0.000,5126,0.000,0.050,2903,2344,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8973,0.73,136.3,2903,2343,2220,2162,78.5,16.8,340,8985,0.00,2.17,0.00,0.000,4612,0.000,0.048,2913,928,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9014,0.73,136.3,2914,928,2219,2162,72.1,17.4,343,9026,0.05,2.25,0.00,0.000,5126,0.151,0.048,2895,2340,2191,2220,2162,0,0,0,0,0,0,26.60,26.70,28.83
$GC,9266,0.73,136.3,2895,2339,2220,2162,34.7,12.7,368,9276,0.00,0.00,0.00,0.000,4102,0.000,0.000,2895,2339,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9477,end climb,SURFACE_DEPTH_REACHED
$STATE,9477,begin surface coast
$FINISH,0.8,1.955046
$STATE,9500,end surface coast,CONTROL_FINISHED_OK
$STATE,9500,begin surface
$SM_CCo,9513,117.20,0.653,0,0,1171,390.02
$SM_GC,2.28,6.85,0.10,117.20,0.031,0.083,0.653,189,2262,1171,-7.62,1.02,390.02,0,0,0,0,0,0,26.73,26.80,24.90
$IRIDIUM_FIX,3552.20,-15757.06,020309,181810
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.95
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,17.50
$XPDR_PINGS,329
$24V_AH,24.1,10.768
$10V_AH,10.3,7.013
$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,17.575,89.300,237.975,117.200,0.000,35.476,48.185,225.529,82.250,0.000,7.270,1155.075,6652.386,457.948,1717.730,73.403,33.255,1054.946,0.000,1042.174,0.000,0.542,0.000
$DEVICE_MAMPS,276.165,201.960,1097.010,652.545,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,284.841,173.729,348.547,320.093,663.229,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353088
$DATA_FILE_SIZE,34102,400
$CAP_FILE_SIZE,90191,0
$CFSIZE,259248128,254599168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060516,102919,3605.496,-15801.404,39,1.2,39,11.4