version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 173
start: 5 17 116 21 45 21
data:
$ID,512
$MISSION,7
$DIVE,173
$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,-130101.66
$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,77
$R_STBD_OVSHOOT,46
$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
$GPS1,170516,213156,3432.838,-15803.485,11,1.5,12,11.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-73.6
$GPS2,170516,214441,3432.840,-15803.400,6,1.5,6,11.2
$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,168.5,1310932,-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,-136.3,165,2334,1109,1215,0.0,0.0,0,71,0.00,0.00,-53.20,0.000,16386,0.000,0.000,163,4095,2474,2460,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.72,-136.3,163,4095,2461,2488,3.1,-1.4,6,128,8.85,2.25,-32.30,0.000,18948,0.216,0.057,2459,930,3318,3317,3319,0,0,0,0,0,0,25.79,26.08,26.41
$GC,234,-0.72,-136.3,2458,931,3318,3319,28.0,-23.3,27,244,0.00,2.15,0.00,0.000,3078,0.000,0.044,2450,2279,3318,3317,3320,0,0,0,0,0,0,28.83,26.20,28.83
$GC,495,-0.72,-136.3,2450,2279,3318,3319,87.0,-21.8,53,498,0.00,0.12,0.00,0.000,2308,0.000,0.080,2449,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1052,-0.72,-136.3,2449,4095,3320,3319,199.6,-20.5,103,1059,0.00,0.20,0.00,0.000,3078,0.000,0.054,2449,2250,3319,3320,3319,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1299,-0.72,-136.3,2449,2249,3320,3319,249.1,-19.4,110,1303,0.00,0.17,0.00,0.000,2308,0.000,0.069,2448,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1803,-0.72,-136.3,2448,4095,3320,3319,340.6,-19.2,122,1806,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2241,3319,3320,3319,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2060,-0.72,-136.3,2448,2240,3320,3319,395.3,-19.6,129,2064,0.00,0.20,0.00,0.000,2308,0.000,0.063,2447,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2563,-0.72,-136.3,2447,4095,3320,3319,488.7,-18.9,141,2567,0.00,0.20,0.00,0.000,3078,0.000,0.054,2447,2248,3319,3320,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2821,-0.72,-136.3,2447,2248,3319,3319,540.4,-18.6,148,2824,0.00,0.17,0.00,0.000,2308,0.000,0.070,2447,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3324,-0.72,-136.3,2447,4095,3318,3319,630.1,-18.2,160,3328,0.00,0.20,0.00,0.000,3078,0.000,0.054,2447,2240,3318,3318,3319,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3581,-0.72,-136.3,2447,2240,3318,3318,676.2,-16.2,167,3585,0.00,0.20,0.00,0.000,2308,0.000,0.063,2447,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4085,-0.72,-136.3,2447,4095,3317,3316,752.5,-16.0,179,4088,0.00,0.20,0.00,0.000,3078,0.000,0.055,2447,2248,3316,3317,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4343,-0.72,-136.3,2447,2248,3316,3315,796.5,-15.6,186,4346,0.00,0.17,0.00,0.000,2308,0.000,0.070,2447,4095,3315,3316,3315,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4846,-0.72,-136.3,2446,4095,3315,3313,873.5,-16.2,198,4850,0.00,0.20,0.00,0.000,3078,0.000,0.055,2447,2241,3314,3315,3314,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,5022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5022,begin apogee
$GC,5026,-0.17,0.0,2446,2313,3314,3312,905.2,-15.8,203,5146,0.57,0.00,116.47,1.099,10246,0.116,0.000,2634,2313,2762,2774,2750,0,0,0,0,0,0,26.53,28.83,24.38
$STATE,5147,end apogee,CONTROL_FINISHED_OK
$STATE,5147,begin climb
$GC,5149,0.72,136.3,2634,2313,2773,2749,911.0,0.0,206,5281,0.75,2.40,122.43,1.047,10756,0.032,0.047,2946,926,2205,2241,2170,0,0,0,0,0,0,25.19,24.79,24.11
$GC,5351,0.72,136.3,2946,926,2236,2166,888.7,14.6,211,5356,0.10,2.22,0.00,0.000,5126,0.166,0.048,2922,2279,2201,2236,2166,0,0,0,0,0,0,25.30,25.39,28.83
