version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 167
start: 5 17 116 3 53 29
data:
$ID,512
$MISSION,7
$DIVE,167
$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,-130046.31
$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,2688
$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,49
$R_STBD_OVSHOOT,47
$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
$GPS1,170516,034632,3440.370,-15806.130,15,0.9,26,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-73.5
$GPS2,170516,035248,3440.364,-15806.092,5,0.8,5,11.2
$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,168.4,1324894,-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,14,begin dive
$GC,15,-0.72,-136.3,171,2278,1107,1218,0.0,0.0,0,70,0.00,0.00,-52.65,0.000,16386,0.000,0.000,170,2277,2453,2439,2468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.72,-136.3,170,2251,2442,2469,3.0,-1.6,6,119,9.02,0.22,-32.40,0.000,19204,0.225,0.219,2449,4095,3318,3316,3321,0,0,0,0,0,0,25.70,26.04,26.37
$GC,128,-0.72,-136.3,2449,4095,3317,3321,6.1,-8.3,12,138,0.00,0.17,0.00,0.000,3078,0.000,0.057,2449,2253,3319,3317,3321,0,0,0,0,0,0,28.83,26.13,28.83
$GC,408,-0.72,-136.3,2448,2253,3318,3321,72.0,-23.8,44,420,0.00,2.00,0.00,0.000,2564,0.000,0.043,2451,940,3319,3318,3321,0,0,0,0,0,0,28.83,26.27,28.83
$GC,748,-0.72,-136.3,2451,940,3320,3321,146.4,-20.5,74,752,0.00,2.08,0.00,0.000,3078,0.000,0.044,2442,2284,3320,3320,3321,0,0,0,0,0,0,28.83,26.40,28.83
$GC,993,-0.72,-136.3,2442,2283,3321,3321,198.6,-21.1,98,995,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,2283,3321,3321,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1243,-0.72,-136.3,2442,2283,3321,3321,249.4,-20.3,105,1246,0.00,0.12,0.00,0.000,2308,0.000,0.080,2442,4095,3321,3321,3322,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1431,-0.72,-136.3,2441,4095,3321,3321,282.6,-20.6,109,1435,0.05,0.22,0.00,0.000,3078,0.208,0.051,2452,2237,3321,3321,3321,0,0,0,0,0,0,26.47,26.61,28.83
$GC,1683,-0.72,-136.3,2452,2236,3322,3321,340.2,-20.7,116,1687,0.00,0.20,0.00,0.000,2308,0.000,0.064,2452,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1911,-0.72,-136.3,2452,4095,3321,3321,382.4,-21.0,121,1915,0.00,0.20,0.00,0.000,3078,0.000,0.055,2452,2244,3321,3322,3321,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2164,-0.72,-136.3,2452,2244,3322,3321,439.4,-19.9,128,2165,0.00,0.00,0.00,0.000,2054,0.000,0.000,2452,2244,3321,3322,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2404,-0.72,-136.3,2452,2244,3322,3321,486.9,-19.9,134,2407,0.00,0.20,0.00,0.000,2308,0.000,0.063,2452,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2907,-0.72,-136.3,2452,4095,3321,3321,578.7,-18.7,146,2911,0.00,0.20,0.00,0.000,3078,0.000,0.055,2453,2251,3320,3320,3321,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3164,-0.72,-136.3,2452,2251,3320,3321,629.7,-17.8,153,3168,0.00,0.17,0.00,0.000,2308,0.000,0.070,2452,4095,3320,3320,3321,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3668,-0.72,-136.3,2452,4095,3319,3319,708.2,-15.1,165,3672,0.00,0.20,0.00,0.000,3078,0.000,0.056,2452,2245,3319,3319,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3925,-0.72,-136.3,2452,2245,3319,3319,750.1,-14.8,172,3929,0.00,0.20,0.00,0.000,2308,0.000,0.067,2452,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4429,-0.72,-136.3,2452,4095,3318,3317,820.6,-14.6,184,4432,0.00,0.20,0.00,0.000,3078,0.000,0.057,2452,2254,3317,3318,3317,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4686,-0.72,-136.3,2452,2253,3317,3316,862.1,-15.0,191,4689,0.00,0.17,0.00,0.000,2308,0.000,0.073,2452,4095,3316,3317,3316,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4965,begin apogee
$GC,4969,-0.17,0.0,2452,2244,3316,3315,905.9,-15.7,198,5089,0.55,0.08,116.10,1.112,10246,0.119,0.111,2631,2292,2762,2775,2750,0,0,0,0,0,0,26.53,24.98,24.34
$STATE,5090,end apogee,CONTROL_FINISHED_OK
$STATE,5090,begin climb
$GC,5092,0.72,136.3,2631,2292,2774,2750,913.4,0.0,201,5225,0.77,2.35,122.45,1.060,10756,0.044,0.049,2936,934,2206,2242,2170,0,0,0,0,0,0,25.15,24.77,24.08
