version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 224
start: 5 24 116 4 37 56
data:
$ID,512
$MISSION,7
$DIVE,224
$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,-130306.7
$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
$GPS1,240516,043056,3406.740,-15700.173,11,1.4,11,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-73.0
$GPS2,240516,043715,3406.707,-15700.106,19,1.4,20,11.4
$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,173.2,1266657,-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,-136.3,137,4095,1109,1220,0.0,0.0,0,88,0.00,0.00,-69.93,0.000,16386,0.000,0.000,136,4095,2921,2902,2941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.72,-136.3,136,4095,2903,2941,3.5,-2.9,8,119,9.05,0.20,-9.23,0.000,18692,0.220,0.192,2444,2234,3315,3313,3318,0,0,0,0,0,0,25.69,26.06,26.24
$GC,682,-0.72,-136.3,2444,2234,3317,3318,144.9,-22.3,63,688,0.00,0.22,0.00,0.000,3078,0.000,0.060,2444,4095,3317,3317,3318,0,0,0,0,0,0,28.83,26.44,28.83
$GC,932,-0.72,-136.3,2444,4095,3318,3318,201.2,-21.9,88,936,0.00,0.17,0.00,0.000,2308,0.000,0.057,2445,2240,3318,3318,3318,0,0,0,0,0,0,28.83,26.55,28.83
$GC,942,-0.72,-136.3,2445,2240,3318,3318,201.2,-21.9,88,945,0.00,0.17,0.00,0.000,3078,0.000,0.066,2444,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1213,-0.72,-136.3,2444,4095,3318,3318,264.4,-22.2,95,1217,0.00,0.15,0.00,0.000,2308,0.000,0.061,2444,2242,3318,3318,3318,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1542,-0.72,-136.3,2443,2242,3318,3319,334.8,-21.9,103,1545,0.00,0.20,0.00,0.000,3078,0.000,0.063,2444,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1814,-0.72,-136.3,2444,4095,3318,3318,393.0,-20.5,110,1817,0.00,0.15,0.00,0.000,2308,0.000,0.063,2444,2249,3318,3318,3318,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2185,-0.72,-136.3,2444,2249,3317,3318,465.0,-19.6,119,2188,0.00,0.15,0.00,0.000,3078,0.000,0.073,2444,4095,3317,3317,3318,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2456,-0.72,-136.3,2443,4095,3317,3318,516.8,-18.3,126,2459,0.00,0.15,0.00,0.000,2308,0.000,0.063,2444,2238,3317,3317,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2684,-0.72,-136.3,2444,2238,3316,3318,553.0,-17.9,131,2688,0.00,0.20,0.00,0.000,3078,0.000,0.064,2444,4095,3317,3316,3318,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2937,-0.72,-136.3,2444,4095,3315,3317,601.1,-17.0,138,2941,0.00,2.10,0.00,0.000,2564,0.000,0.040,2445,988,3316,3316,3317,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3261,-0.72,-136.3,2444,988,3314,3317,655.0,-17.0,146,3266,0.08,2.10,0.00,0.000,3078,0.187,0.042,2454,4095,3316,3314,3318,0,0,0,0,0,0,26.49,26.64,28.83
$GC,3528,-0.72,-136.3,2453,4095,3314,3316,702.0,-17.0,153,3529,0.00,0.00,0.00,0.000,2054,0.000,0.000,2453,4095,3315,3314,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3768,-0.72,-136.3,2453,4095,3314,3314,739.2,-15.4,159,3771,0.00,0.12,0.00,0.000,2308,0.000,0.069,2453,2257,3314,3314,3314,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4272,-0.72,-136.3,2453,2257,3313,3312,815.6,-16.0,171,4275,0.00,0.17,0.00,0.000,3078,0.000,0.072,2453,4095,3312,3312,3312,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4528,-0.72,-136.3,2453,4095,3312,3312,859.4,-15.4,178,4532,0.00,0.15,0.00,0.000,2308,0.000,0.063,2453,2246,3311,3312,3311,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,4807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4807,begin apogee
$GC,4812,-0.17,0.0,2453,4095,3310,3310,901.8,-15.2,185,4931,0.55,0.17,115.57,1.099,10246,0.115,0.058,2632,2253,2762,2776,2748,0,0,0,0,0,0,26.40,25.10,24.38
