version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 168
start: 5 17 116 6 46 41
data:
$ID,512
$MISSION,7
$DIVE,168
$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,-130047.58
$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,75
$R_STBD_OVSHOOT,32
$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
$GPS1,170516,063929,3438.970,-15805.607,12,1.7,13,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-74.1
$GPS2,170516,064601,3438.943,-15805.587,19,1.7,19,11.2
$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,168.4,1322256,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-136.3,170,2330,1101,1226,0.0,0.0,0,80,0.00,0.00,-61.75,0.000,16386,0.000,0.000,170,2303,2669,2649,2690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,170,2331,2650,2690,3.0,-1.5,7,119,9.00,2.15,-20.77,0.000,18948,0.223,0.057,2451,935,3318,3315,3321,0,0,0,0,0,0,25.73,26.04,26.39
$GC,271,-0.72,-136.3,2451,936,3317,3321,39.2,-24.0,30,282,0.00,2.12,0.00,0.000,3078,0.000,0.044,2442,2302,3319,3317,3321,0,0,0,0,0,0,28.83,26.21,28.83
$GC,523,-0.72,-136.3,2442,2301,3318,3321,96.5,-23.0,55,527,0.00,0.10,0.00,0.000,2308,0.000,0.091,2442,4095,3319,3318,3321,0,0,0,0,0,0,28.83,26.38,28.83
$GC,956,-0.72,-136.3,2441,4095,3320,3321,186.8,-20.7,94,960,0.00,0.17,0.00,0.000,3078,0.000,0.060,2442,2253,3320,3319,3321,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1217,-0.72,-136.3,2441,2253,3320,3321,241.8,-20.6,105,1221,0.05,0.17,0.00,0.000,2308,0.218,0.050,2452,4095,3320,3320,3321,0,0,0,0,0,0,26.56,26.53,28.83
$GC,1311,-0.72,-136.3,2451,4095,3320,3321,258.1,-20.3,107,1315,0.00,0.20,0.00,0.000,3078,0.000,0.054,2452,2247,3320,3320,3321,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1578,-0.72,-136.3,2451,2246,3321,3321,312.5,-19.2,114,1581,0.00,0.17,0.00,0.000,2308,0.000,0.069,2451,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1707,-0.72,-136.3,2451,4095,3321,3321,335.4,-19.0,117,1710,0.00,0.17,0.00,0.000,3078,0.000,0.057,2451,2241,3320,3320,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1979,-0.72,-136.3,2451,2241,3321,3321,389.9,-19.9,124,1980,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,2241,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,-0.72,-136.3,2451,2241,3320,3321,435.8,-19.0,130,2219,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,2241,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2458,-0.72,-136.3,2451,2241,3320,3321,480.5,-18.6,136,2460,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,2241,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2699,-0.72,-136.3,2451,2241,3320,3321,524.5,-18.1,142,2702,0.00,0.20,0.00,0.000,2308,0.000,0.064,2451,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3007,-0.72,-136.3,2451,4095,3320,3320,575.8,-18.7,149,3011,0.00,0.20,0.00,0.000,3078,0.000,0.056,2451,2250,3320,3320,3321,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3259,-0.72,-136.3,2451,2250,3319,3320,626.3,-17.8,156,3263,0.00,0.17,0.00,0.000,2308,0.000,0.070,2451,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3558,-0.72,-136.3,2451,4095,3319,3319,672.6,-16.1,163,3562,0.00,0.20,0.00,0.000,3078,0.000,0.055,2451,2242,3319,3319,3320,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3820,-0.72,-136.3,2451,2242,3318,3319,717.9,-15.9,170,3823,0.00,0.20,0.00,0.000,2308,0.000,0.065,2451,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4323,-0.72,-136.3,2451,4095,3317,3318,790.2,-14.4,182,4327,0.00,0.20,0.00,0.000,3078,0.000,0.056,2451,2250,3317,3317,3317,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4580,-0.72,-136.3,2451,2250,3317,3317,831.2,-14.5,189,4584,0.00,0.17,0.00,0.000,2308,0.000,0.072,2451,4095,3316,3317,3316,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5059,begin apogee
$GC,5064,-0.17,0.0,2450,2241,3315,3315,904.1,-16.0,201,5184,0.55,0.10,116.15,1.113,10246,0.118,0.097,2629,2304,2762,2775,2750,0,0,0,0,0,0,26.53,25.01,24.34
$STATE,5185,end apogee,CONTROL_FINISHED_OK
$STATE,5185,begin climb
$GC,5187,0.72,136.3,2630,2305,2773,2749,910.7,0.0,204,5319,0.80,2.40,122.32,1.057,10756,0.052,0.050,2935,928,2205,2241,2169,0,0,0,0,0,0,25.15,24.76,24.08