$GC,5370,0.72,136.3,2936,934,2235,2165,876.9,20.2,208,5374,0.00,2.20,0.00,0.000,5126,0.000,0.049,2930,2288,2199,2235,2164,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5647,0.72,136.3,2930,2286,2232,2162,819.9,20.2,215,5648,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2287,2197,2232,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5887,0.72,136.3,2930,2286,2230,2162,769.3,21.0,221,5888,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2287,2196,2230,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6127,0.72,136.3,2930,2286,2229,2161,720.6,20.1,227,6131,0.00,2.12,0.00,0.000,4612,0.000,0.050,2938,928,2195,2229,2162,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6185,0.72,136.3,2938,927,2228,2162,713.1,20.4,228,6189,0.00,2.17,0.00,0.000,5126,0.000,0.050,2930,2299,2195,2228,2162,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6443,0.72,136.3,2930,2298,2227,2161,651.8,21.9,235,6446,0.00,0.10,0.00,0.000,4356,0.000,0.094,2930,4095,2194,2227,2162,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6626,0.72,136.3,2930,4095,2226,2161,616.9,21.8,239,6630,0.00,0.20,0.00,0.000,5126,0.000,0.060,2930,2264,2193,2226,2161,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6883,0.72,136.3,2930,2264,2226,2161,560.4,19.9,246,6887,0.00,0.15,0.00,0.000,4356,0.000,0.076,2930,4095,2193,2225,2161,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6942,0.72,136.3,2930,4095,2225,2161,552.1,20.2,247,6945,0.00,0.20,0.00,0.000,5126,0.000,0.060,2930,2249,2193,2225,2161,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7204,0.72,136.3,2930,2249,2224,2160,495.5,19.9,254,7207,0.00,0.17,0.00,0.000,4356,0.000,0.071,2930,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7357,0.72,136.3,2930,4095,2224,2160,471.4,19.9,257,7364,0.00,0.20,0.00,0.000,5126,0.000,0.059,2930,2244,2191,2223,2160,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7604,0.72,136.3,2930,2244,2224,2161,415.2,20.2,264,7608,0.00,2.03,0.00,0.000,4612,0.000,0.047,2940,917,2192,2224,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7633,0.72,136.3,2939,917,2223,2160,415.2,20.2,264,7640,0.00,2.15,0.00,0.000,5126,0.000,0.053,2931,2293,2191,2223,2160,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7880,0.72,136.3,2931,2293,2223,2160,359.9,20.1,271,7884,0.00,2.10,0.00,0.000,4612,0.000,0.045,2940,922,2191,2223,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7899,0.72,136.3,2940,921,2223,2161,359.9,20.1,271,7903,0.00,2.17,0.00,0.000,5126,0.000,0.046,2931,2322,2191,2223,2160,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8156,0.72,136.3,2931,2321,2223,2160,303.9,20.1,278,8160,0.00,2.15,0.00,0.000,4612,0.000,0.046,2940,922,2191,2222,2161,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8180,0.72,136.3,2940,923,2223,2161,303.9,20.1,278,8185,0.05,2.12,0.00,0.000,5126,0.216,0.046,2922,2296,2191,2223,2160,0,0,0,0,0,0,26.52,26.60,28.83
$GC,8432,0.72,136.3,2921,2295,2223,2160,251.6,18.8,285,8436,0.00,2.10,0.00,0.000,4612,0.000,0.045,2930,924,2191,2223,2160,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8471,0.72,136.3,2930,924,2223,2160,244.8,18.9,286,8475,0.00,2.12,0.00,0.000,5126,0.000,0.047,2930,2294,2192,2223,2161,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8723,0.72,136.3,2930,2293,2223,2161,192.5,20.8,294,8727,0.00,2.10,0.00,0.000,4612,0.000,0.044,2939,917,2191,2222,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8784,0.72,136.3,2938,917,2222,2161,179.6,21.0,299,8788,0.00,2.12,0.00,0.000,5126,0.000,0.047,2931,2290,2191,2222,2161,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9033,0.72,136.3,2930,2289,2224,2160,128.5,20.1,323,9036,0.00,0.10,0.00,0.000,4356,0.000,0.092,2930,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9091,0.72,136.3,2930,4095,2223,2161,116.4,20.5,328,9101,0.00,0.22,0.00,0.000,5126,0.000,0.053,2931,2238,2192,2223,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9341,0.72,136.3,2931,2238,2223,2161,70.7,16.9,353,9345,0.00,0.17,0.00,0.000,4356,0.000,0.069,2931,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9730,0.72,136.3,2931,4095,2223,2161,3.3,16.2,394,9740,0.00,0.15,0.00,0.000,5126,0.000,0.068,2931,2253,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9747,end climb,SURFACE_DEPTH_REACHED
$STATE,9747,begin surface coast
$FINISH,1.1,3.129101
$STATE,9776,end surface coast,CONTROL_FINISHED_OK
$STATE,9777,begin surface
$SM_CCo,9791,119.18,0.653,0,0,1171,390.02
$SM_GC,2.44,7.03,0.08,119.18,0.037,0.117,0.653,184,2303,1171,-7.73,-0.96,390.02,0,0,0,0,0,0,26.68,26.76,24.87
$IRIDIUM_FIX,3427.77,-15809.97,130309,141445
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.85
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.20
$XPDR_PINGS,334
$24V_AH,24.1,21.813
$10V_AH,10.3,12.352
$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,17.475,38.700,238.550,119.175,0.000,28.116,51.752,203.074,83.500,0.000,7.143,1259.257,6254.543,424.465,2275.040,101.727,0.000,1256.256,0.000,1621.186,0.000,0.540,0.000
$DEVICE_MAMPS,224.910,218.790,1112.310,652.545,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,294.044,171.673,343.271,309.315,641.070,0.000,0.000,0.000,0.000,0.000
$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,33933,400
$CAP_FILE_SIZE,100961,0
$CFSIZE,259248128,250327040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170516,063929,3438.970,-15805.607,12,1.7,13,11.2