version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 75
start: 5 5 116 18 27 32
data:
$ID,512
$MISSION,7
$DIVE,75
$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,-129585.87
$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,62
$R_STBD_OVSHOOT,25
$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
$GPS1,050516,182115,3610.645,-15755.779,14,1.2,14,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.4
$GPS2,050516,182638,3610.633,-15755.812,6,1.6,6,11.5
$SPEED_LIMITS,0.208,0.267
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.163,-0.211
$KALMAN_X,56566.0,-180.7,-665.0,-48915.0,2464.7
$KALMAN_Y,134226.0,-1369.9,-366.7,-176143.1,8363.5
$MHEAD_RNG_PITCHd_Wd,206.2,1492048,-22.0,-12.000,-24.25,1740
$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,15,-0.90,-136.1,188,2305,1103,1224,0.0,0.0,0,88,0.00,0.00,-70.10,0.000,16386,0.000,0.000,187,2330,2845,2819,2871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.90,-136.3,187,2308,2819,2871,3.1,-2.2,8,119,8.57,2.22,-13.12,0.000,18692,0.224,0.070,2351,3712,3319,3313,3325,0,0,0,0,0,0,25.88,26.08,26.39
$GC,321,-0.90,-136.3,2350,3712,3313,3325,78.0,-31.3,31,333,0.00,2.17,0.00,0.000,3078,0.000,0.036,2353,2324,3319,3313,3325,0,0,0,0,0,0,28.83,26.31,28.83
$GC,569,-0.90,-136.3,2353,2294,3315,3325,165.3,-33.5,56,573,0.00,2.22,0.00,0.000,2308,0.000,0.056,2343,3721,3320,3315,3325,0,0,0,0,0,0,28.83,26.37,28.83
$GC,610,-0.90,-136.3,2343,3721,3314,3325,178.3,-33.4,59,618,0.05,2.22,0.00,0.000,3078,0.164,0.039,2358,2294,3319,3314,3325,0,0,0,0,0,0,26.30,26.41,28.83
$GC,888,-0.90,-136.3,2358,2268,3316,3325,260.8,-29.0,72,891,0.00,2.10,0.00,0.000,2564,0.000,0.044,2368,902,3320,3315,3325,0,0,0,0,0,0,28.83,26.48,28.83
$GC,911,-0.90,-136.3,2368,901,3315,3325,260.8,-29.0,72,915,0.00,2.17,0.00,0.000,3078,0.000,0.045,2359,2309,3320,3315,3325,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1168,-0.90,-136.3,2359,2308,3317,3325,344.9,-30.0,79,1172,0.00,2.15,0.00,0.000,2308,0.000,0.057,2349,3708,3320,3316,3325,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1227,-0.90,-136.3,2348,3707,3316,3325,356.2,-30.3,80,1231,0.00,2.17,0.00,0.000,3078,0.000,0.037,2353,2306,3320,3316,3325,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1484,-0.90,-136.3,2353,2274,3317,3325,442.3,-30.8,87,1485,0.00,0.00,0.00,0.000,2054,0.000,0.000,2354,2274,3321,3317,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-0.90,-136.3,2353,2274,3317,3325,511.2,-29.0,93,1725,0.00,0.00,0.00,0.000,2054,0.000,0.000,2354,2274,3321,3317,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1964,-0.90,-136.3,2353,2273,3317,3325,580.5,-29.0,99,1965,0.00,0.00,0.00,0.000,2054,0.000,0.000,2353,2274,3321,3317,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2204,-0.90,-136.3,2353,2274,3317,3325,649.0,-28.7,105,2208,0.00,2.22,0.00,0.000,2308,0.000,0.060,2344,3710,3321,3317,3325,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2232,-0.90,-136.3,2344,3710,3317,3325,649.0,-28.7,105,2240,0.05,2.20,0.00,0.000,3078,0.158,0.038,2360,2287,3321,3317,3325,0,0,0,0,0,0,26.58,26.70,28.83
$GC,2479,-0.90,-136.3,2360,2263,3317,3324,724.2,-26.4,112,2481,0.00,0.00,0.00,0.000,2054,0.000,0.000,2360,2263,3320,3317,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2719,-0.90,-136.3,2360,2263,3317,3323,787.4,-26.3,118,2720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2360,2263,3320,3317,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2959,-0.90,-136.3,2360,2263,3317,3322,849.6,-25.9,124,2961,0.00,0.00,0.00,0.000,2054,0.000,0.000,2360,2263,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3198,begin apogee
$GC,3202,-0.17,0.0,2360,2345,3316,3321,909.1,-25.0,130,3322,0.75,0.00,116.55,1.096,10246,0.142,0.000,2593,2345,2762,2770,2754,0,0,0,0,0,0,26.63,28.83,24.29
$STATE,3323,end apogee,CONTROL_FINISHED_OK
$STATE,3323,begin climb
$GC,3324,0.90,136.3,2593,2345,2769,2754,917.3,0.0,133,3457,1.00,2.45,122.62,1.042,10756,0.074,0.052,2947,941,2205,2236,2175,0,0,0,0,0,0,25.07,24.81,24.10
$GC,3472,0.90,136.3,2947,941,2234,2174,907.6,10.5,136,3480,0.00,2.38,0.00,0.000,1030,0.000,0.056,2944,2324,2202,2233,2172,0,0,0,0,0,0,28.83,25.10,28.83
