version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 176
start: 5 18 116 6 26 7
data:
$ID,512
$MISSION,7
$DIVE,176
$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,-130105.45
$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,79
$R_STBD_OVSHOOT,34
$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
$GPS1,180516,061857,3429.909,-15801.070,14,1.6,14,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-71.8
$GPS2,180516,062526,3429.974,-15800.963,15,1.8,15,11.2
$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,168.7,1305612,-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,15,-0.72,-136.3,168,4095,1107,1218,0.0,0.0,0,87,0.00,0.00,-69.80,0.000,16386,0.000,0.000,167,2315,2890,2871,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,166,4095,2871,2910,3.3,-2.2,8,118,8.95,2.15,-11.10,0.000,18948,0.220,0.054,2448,932,3317,3314,3320,0,0,0,0,0,0,25.77,26.06,26.39
$GC,197,-0.72,-136.3,2448,932,3316,3320,26.7,-22.2,22,207,0.03,2.17,0.00,0.000,3078,0.197,0.044,2448,2297,3318,3316,3320,0,0,0,0,0,0,26.03,26.16,28.83
$GC,455,-0.72,-136.3,2448,2295,3317,3321,84.9,-22.0,48,458,0.00,0.10,0.00,0.000,2308,0.000,0.093,2447,4095,3319,3317,3321,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1012,-0.72,-136.3,2448,4095,3320,3320,197.1,-20.0,98,1018,0.00,0.20,0.00,0.000,3078,0.000,0.054,2447,2248,3320,3320,3320,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1269,-0.72,-136.3,2448,2248,3320,3320,249.1,-20.0,106,1272,0.00,0.17,0.00,0.000,2308,0.000,0.067,2448,4095,3320,3320,3321,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1537,-0.72,-136.3,2448,4095,3320,3321,297.7,-20.5,112,1541,0.00,0.20,0.00,0.000,3078,0.000,0.053,2448,2239,3320,3320,3321,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1789,-0.72,-136.3,2447,2239,3320,3320,354.9,-20.3,119,1790,0.00,0.00,0.00,0.000,2054,0.000,0.000,2448,2238,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,-0.72,-136.3,2448,2239,3320,3321,400.4,-18.7,125,2033,0.00,0.20,0.00,0.000,2308,0.000,0.063,2448,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2462,-0.72,-136.3,2447,4095,3320,3320,469.0,-16.6,135,2469,0.00,0.20,0.00,0.000,3078,0.000,0.055,2448,2247,3320,3320,3320,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2710,-0.72,-136.3,2448,2247,3319,3320,514.9,-16.5,142,2711,0.00,0.00,0.00,0.000,2054,0.000,0.000,2448,2247,3319,3319,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2950,-0.72,-136.3,2447,2247,3318,3320,557.3,-17.7,148,2953,0.00,0.17,0.00,0.000,2308,0.000,0.069,2448,4095,3319,3318,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3453,-0.72,-136.3,2447,4095,3318,3319,644.9,-18.4,160,3457,0.00,0.20,0.00,0.000,3078,0.000,0.055,2448,2240,3318,3318,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3710,-0.72,-136.3,2448,2240,3317,3318,696.9,-18.4,167,3713,0.00,0.20,0.00,0.000,2308,0.000,0.064,2448,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3983,-0.72,-136.3,2447,4095,3317,3317,740.8,-18.1,173,3990,0.00,0.20,0.00,0.000,3078,0.000,0.056,2448,2247,3317,3317,3317,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4230,-0.72,-136.3,2447,2247,3316,3316,788.6,-17.0,180,4234,0.00,0.17,0.00,0.000,2308,0.000,0.070,2448,4095,3316,3316,3316,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4734,-0.72,-136.3,2447,4095,3315,3314,870.1,-16.5,192,4738,0.00,0.20,0.00,0.000,3078,0.000,0.056,2448,2240,3314,3315,3314,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4909,begin apogee
$GC,4914,-0.17,0.0,2447,2298,3314,3313,902.7,-16.4,197,5033,0.57,0.00,116.18,1.109,10246,0.119,0.000,2634,2298,2762,2775,2749,0,0,0,0,0,0,26.52,28.83,24.37
$STATE,5034,end apogee,CONTROL_FINISHED_OK
$STATE,5034,begin climb
$GC,5036,0.72,136.3,2633,2298,2773,2749,908.3,0.0,200,5167,0.77,2.28,122.32,1.052,10756,0.047,0.045,2930,932,2205,2242,2169,0,0,0,0,0,0,25.17,24.79,24.10
