version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 221
start: 5 23 116 19 55 2
data:
$ID,512
$MISSION,7
$DIVE,221
$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,-130302.91
$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
$GPS1,230516,194729,3409.227,-15701.562,12,2.1,33,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-74.1
$GPS2,230516,195421,3409.229,-15701.444,7,1.0,7,11.4
$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,173.1,1271131,-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,-136.3,165,4095,1111,1219,0.0,0.0,0,80,0.00,0.00,-62.05,0.000,16386,0.000,0.000,165,4095,2714,2694,2735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-136.3,164,4095,2695,2735,3.0,-1.9,7,120,8.82,2.22,-17.17,0.000,19204,0.214,0.050,2447,985,3315,3314,3316,0,0,0,0,0,0,25.72,26.07,26.41
$GC,129,-0.72,-136.3,2447,985,3315,3317,10.5,-16.7,12,140,0.05,2.17,0.00,0.000,3078,0.159,0.041,2455,4095,3316,3315,3317,0,0,0,0,0,0,25.94,26.13,28.83
$GC,408,-0.72,-136.3,2455,4095,3316,3316,72.2,-21.9,43,411,0.00,0.12,0.00,0.000,260,0.000,0.061,2455,2249,3316,3316,3317,0,0,0,0,0,0,28.83,26.39,28.83
$GC,967,-0.72,-136.3,2455,2249,3318,3317,188.6,-21.1,93,977,0.00,0.17,0.00,0.000,3078,0.000,0.067,2456,4095,3318,3319,3317,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1224,-0.72,-136.3,2455,4095,3320,3317,241.7,-20.4,104,1228,0.00,0.15,0.00,0.000,260,0.000,0.056,2455,2243,3318,3320,3317,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1728,-0.72,-136.3,2455,2243,3320,3316,338.9,-19.7,116,1732,0.00,0.20,0.00,0.000,3078,0.000,0.063,2455,4095,3318,3320,3317,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1985,-0.72,-136.3,2454,4095,3319,3317,390.3,-18.0,123,1989,0.00,0.15,0.00,0.000,2308,0.000,0.063,2455,2249,3317,3319,3316,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2488,-0.72,-136.3,2454,2249,3318,3316,472.4,-16.6,135,2492,0.00,0.17,0.00,0.000,3078,0.000,0.069,2454,4095,3317,3318,3317,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2746,-0.72,-136.3,2454,4095,3317,3316,521.3,-17.8,142,2749,0.00,0.15,0.00,0.000,2308,0.000,0.063,2454,2242,3316,3317,3316,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3249,-0.72,-136.3,2453,2242,3316,3316,612.0,-19.4,154,3253,0.00,0.20,0.00,0.000,3078,0.000,0.065,2453,4095,3315,3315,3316,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3507,-0.72,-136.3,2452,4095,3315,3315,662.5,-17.9,161,3510,0.00,0.15,0.00,0.000,2308,0.000,0.064,2453,2247,3315,3315,3315,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3755,-0.72,-136.3,2452,2247,3314,3314,704.2,-17.3,167,3759,0.00,0.17,0.00,0.000,3078,0.000,0.070,2452,4095,3314,3315,3314,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4028,-0.72,-136.3,2451,4095,3314,3313,750.9,-16.4,174,4033,0.00,2.10,0.00,0.000,2564,0.000,0.043,2451,990,3313,3314,3313,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4340,-0.72,-136.3,2452,990,3313,3312,796.2,-16.1,181,4348,0.03,2.10,0.00,0.000,3078,0.266,0.045,2453,4095,3312,3312,3313,0,0,0,0,0,0,26.54,26.63,28.83
$GC,4588,-0.72,-136.3,2453,4095,3313,3311,841.5,-16.3,188,4591,0.00,0.12,0.00,0.000,2308,0.000,0.069,2453,2249,3311,3312,3311,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,4986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4987,begin apogee
$GC,4991,-0.17,0.0,2454,4095,3311,3309,906.2,-15.9,198,5111,0.55,0.17,115.93,1.082,10246,0.115,0.059,2633,2264,2762,2777,2748,0,0,0,0,0,0,26.41,25.12,24.41
$STATE,5112,end apogee,CONTROL_FINISHED_OK
$STATE,5112,begin climb
$GC,5113,0.72,136.3,2632,2254,2775,2747,912.3,0.0,201,5247,0.75,2.15,123.10,1.037,10756,0.034,0.044,2943,990,2205,2241,2169,0,0,0,0,0,0,25.25,24.83,24.14
