version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 184
start: 5 19 116 7 23 36
data:
$ID,512
$MISSION,7
$DIVE,184
$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,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130115.62
$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,42
$R_STBD_OVSHOOT,26
$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
$GPS1,190516,070323,3424.800,-15751.945,22,1.7,23,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-72.9
$GPS2,190516,072255,3425.081,-15751.743,38,0.9,39,11.3
$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,169.3,1296626,-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,-136.3,165,2285,1122,1203,0.0,0.0,0,79,0.00,0.00,-61.22,0.000,16386,0.000,0.000,161,2316,2686,2670,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,161,2305,2669,2706,3.1,-2.2,7,119,9.00,2.15,-19.80,0.000,18948,0.222,0.054,2448,893,3317,3317,3318,0,0,0,0,0,0,25.77,26.09,26.43
$GC,183,-0.72,-136.3,2447,893,3317,3318,19.8,-20.5,20,194,0.05,2.22,0.00,0.000,3078,0.168,0.042,2454,2305,3318,3318,3318,0,0,0,0,0,0,26.03,26.18,28.83
$GC,451,-0.72,-136.3,2454,2304,3318,3318,80.0,-20.5,48,454,0.00,0.12,0.00,0.000,2308,0.000,0.083,2454,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1008,-0.72,-136.3,2454,4095,3320,3318,194.5,-20.4,98,1015,0.00,0.22,0.00,0.000,3078,0.000,0.050,2454,2189,3319,3320,3318,0,0,1,0,0,0,28.83,26.56,28.83
$GC,1275,-0.72,-136.3,2454,2188,3320,3318,248.5,-20.1,107,1278,0.00,0.28,0.00,0.000,2308,0.000,0.056,2453,4095,3319,3320,3318,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1778,-0.72,-136.3,2453,4095,3320,3318,342.7,-18.6,119,1782,0.00,0.20,0.00,0.000,3078,0.000,0.054,2454,2238,3319,3321,3318,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2035,-0.72,-136.3,2453,2237,3320,3318,394.1,-18.1,126,2039,0.00,0.20,0.00,0.000,2308,0.000,0.063,2454,4095,3319,3320,3318,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2539,-0.72,-136.3,2453,4095,3318,3317,479.1,-17.5,138,2543,0.00,0.20,0.00,0.000,3078,0.000,0.054,2453,2244,3317,3318,3317,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2796,-0.72,-136.3,2453,2244,3317,3316,526.6,-16.8,145,2800,0.00,0.20,0.00,0.000,2308,0.000,0.063,2454,4095,3317,3318,3316,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3299,-0.72,-136.3,2453,4095,3317,3315,605.2,-16.6,157,3303,0.00,0.20,0.00,0.000,3078,0.000,0.055,2453,2253,3316,3317,3315,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3557,-0.72,-136.3,2453,2253,3316,3314,653.2,-17.2,164,3561,0.00,0.17,0.00,0.000,2308,0.000,0.070,2453,4095,3315,3316,3314,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4060,-0.72,-136.3,2452,4095,3314,3312,733.3,-15.9,176,4064,0.00,0.20,0.00,0.000,3078,0.000,0.055,2453,2242,3313,3314,3312,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4317,-0.72,-136.3,2453,2242,3314,3311,778.7,-16.6,183,4321,0.00,0.20,0.00,0.000,2308,0.000,0.066,2453,4095,3312,3313,3311,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4821,-0.72,-136.3,2453,4095,3312,3308,855.9,-16.0,195,4825,0.00,0.20,0.00,0.000,3078,0.000,0.057,2454,2251,3310,3312,3308,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5078,-0.72,-136.3,2453,2250,3311,3307,897.6,-14.7,202,5082,0.00,0.17,0.00,0.000,2308,0.000,0.073,2453,4095,3309,3311,3307,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5117,begin apogee
$GC,5122,-0.17,0.0,2453,2241,3311,3307,903.4,-14.6,203,5241,0.55,0.08,115.35,1.104,10246,0.118,0.112,2632,2289,2762,2777,2747,0,0,0,0,0,0,26.51,25.03,24.41