$STATE,4932,end apogee,CONTROL_FINISHED_OK
$STATE,4932,begin climb
$GC,4934,0.72,136.3,2632,2253,2775,2748,907.5,0.0,188,5067,0.75,2.15,122.88,1.048,10756,0.035,0.045,2940,989,2205,2242,2169,0,0,0,0,0,0,25.23,24.82,24.12
$GC,5347,0.72,136.3,2940,989,2233,2163,839.6,23.0,198,5352,0.05,2.17,0.00,0.000,5126,0.210,0.047,2924,4095,2198,2233,2163,0,0,0,0,0,0,25.84,25.93,28.83
$GC,5604,0.72,136.3,2923,4095,2231,2161,780.5,21.3,205,5608,0.00,2.12,0.00,0.000,4612,0.000,0.044,2932,981,2196,2231,2161,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5640,0.72,136.3,2932,982,2230,2161,772.7,21.3,206,5644,0.00,2.15,0.00,0.000,5126,0.000,0.047,2930,4095,2195,2230,2161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5916,0.72,136.3,2930,4095,2229,2160,711.6,22.8,213,5920,0.00,0.10,0.00,0.000,4356,0.000,0.074,2930,2252,2194,2229,2160,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6420,0.72,136.3,2930,2252,2225,2160,610.9,20.2,225,6423,0.00,0.17,0.00,0.000,5126,0.000,0.080,2930,4095,2192,2225,2160,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6677,0.72,136.3,2930,4095,2224,2160,554.9,20.8,232,6680,0.00,0.12,0.00,0.000,4356,0.000,0.066,2930,2249,2192,2224,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7180,0.72,136.3,2930,2249,2223,2160,458.7,20.1,244,7184,0.00,0.17,0.00,0.000,5126,0.000,0.078,2930,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7437,0.72,136.3,2930,4095,2223,2160,401.7,20.4,251,7441,0.00,0.12,0.00,0.000,4356,0.000,0.065,2930,2248,2191,2223,2160,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7941,0.72,136.3,2930,2248,2223,2160,303.7,20.3,263,7944,0.00,0.20,0.00,0.000,5126,0.000,0.071,2930,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8198,0.72,136.3,2930,4095,2222,2160,250.3,18.5,270,8202,0.00,0.15,0.00,0.000,4356,0.000,0.058,2930,2241,2191,2222,2160,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8718,0.72,136.3,2048,2240,2188,2154,158.5,17.1,296,8724,0.00,0.20,0.00,0.000,5126,0.000,0.069,2930,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8969,0.72,136.3,2930,4095,2222,2160,115.0,16.4,321,8973,0.00,0.12,0.00,0.000,4356,0.000,0.064,2931,2250,2191,2222,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9583,0.72,136.3,2930,2250,2222,2160,12.8,15.1,378,9592,0.00,0.15,0.00,0.000,5126,0.000,0.077,2931,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9655,end climb,SURFACE_DEPTH_REACHED
$STATE,9655,begin surface coast
$FINISH,1.1,2.242901
$STATE,9684,end surface coast,CONTROL_FINISHED_OK
$STATE,9684,begin surface
$SM_CCo,9698,118.53,0.636,0,0,1171,390.02
$SM_GC,2.24,6.93,0.17,118.53,0.028,0.057,0.636,187,2240,1171,-7.71,-0.54,390.02,0,0,0,0,0,0,26.64,26.73,24.93
$IRIDIUM_FIX,3356.48,-15702.78,200309,151538
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.10
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.90
$XPDR_PINGS,342
$24V_AH,24.1,29.096
$10V_AH,10.3,16.510
$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,17.400,17.275,238.450,118.525,0.000,28.054,50.795,192.822,85.500,0.000,21.776,1277.557,5785.969,400.467,2636.675,113.762,0.000,1351.211,0.000,1985.752,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,192.015,1098.540,635.715,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,277.378,168.701,334.908,298.698,619.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353000
$DATA_FILE_SIZE,34006,392
$CAP_FILE_SIZE,100456,0
$CFSIZE,259248128,247459840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240516,072231,3406.732,-15659.138,30,0.9,30,11.4