version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 209
start: 5 22 116 9 23 15
data:
$ID,512
$MISSION,7
$DIVE,209
$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,-130242.64
$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
$GPS1,220516,091549,3420.041,-15715.477,37,0.8,37,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-74.1
$GPS2,220516,092233,3420.022,-15715.379,5,1.0,6,11.4
$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,172.0,1289434,-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,-136.3,189,2254,1114,1213,0.0,0.0,0,79,0.00,0.00,-61.25,0.000,16386,0.000,0.000,188,2245,2695,2677,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,188,2251,2678,2716,3.1,-2.2,7,118,8.82,0.00,-17.95,0.000,19206,0.217,0.000,2449,2244,3318,3317,3319,0,0,0,0,0,0,25.70,28.83,26.42
$GC,391,-0.72,-136.3,2449,2244,3319,3319,75.3,-25.3,42,400,0.00,0.00,0.00,0.000,2054,0.000,0.000,2449,2244,3319,3319,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,641,-0.72,-136.3,2448,2244,3320,3318,134.3,-22.6,67,644,0.00,0.20,0.00,0.000,2308,0.000,0.061,2448,4095,3319,3320,3318,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1173,-0.72,-136.3,2448,4095,3322,3318,237.9,-19.7,102,1177,0.00,0.22,0.00,0.000,3078,0.000,0.050,2449,2235,3321,3323,3319,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1430,-0.72,-136.3,2448,2236,3323,3318,293.4,-20.0,109,1434,0.00,0.20,0.00,0.000,2308,0.000,0.063,2447,4095,3321,3323,3319,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1934,-0.72,-136.3,2448,4095,3322,3318,389.7,-20.1,121,1937,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2243,3320,3323,3318,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2191,-0.72,-136.3,2448,2243,3322,3318,443.7,-19.2,128,2194,0.00,0.20,0.00,0.000,2308,0.000,0.061,2448,4095,3320,3323,3318,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2694,-0.72,-136.3,2448,4095,3321,3318,531.2,-18.5,140,2698,0.00,0.22,0.00,0.000,3078,0.000,0.054,2448,2178,3319,3320,3318,0,0,1,0,0,0,28.83,26.72,28.83
$GC,2951,-0.72,-136.3,2448,2178,3320,3318,582.4,-18.4,147,2955,0.00,0.30,0.00,0.000,2308,0.000,0.054,2448,4095,3319,3320,3318,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3455,-0.72,-136.3,2448,4095,3318,3318,671.8,-18.5,159,3459,0.00,0.20,0.00,0.000,3078,0.000,0.055,2448,2245,3318,3318,3319,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3713,-0.72,-136.3,2447,2245,3317,3317,722.0,-17.7,166,3716,0.00,0.17,0.00,0.000,2308,0.000,0.068,2448,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4216,-0.72,-136.3,2447,4095,3316,3315,804.6,-16.9,178,4220,0.00,0.20,0.00,0.000,3078,0.000,0.057,2448,2240,3315,3316,3315,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4473,-0.72,-136.3,2447,2240,3315,3314,849.2,-15.7,185,4476,0.00,0.20,0.00,0.000,2308,0.000,0.065,2448,4095,3314,3315,3313,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,4833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4833,begin apogee
$GC,4837,-0.17,0.0,2448,2246,3314,3312,906.1,-15.9,194,4956,0.57,0.20,115.43,1.085,10246,0.116,0.068,2636,4095,2762,2777,2748,0,0,0,0,0,0,26.45,25.11,24.41
$STATE,4957,end apogee,CONTROL_FINISHED_OK
$STATE,4958,begin climb
$GC,4959,0.72,136.3,2635,4095,2775,2748,911.2,0.0,197,5092,0.75,2.38,122.15,1.037,10756,0.036,0.048,2941,988,2205,2242,2169,0,0,0,0,0,0,25.25,24.84,24.16
$GC,5367,0.72,136.3,2941,988,2233,2163,841.7,23.0,207,5371,0.10,2.20,0.00,0.000,5126,0.164,0.050,2919,4094,2198,2233,2163,0,0,0,0,0,0,25.81,25.92,28.83
$GC,5634,0.72,136.3,2919,4094,2231,2161,780.2,21.6,214,5638,0.00,0.12,0.00,0.000,260,0.000,0.073,2919,2255,2196,2231,2161,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6138,0.72,136.3,2919,2255,2227,2159,681.1,20.2,226,6141,0.00,0.17,0.00,0.000,1030,0.000,0.082,2919,4095,2194,2228,2160,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6395,0.72,136.3,2919,4095,2226,2160,622.3,21.2,233,6398,0.00,0.12,0.00,0.000,260,0.000,0.075,2919,2261,2193,2226,2160,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6898,0.72,136.3,2919,2260,2224,2159,524.4,19.5,245,6902,0.00,0.17,0.00,0.000,1030,0.000,0.080,2919,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7156,0.72,136.3,2919,4095,2223,2159,471.8,17.9,252,7159,0.00,0.15,0.00,0.000,260,0.000,0.068,2919,2253,2191,2223,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7659,0.72,136.3,2919,2253,2222,2160,385.4,18.1,264,7663,0.00,0.17,0.00,0.000,1030,0.000,0.080,2919,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7916,0.72,136.3,2919,4095,2223,2159,332.5,18.7,271,7920,0.00,0.12,0.00,0.000,260,0.000,0.074,2919,2259,2190,2222,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8420,0.72,136.3,2919,2259,2223,2160,246.6,17.4,283,8424,0.00,0.17,0.00,0.000,1030,0.000,0.080,2919,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8677,0.72,136.3,2919,4095,2223,2160,198.1,17.0,290,8681,0.00,0.15,0.00,0.000,260,0.000,0.065,2919,2254,2191,2222,2160,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9230,0.72,136.3,2048,2252,2188,2154,107.9,15.9,340,9240,0.00,0.17,0.00,0.000,1030,0.000,0.079,2919,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9481,0.72,136.3,2919,4095,2222,2160,68.7,15.5,365,9485,0.00,0.15,0.00,0.000,260,0.000,0.064,2919,2244,2191,2223,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9821,0.72,136.3,2919,2244,2223,2160,15.0,15.1,398,9831,0.00,0.17,0.00,0.000,1030,0.000,0.072,2919,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,9894,end climb,SURFACE_DEPTH_REACHED
$STATE,9894,begin surface coast
$FINISH,1.2,2.688818
$STATE,9917,end surface coast,CONTROL_FINISHED_OK
$STATE,9917,begin surface
$SM_CCo,9931,115.10,0.627,0,0,1171,390.02
$SM_GC,2.44,6.85,0.17,115.10,0.027,0.059,0.627,198,2248,1171,-7.71,-0.48,390.02,0,0,0,0,0,0,26.65,26.72,24.97
$IRIDIUM_FIX,3404.29,-15719.60,180309,191949
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.10
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.90
$XPDR_PINGS,356
$24V_AH,24.2,27.321
$10V_AH,10.3,15.448
$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,17.100,9.550,237.575,115.100,0.000,27.402,47.278,233.714,89.000,0.000,7.140,1339.558,5752.133,393.706,2871.125,113.114,0.000,1418.558,0.000,2162.333,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,81.855,1084.770,627.300,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,293.640,181.348,357.359,320.167,663.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353032
$DATA_FILE_SIZE,37244,411
$CAP_FILE_SIZE,103636,0
$CFSIZE,259248128,248201216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,220516,121120,3418.838,-15713.953,11,1.7,11,11.4