version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 125
start: 5 12 116 4 2 53
data:
$ID,512
$MISSION,7
$DIVE,125
$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,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,2
$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,-129736.75
$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,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,17
$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
$GPS1,120516,035549,3533.672,-15807.034,14,2.5,35,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-74.6
$GPS2,120516,040230,3533.713,-15807.093,7,1.4,8,11.4
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.001,-0.285
$KALMAN_X,-2644.9,788.8,61.0,924.2,-5790.6
$KALMAN_Y,208676.8,-776.9,-825.4,-298047.0,8369.7
$MHEAD_RNG_PITCHd_Wd,168.1,1423708,-18.9,-10.000,-21.63,2088
$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,-0.80,-136.3,183,2331,1116,1213,0.0,0.0,0,87,0.00,0.00,-70.38,0.000,16386,0.000,0.000,182,2304,2870,2847,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.80,-136.3,182,2331,2847,2893,3.2,-2.0,8,119,8.73,2.22,-12.23,0.000,18948,0.224,0.056,2395,883,3318,3315,3322,0,0,0,0,0,0,25.79,26.03,26.36
$GC,311,-0.80,-136.3,2395,883,3317,3322,63.3,-30.0,31,322,0.00,2.22,0.00,0.000,3078,0.000,0.044,2386,2315,3319,3316,3322,0,0,0,0,0,0,28.83,26.24,28.83
$GC,560,-0.80,-136.3,2385,2314,3317,3322,140.7,-29.8,56,571,0.00,2.20,0.00,0.000,2564,0.000,0.044,2393,896,3319,3317,3322,0,0,0,0,0,0,28.83,26.34,28.83
$GC,583,-0.80,-136.3,2392,896,3318,3322,147.9,-29.5,58,587,0.00,2.20,0.00,0.000,3078,0.000,0.044,2383,2314,3319,3317,3322,0,0,0,0,0,0,28.83,26.36,28.83
$GC,848,-0.80,-136.3,2383,2313,3318,3322,225.2,-28.9,78,849,0.00,0.00,0.00,0.000,2054,0.000,0.000,2383,2314,3320,3318,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1088,-0.80,-136.3,2383,2312,3319,3322,294.5,-28.9,84,1092,0.00,2.20,0.00,0.000,2564,0.000,0.044,2383,888,3320,3319,3322,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1117,-0.80,-136.3,2383,887,3319,3322,294.5,-28.9,84,1125,0.10,2.20,0.00,0.000,3078,0.184,0.044,2394,2310,3320,3319,3322,0,0,0,0,0,0,26.36,26.51,28.83
$GC,1364,-0.80,-136.3,2394,2309,3319,3322,370.3,-27.2,91,1368,0.00,2.17,0.00,0.000,2308,0.000,0.059,2384,3710,3320,3319,3322,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1423,-0.80,-136.3,2385,3710,3319,3322,381.2,-26.7,92,1427,0.00,2.15,0.00,0.000,3078,0.000,0.036,2389,2293,3321,3320,3322,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1685,-0.80,-136.3,2389,2261,3319,3322,452.5,-24.9,99,1686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2389,2260,3320,3319,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-0.80,-136.3,2389,2260,3319,3322,512.7,-24.9,105,1926,0.00,0.00,0.00,0.000,2054,0.000,0.000,2389,2260,3320,3319,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2165,-0.80,-136.3,2389,2260,3319,3322,572.2,-24.7,111,2169,0.00,2.10,0.00,0.000,2564,0.000,0.046,2394,888,3320,3319,3322,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2190,-0.80,-136.3,2394,888,3319,3322,572.2,-24.7,111,2194,0.00,2.17,0.00,0.000,3078,0.000,0.046,2385,2303,3320,3319,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2436,-0.80,-136.3,2385,2302,3319,3322,637.9,-24.4,117,2437,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2302,3320,3319,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,-0.80,-136.3,2385,2301,3318,3321,695.1,-23.8,123,2677,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2302,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2916,-0.80,-136.3,2385,2301,3318,3321,751.3,-23.4,129,2917,0.00,0.00,0.00,0.000,2054,0.000,0.000,2385,2301,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3156,-0.80,-136.3,2385,2301,3317,3321,808.4,-23.9,135,3157,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2301,3319,3317,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3396,-0.80,-136.3,2385,2301,3317,3319,864.5,-23.1,141,3400,0.00,2.17,0.00,0.000,2308,0.000,0.061,2375,3708,3318,3317,3319,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3425,-0.80,-136.3,2375,3708,3317,3319,864.5,-23.1,141,3432,0.03,2.20,0.00,0.000,3078,0.141,0.038,2404,2286,3318,3317,3319,0,0,0,0,0,0,26.55,26.72,28.83
$STATE,3590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3590,begin apogee
$GC,3594,-0.17,0.0,2404,2261,3316,3319,905.9,-20.5,146,3714,0.60,0.00,116.43,1.093,10246,0.135,0.000,2592,2261,2762,2773,2752,0,0,0,0,0,0,26.56,28.83,24.34
$STATE,3715,end apogee,CONTROL_FINISHED_OK
$STATE,3715,begin climb
$GC,3716,0.80,136.3,2592,2261,2772,2751,912.6,0.0,149,3844,0.90,0.00,123.30,1.053,10758,0.074,0.000,2904,2261,2206,2238,2174,0,0,0,0,0,0,25.10,28.83,24.10
