version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 138
start: 5 13 116 15 20 0
data:
$ID,512
$MISSION,7
$DIVE,138
$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,20
$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,-129841.21
$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,63
$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
$GPS1,130516,151155,3521.131,-15809.966,35,0.8,35,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-68.7
$GPS2,130516,151919,3521.112,-15809.883,7,0.8,9,11.3
$SPEED_LIMITS,0.275,0.285
$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,168.0,1400420,-16.4,-10.000,-19.35,2731
$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,-0.72,-136.3,153,2305,1115,1206,0.0,0.0,0,79,0.00,0.00,-62.00,0.000,16386,0.000,0.000,146,2333,2640,2622,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,146,2333,2622,2661,3.0,-2.1,7,119,8.98,2.15,-21.42,0.000,18948,0.224,0.050,2413,912,3318,3316,3321,0,0,0,0,0,0,25.77,26.08,26.37
$GC,243,-0.72,-136.3,2413,912,3317,3321,41.1,-28.4,26,254,0.03,2.22,0.00,0.000,3078,0.197,0.044,2412,2306,3319,3318,3321,0,0,0,0,0,0,26.06,26.19,28.83
$GC,495,-0.72,-136.3,2412,2305,3318,3321,107.8,-25.2,51,501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2412,2305,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,746,-0.72,-136.3,2412,2305,3318,3321,172.4,-25.8,76,754,0.00,2.17,0.00,0.000,2308,0.000,0.058,2402,3712,3320,3319,3321,0,0,0,0,0,0,28.83,26.37,28.83
$GC,824,-0.72,-136.3,2402,3712,3318,3321,193.6,-26.4,83,831,0.00,2.17,0.00,0.000,3078,0.000,0.036,2408,2305,3320,3319,3321,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1091,-0.72,-136.3,2408,2272,3319,3321,261.4,-24.8,92,1092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2272,3320,3319,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1331,-0.72,-136.3,2408,2272,3319,3321,317.6,-23.1,98,1332,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2272,3320,3319,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1571,-0.72,-136.3,2408,2271,3320,3321,371.9,-22.5,104,1572,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2272,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1811,-0.72,-136.3,2408,2272,3320,3321,425.0,-22.3,110,1812,0.00,0.00,0.00,0.000,2054,0.000,0.000,2409,2272,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.72,-136.3,2408,2272,3320,3321,477.1,-21.5,116,2055,0.00,2.22,0.00,0.000,2308,0.000,0.057,2399,3708,3320,3319,3321,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2109,-0.72,-136.3,2398,3707,3320,3321,485.4,-21.5,117,2114,0.10,2.17,0.00,0.000,3078,0.161,0.036,2423,2276,3320,3320,3321,0,0,0,0,0,0,26.51,26.65,28.83
$GC,2367,-0.72,-136.3,2423,2247,3320,3321,542.6,-20.4,124,2371,0.00,2.28,0.00,0.000,260,0.000,0.057,2414,3716,3320,3320,3321,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2420,-0.72,-136.3,2413,3715,3319,3321,550.6,-20.9,125,2425,0.00,2.20,0.00,0.000,3078,0.000,0.035,2420,2262,3320,3319,3321,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2683,-0.72,-136.3,2419,2235,3319,3321,609.7,-21.0,132,2684,0.00,0.00,0.00,0.000,2054,0.000,0.000,2420,2235,3320,3319,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2923,-0.72,-136.3,2420,2235,3318,3321,658.1,-19.8,138,2927,0.00,2.28,0.00,0.000,2308,0.000,0.057,2410,3707,3319,3318,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2987,-0.72,-136.3,2410,3706,3318,3321,665.4,-19.7,139,2991,0.00,2.17,0.00,0.000,3078,0.000,0.036,2412,2303,3319,3318,3321,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3239,-0.72,-