$GC,5618,0.72,136.3,2921,2278,2233,2163,832.1,20.0,218,5622,0.00,2.12,0.00,0.000,4612,0.000,0.047,2930,931,2197,2232,2163,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5654,0.72,136.3,2930,931,2231,2163,825.3,19.7,219,5658,0.00,2.17,0.00,0.000,5126,0.000,0.049,2930,2292,2197,2231,2163,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5930,0.72,136.3,2930,2291,2230,2162,769.6,20.0,226,5932,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2292,2196,2230,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6170,0.72,136.3,2930,2292,2229,2162,721.8,20.0,232,6173,0.00,0.10,0.00,0.000,4356,0.000,0.094,2930,4095,2195,2229,2162,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6290,0.72,136.3,2930,4095,2228,2162,696.7,20.9,235,6294,0.00,0.17,0.00,0.000,5126,0.000,0.063,2930,2256,2195,2228,2162,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6571,0.72,136.3,2930,2256,2227,2161,637.3,21.4,242,6574,0.00,0.15,0.00,0.000,4356,0.000,0.074,2930,4095,2194,2227,2161,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6799,0.72,136.3,2930,4095,2226,2161,594.9,21.2,247,6803,0.00,0.17,0.00,0.000,5126,0.000,0.062,2930,2258,2193,2226,2161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7051,0.72,136.3,2930,2259,2225,2161,537.1,20.3,254,7054,0.00,0.15,0.00,0.000,4356,0.000,0.073,2929,4095,2193,2225,2161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7554,0.72,136.3,2930,4095,2224,2160,439.0,20.1,266,7558,0.00,0.20,0.00,0.000,5126,0.000,0.057,2930,2245,2191,2223,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7812,0.72,136.3,2930,2245,2224,2160,382.2,19.8,273,7815,0.00,0.17,0.00,0.000,4356,0.000,0.069,2930,4095,2192,2224,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8315,0.72,136.3,2930,4095,2224,2160,288.6,20.2,285,8319,0.00,0.20,0.00,0.000,5126,0.000,0.057,2930,2242,2191,2223,2160,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8572,0.72,136.3,2930,2242,2223,2160,233.6,19.6,292,8576,0.00,0.17,0.00,0.000,4356,0.000,0.067,2930,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8671,0.72,136.3,2930,4095,2223,2160,217.6,19.6,294,8675,0.00,0.20,0.00,0.000,5126,0.000,0.056,2930,2240,2192,2223,2161,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8923,0.72,136.3,2930,2240,2223,2160,164.0,20.1,312,8924,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2240,2191,2223,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9164,0.72,136.3,2930,2240,2223,2160,115.6,20.6,336,9167,0.00,0.17,0.00,0.000,4356,0.000,0.067,2930,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9775,0.72,136.3,2930,4094,2223,2161,7.8,18.1,394,9785,0.03,0.15,0.00,0.000,5126,0.177,0.065,2922,2254,2191,2222,2161,0,0,0,0,0,0,26.59,26.74,28.83
$STATE,9806,end climb,SURFACE_DEPTH_REACHED
$STATE,9807,begin surface coast
$FINISH,1.1,2.572257
$STATE,9829,end surface coast,CONTROL_FINISHED_OK
$STATE,9829,begin surface
$SM_CCo,9843,113.97,0.652,0,0,1171,390.02
$SM_GC,2.28,6.95,0.10,113.97,0.032,0.098,0.652,199,4095,1171,-7.71,-0.48,390.02,0,0,0,0,0,0,26.67,26.74,24.92
$IRIDIUM_FIX,3419.93,-15806.08,140309,111118
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.90
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,17.70
$XPDR_PINGS,340
$24V_AH,24.1,22.569
$10V_AH,10.3,12.765
$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,17.250,17.900,238.900,113.975,0.000,84.305,151.671,272.629,85.000,0.000,7.268,1302.373,6049.965,403.212,2887.865,105.523,0.000,1352.752,0.000,1956.187,0.000,0.542,0.000
$DEVICE_MAMPS,215.730,97.920,1098.540,651.780,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,298.794,174.423,344.704,313.706,650.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353092
$DATA_FILE_SIZE,33854,401
$CAP_FILE_SIZE,104835,0
$CFSIZE,259248128,250019840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180516,003231,3431.759,-15802.938,35,0.8,35,11.2