version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 234
start: 5 25 116 10 1 42
data:
$ID,512
$MISSION,7
$DIVE,234
$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,-130385.48
$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,20
$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
$GPS1,250516,095332,3359.650,-15655.534,14,1.7,14,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-74.5
$GPS2,250516,100101,3359.574,-15655.531,8,2.9,28,11.4
$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,173.6,1254153,-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,-136.3,143,2247,1120,1208,0.0,0.0,0,80,0.00,0.00,-61.72,0.000,16386,0.000,0.000,141,2248,2695,2676,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-136.3,141,2239,2676,2716,3.1,-2.0,7,119,8.85,0.20,-18.02,0.000,18692,0.210,0.201,2449,4095,3317,3315,3319,0,0,0,0,0,0,25.71,26.04,26.46
$GC,722,-0.72,-136.3,2449,4095,3319,3318,148.0,-22.2,68,725,0.00,0.17,0.00,0.000,3078,0.000,0.056,2449,2239,3319,3319,3319,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1003,-0.72,-136.3,2449,2239,3320,3319,210.7,-22.0,93,1006,0.00,0.20,0.00,0.000,2308,0.000,0.061,2448,4095,3319,3320,3318,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1506,-0.72,-136.3,2448,4095,3321,3319,312.1,-20.7,105,1510,0.00,0.20,0.00,0.000,3078,0.000,0.053,2448,2246,3319,3320,3319,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1763,-0.72,-136.3,2448,2246,3320,3319,368.3,-19.8,112,1767,0.00,0.17,0.00,0.000,2308,0.000,0.064,2448,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2267,-0.72,-136.3,2448,4095,3320,3319,461.1,-19.1,124,2271,0.00,0.20,0.00,0.000,3078,0.000,0.053,2448,2238,3319,3320,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2524,-0.72,-136.3,2448,2238,3320,3319,514.4,-18.9,131,2528,0.00,0.20,0.00,0.000,2308,0.000,0.064,2448,4095,3319,3320,3318,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3028,-0.72,-136.3,2447,4095,3318,3318,605.3,-18.6,143,3031,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2247,3318,3318,3318,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3285,-0.72,-136.3,2447,2247,3317,3318,656.1,-17.9,150,3289,0.00,0.17,0.00,0.000,2308,0.000,0.067,2446,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3789,-0.72,-136.3,2446,4095,3317,3315,741.5,-16.9,162,3792,0.00,0.20,0.00,0.000,3078,0.000,0.054,2447,2240,3316,3317,3316,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4046,-0.72,-136.3,2446,2239,3316,3315,782.4,-14.1,169,4049,0.00,0.20,0.00,0.000,2308,0.000,0.064,2445,4095,3315,3316,3315,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4550,-0.72,-136.3,2445,4095,3314,3312,852.4,-14.9,181,4553,0.00,0.20,0.00,0.000,3078,0.000,0.055,2445,2248,3314,3315,3313,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4806,-0.72,-136.3,2445,2248,3314,3311,897.7,-16.3,188,4810,0.00,0.80,0.00,0.000,2564,0.000,0.042,2445,1690,3313,3314,3312,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,4846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4846,begin apogee
$GC,4851,-0.17,0.0,2441,4095,3313,3312,904.5,-16.3,189,4971,0.60,0.17,116.05,1.099,10246,0.116,0.060,2635,2266,2761,2778,2745,0,0,0,0,0,0,26.37,25.10,24.37
$STATE,4972,end apogee,CONTROL_FINISHED_OK
$STATE,4972,begin climb
$GC,4974,0.72,136.3,2635,2259,2777,2745,910.3,0.0,192,5103,0.75,0.22,122.70,1.047,10500,0.030,0.070,2943,4095,2206,2243,2170,0,0,0,0,0,0,25.25,24.78,24.10
$GC,5605,0.72,136.3,2942,4095,2231,2162,778.4,24.8,208,5609,0.08,0.15,0.00,0.000,5126,0.164,0.069,2921,2268,2196,2230,2163,0,0,0,0,0,0,25.99,26.25,28.83
$GC,5886,0.72,136.3,2921,2268,2229,2161,717.2,21.1,215,5890,0.00,0.15,0.00,0.000,4356,0.000,0.076,2920,4095,2195,2230,2161,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6390,0.72,136.3,2920,4095,2227,2160,617.4,20.6,227,6393,0.00,0.20,0.00,0.000,1030,0.000,0.058,2921,2250,2193,2227,2160,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6647,0.72,136.3,2920,2249,2226,2160,558.6,21.0,234,6650,0.00,0.17,0.00,0.000,260,0.000,0.076,2920,4095,2193,2226,2160,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7150,0.72,136.3,2920,4095,2225,2159,464.7,18.4,246,7154,0.00,0.17,0.00,0.000,1030,0.000,0.060,2920,2251,2192,2225,2159,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7407,0.72,136.3,2920,2251,2224,2159,414.2,18.0,253,7411,0.00,0.17,0.00,0.000,260,0.000,0.076,2920,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7906,0.72,136.3,2920,4095,2224,2159,325.2,18.6,265,7910,0.00,0.17,0.00,0.000,1030,0.000,0.060,2919,2249,2191,2224,2159,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8168,0.72,136.3,2920,2249,2224,2159,271.2,19.5,272,8172,0.00,0.17,0.00,0.000,260,0.000,0.074,2920,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8272,0.72,136.3,2920,4095,2224,2159,255.2,19.7,274,8276,0.00,0.17,0.00,0.000,1030,0.000,0.059,2920,2251,2191,2224,2159,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8529,0.72,136.3,2920,2251,2224,2159,201.9,18.7,281,8532,0.00,0.17,0.00,0.000,260,0.000,0.073,2920,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9081,0.72,136.3,2048,4070,2189,2154,105.4,16.5,328,9091,0.00,0.17,0.00,0.000,1030,0.000,0.059,2920,2250,2191,2224,2159,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9333,0.72,136.3,2920,2250,2224,2159,65.2,16.5,353,9336,0.00,0.17,0.00,0.000,260,0.000,0.072,2921,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9567,0.72,136.3,2920,4095,2224,2160,26.5,16.9,373,9576,0.00,0.15,0.00,0.000,5126,0.000,0.063,2920,2253,2192,2224,2160,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,9742,end climb,SURFACE_DEPTH_REACHED
$STATE,9742,begin surface coast
$FINISH,1.0,1.003478
$STATE,9773,end surface coast,CONTROL_FINISHED_OK
$STATE,9773,begin surface
$SM_CCo,9787,119.30,0.643,0,0,1172,390.02
$SM_GC,2.22,6.93,0.17,119.30,0.031,0.076,0.643,177,4095,1172,-7.73,-0.54,390.02,0,0,0,0,0,0,26.68,26.69,24.93
$IRIDIUM_FIX,3343.50,-15702.42,210309,202021
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.29
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.80
$XPDR_PINGS,9
$24V_AH,24.1,30.245
$10V_AH,10.3,17.232
$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,17.200,7.150,238.750,119.300,0.000,30.964,57.423,243.408,2.250,0.000,29.468,1317.539,5677.063,393.719,2872.106,112.952,0.000,1398.816,0.000,2124.325,0.000,0.541,0.000
$DEVICE_MAMPS,210.375,201.195,1099.305,642.600,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,288.169,179.509,348.995,320.191,663.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352888
$DATA_FILE_SIZE,33849,402
$CAP_FILE_SIZE,102958,0
$CFSIZE,259248128,246943744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250516,124754,3359.216,-15655.298,17,2.4,38,11.4