136.3,2411,2272,3317,3321,719.3,-19.3,146,3240,0.00,0.00,0.00,0.000,2054,0.000,0.000,2411,2272,3319,3317,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3479,-0.72,-136.3,2411,2272,3317,3319,766.3,-19.3,152,3480,0.00,0.00,0.00,0.000,2054,0.000,0.000,2412,2272,3318,3317,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3719,-0.72,-136.3,2411,2272,3317,3319,812.2,-19.0,158,3720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2411,2272,3317,3316,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3959,-0.72,-136.3,2411,2271,3316,3318,855.0,-17.6,164,3960,0.00,0.00,0.00,0.000,2054,0.000,0.000,2412,2271,3317,3316,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4199,-0.72,-136.3,2411,2271,3316,3317,896.3,-17.2,170,4203,0.00,2.25,0.00,0.000,2308,0.000,0.062,2402,3710,3316,3315,3317,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4233,begin apogee
$GC,4240,-0.17,0.0,2406,2277,3315,3317,902.8,-17.3,171,4360,0.60,0.08,116.18,1.102,10246,0.125,0.107,2599,2297,2762,2773,2751,0,0,0,0,0,0,26.55,24.98,24.34
$STATE,4361,end apogee,CONTROL_FINISHED_OK
$STATE,4361,begin climb
$GC,4363,0.72,136.3,2599,2297,2772,2750,907.6,0.0,174,4493,0.82,2.42,122.25,1.050,11012,0.071,0.050,2894,885,2205,2243,2167,0,0,0,0,0,0,25.11,24.78,24.10
$GC,4528,0.72,136.3,2894,885,2239,2165,889.7,13.1,178,4533,0.00,2.38,0.00,0.000,5126,0.000,0.050,2891,2286,2201,2238,2165,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4796,0.72,136.3,2890,2285,2234,2162,831.7,20.4,185,4800,0.00,2.30,0.00,0.000,4356,0.000,0.068,2891,3705,2198,2234,2162,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4845,0.72,136.3,2890,3705,2232,2162,823.7,20.5,186,4849,0.08,2.28,0.00,0.000,5126,0.174,0.045,2886,2278,2197,2232,2162,0,0,0,0,0,0,25.91,26.01,28.83
$GC,5112,0.72,136.3,2885,2255,2230,2161,770.4,18.3,193,5116,0.00,2.15,0.00,0.000,516,0.000,0.052,2895,890,2195,2230,2161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5151,0.72,136.3,2894,890,2229,2161,764.0,18.1,194,5155,0.00,2.25,0.00,0.000,5126,0.000,0.050,2891,2300,2195,2229,2161,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5428,0.72,136.3,2891,2298,2228,2160,714.4,17.6,201,5429,0.00,0.00,0.00,0.000,4102,0.000,0.000,2891,2298,2194,2229,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5668,0.72,136.3,2891,2298,2227,2160,671.6,17.8,207,5669,0.00,0.00,0.00,0.000,4102,0.000,0.000,2891,2298,2194,2228,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5908,0.72,136.3,2891,2298,2226,2159,630.8,16.9,213,5909,0.00,0.00,0.00,0.000,4102,0.000,0.000,2891,2298,2193,2226,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6148,0.72,136.3,2890,2298,2226,2159,592.2,16.1,219,6152,0.00,2.20,0.00,0.000,4356,0.000,0.066,2891,3700,2192,2226,2159,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6212,0.72,136.3,2890,3699,2224,2160,585.6,16.5,220,6216,0.08,2.20,0.00,0.000,5126,0.178,0.044,2885,2277,2191,2224,2159,0,0,0,0,0,0,26.44,26.55,28.83
$GC,6464,0.72,136.3,2885,2254,2224,2159,541.9,15.2,227,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2253,2191,2224,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,0.72,136.3,2885,2253,2223,2159,504.2,15.6,233,6708,0.00,2.30,0.00,0.000,260,0.000,0.066,2884,3703,2191,2223,2159,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6739,0.72,136.3,2884,3703,2223,2159,497.9,15.8,234,6744,0.00,2.17,0.00,0.000,5126,0.000,0.042,2894,2285,2191,2223,2159,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7015,0.72,136.3,2894,2259,2223,2159,452.2,16.7,241,7019,0.00,2.10,0.00,0.000,4612,0.000,0.047,2904,882,2191,2223,2159,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7044,0.72,136.3,2904,882,2222,2159,452.2,16.7,241,7052,0.08,2.20,0.00,0.000,5126,0.171,0.047,2887,2299,2190,2222,2159,0,0,0,0,0,0,26.51,26.60,28.83