$GC,4072,0.80,136.3,2904,2260,2229,2168,855.1,20.3,158,4078,0.00,2.35,0.00,0.000,2308,0.000,0.069,2904,3696,2198,2229,2168,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4105,0.80,136.3,2903,3695,2229,2168,855.1,20.3,158,4112,0.00,2.22,0.00,0.000,5126,0.000,0.044,2913,2300,2198,2229,2168,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4352,0.80,136.3,2913,2274,2226,2167,794.7,21.0,165,4356,0.00,2.20,0.00,0.000,4612,0.000,0.052,2924,877,2196,2226,2167,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4371,0.80,136.3,2924,878,2225,2167,794.7,21.0,165,4375,0.00,2.25,0.00,0.000,5126,0.000,0.050,2916,2288,2195,2224,2167,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4627,0.80,136.3,2916,2287,2223,2167,734.0,22.3,172,4629,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2287,2195,2223,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4867,0.80,136.3,2916,2287,2222,2166,681.1,21.8,178,4869,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2287,2194,2222,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5108,0.80,136.3,2916,2287,2221,2166,631.9,20.1,184,5112,0.00,2.20,0.00,0.000,4612,0.000,0.052,2926,881,2193,2221,2166,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5152,0.80,136.3,2926,881,2220,2166,624.9,19.7,185,5156,0.00,2.22,0.00,0.000,5126,0.000,0.049,2917,2298,2193,2220,2166,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5418,0.80,136.3,2917,2296,2220,2165,571.9,19.4,192,5420,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2296,2193,2220,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5658,0.80,136.3,2917,2296,2219,2165,526.6,18.8,198,5663,0.00,2.20,0.00,0.000,4356,0.000,0.067,2917,3701,2192,2219,2165,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5678,0.80,136.3,2917,3701,2219,2165,526.6,18.8,198,5682,0.05,2.17,0.00,0.000,5126,0.221,0.042,2917,2289,2192,2219,2165,0,0,0,0,0,0,26.48,26.58,28.83
$GC,5934,0.80,136.3,2916,2260,2219,2165,471.5,19.8,205,5935,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2260,2192,2219,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6175,0.80,136.3,2916,2260,2218,2164,425.2,19.3,211,6176,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2260,2192,2219,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6415,0.80,136.3,2916,2259,2219,2165,377.4,20.1,217,6416,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2260,2192,2219,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6654,0.80,136.3,2916,2259,2219,2164,331.2,19.2,223,6658,0.00,2.10,0.00,0.000,4612,0.000,0.049,2926,886,2191,2218,2165,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6698,0.80,136.3,2926,886,2217,2165,324.4,19.3,224,6702,0.00,2.17,0.00,0.000,5126,0.000,0.047,2917,2291,2191,2217,2165,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6970,0.80,136.3,2917,2289,2217,2165,271.9,19.1,231,6974,0.00,2.17,0.00,0.000,4356,0.000,0.064,2917,3695,2191,2217,2165,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7046,0.80,136.3,2917,3695,2216,2165,255.9,20.3,233,7051,0.05,2.17,0.00,0.000,5126,0.224,0.041,2916,2275,2191,2217,2165,0,0,0,0,0,0,26.56,26.68,28.83
$GC,7323,0.80,136.3,2916,2266,2217,2165,205.1,18.3,240,7327,0.00,2.08,0.00,0.000,4612,0.000,0.048,2925,888,2191,2217,2165,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7379,0.80,136.3,2924,888,2216,2165,194.9,18.1,243,7391,0.00,2.17,0.00,0.000,5126,0.000,0.047,2916,2296,2190,2216,2165,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7632,0.80,136.3,2916,2295,2217,2165,151.1,17.6,268,7641,0.00,2.12,0.00,0.000,4612,0.000,0.046,2926,890,2190,2216,2165,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7656,0.80,136.3,2926,891,2216,2165,146.8,17.9,270,7666,0.00,2.22,0.00,0.000,5126,0.000,0.047,2917,2293,2190,2216,2165,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7907,0.80,136.3,2917,2292,2216,2165,103.9,17.1,295,7913,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2292,2190,2216,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8157,0.80,136.3,2917,2292,2216,2165,62.5,17.0,320,8166,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2292,2190,2216,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8426,0.80,136.3,2917,2292,2216,2165,16.9,18.3,350,8436,0.00,2.22,0.00,0.000,4356,0.000,0.063,2917,3702,2190,2216,2165,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8452,0.80,136.3,2917,3702,2216,2165,11.6,19.2,353,8462,0.03,2.20,0.00,0.000,5126,0.191,0.038,2918,2254,2190,2216,2165,0,0,0,0,0,0,26.57,26.70,28.83
$STATE,8498,end climb,SURFACE_DEPTH_REACHED
$STATE,8498,begin surface coast
$FINISH,1.0,3.114978
$STATE,8521,end surface coast,CONTROL_FINISHED_OK
$STATE,8521,begin surface
$SM_CCo,8534,115.57,0.662,0,0,1172,390.02
$SM_GC,2.36,6.90,0.10,115.57,0.028,0.099,0.662,204,2321,1172,-7.60,-0.62,390.02,0,0,0,0,0,0,26.67,26.74,24.88
$IRIDIUM_FIX,3520.37,-15809.46,080309,141401
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.35
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.30
$XPDR_PINGS,293
$24V_AH,24.1,16.713
$10V_AH,10.3,9.819
$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,17.375,65.800,239.725,115.575,0.000,27.545,48.639,236.390,73.250,0.000,9.281,1004.156,6027.220,459.317,1486.179,87.771,0.000,963.276,0.000,849.970,0.000,0.540,0.000
$DEVICE_MAMPS,224.145,99.450,1093.185,662.490,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,256.471,162.161,320.699,290.069,601.088,0.000,0.000,0.000,0.000,0.000
$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,30604,362
$CAP_FILE_SIZE,76460,0
$CFSIZE,259248128,252366848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120516,062819,3532.857,-15807.486,40,1.1,40,11.3