$GC,5297,0.72,136.3,2930,932,2235,2164,876.1,19.8,206,5301,0.00,2.20,0.00,0.000,5126,0.000,0.048,2930,2285,2199,2235,2164,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5549,0.72,136.3,2930,2284,2232,2162,813.0,22.1,213,5553,0.00,0.10,0.00,0.000,4356,0.000,0.092,2931,4095,2197,2232,2162,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5829,0.72,136.3,2930,4095,2230,2161,753.6,20.7,220,5833,0.00,0.17,0.00,0.000,5126,0.000,0.063,2930,2249,2195,2229,2161,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6110,0.72,136.3,2930,2249,2228,2161,695.7,20.5,227,6114,0.00,2.05,0.00,0.000,4612,0.000,0.047,2939,922,2194,2228,2161,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6135,0.72,136.3,2939,922,2227,2161,695.7,20.5,227,6139,0.00,2.17,0.00,0.000,5126,0.000,0.048,2931,2302,2194,2227,2161,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6381,0.72,136.3,2931,2301,2227,2160,639.8,20.3,233,6382,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2301,2193,2227,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6621,0.72,136.3,2931,2301,2226,2160,589.9,20.8,239,6625,0.00,2.12,0.00,0.000,4612,0.000,0.047,2939,925,2193,2226,2160,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6645,0.72,136.3,2939,926,2226,2160,589.9,20.8,239,6649,0.00,2.15,0.00,0.000,5126,0.000,0.047,2931,2305,2192,2225,2160,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6897,0.72,136.3,2931,2303,2225,2160,531.8,20.9,246,6898,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2303,2192,2225,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7137,0.72,136.3,2931,2303,2224,2159,480.4,21.5,252,7141,0.00,2.12,0.00,0.000,4612,0.000,0.045,2940,917,2191,2224,2159,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7166,0.72,136.3,2940,917,2224,2159,480.4,21.5,252,7173,0.00,2.15,0.00,0.000,5126,0.000,0.048,2932,2295,2191,2223,2159,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7413,0.72,136.3,2932,2294,2224,2159,423.0,20.7,259,7416,0.00,0.10,0.00,0.000,4356,0.000,0.092,2931,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7641,0.72,136.3,2931,4095,2223,2159,383.7,19.5,264,7645,0.00,0.22,0.00,0.000,5126,0.000,0.055,2931,2232,2191,2223,2159,0,0,1,0,0,0,28.83,26.66,28.83
$GC,7893,0.72,136.3,2931,2232,2223,2160,328.4,19.7,271,7895,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2232,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8133,0.72,136.3,2931,2231,2223,2159,281.8,19.5,277,8137,0.00,0.20,0.00,0.000,4356,0.000,0.065,2931,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8641,0.72,136.3,2056,4070,2189,2154,183.2,20.2,294,8651,0.00,0.20,0.00,0.000,5126,0.000,0.057,2931,2241,2191,2223,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8892,0.72,136.3,2931,2240,2223,2159,133.5,20.5,319,8895,0.00,0.17,0.00,0.000,4356,0.000,0.069,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9490,0.72,136.3,2931,4095,2223,2160,27.2,15.1,370,9501,0.03,0.15,0.00,0.000,5126,0.180,0.064,2923,2253,2191,2222,2160,0,0,0,0,0,0,26.57,26.73,28.83
$STATE,9639,end climb,SURFACE_DEPTH_REACHED
$STATE,9640,begin surface coast
$FINISH,1.4,2.417352
$STATE,9663,end surface coast,CONTROL_FINISHED_OK
$STATE,9663,begin surface
$SM_CCo,9677,116.07,0.656,0,0,1172,390.02
$SM_GC,2.25,6.97,0.10,116.07,0.031,0.103,0.656,186,2322,1172,-7.73,-0.54,390.02,0,0,0,0,0,0,26.67,26.72,24.90
$IRIDIUM_FIX,3417.32,-15801.23,140309,161643
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.22
$INTERNAL_PRESSURE,8.2718
$TCM_TEMP,18.00
$XPDR_PINGS,336
$24V_AH,24.1,22.928
$10V_AH,10.3,12.967
$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,17.325,25.300,238.500,116.075,0.000,29.282,49.240,208.446,84.000,0.000,16.408,1239.042,6083.849,414.922,2373.983,99.102,0.000,1258.436,0.000,1708.941,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,109.395,1109.250,655.605,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.995,171.820,340.462,309.538,641.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353096
$DATA_FILE_SIZE,33729,394
$CAP_FILE_SIZE,95730,0
$CFSIZE,259248128,249872384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,180516,091031,3429.113,-15800.010,34,0.8,34,11.2