$GC,7291,0.72,136.3,2887,2298,2222,2159,406.1,16.9,248,7292,0.00,0.00,0.00,0.000,4102,0.000,0.000,2887,2298,2190,2222,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7531,0.72,136.3,2887,2298,2222,2159,364.3,17.7,254,7532,0.00,0.00,0.00,0.000,4102,0.000,0.000,2887,2298,2190,2222,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7771,0.72,136.3,2887,2298,2222,2159,322.7,17.4,260,7775,0.00,2.17,0.00,0.000,4612,0.000,0.048,2896,882,2190,2222,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7807,0.72,136.3,2896,882,2222,2159,316.4,17.3,261,7811,0.00,2.20,0.00,0.000,5126,0.000,0.047,2892,2296,2190,2222,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8083,0.72,136.3,2892,2295,2222,2159,268.7,17.2,268,8084,0.00,0.00,0.00,0.000,4102,0.000,0.000,2892,2295,2190,2221,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8323,0.72,136.3,2892,2295,2221,2159,228.4,16.8,274,8324,0.00,0.00,0.00,0.000,4102,0.000,0.000,2892,2295,2190,2222,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8566,0.72,136.3,2892,2295,2222,2160,188.3,16.6,283,8574,0.00,2.12,0.00,0.000,4612,0.000,0.047,2901,895,2191,2222,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8634,0.72,136.3,2901,894,2221,2159,177.5,16.8,289,8642,0.05,2.20,0.00,0.000,5126,0.138,0.048,2884,2289,2190,2221,2160,0,0,0,0,0,0,26.55,26.65,28.83
$GC,8882,0.72,136.3,2883,2287,2222,2160,138.1,15.0,314,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2287,2190,2221,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,0.72,136.3,2884,2287,2221,2159,102.6,14.1,338,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2287,2190,2221,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9365,0.72,136.3,2883,2287,2221,2159,68.9,13.4,362,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2287,2190,2221,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9615,0.72,136.3,2883,2287,2221,2160,35.8,12.1,387,9626,0.00,2.17,0.00,0.000,260,0.000,0.063,2884,3701,2190,2221,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9680,0.72,136.3,2883,3700,2221,2160,26.2,16.0,393,9690,0.00,2.20,0.00,0.000,5126,0.000,0.040,2893,2256,2190,2221,2160,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,9836,end climb,SURFACE_DEPTH_REACHED
$STATE,9836,begin surface coast
$FINISH,0.9,2.686627
$STATE,9859,end surface coast,CONTROL_FINISHED_OK
$STATE,9859,begin surface
$SM_CCo,9873,111.60,0.659,0,0,1171,390.02
$SM_GC,1.93,6.78,0.10,111.60,0.024,0.106,0.659,202,2319,1171,-7.60,-0.59,390.02,0,0,0,0,0,0,26.67,26.72,24.91
$IRIDIUM_FIX,3509.80,-15808.97,100309,010103
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.39
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.40
$XPDR_PINGS,343
$24V_AH,24.1,18.272
$10V_AH,10.3,10.532
$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,17.575,66.750,238.425,111.600,0.000,28.036,52.027,266.444,85.750,0.000,10.212,1171.032,7026.811,449.943,1721.992,89.052,0.000,1000.779,0.000,990.401,0.000,0.540,0.000
$DEVICE_MAMPS,224.145,107.100,1102.365,658.665,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,304.071,185.787,366.758,337.191,698.881,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353072
$DATA_FILE_SIZE,37246,418
$CAP_FILE_SIZE,84474,0
$CFSIZE,259248128,251752448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,130516,180720,3519.592,-15810.081,19,1.9,20,11.3