$GC,5431,0.72,136.3,2935,928,2236,2164,880.3,18.9,210,5435,0.00,2.22,0.00,0.000,5126,0.000,0.050,2931,2286,2200,2236,2164,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5697,0.72,136.3,2930,2284,2232,2162,819.6,22.3,217,5698,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2285,2197,2233,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5937,0.72,136.3,2930,2284,2230,2162,764.3,23.4,223,5938,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2284,2196,2230,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6177,0.72,136.3,2930,2284,2229,2161,712.9,20.8,229,6181,0.00,2.12,0.00,0.000,4612,0.000,0.050,2939,931,2195,2229,2161,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6201,0.72,136.3,2938,931,2229,2160,712.9,20.8,229,6205,0.00,2.20,0.00,0.000,5126,0.000,0.050,2931,2290,2195,2229,2161,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6453,0.72,136.3,2931,2289,2227,2161,656.0,20.9,236,6456,0.00,0.10,0.00,0.000,4356,0.000,0.094,2930,4095,2194,2227,2161,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6906,0.72,136.3,2930,4095,2225,2161,564.7,20.7,247,6910,0.00,0.20,0.00,0.000,5126,0.000,0.061,2931,2251,2193,2225,2161,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7173,0.72,136.3,2930,2251,2224,2161,506.8,20.9,254,7174,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2251,2192,2224,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7413,0.72,136.3,2930,2250,2223,2160,460.2,19.0,260,7414,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2251,2191,2223,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7653,0.72,136.3,2930,2250,2223,2161,413.9,19.7,266,7657,0.00,2.05,0.00,0.000,4612,0.000,0.050,2940,918,2192,2223,2161,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7672,0.72,136.3,2939,918,2223,2160,413.9,19.7,266,7676,0.00,2.20,0.00,0.000,5126,0.000,0.048,2931,2299,2192,2223,2161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7929,0.72,136.3,2931,2297,2223,2160,358.2,20.6,273,7933,0.00,2.12,0.00,0.000,4612,0.000,0.047,2940,917,2192,2223,2161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7965,0.72,136.3,2940,917,2222,2161,350.8,20.6,274,7969,0.00,2.15,0.00,0.000,5126,0.000,0.047,2932,2301,2191,2223,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8241,0.72,136.3,2932,2299,2223,2160,293.9,20.6,281,8245,0.00,0.08,0.00,0.000,4356,0.000,0.109,2932,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8340,0.72,136.3,2932,4095,2223,2161,277.5,20.2,283,8343,0.00,0.20,0.00,0.000,5126,0.000,0.057,2932,2243,2191,2223,2160,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8601,0.72,136.3,2932,2243,2222,2161,224.0,18.6,290,8603,0.00,0.00,0.00,0.000,4102,0.000,0.000,2932,2243,2191,2222,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8842,0.72,136.3,2931,2243,2222,2160,177.8,19.4,302,8845,0.00,0.17,0.00,0.000,4356,0.000,0.069,2932,4095,2191,2222,2161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9142,0.72,136.3,2932,4095,2222,2161,120.1,19.4,329,9144,0.00,0.20,0.00,0.000,5126,0.000,0.057,2932,2252,2192,2223,2161,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9389,0.72,136.3,2932,2240,2222,2161,75.4,17.3,353,9400,0.00,2.00,0.00,0.000,4612,0.000,0.044,2941,908,2191,2222,2161,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9428,0.72,136.3,2942,907,2222,2161,68.6,16.9,356,9439,0.05,2.12,0.00,0.000,5126,0.153,0.046,2925,2296,2191,2222,2161,0,0,0,0,0,0,26.48,26.63,28.83
$GC,9684,0.72,136.3,2924,2294,2222,2161,26.6,15.5,382,9694,0.00,0.10,0.00,0.000,4356,0.000,0.093,2924,4095,2191,2222,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9772,0.72,136.3,2924,4095,2222,2161,13.2,15.1,394,9781,0.00,0.20,0.00,0.000,5126,0.000,0.057,2924,2245,2191,2222,2161,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,9837,end climb,SURFACE_DEPTH_REACHED
$STATE,9837,begin surface coast
$FINISH,1.1,2.916182
$STATE,9860,end surface coast,CONTROL_FINISHED_OK
$STATE,9860,begin surface
$SM_CCo,9874,116.18,0.654,0,0,1171,390.02
$SM_GC,2.26,6.90,0.10,116.18,0.027,0.086,0.654,196,2317,1171,-7.71,-0.68,390.02,0,0,0,0,0,0,26.67,26.76,24.89
$IRIDIUM_FIX,3427.77,-15804.13,130309,171713
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.94
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,17.40
$XPDR_PINGS,333
$24V_AH,24.1,21.932
$10V_AH,10.3,12.418
$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,17.350,29.875,238.475,116.175,0.000,27.372,46.902,213.478,83.250,0.000,20.310,1255.907,6390.784,413.060,2245.703,104.248,0.000,1213.566,0.000,1564.549,0.000,0.540,0.000
$DEVICE_MAMPS,223.380,108.630,1113.075,654.075,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,307.176,176.197,350.195,324.499,672.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353056
$DATA_FILE_SIZE,33966,406
$CAP_FILE_SIZE,96361,0
$CFSIZE,259248128,250281984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170516,093425,3437.432,-15805.211,38,0.8,38,11.2