version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 158
start: 5 16 116 1 45 22
data:
$ID,512
$MISSION,7
$DIVE,158
$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,-129966.99
$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,2685
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,160516,013901,3451.352,-15808.471,29,1.0,30,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-70.0
$GPS2,160516,014442,3451.367,-15808.405,6,1.0,6,11.3
$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,168.1,1345308,-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,-136.3,170,2286,1110,1215,0.0,0.0,0,87,0.00,0.00,-69.93,0.000,16386,0.000,0.000,167,2288,2849,2826,2872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,167,2287,2826,2873,3.2,-2.0,8,119,8.93,0.12,-12.85,0.000,18692,0.220,0.310,2446,4095,3317,3315,3320,0,0,0,0,0,0,25.73,25.96,26.37
$GC,563,-0.72,-136.3,2446,4095,3317,3320,111.6,-22.1,54,573,0.00,0.17,0.00,0.000,3078,0.000,0.060,2446,2244,3318,3317,3320,0,0,0,0,0,0,28.83,26.41,28.83
$GC,813,-0.72,-136.3,2446,2243,3318,3320,165.6,-21.6,79,821,0.00,2.08,0.00,0.000,2564,0.000,0.046,2447,885,3319,3318,3320,0,0,0,0,0,0,28.83,26.39,28.83
$GC,879,-0.72,-136.3,2447,885,3318,3320,180.0,-21.8,85,887,0.00,2.17,0.00,0.000,3078,0.000,0.045,2438,2301,3319,3318,3320,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1125,-0.72,-136.3,2438,2300,3319,3320,238.2,-23.7,98,1130,0.03,0.10,0.00,0.000,2308,0.277,0.060,2448,4095,3320,3320,3320,0,0,0,0,0,0,26.53,26.49,28.83
$GC,1630,-0.72,-136.3,2448,4095,3320,3320,337.1,-20.0,110,1633,0.00,0.22,0.00,0.000,3078,0.000,0.054,2448,2225,3320,3320,3320,0,0,1,0,0,0,28.83,26.63,28.83
$GC,1887,-0.72,-136.3,2448,2224,3320,3320,392.4,-19.7,117,1891,0.00,0.22,0.00,0.000,2308,0.000,0.060,2448,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2391,-0.72,-136.3,2448,4095,3320,3320,482.1,-18.6,129,2394,0.00,0.20,0.00,0.000,3078,0.000,0.056,2448,2244,3320,3320,3320,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2648,-0.72,-136.3,2448,2244,3320,3320,535.7,-19.2,136,2652,0.00,0.17,0.00,0.000,2308,0.000,0.069,2448,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3152,-0.72,-136.3,2448,4095,3318,3319,625.7,-18.0,148,3155,0.00,0.20,0.00,0.000,3078,0.000,0.057,2448,2238,3318,3318,3319,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3408,-0.72,-136.3,2448,2238,3318,3319,672.7,-16.5,155,3412,0.00,0.20,0.00,0.000,2308,0.000,0.063,2448,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3912,-0.72,-136.3,2448,4095,3317,3318,747.3,-16.2,167,3916,0.00,0.20,0.00,0.000,3078,0.000,0.057,2448,2247,3318,3318,3318,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4169,-0.72,-136.3,2447,2247,3317,3317,791.1,-15.5,174,4173,0.00,0.17,0.00,0.000,2308,0.000,0.071,2447,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4673,-0.72,-136.3,2447,4095,3315,3315,861.9,-14.9,186,4677,0.00,0.20,0.00,0.000,3078,0.000,0.057,2448,2241,3315,3315,3315,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4929,begin apogee
$GC,4933,-0.17,0.0,2447,2297,3315,3314,904.8,-15.2,193,5053,0.55,0.00,116.03,1.115,10246,0.119,0.000,2625,2297,2762,2775,2749,0,0,0,0,0,0,26.54,28.83,24.34
$STATE,5054,end apogee,CONTROL_FINISHED_OK
$STATE,5054,begin climb
$GC,5055,0.72,136.3,2625,2297,2773,2749,909.6,0.0,196,5186,0.80,2.40,122.45,1.059,10756,0.060,0.047,2922,875,2205,2243,2167,0,0,0,0,0,0,25.10,24.76,24.06
