version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 74
start: 5 5 116 16 13 9
data:
$ID,512
$MISSION,7
$DIVE,74
$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,250
$T_MISSION,760
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52650
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-129584.61
$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,2654
$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,2300
$C_ROLL_CLIMB,2340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,22
$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
$GPS1,050516,160425,3611.564,-15755.500,39,0.8,39,11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-73.5
$GPS2,050516,161215,3611.516,-15755.495,6,0.8,6,11.5
$SPEED_LIMITS,0.208,0.267
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,-0.267
$KALMAN_X,57978.3,-153.3,-1021.0,-49521.1,4489.4
$KALMAN_Y,132864.5,-1449.8,-509.9,-172916.3,8346.9
$MHEAD_RNG_PITCHd_Wd,168.9,1493687,-21.9,-12.000,-24.24,1742
$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,14,begin dive
$GC,15,-0.90,-136.3,170,2324,1101,1225,0.0,0.0,0,96,0.00,0.00,-78.57,0.000,16386,0.000,0.000,169,2328,3071,3045,3097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.90,-136.3,169,2325,3046,3097,3.6,-3.1,9,119,8.68,2.25,-5.80,0.000,18692,0.227,0.067,2348,3717,3318,3307,3330,0,0,0,0,0,0,25.90,26.10,26.39
$GC,471,-0.90,-136.3,1560,3716,3297,3327,136.2,-35.3,44,482,0.00,2.20,0.00,0.000,3078,0.000,0.036,2355,2317,3319,3309,3329,0,0,0,0,0,0,28.83,26.36,28.83
$GC,751,-0.90,-136.3,2355,2284,3311,3329,224.2,-30.3,66,756,0.00,2.12,0.00,0.000,2564,0.000,0.045,2356,889,3320,3311,3329,0,0,0,0,0,0,28.83,26.44,28.83
$GC,762,-0.90,-136.3,2356,889,3311,3329,224.2,-30.3,66,767,0.03,2.25,0.00,0.000,3078,0.208,0.044,2355,2309,3319,3310,3329,0,0,0,0,0,0,26.34,26.46,28.83
$GC,1029,-0.90,-136.3,2354,2309,3312,3329,312.6,-31.5,73,1033,0.00,2.15,0.00,0.000,2308,0.000,0.057,2345,3708,3320,3312,3329,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1109,-0.90,-136.3,2345,3707,3312,3329,336.6,-31.5,75,1114,0.00,2.15,0.00,0.000,3078,0.000,0.036,2354,2290,3320,3312,3329,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1380,-0.90,-136.3,2354,2259,3313,3329,421.2,-30.5,82,1381,0.00,0.00,0.00,0.000,2054,0.000,0.000,2354,2259,3321,3313,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1620,-0.90,-136.3,2354,2258,3313,3329,492.8,-30.0,88,1624,0.00,2.25,0.00,0.000,2308,0.000,0.057,2345,3714,3321,3313,3329,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1696,-0.90,-136.3,2344,3714,3313,3329,515.2,-29.6,90,1700,0.00,2.15,0.00,0.000,3078,0.000,0.036,2352,2291,3321,3313,3329,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1972,-0.90,-136.3,2352,2260,3313,3329,593.8,-28.3,97,1973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2352,2260,3321,3313,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2211,-0.90,-136.3,2352,2260,3313,3328,659.9,-27.6,103,2215,0.00,2.25,0.00,0.000,2308,0.000,0.057,2343,3709,3321,3313,3329,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2265,-0.90,-136.3,2342,3709,3313,3329,669.7,-27.4,104,2270,0.05,2.17,0.00,0.000,3078,0.157,0.037,2360,2299,3321,3313,3329,0,0,0,0,0,0,26.58,26.70,28.83
$GC,2527,-0.90,-136.3,2360,2273,3313,3327,744.1,-26.0,111,2529,0.00,0.00,0.00,0.000,2054,0.000,0.000,2360,2273,3320,3313,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2767,-0.90,-136.3,2360,2273,3313,3326,806.4,-25.9,117,2768,0.00,0.00,0.00,0.000,2054,0.000,0.000,2360,2274,3319,3313,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3007,-0.90,-136.3,2360,2273,3313,3324,866.1,-24.2,123,3011,0.00,2.22,0.00,0.000,2308,0.000,0.060,2351,3707,3318,3313,3323,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3061,-0.90,-136.3,2351,3707,3313,3324,875.2,-24.3,124,3065,0.00,2.17,0.00,0.000,3078,0.000,0.038,2353,2299,3318,3313,3324,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3162,begin apogee
$GC,3166,-0.17,0.0,2353,2356,3313,3323,905.3,-25.1,127,3286,0.77,0.00,116.40,1.093,10246,0.143,0.000,2593,2356,2762,2770,2755,0,0,0,0,0,0,26.61,28.83,24.29
$STATE,3287,end apogee,CONTROL_FINISHED_OK
$STATE,3287,begin climb
$GC,3288,0.90,136.3,2593,2356,2769,2754,912.8,0.0,130,3421,1.00,2.45,122.72,1.046,10756,0.075,0.050,2947,945,2205,2236,2175,0,0,0,0,0,0,25.07,24.81,24.10
$GC,3443,0.90,136.3,2947,945,2234,2173,893.1,14.9,134,3447,0.00,2.30,0.00,0.000,1030,0.000,0.048,2944,2330,2202,2233,2172,0,0,0,0,0,0,28.83,25.16,28.83
