version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 201
start: 5 21 116 9 53 20
data:
$ID,512
$MISSION,7
$DIVE,201
$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,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130232.58
$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,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,20
$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
$GPS1,210516,094619,3421.761,-15727.771,42,0.9,42,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-73.2
$GPS2,210516,095239,3421.753,-15727.651,7,1.0,7,11.3
$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,171.2,1291568,-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,-136.3,180,2265,1110,1218,0.0,0.0,0,79,0.00,0.00,-61.58,0.000,16386,0.000,0.000,177,2243,2696,2679,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,177,2265,2679,2717,3.1,-1.7,7,119,8.93,1.95,-18.08,0.000,19204,0.220,0.052,2451,980,3315,3315,3316,0,0,0,0,0,0,25.75,26.09,26.42
$GC,169,-0.72,-136.3,2451,980,3315,3316,18.7,-23.3,18,179,0.00,2.17,0.00,0.000,3078,0.000,0.041,2443,4095,3315,3315,3316,0,0,0,0,0,0,28.83,26.16,28.83
$GC,433,-0.72,-136.3,2442,4095,3316,3316,83.3,-21.2,46,437,0.00,0.12,0.00,0.000,2308,0.000,0.067,2443,2250,3316,3317,3316,0,0,0,0,0,0,28.83,26.41,28.83
$GC,991,-0.72,-136.3,2442,2249,3319,3316,199.3,-20.7,96,1001,0.00,0.17,0.00,0.000,3078,0.000,0.067,2442,4095,3317,3319,3316,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1238,-0.72,-136.3,2442,4095,3320,3316,251.2,-20.7,103,1241,0.00,0.15,0.00,0.000,2308,0.000,0.063,2442,2243,3318,3320,3316,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1741,-0.72,-136.3,2441,2243,3320,3316,350.6,-20.4,115,1746,0.05,0.20,0.00,0.000,3078,0.221,0.063,2452,4094,3317,3320,3315,0,0,0,0,0,0,26.50,26.65,28.83
$GC,1998,-0.72,-136.3,2452,4095,3320,3316,403.5,-18.6,122,2002,0.00,0.15,0.00,0.000,2308,0.000,0.065,2452,2252,3317,3320,3315,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2502,-0.72,-136.3,2452,2252,3319,3316,481.5,-15.3,134,2505,0.00,0.17,0.00,0.000,3078,0.000,0.068,2452,4095,3317,3319,3316,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2759,-0.72,-136.3,2452,4095,3318,3315,522.1,-14.3,141,2763,0.00,0.15,0.00,0.000,2308,0.000,0.063,2452,2244,3317,3318,3316,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3263,-0.72,-136.3,2452,2243,3317,3316,601.6,-17.7,153,3266,0.00,0.20,0.00,0.000,3078,0.000,0.064,2452,4095,3316,3317,3315,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3520,-0.72,-136.3,2452,4095,3316,3315,650.0,-16.8,160,3524,0.00,0.15,0.00,0.000,2308,0.000,0.063,2452,2248,3315,3316,3315,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3964,-0.72,-136.3,2452,2248,3314,3313,717.2,-15.2,171,3967,0.00,0.17,0.00,0.000,3078,0.000,0.070,2452,4095,3314,3315,3313,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4241,-0.72,-136.3,2451,4095,3314,3312,760.2,-15.4,178,4244,0.00,0.12,0.00,0.000,2308,0.000,0.070,2451,2258,3313,3314,3312,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4744,-0.72,-136.3,2451,2258,3313,3310,834.3,-15.3,190,4748,0.00,0.17,0.00,0.000,3078,0.000,0.072,2451,4095,3311,3313,3310,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5001,-0.72,-136.3,2451,4095,3312,3309,875.9,-15.0,197,5005,0.00,2.12,0.00,0.000,2564,0.000,0.044,2451,984,3310,3312,3309,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,5156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5156,begin apogee