$GC,5331,0.72,136.3,2922,875,2234,2162,868.8,21.1,203,5336,0.00,2.28,0.00,0.000,1030,0.000,0.047,2917,2276,2198,2235,2162,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5603,0.72,136.3,2916,2275,2232,2160,809.3,21.8,210,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2275,2196,2232,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5843,0.72,136.3,2916,2274,2229,2160,757.7,21.4,216,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2275,2195,2230,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6083,0.72,136.3,2916,2274,2229,2159,705.4,21.8,222,6087,0.00,2.20,0.00,0.000,516,0.000,0.048,2926,872,2194,2229,2159,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6159,0.72,136.3,2925,872,2228,2159,689.0,21.3,224,6163,0.00,2.25,0.00,0.000,1030,0.000,0.049,2917,2304,2194,2229,2160,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6436,0.72,136.3,2917,2303,2227,2159,630.4,21.0,231,6439,0.00,0.10,0.00,0.000,260,0.000,0.100,2917,4095,2192,2226,2159,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6724,0.72,136.3,2917,4095,2225,2158,572.7,20.3,238,6728,0.00,0.22,0.00,0.000,1030,0.000,0.057,2917,2243,2191,2225,2158,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6996,0.72,136.3,2917,2243,2225,2159,517.6,19.7,245,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2243,2192,2225,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7236,0.72,136.3,2917,2243,2224,2159,470.9,19.0,251,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2243,2191,2224,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7476,0.72,136.3,2917,2243,2224,2158,428.6,17.5,257,7479,0.00,0.20,0.00,0.000,260,0.000,0.071,2917,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7876,0.72,136.3,2916,4095,2223,2158,364.1,16.3,267,7880,0.00,0.17,0.00,0.000,1030,0.000,0.062,2917,2245,2191,2223,2159,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8157,0.72,136.3,2917,2245,2223,2159,314.2,18.1,274,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2245,2191,2224,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8396,0.72,136.3,2916,2245,2223,2158,269.4,18.8,280,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2245,2191,2224,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8637,0.72,136.3,2916,2245,2223,2159,224.8,18.4,286,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2245,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8881,0.72,136.3,2917,2246,2223,2159,179.3,19.1,298,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2245,2190,2222,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9130,0.72,136.3,2917,2245,2223,2159,134.0,17.5,323,9138,0.00,2.00,0.00,0.000,516,0.000,0.044,2927,920,2191,2223,2159,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9199,0.72,136.3,2926,920,2223,2159,121.5,18.8,329,9207,0.00,2.17,0.00,0.000,5126,0.000,0.045,2924,2299,2191,2223,2159,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9451,0.72,136.3,2924,2298,2223,2159,76.3,18.5,354,9462,0.00,2.08,0.00,0.000,4612,0.000,0.045,2933,929,2191,2223,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9502,0.72,136.3,2933,928,2223,2159,67.9,16.3,358,9514,0.03,2.10,0.00,0.000,5126,0.173,0.045,2920,2299,2191,2223,2159,0,0,0,0,0,0,26.54,26.64,28.83
$GC,9759,0.72,136.3,2920,2298,2223,2159,27.2,15.0,384,9769,0.00,0.08,0.00,0.000,4356,0.000,0.108,2920,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9907,end climb,SURFACE_DEPTH_REACHED
$STATE,9908,begin surface coast
$FINISH,1.0,3.363864
$STATE,9931,end surface coast,CONTROL_FINISHED_OK
$STATE,9931,begin surface
$SM_CCo,9945,117.15,0.666,0,0,1171,390.02
$SM_GC,2.22,6.90,0.20,117.15,0.030,0.056,0.666,184,2237,1171,-7.70,0.79,390.02,0,0,0,0,0,0,26.70,26.72,24.87
$IRIDIUM_FIX,3438.25,-15809.48,120309,121227
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.78
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.20
$XPDR_PINGS,335
$24V_AH,24.1,20.730
$10V_AH,10.3,11.748
$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,17.225,24.975,238.475,117.150,0.000,28.377,51.576,171.103,83.750,0.000,7.093,1268.217,6267.623,421.753,2363.391,109.822,0.000,1282.866,0.000,1736.219,0.000,0.540,0.000
$DEVICE_MAMPS,276.930,309.825,1114.605,665.550,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,300.309,174.609,349.978,315.877,654.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353108
$DATA_FILE_SIZE,37178,408
$CAP_FILE_SIZE,96163,0
$CFSIZE,259248128,250777600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,160516,043409,3449.726,-15808.052,27,1.5,28,11.3