$GC,3719,0.90,136.3,2944,2329,2229,2169,825.8,24.6,141,3723,0.00,2.30,0.00,0.000,260,0.000,0.067,2944,3746,2198,2228,2169,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3738,0.90,136.3,2944,3746,2226,2169,825.8,24.6,141,3742,0.00,2.28,0.00,0.000,5126,0.000,0.044,2953,2342,2197,2226,2169,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3994,0.90,136.3,2953,2319,2225,2168,759.1,24.3,148,3998,0.00,2.15,0.00,0.000,4612,0.000,0.050,2964,940,2196,2225,2168,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4070,0.90,136.3,2963,941,2223,2168,741.1,23.9,150,4075,0.05,2.22,0.00,0.000,5126,0.217,0.050,2949,2343,2195,2223,2168,0,0,0,0,0,0,26.20,26.27,28.83
$GC,4347,0.90,136.3,2949,2341,2223,2166,675.1,23.9,157,4351,0.00,2.20,0.00,0.000,4612,0.000,0.050,2957,941,2195,2224,2167,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4365,0.90,136.3,2957,941,2223,2166,675.1,23.9,157,4370,0.00,2.25,0.00,0.000,5126,0.000,0.050,2956,2337,2194,2223,2166,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4623,0.90,136.3,2956,2336,2222,2166,610.6,23.4,164,4627,0.00,2.17,0.00,0.000,4612,0.000,0.048,2965,934,2194,2222,2166,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4636,0.90,136.3,2965,934,2222,2166,610.6,23.4,164,4641,0.03,2.28,0.00,0.000,5126,0.189,0.050,2951,2345,2194,2222,2166,0,0,0,0,0,0,26.39,26.48,28.83
$GC,4898,0.90,136.3,2950,2344,2221,2165,546.6,23.1,171,4900,0.00,0.00,0.00,0.000,4102,0.000,0.000,2950,2344,2193,2221,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5138,0.90,136.3,2950,2343,2220,2165,490.9,23.7,177,5139,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,2344,2193,2221,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5378,0.90,136.3,2950,2343,2220,2165,438.1,22.2,183,5382,0.00,2.17,0.00,0.000,4612,0.000,0.048,2960,939,2192,2220,2165,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5402,0.90,136.3,2959,939,2220,2165,438.1,22.2,183,5407,0.05,2.25,0.00,0.000,5126,0.218,0.050,2948,2370,2192,2220,2165,0,0,0,0,0,0,26.53,26.60,28.83
$GC,5654,0.90,136.3,2948,2368,2219,2165,380.1,20.6,190,5655,0.00,0.00,0.00,0.000,4102,0.000,0.000,2948,2368,2192,2220,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5894,0.90,136.3,2948,2368,2220,2165,331.1,20.8,196,5898,0.00,2.22,0.00,0.000,4612,0.000,0.047,2957,934,2192,2219,2165,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5948,0.90,136.3,2957,934,2219,2165,323.7,20.8,197,5952,0.00,2.22,0.00,0.000,5126,0.000,0.049,2956,2357,2192,2219,2165,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6210,0.90,136.3,2956,2356,2219,2165,261.5,22.2,204,6214,0.00,2.17,0.00,0.000,4356,0.000,0.066,2956,3747,2192,2219,2165,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6258,0.90,136.3,2956,3747,2218,2165,253.0,22.4,205,6263,0.05,2.20,0.00,0.000,5126,0.175,0.041,2950,2345,2191,2218,2165,0,0,0,0,0,0,26.56,26.70,28.83
$GC,6526,0.90,136.3,2950,2316,2218,2165,192.7,21.1,212,6530,0.00,2.28,0.00,0.000,4356,0.000,0.065,2944,3755,2191,2218,2165,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6619,0.90,136.3,2944,3754,2218,2165,171.4,24.0,220,6628,0.00,2.17,0.00,0.000,5126,0.000,0.043,2954,2335,2191,2218,2165,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6870,0.90,136.3,2954,2305,2218,2165,122.6,18.9,245,6878,0.00,2.05,0.00,0.000,4612,0.000,0.046,2964,935,2191,2218,2165,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6960,0.90,136.3,2964,935,2218,2165,105.2,19.3,253,6969,0.03,2.17,0.00,0.000,5126,0.188,0.048,2952,2350,2191,2217,2165,0,0,0,0,0,0,26.60,26.69,28.83
$GC,7211,0.90,136.3,2951,2349,2218,2165,57.3,21.6,278,7222,0.00,2.15,0.00,0.000,4356,0.000,0.063,2944,3744,2191,2218,2165,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7324,0.90,136.3,2944,3744,2218,2164,32.6,20.4,287,7336,0.00,2.12,0.00,0.000,5126,0.000,0.041,2954,2309,2191,2217,2165,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,7488,end climb,SURFACE_DEPTH_REACHED
$STATE,7488,begin surface coast
$FINISH,1.0,2.356216
$STATE,7512,end surface coast,CONTROL_FINISHED_OK
$STATE,7512,begin surface
$SM_CCo,7525,111.95,0.659,0,0,1171,390.02
$SM_GC,2.25,7.00,0.00,111.95,0.032,0.000,0.659,197,2306,1171,-7.60,0.17,390.02,0,0,0,0,0,0,26.72,28.83,24.91
$IRIDIUM_FIX,3557.52,-15740.68,020309,050505
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.55
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.40
$XPDR_PINGS,251
$24V_AH,24.1,10.048
$10V_AH,10.3,6.686
$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,17.725,75.275,239.125,111.950,0.000,56.017,99.502,167.440,62.750,0.000,7.409,918.199,5207.116,427.661,1507.063,62.835,33.241,951.696,0.000,893.292,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,86.445,1093.185,659.430,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,225.563,135.236,271.839,247.304,512.625,0.000,0.000,0.000,0.000,0.000
$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,27208,313
$CAP_FILE_SIZE,76564,0
$CFSIZE,259248128,254906368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050516,182115,3610.645,-15755.779,14,1.2,14,11.5