version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 220
start: 5 23 116 17 1 24
data:
$ID,512
$MISSION,7
$DIVE,220
$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,-130301.65
$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
$GPS1,230516,165356,3410.563,-15702.142,38,0.8,38,11.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-74.0
$GPS2,230516,170043,3410.563,-15702.092,8,0.8,8,11.4
$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,173.1,1273508,-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,-136.3,145,2264,1110,1218,0.0,0.0,0,87,0.00,0.00,-70.00,0.000,16386,0.000,0.000,144,2261,2918,2898,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,144,2260,2899,2939,3.2,-2.6,8,119,8.85,0.17,-9.62,0.000,18692,0.213,0.226,2446,4095,3318,3316,3321,0,0,0,0,0,0,25.70,26.02,26.41
$GC,342,-0.72,-136.3,2445,4095,3318,3321,64.6,-23.3,34,352,0.00,0.20,0.00,0.000,3078,0.000,0.052,2445,2248,3319,3318,3321,0,0,0,0,0,0,28.83,26.34,28.83
$GC,594,-0.72,-136.3,2445,2248,3319,3321,124.2,-22.9,59,599,0.00,0.00,0.00,0.000,2054,0.000,0.000,2446,2248,3320,3319,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,841,-0.72,-136.3,2445,2248,3320,3321,179.6,-22.1,84,844,0.00,0.17,0.00,0.000,2308,0.000,0.067,2445,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1248,-0.72,-136.3,2445,4095,3321,3321,268.1,-21.4,101,1251,0.00,0.17,0.00,0.000,3078,0.000,0.059,2445,2240,3321,3321,3321,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1528,-0.72,-136.3,2445,2240,3321,3321,326.8,-20.8,108,1532,0.00,0.20,0.00,0.000,2308,0.000,0.062,2444,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1703,-0.72,-136.3,2444,4095,3321,3321,359.7,-20.6,112,1706,0.00,0.17,0.00,0.000,3078,0.000,0.058,2444,2252,3320,3321,3320,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1969,-0.72,-136.3,2444,2252,3322,3321,415.9,-20.2,119,1973,0.00,1.90,0.00,0.000,2564,0.000,0.041,2448,980,3321,3321,3321,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2023,-0.72,-136.3,2447,980,3321,3321,423.3,-20.4,120,2027,0.08,2.10,0.00,0.000,3078,0.189,0.042,2455,4095,3321,3321,3321,0,0,0,0,0,0,26.45,26.60,28.83
$GC,2285,-0.72,-136.3,2455,4095,3321,3320,475.7,-18.2,127,2288,0.00,0.12,0.00,0.000,2308,0.000,0.068,2455,2247,3320,3320,3320,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2789,-0.72,-136.3,2455,2247,3320,3320,558.9,-16.6,139,2792,0.00,0.17,0.00,0.000,3078,0.000,0.069,2455,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3045,-0.72,-136.3,2455,4095,3318,3320,604.6,-16.9,146,3049,0.00,0.15,0.00,0.000,2308,0.000,0.063,2455,2244,3319,3319,3320,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3549,-0.72,-136.3,2455,2243,3318,3319,685.2,-16.5,158,3552,0.00,0.20,0.00,0.000,3078,0.000,0.065,2454,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3806,-0.72,-136.3,2454,4095,3317,3318,729.5,-15.7,165,3809,0.00,0.15,0.00,0.000,2308,0.000,0.064,2454,2248,3317,3317,3317,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4139,-0.72,-136.3,2454,2248,3316,3316,779.6,-15.7,173,4143,0.00,0.17,0.00,0.000,3078,0.000,0.071,2453,4094,3316,3317,3316,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4406,-0.72,-136.3,2453,4095,3316,3315,824.5,-15.9,180,4410,0.00,2.10,0.00,0.000,2564,0.000,0.044,2453,990,3315,3316,3315,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4771,-0.72,-136.3,2453,990,3314,3314,882.2,-15.7,189,4775,0.00,2.12,0.00,0.000,3078,0.000,0.047,2443,4095,3314,3314,3314,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4881,begin apogee
$GC,4885,-0.17,0.0,2443,2252,3314,3313,900.7,-16.1,192,5005,0.57,0.17,116.05,1.084,10246,0.119,0.074,2628,4095,2762,2777,2748,0,0,0,0,0,0,26.39,25.10,24.41
$STATE,5006,end apogee,CONTROL_FINISHED_OK
$STATE,5006,begin climb
$GC,5008,0.72,136.3,2628,4095,2776,2748,906.1,0.0,195,5141,0.77,2.33,123.03,1.024,10756,0.050,0.045,2928,988,2206,2243,2169,0,0,0,0,0,0,25.20,24.84,24.15