$GC,5162,-0.17,0.0,2441,4095,3311,3309,901.5,-16.4,201,5281,0.57,0.15,114.85,1.105,10246,0.119,0.062,2628,2269,2762,2777,2747,0,0,0,0,0,0,26.46,25.10,24.39
$STATE,5282,end apogee,CONTROL_FINISHED_OK
$STATE,5282,begin climb
$GC,5284,0.72,136.3,2628,2262,2775,2747,909.1,0.0,204,5412,0.80,0.22,121.72,1.059,10500,0.051,0.071,2921,4095,2206,2244,2169,0,0,0,0,0,0,25.20,24.79,24.13
$GC,5914,0.72,136.3,2921,4095,2231,2162,797.1,21.7,220,5917,0.00,0.15,0.00,0.000,5126,0.000,0.069,2922,2273,2196,2231,2162,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6194,0.72,136.3,2922,2273,2230,2161,737.2,21.6,227,6198,0.00,0.15,0.00,0.000,4356,0.000,0.079,2922,4095,2195,2230,2161,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6698,0.72,136.3,2922,4095,2226,2160,635.1,19.9,239,6701,0.00,0.20,0.00,0.000,5126,0.000,0.059,2923,2253,2193,2226,2160,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6955,0.72,136.3,2923,2253,2226,2160,580.1,19.3,246,6958,0.00,0.17,0.00,0.000,4356,0.000,0.075,2923,4095,2193,2226,2160,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7458,0.72,136.3,2923,4095,2224,2159,489.2,19.1,258,7462,0.00,0.17,0.00,0.000,5126,0.000,0.063,2923,2261,2191,2224,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7715,0.72,136.3,2923,2261,2224,2160,433.7,19.8,265,7718,0.00,0.15,0.00,0.000,4356,0.000,0.077,2923,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8219,0.72,136.3,2923,4095,2224,2159,335.0,20.1,277,8222,0.00,0.17,0.00,0.000,5126,0.000,0.061,2923,2254,2191,2224,2159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8475,0.72,136.3,2923,2253,2223,2159,285.3,17.5,284,8479,0.00,0.17,0.00,0.000,4356,0.000,0.071,2923,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8979,0.72,136.3,2923,4094,2223,2159,201.2,17.7,296,8983,0.00,0.20,0.00,0.000,5126,0.000,0.056,2923,2244,2191,2223,2159,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9227,0.72,136.3,2923,2244,2223,2159,153.6,17.8,320,9231,0.00,0.17,0.00,0.000,4356,0.000,0.070,2923,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9808,0.72,136.3,2923,4095,2223,2159,53.7,15.6,370,9818,0.00,0.17,0.00,0.000,5126,0.000,0.059,2924,2250,2191,2223,2159,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10095,0.72,136.3,2923,2250,2223,2159,8.9,16.6,404,10104,0.00,0.17,0.00,0.000,4356,0.000,0.065,2923,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,10133,end climb,SURFACE_DEPTH_REACHED
$STATE,10133,begin surface coast
$FINISH,0.9,2.038392
$STATE,10155,end surface coast,CONTROL_FINISHED_OK
$STATE,10155,begin surface
$SM_CCo,10169,114.12,0.654,0,0,1172,390.02
$SM_GC,2.24,6.88,0.17,114.12,0.027,0.056,0.654,203,2253,1172,-7.71,0.06,390.02,0,0,0,0,0,0,26.62,26.74,24.93
$IRIDIUM_FIX,3409.50,-15732.65,170309,202016
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.00
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.60
$XPDR_PINGS,358
$24V_AH,24.1,26.379
$10V_AH,10.3,14.861
$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,17.225,13.175,236.575,114.125,0.000,30.174,51.041,205.312,89.500,0.000,8.091,1359.322,5888.395,394.958,2926.486,112.311,0.000,1454.719,0.000,2239.034,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,78.795,1105.425,654.075,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,294.864,178.579,351.673,322.248,667.941,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353044
$DATA_FILE_SIZE,37270,412
$CAP_FILE_SIZE,107065,0
$CFSIZE,259248128,248594432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210516,124550,3421.644,-15726.085,39,1.0,39,11.3