$GC,5367,0.72,136.3,2943,990,2235,2164,880.3,19.8,207,5371,0.10,2.20,0.00,0.000,5126,0.164,0.047,2921,4095,2199,2235,2164,0,0,0,0,0,0,25.49,25.60,28.83
$GC,5629,0.72,136.3,2921,4094,2232,2162,818.2,21.9,214,5630,0.00,0.00,0.00,0.000,4102,0.000,0.000,2921,4095,2197,2232,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5869,0.72,136.3,2920,4095,2230,2161,765.9,21.9,220,5873,0.00,2.10,0.00,0.000,4612,0.000,0.044,2929,990,2195,2230,2161,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5945,0.72,136.3,2929,990,2229,2161,749.1,22.0,222,5949,0.00,2.15,0.00,0.000,5126,0.000,0.047,2929,4095,2195,2229,2161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6221,0.72,136.3,2929,4095,2228,2161,688.4,21.5,229,6226,0.00,2.10,0.00,0.000,4612,0.000,0.043,2939,992,2194,2228,2161,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6283,0.72,136.3,2938,992,2227,2161,679.7,21.6,230,6288,0.00,2.17,0.00,0.000,5126,0.000,0.047,2930,4095,2194,2227,2161,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6540,0.72,136.3,2930,4095,2226,2159,619.1,21.3,237,6542,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,4095,2193,2226,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6781,0.72,136.3,2930,4095,2225,2159,569.8,20.4,243,6785,0.00,2.10,0.00,0.000,4612,0.000,0.044,2939,982,2192,2225,2160,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6810,0.72,136.3,2939,982,2225,2160,569.8,20.4,243,6817,0.00,2.15,0.00,0.000,5126,0.000,0.048,2931,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7057,0.72,136.3,2931,4095,2224,2159,518.6,18.6,250,7060,0.00,0.12,0.00,0.000,4356,0.000,0.066,2931,2244,2192,2224,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7561,0.72,136.3,2931,2244,2223,2159,427.2,18.8,262,7564,0.00,0.20,0.00,0.000,5126,0.000,0.071,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7817,0.72,136.3,2931,4095,2222,2159,372.4,19.9,269,7821,0.00,0.12,0.00,0.000,4356,0.000,0.065,2931,2252,2191,2223,2159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8321,0.72,136.3,2931,2252,2223,2159,274.5,20.2,281,8325,0.00,0.17,0.00,0.000,5126,0.000,0.077,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8578,0.72,136.3,2931,4095,2223,2159,219.7,19.5,288,8582,0.00,0.12,0.00,0.000,4356,0.000,0.064,2931,2248,2191,2223,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9122,0.72,136.3,2931,2248,2223,2159,121.8,19.0,329,9129,0.00,0.15,0.00,0.000,5126,0.000,0.080,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9374,0.72,136.3,2931,4095,2223,2159,78.1,16.5,354,9377,0.00,0.12,0.00,0.000,4356,0.000,0.063,2931,2244,2191,2223,2160,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,9843,end climb,SURFACE_DEPTH_REACHED
$STATE,9843,begin surface coast
$FINISH,1.0,2.717414
$STATE,9880,end surface coast,CONTROL_FINISHED_OK
$STATE,9880,begin surface
$SM_CCo,9895,119.15,0.636,0,0,1171,390.02
$SM_GC,2.25,6.97,0.20,119.15,0.031,0.073,0.636,179,4095,1171,-7.73,-0.45,390.02,0,0,0,0,0,0,26.66,26.66,24.94
$IRIDIUM_FIX,3356.48,-15659.37,200309,060643
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.22
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.90
$XPDR_PINGS,347
$24V_AH,24.1,28.738
$10V_AH,10.3,16.297
$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,17.275,29.275,239.025,119.150,0.000,28.164,50.502,238.878,86.750,0.000,8.292,1305.485,5954.218,412.407,2655.243,117.647,0.000,1349.753,0.000,1941.044,0.000,0.541,0.000
$DEVICE_MAMPS,266.220,79.560,1081.710,635.715,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,287.421,180.396,357.307,324.473,672.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353036
$DATA_FILE_SIZE,37333,409
$CAP_FILE_SIZE,101557,0
$CFSIZE,259248128,247611392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230516,224242,3408.152,-15701.023,19,1.7,19,11.4