version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 185
start: 5 19 116 10 35 4
data:
$ID,512
$MISSION,7
$DIVE,185
$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,-130116.88
$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,58
$R_STBD_OVSHOOT,42
$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
$GPS1,190516,101117,3424.594,-15750.809,15,2.7,36,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-70.6
$GPS2,190516,103423,3424.877,-15750.436,7,0.9,7,11.3
$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,169.4,1296275,-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,13,begin dive
$GC,15,-0.72,-136.3,169,2330,1119,1207,0.0,0.0,0,87,0.00,0.00,-69.88,0.000,16386,0.000,0.000,167,2360,2922,2904,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,167,2332,2904,2941,3.4,-2.4,8,118,9.00,0.00,-9.80,0.000,18694,0.222,0.000,2448,2330,3319,3318,3320,0,0,0,0,0,0,25.75,28.83,26.38
$GC,384,-0.72,-136.3,2448,2331,3319,3320,74.0,-23.0,41,392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2448,2331,3319,3319,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,630,-0.72,-136.3,2448,2331,3320,3320,127.0,-20.1,66,634,0.00,2.10,0.00,0.000,2308,0.000,0.052,2439,3700,3319,3320,3319,0,0,0,0,0,0,28.83,26.37,28.83
$GC,719,-0.72,-136.3,2438,3699,3320,3320,144.5,-20.6,73,727,0.03,2.08,0.00,0.000,3078,0.172,0.031,2448,2281,3320,3320,3320,0,0,2,0,0,0,26.32,26.44,28.83
$GC,967,-0.72,-136.3,2447,2258,3321,3320,195.6,-20.0,98,968,0.00,0.00,0.00,0.000,2054,0.000,0.000,2448,2259,3320,3321,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1236,-0.72,-136.3,2448,2258,3321,3320,248.0,-19.2,107,1240,0.00,2.22,0.00,0.000,2308,0.000,0.054,2439,3700,3320,3321,3320,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1265,-0.72,-136.3,2438,3700,3320,3320,248.0,-19.2,107,1273,0.08,2.10,0.00,0.000,3078,0.175,0.041,2455,2302,3320,3321,3320,0,0,0,0,0,0,26.41,26.55,28.83
$GC,1513,-0.72,-136.3,2454,2273,3321,3319,297.9,-17.7,114,1517,0.00,2.20,0.00,0.000,2308,0.000,0.053,2445,3702,3320,3321,3320,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1556,-0.72,-136.3,2445,3701,3320,3319,304.7,-17.9,115,1561,0.00,2.10,0.00,0.000,3078,0.000,0.032,2449,2303,3320,3321,3319,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1829,-0.72,-136.3,2449,2271,3321,3319,354.9,-17.9,122,1834,0.00,2.20,0.00,0.000,2308,0.000,0.054,2440,3698,3320,3321,3320,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1886,-0.72,-136.3,2440,3698,3321,3319,362.5,-18.2,123,1890,0.00,2.10,0.00,0.000,3078,0.000,0.033,2446,2301,3320,3320,3320,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2149,-0.72,-136.3,2445,2270,3321,3319,412.8,-17.9,130,2153,0.00,2.20,0.00,0.000,2308,0.000,0.054,2436,3697,3320,3321,3319,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2173,-0.72,-136.3,2436,3697,3321,3319,412.8,-17.9,130,2177,0.08,2.10,0.00,0.000,3078,0.175,0.034,2455,2295,3319,3320,3319,0,0,0,0,0,0,26.51,26.65,28.83
$GC,2420,-0.72,-136.3,2454,2268,3320,3319,459.8,-17.5,136,2421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,2268,3319,3320,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2659,-0.72,-136.3,2455,2268,3319,3319,503.4,-18.2,142,2663,0.00,2.22,0.00,0.000,2308,0.000,0.056,2445,3700,3319,3319,3319,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2708,-0.72,-136.3,2444,3699,3319,3319,511.0,-18.2,143,2712,0.00,2.12,0.00,0.000,3078,0.000,0.034,2447,2274,3318,3318,3319,0,0,1,0,0,0,28.83,26.67,28.83
$GC,2980,-0.72,-136.3,2447,2250,3318,3319,562.8,-18.2,150,2984,0.00,2.25,0.00,0.000,2308,0.000,0.057,2438,3698,3318,3317,3319,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3004,-0.72,-136.3,2438,3698,3317,3319,562.8,-18.2,150,3009,0.08,2.05,0.00,0.000,3078,0.174,0.035,2455,2275,3318,3318,3319,0,0,2,0,0,0,26.54,26.67,28.83