$GC,5261,0.72,136.3,2928,989,2236,2164,872.6,20.3,201,5265,0.00,2.20,0.00,0.000,5126,0.000,0.048,2922,4095,2200,2236,2164,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5523,0.72,136.3,2922,4095,2233,2162,809.0,22.7,208,5527,0.00,0.10,0.00,0.000,4356,0.000,0.073,2922,2253,2197,2233,2162,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5658,0.72,136.3,2922,2253,2231,2161,782.7,22.0,211,5661,0.00,0.15,0.00,0.000,5126,0.000,0.080,2922,4095,2196,2231,2162,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5924,0.72,136.3,2922,4095,2229,2161,722.3,21.3,218,5928,0.00,2.12,0.00,0.000,4612,0.000,0.044,2931,986,2195,2229,2161,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6018,0.72,136.3,2931,986,2228,2161,706.2,21.0,220,6022,0.00,2.15,0.00,0.000,5126,0.000,0.046,2930,4095,2194,2228,2161,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6275,0.72,136.3,2930,4095,2227,2161,645.1,22.2,227,6276,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,4095,2193,2227,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6515,0.72,136.3,2930,4095,2225,2160,594.7,20.8,233,6518,0.00,0.10,0.00,0.000,4356,0.000,0.074,2930,2261,2192,2225,2160,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6608,0.72,136.3,2930,2261,2225,2160,578.7,20.6,235,6612,0.00,0.17,0.00,0.000,5126,0.000,0.078,2930,4095,2192,2225,2160,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6875,0.72,136.3,2930,4095,2224,2160,523.0,19.8,242,6879,0.00,0.12,0.00,0.000,4356,0.000,0.068,2930,2260,2191,2224,2159,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7379,0.72,136.3,2930,2260,2223,2160,428.2,18.8,254,7382,0.00,0.17,0.00,0.000,5126,0.000,0.077,2930,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7636,0.72,136.3,2930,4095,2223,2160,375.1,19.1,261,7640,0.00,0.12,0.00,0.000,4356,0.000,0.066,2930,2259,2191,2223,2160,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7717,0.72,136.3,2930,2258,2223,2160,359.7,19.0,263,7720,0.00,0.15,0.00,0.000,5126,0.000,0.078,2930,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7997,0.72,136.3,2930,4095,2223,2160,305.5,19.4,270,8001,0.00,2.10,0.00,0.000,4612,0.000,0.042,2939,987,2191,2223,2160,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8056,0.72,136.3,2939,987,2223,2160,298.3,19.6,271,8061,0.05,2.10,0.00,0.000,5126,0.200,0.044,2923,4095,2191,2222,2160,0,0,0,0,0,0,26.49,26.57,28.83
$GC,8308,0.72,136.3,2923,4095,2223,2160,247.8,17.8,278,8312,0.00,2.08,0.00,0.000,4612,0.000,0.041,2932,981,2191,2222,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8397,0.72,136.3,2931,981,2223,2160,234.9,17.2,280,8401,0.00,2.12,0.00,0.000,5126,0.000,0.044,2930,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8652,0.72,136.3,2930,4095,2222,2160,189.0,17.1,289,8658,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,4095,2191,2222,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8899,0.72,136.3,2930,4095,2222,2159,146.1,18.0,314,8900,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,4095,2191,2222,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9141,0.72,136.3,2930,4095,2222,2160,102.5,18.3,338,9144,0.00,0.12,0.00,0.000,4356,0.000,0.064,2930,2241,2191,2222,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9211,0.72,136.3,2930,2241,2222,2160,90.0,18.2,344,9221,0.00,0.20,0.00,0.000,5126,0.000,0.069,2930,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9462,0.72,136.3,2930,4095,2222,2160,44.7,18.0,369,9471,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,4095,2191,2222,2160,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9731,end climb,SURFACE_DEPTH_REACHED
$STATE,9731,begin surface coast
$FINISH,0.9,2.192936
$STATE,9767,end surface coast,CONTROL_FINISHED_OK
$STATE,9768,begin surface
$SM_CCo,9782,122.70,0.626,0,0,1171,390.02
$SM_GC,2.19,6.93,0.17,122.70,0.028,0.058,0.626,187,2245,1171,-7.71,-0.40,390.02,0,0,0,0,0,0,26.66,26.72,24.93
$IRIDIUM_FIX,3359.08,-15707.58,200309,030342
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.33
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.80
$XPDR_PINGS,345
$24V_AH,24.2,28.618
$10V_AH,10.3,16.225
$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,17.250,29.600,239.075,122.700,0.000,30.239,54.395,227.473,86.250,0.000,9.288,1284.029,6077.638,418.802,2438.789,111.681,0.000,1287.043,0.000,1741.653,0.000,0.542,0.000
$DEVICE_MAMPS,212.670,226.440,1084.005,625.770,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,294.984,179.591,355.833,320.213,663.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353056
$DATA_FILE_SIZE,37301,409
$CAP_FILE_SIZE,100431,0
$CFSIZE,259248128,247664640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230516,194729,3409.227,-15701.562,12,2.1,33,11.4