$GC,3719,0.90,136.3,2943,2323,2229,2169,843.2,23.6,143,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2323,2199,2229,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3959,0.90,136.3,2943,2323,2226,2168,789.7,22.1,149,3963,0.00,2.20,0.00,0.000,516,0.000,0.052,2953,942,2197,2226,2169,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3988,0.90,136.3,2952,942,2225,2168,789.7,22.1,149,3995,0.00,2.30,0.00,0.000,5126,0.000,0.054,2952,2342,2196,2225,2168,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4235,0.90,136.3,2952,2341,2224,2167,726.9,22.7,156,4236,0.00,0.00,0.00,0.000,4102,0.000,0.000,2952,2341,2195,2224,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4475,0.90,136.3,2952,2341,2223,2167,674.4,21.6,162,4479,0.00,2.20,0.00,0.000,4612,0.000,0.054,2962,944,2195,2223,2167,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4524,0.90,136.3,2962,943,2223,2167,666.4,21.6,163,4529,0.05,2.22,0.00,0.000,5126,0.216,0.053,2948,2347,2194,2222,2167,0,0,0,0,0,0,26.36,26.44,28.83
$GC,4791,0.90,136.3,2948,2346,2222,2166,606.1,21.4,170,4792,0.00,0.00,0.00,0.000,4102,0.000,0.000,2948,2346,2194,2222,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5031,0.90,136.3,2948,2345,2221,2165,554.1,21.4,176,5035,0.00,2.20,0.00,0.000,4612,0.000,0.053,2957,936,2193,2221,2165,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5045,0.90,136.3,2957,937,2220,2165,554.1,21.4,176,5049,0.00,2.22,0.00,0.000,5126,0.000,0.053,2956,2344,2193,2221,2165,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5302,0.90,136.3,2956,2343,2220,2165,495.6,21.8,183,5303,0.00,0.00,0.00,0.000,4102,0.000,0.000,2956,2343,2192,2220,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5542,0.90,136.3,2956,2342,2220,2165,444.7,21.2,189,5546,0.00,2.17,0.00,0.000,4612,0.000,0.051,2965,945,2192,2220,2165,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5577,0.90,136.3,2965,945,2220,2165,437.4,21.1,190,5582,0.05,2.20,0.00,0.000,5126,0.217,0.051,2949,2346,2192,2220,2165,0,0,0,0,0,0,26.53,26.61,28.83
$GC,5854,0.90,136.3,2948,2345,2220,2165,382.1,20.1,197,5858,0.00,2.20,0.00,0.000,4612,0.000,0.050,2957,935,2192,2220,2165,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5937,0.90,136.3,2957,935,2219,2165,366.8,20.2,199,5942,0.00,2.25,0.00,0.000,5126,0.000,0.050,2956,2338,2192,2219,2165,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6210,0.90,136.3,2956,2337,2219,2165,308.3,21.3,206,6214,0.00,2.22,0.00,0.000,4356,0.000,0.067,2956,3755,2192,2220,2165,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6223,0.90,136.3,2956,3755,2219,2165,308.3,21.3,206,6229,0.05,2.22,0.00,0.000,5126,0.176,0.044,2950,2352,2192,2219,2165,0,0,0,0,0,0,26.55,26.69,28.83
$GC,6486,0.90,136.3,2949,2325,2218,2165,250.5,20.6,213,6490,0.00,2.25,0.00,0.000,4356,0.000,0.066,2947,3754,2192,2219,2166,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6554,0.90,136.3,2947,3753,2218,2165,241.9,21.3,214,6562,0.00,2.25,0.00,0.000,5126,0.000,0.043,2957,2299,2191,2218,2165,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6802,0.90,136.3,2957,2272,2218,2165,178.6,21.4,227,6806,0.00,2.05,0.00,0.000,4612,0.000,0.050,2967,930,2191,2218,2165,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6886,0.90,136.3,2967,929,2218,2165,161.1,21.0,234,6897,0.05,2.25,0.00,0.000,5126,0.167,0.050,2951,2342,2191,2218,2165,0,0,0,0,0,0,26.58,26.69,28.83
$GC,7136,0.90,136.3,2950,2341,2218,2165,110.1,19.9,259,7145,0.00,2.15,0.00,0.000,4612,0.000,0.050,2960,934,2191,2218,2165,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7184,0.90,136.3,2960,933,2218,2165,100.9,20.5,263,7192,0.03,2.25,0.00,0.000,5126,0.179,0.049,2949,2349,2191,2217,2165,0,0,0,0,0,0,26.63,26.69,28.83
$GC,7435,0.90,136.3,2950,2348,2217,2165,51.1,21.7,288,7444,0.00,0.00,0.00,0.000,4102,0.000,0.000,2950,2348,2191,2218,2165,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7705,end climb,SURFACE_DEPTH_REACHED
$STATE,7705,begin surface coast
$FINISH,0.9,2.303866
$STATE,7728,end surface coast,CONTROL_FINISHED_OK
$STATE,7728,begin surface
$SM_CCo,7742,111.82,0.655,0,0,1171,390.02
$SM_GC,2.06,7.05,0.12,111.82,0.035,0.072,0.655,191,2260,1171,-7.61,1.02,390.02,0,0,0,0,0,0,26.73,26.78,24.93
$IRIDIUM_FIX,3557.52,-15832.25,020309,050526
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.07
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,17.50
$XPDR_PINGS,262
$24V_AH,24.1,10.162
$10V_AH,10.3,6.733
$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,17.700,66.775,239.175,111.825,0.000,29.113,60.787,150.107,65.500,0.000,7.275,916.232,5414.762,438.166,1358.254,61.694,33.243,921.378,0.000,819.746,0.000,0.539,0.000
$DEVICE_MAMPS,224.145,85.680,1096.245,654.840,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,230.422,141.387,282.931,262.267,543.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353004
$DATA_FILE_SIZE,27162,325
$CAP_FILE_SIZE,72747,0
$CFSIZE,259248128,254865408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050516,203932,3609.996,-15756.927,31,1.0,31,11.5