version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 203
start: 5 21 116 15 58 59
data:
$ID,512
$MISSION,7
$DIVE,203
$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,-130235.09
$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
$GPS1,210516,155302,3421.641,-15724.684,18,1.0,37,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-71.3
$GPS2,210516,155819,3421.670,-15724.609,7,0.9,7,11.3
$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,171.4,1291647,-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,-136.3,167,4095,1109,1218,0.0,0.0,0,80,0.00,0.00,-62.05,0.000,16386,0.000,0.000,164,4095,2711,2694,2729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-136.3,164,4095,2693,2730,3.3,-2.6,7,120,9.00,2.22,-17.02,0.000,18948,0.222,0.051,2451,983,3318,3317,3320,0,0,0,0,0,0,25.71,26.07,26.40
$GC,259,-0.72,-136.3,2451,983,3318,3320,39.0,-24.4,29,269,0.00,2.17,0.00,0.000,3078,0.000,0.041,2442,4095,3319,3318,3320,0,0,0,0,0,0,28.83,26.22,28.83
$GC,507,-0.72,-136.3,2442,4095,3319,3320,99.5,-24.0,54,511,0.00,0.12,0.00,0.000,2308,0.000,0.068,2442,2251,3319,3319,3320,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1055,-0.72,-136.3,2442,2251,3322,3319,214.9,-21.1,97,1059,0.00,0.17,0.00,0.000,3078,0.000,0.067,2441,4095,3321,3322,3320,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1312,-0.72,-136.3,2441,4095,3323,3320,271.8,-20.2,104,1315,0.00,0.15,0.00,0.000,2308,0.000,0.063,2442,2246,3321,3323,3320,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1816,-0.72,-136.3,2441,2246,3324,3319,368.3,-20.3,116,1820,0.05,0.20,0.00,0.000,3078,0.222,0.063,2451,4095,3321,3323,3320,0,0,0,0,0,0,26.50,26.65,28.83
$GC,2072,-0.72,-136.3,2451,4095,3323,3320,422.0,-19.1,123,2076,0.00,0.15,0.00,0.000,2308,0.000,0.065,2452,2254,3321,3323,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2576,-0.72,-136.3,2452,2254,3322,3319,513.0,-19.2,135,2580,0.00,0.17,0.00,0.000,3078,0.000,0.070,2452,4095,3320,3322,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2833,-0.72,-136.3,2452,4095,3321,3319,564.6,-18.3,142,2837,0.00,0.15,0.00,0.000,2308,0.000,0.065,2452,2244,3320,3321,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3337,-0.72,-136.3,2452,2245,3319,3319,646.2,-16.2,154,3341,0.00,0.20,0.00,0.000,3078,0.000,0.064,2452,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3594,-0.72,-136.3,2452,4095,3318,3318,689.4,-15.0,161,3598,0.00,0.15,0.00,0.000,2308,0.000,0.063,2452,2249,3318,3318,3318,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4098,-0.72,-136.3,2451,2249,3317,3316,763.0,-15.6,173,4102,0.00,0.17,0.00,0.000,3078,0.000,0.071,2452,4095,3316,3317,3316,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4355,-0.72,-136.3,2451,4095,3317,3315,807.5,-16.1,180,4359,0.00,0.12,0.00,0.000,2308,0.000,0.072,2451,2256,3316,3317,3315,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4859,-0.72,-136.3,2451,2256,3315,3313,883.3,-15.0,192,4862,0.00,0.17,0.00,0.000,3078,0.000,0.073,2451,4095,3314,3315,3313,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4954,begin apogee
$GC,4959,-0.17,0.0,2451,2246,3314,3312,900.9,-14.7,195,5079,0.55,0.20,115.95,1.099,10246,0.115,0.067,2631,4095,2762,2777,2748,0,0,0,0,0,0,26.46,25.09,24.38
$STATE,5080,end apogee,CONTROL_FINISHED_OK
$STATE,5080,begin climb
$GC,5081,0.72,136.3,2631,4095,2776,2747,905.9,0.0,198,5211,0.80,0.17,122.57,1.050,10500,0.053,0.061,2924,2264,2206,2243,2169,0,0,0,0,0,0,25.20,24.79,24.13
$GC,5713,0.72,136.3,2924,2259,2230,2162,784.8,22.5,214,5716,0.00,0.15,0.00,0.000,5126,0.000,0.083,2924,4095,2196,2230,2162,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5993,0.72,136.3,2924,4095,2228,2162,722.4,22.2,221,5997,0.00,2.12,0.00,0.000,4612,0.000,0.047,2934,987,2195,2228,2162,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6357,0.72,136.3,2934,987,2224,2162,646.4,20.7,230,6361,0.00,2.15,0.00,0.000,5126,0.000,0.050,2930,4095,2193,2224,2162,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6629,0.72,136.3,2930,4095,2224,2161,589.7,19.9,237,6633,0.00,0.10,0.00,0.000,4356,0.000,0.076,2930,2258,2192,2224,2161,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7132,0.72,136.3,2930,2257,2223,2160,493.3,21.4,249,7136,0.00,0.17,0.00,0.000,5126,0.000,0.080,2930,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7390,0.72,136.3,2930,4095,2223,2160,430.8,22.0,256,7393,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2254,2191,2223,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7893,0.72,136.3,2930,2254,2222,2160,337.2,19.5,268,7897,0.00,0.17,0.00,0.000,5126,0.000,0.079,2931,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8150,0.72,136.3,2930,4095,2222,2160,285.0,18.8,275,8153,0.00,0.12,0.00,0.000,4356,0.000,0.066,2930,2250,2191,2222,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8655,0.72,136.3,2930,2250,2222,2160,196.0,16.9,289,8662,0.00,0.17,0.00,0.000,5126,0.000,0.080,2930,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8904,0.72,136.3,2930,4095,2222,2160,152.3,17.1,314,8907,0.00,0.12,0.00,0.000,4356,0.000,0.066,2931,2249,2191,2222,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9485,0.72,136.3,2930,2249,2222,2161,54.0,15.3,364,9495,0.00,0.17,0.00,0.000,5126,0.000,0.077,2931,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9771,0.72,136.3,2930,4095,2222,2160,7.4,18.6,398,9781,0.00,0.12,0.00,0.000,4356,0.000,0.066,2931,2248,2191,2222,2160,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,9802,end climb,SURFACE_DEPTH_REACHED
$STATE,9802,begin surface coast
$FINISH,1.0,2.079988
$STATE,9825,end surface coast,CONTROL_FINISHED_OK
$STATE,9825,begin surface
$SM_CCo,9839,118.05,0.641,0,0,1172,390.02
$SM_GC,2.18,6.93,0.17,118.05,0.029,0.075,0.641,189,4095,1172,-7.72,-0.68,390.02,0,0,0,0,0,0,26.65,26.67,24.93
$IRIDIUM_FIX,3409.50,-15726.83,180309,020230
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.02
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.80
$XPDR_PINGS,347
$24V_AH,24.1,26.616
$10V_AH,10.3,15.014
$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,17.325,13.000,238.525,118.050,0.000,28.522,47.709,146.726,86.750,0.000,8.090,1329.946,5646.442,400.579,2798.610,114.763,0.000,1430.440,0.000,2178.906,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,82.620,1099.305,641.070,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.617,182.104,351.609,322.239,667.978,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353020
$DATA_FILE_SIZE,34006,405
$CAP_FILE_SIZE,103849,0
$CFSIZE,259248128,248504320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210516,184602,3421.842,-15723.376,39,1.3,39,11.3