$GC,3256,-0.72,-136.3,2455,2252,3318,3317,612.3,-17.8,157,3260,0.00,0.17,0.00,0.000,2308,0.000,0.070,2455,4095,3317,3317,3318,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3450,-0.72,-136.3,2455,4095,3317,3317,639.8,-17.1,161,3456,0.00,0.20,0.00,0.000,3078,0.000,0.056,2455,2241,3317,3317,3317,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3697,-0.72,-136.3,2455,2241,3317,3316,685.8,-16.1,168,3698,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,2241,3316,3317,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3937,-0.72,-136.3,2455,2241,3316,3315,724.1,-15.9,174,3940,0.00,0.20,0.00,0.000,2308,0.000,0.064,2455,4095,3315,3316,3314,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4440,-0.72,-136.3,2454,4095,3315,3313,801.1,-16.4,186,4444,0.00,0.20,0.00,0.000,3078,0.000,0.057,2455,2251,3313,3314,3312,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4697,-0.72,-136.3,2454,2251,3314,3312,845.6,-15.7,193,4701,0.00,0.17,0.00,0.000,2308,0.000,0.070,2454,4095,3313,3314,3312,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5057,begin apogee
$GC,5062,-0.17,0.0,2454,2241,3312,3310,900.2,-14.9,202,5182,0.55,0.05,116.03,1.105,10246,0.118,0.134,2633,2278,2762,2777,2748,0,0,0,0,0,0,26.51,25.01,24.40
$STATE,5183,end apogee,CONTROL_FINISHED_OK
$STATE,5183,begin climb
$GC,5184,0.72,136.3,2633,2278,2776,2747,905.4,0.0,205,5317,0.75,2.30,122.82,1.053,10756,0.034,0.048,2943,934,2206,2241,2171,0,0,0,0,0,0,25.24,24.84,24.15
$GC,5459,0.72,136.3,2943,934,2233,2165,861.3,23.4,212,5464,0.10,2.20,0.00,0.000,5126,0.164,0.050,2920,2291,2199,2233,2165,0,0,0,0,0,0,25.58,25.67,28.83
$GC,5736,0.72,136.3,2920,2290,2230,2163,799.8,22.1,219,5739,0.00,0.12,0.00,0.000,260,0.000,0.089,2920,4095,2197,2230,2164,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6239,0.72,136.3,2919,4095,2225,2162,700.8,19.5,231,6243,0.00,0.20,0.00,0.000,1030,0.000,0.059,2920,2260,2193,2225,2162,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6496,0.72,136.3,2920,2260,2224,2162,644.2,20.1,238,6500,0.00,0.17,0.00,0.000,260,0.000,0.074,2920,4095,2193,2224,2162,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7000,0.72,136.3,2920,4094,2222,2162,547.8,19.6,250,7004,0.00,0.20,0.00,0.000,1030,0.000,0.058,2920,2250,2192,2223,2162,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7257,0.72,136.3,2919,2250,2222,2162,493.2,19.6,257,7261,0.00,0.17,0.00,0.000,260,0.000,0.073,2920,4095,2192,2223,2162,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7761,0.72,136.3,2920,4095,2221,2162,401.5,18.5,269,7764,0.00,0.17,0.00,0.000,1030,0.000,0.062,2920,2256,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8018,0.72,136.3,2919,2256,2220,2162,351.4,18.0,276,8022,0.00,0.17,0.00,0.000,260,0.000,0.074,2920,4095,2191,2221,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8522,0.72,136.3,2919,4095,2220,2162,263.3,19.3,288,8525,0.00,0.20,0.00,0.000,1030,0.000,0.056,2920,2244,2191,2220,2162,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8779,0.72,136.3,2920,2244,2220,2162,210.0,19.1,295,8783,0.00,0.20,0.00,0.000,260,0.000,0.067,2920,4095,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9328,0.72,136.3,2920,4095,2220,2162,105.5,18.8,339,9335,0.00,0.20,0.00,0.000,1030,0.000,0.056,2920,2245,2191,2220,2162,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9579,0.72,136.3,2920,2245,2220,2162,63.6,16.4,364,9582,0.00,0.20,0.00,0.000,260,0.000,0.066,2920,4095,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9969,end climb,SURFACE_DEPTH_REACHED
$STATE,9970,begin surface coast
$FINISH,0.9,2.404280
$STATE,9992,end surface coast,CONTROL_FINISHED_OK
$STATE,9993,begin surface
$SM_CCo,10006,110.62,0.637,0,0,1172,390.02
$SM_GC,2.26,6.78,0.20,110.62,0.021,0.053,0.637,192,2241,1172,-7.71,0.90,390.02,0,0,0,0,0,0,26.69,26.75,24.98
$IRIDIUM_FIX,3409.50,-15750.11,150309,202021
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.74
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.60
$XPDR_PINGS,351
$24V_AH,24.2,24.339
$10V_AH,10.4,13.667
$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,17.425,38.050,238.850,110.625,0.000,25.926,49.949,1205.503,87.750,0.000,8.304,1300.390,6240.471,408.887,3430.577,149.232,0.000,1292.647,0.000,1796.025,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,133.875,1105.425,637.245,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,289.937,182.347,353.149,320.176,663.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353116
$DATA_FILE_SIZE,37163,410
$CAP_FILE_SIZE,115391,0
$CFSIZE,259248128,249384960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,2,0
$GPS,190516,132453,3424.166,-15749.013,15,2.8,36,11.3