$STATE,5242,end apogee,CONTROL_FINISHED_OK
$STATE,5242,begin climb
$GC,5244,0.72,136.3,2632,2289,2775,2747,907.7,0.0,206,5375,0.77,2.35,122.60,1.050,10756,0.048,0.049,2930,925,2205,2241,2170,0,0,0,0,0,0,25.21,24.84,24.16
$GC,5558,0.72,136.3,2930,925,2231,2164,856.7,22.3,214,5564,0.00,2.17,0.00,0.000,5126,0.000,0.047,2930,2281,2197,2231,2164,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5837,0.72,136.3,2930,2280,2229,2163,795.1,21.9,221,5841,0.00,0.12,0.00,0.000,4356,0.000,0.080,2930,4095,2195,2229,2162,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6341,0.72,136.3,2930,4095,2224,2162,691.2,21.2,233,6345,0.00,0.20,0.00,0.000,5126,0.000,0.057,2930,2260,2193,2224,2162,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6598,0.72,136.3,2930,2260,2223,2162,631.1,21.2,240,6601,0.00,0.15,0.00,0.000,4356,0.000,0.073,2930,4095,2193,2223,2163,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7101,0.72,136.3,2930,4095,2221,2161,530.6,22.0,252,7105,0.00,0.20,0.00,0.000,5126,0.000,0.059,2930,2248,2191,2221,2161,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7358,0.72,136.3,2930,2247,2220,2162,471.5,21.4,259,7361,0.00,0.17,0.00,0.000,4356,0.000,0.070,2930,4095,2190,2220,2161,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7861,0.72,136.3,2930,4095,2220,2161,370.0,20.0,271,7865,0.00,0.20,0.00,0.000,5126,0.000,0.058,2930,2245,2190,2219,2161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8118,0.72,136.3,2930,2245,2219,2161,315.9,19.0,278,8122,0.00,0.17,0.00,0.000,4356,0.000,0.069,2931,4095,2190,2220,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8622,0.72,136.3,2930,4095,2219,2162,227.7,18.4,290,8626,0.00,0.20,0.00,0.000,5126,0.000,0.057,2931,2242,2190,2219,2161,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8870,0.72,136.3,2930,2242,2219,2161,177.3,19.2,305,8873,0.00,0.17,0.00,0.000,4356,0.000,0.067,2931,4095,2190,2219,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9432,0.72,136.3,2931,4095,2219,2161,72.9,17.7,355,9442,0.00,0.17,0.00,0.000,5126,0.000,0.060,2931,2252,2190,2219,2161,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9683,0.72,136.3,2931,2251,2220,2161,28.9,16.0,380,9692,0.00,0.17,0.00,0.000,4356,0.000,0.067,2931,4095,2190,2219,2162,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,9837,end climb,SURFACE_DEPTH_REACHED
$STATE,9837,begin surface coast
$FINISH,0.9,2.406749
$STATE,9861,end surface coast,CONTROL_FINISHED_OK
$STATE,9861,begin surface
$SM_CCo,9875,113.43,0.656,0,0,1171,390.02
$SM_GC,2.05,6.82,0.17,113.43,0.021,0.056,0.656,185,2266,1171,-7.73,0.90,390.02,0,0,0,0,0,0,26.67,26.77,24.94
$IRIDIUM_FIX,3409.50,-15752.53,150309,171753
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.18
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.50
$XPDR_PINGS,351
$24V_AH,24.2,24.160
$10V_AH,10.3,13.587
$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,17.200,13.875,237.950,113.425,0.000,28.455,51.306,954.872,87.750,0.000,40.406,1334.898,5744.894,396.446,3560.940,150.407,0.000,1410.686,0.000,2130.292,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,111.690,1103.895,655.605,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,281.323,176.885,348.897,320.148,663.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353136
$DATA_FILE_SIZE,33828,405
$CAP_FILE_SIZE,117413,0
$CFSIZE,259248128,249438208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,190516,101117,3424.594,-15750.809,15,2.7,36,11.3