version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 159
start: 5 16 116 4 41 24
data:
$ID,512
$MISSION,7
$DIVE,159
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-129968.25
$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,2685
$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,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,23
$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
$GPS1,160516,043409,3449.726,-15808.052,27,1.5,28,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-70.1
$GPS2,160516,044043,3449.690,-15807.979,24,1.5,24,11.3
$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,168.1,1342195,-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,15,-0.72,-136.3,166,4095,1105,1220,0.0,0.0,0,87,0.00,0.00,-69.40,0.000,16386,0.000,0.000,165,4095,2834,2811,2858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,165,4094,2811,2859,3.2,-2.5,8,118,8.90,0.12,-13.43,0.000,18692,0.220,0.351,2440,2256,3318,3317,3320,0,0,0,0,0,0,25.75,25.90,26.39
$GC,718,-0.72,-136.3,2440,2256,3320,3321,145.4,-23.0,68,728,0.00,0.10,0.00,0.000,3078,0.000,0.091,2440,4095,3320,3320,3321,0,0,0,0,0,0,28.83,26.46,28.83
$GC,965,-0.72,-136.3,2440,4095,3320,3321,200.7,-21.7,93,968,0.00,0.12,0.00,0.000,2308,0.000,0.068,2440,2241,3320,3320,3321,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1248,-0.72,-136.3,2440,2241,3321,3320,261.0,-21.3,100,1252,0.00,0.12,0.00,0.000,3078,0.000,0.083,2440,2332,3321,3321,3321,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1525,-0.72,-136.3,2440,2332,3321,3320,320.1,-21.0,107,1529,0.00,2.15,0.00,0.000,2564,0.000,0.044,2449,928,3320,3321,3320,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1829,-0.72,-136.3,2449,927,3321,3320,371.2,-18.3,114,1833,0.00,2.10,0.00,0.000,3078,0.000,0.045,2440,2292,3320,3321,3320,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2081,-0.72,-136.3,2440,2291,3321,3320,427.9,-20.6,121,2085,0.00,0.10,0.00,0.000,2308,0.000,0.099,2440,4095,3320,3321,3320,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2584,-0.72,-136.3,2440,4095,3321,3320,520.2,-18.6,133,2588,0.00,0.20,0.00,0.000,3078,0.000,0.056,2440,2241,3320,3321,3320,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2842,-0.72,-136.3,2440,2240,3321,3321,573.2,-19.4,140,2845,0.00,0.20,0.00,0.000,2308,0.000,0.064,2440,4095,3320,3321,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3345,-0.72,-136.3,2439,4095,3320,3320,667.0,-19.3,152,3348,0.00,0.20,0.00,0.000,3078,0.000,0.057,2440,2248,3320,3320,3320,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3602,-0.72,-136.3,2439,2248,3319,3320,720.6,-18.9,159,3605,0.00,0.17,0.00,0.000,2308,0.000,0.071,2440,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4105,-0.72,-136.3,2439,4095,3318,3318,806.5,-17.3,171,4109,0.00,0.20,0.00,0.000,3078,0.000,0.057,2440,2242,3318,3318,3318,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4362,-0.72,-136.3,2440,2242,3318,3317,852.0,-16.1,178,4366,0.00,0.20,0.00,0.000,2308,0.000,0.067,2440,4095,3317,3318,3317,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4681,begin apogee
$GC,4686,-0.17,0.0,2439,2245,3317,3316,902.8,-16.2,186,4806,0.57,0.08,116.47,1.107,10246,0.119,0.112,2626,2293,2762,2775,2750,0,0,0,0,0,0,26.54,24.98,24.35
$STATE,4807,end apogee,CONTROL_FINISHED_OK
$STATE,4807,begin climb
$GC,4809,0.72,136.3,2625,2292,2772,2749,908.0,0.0,189,4941,0.82,2.35,122.43,1.057,10756,0.057,0.048,2931,933,2205,2242,2169,0,0,0,0,0,0,25.13,24.77,24.08
$GC,5171,0.72,136.3,2931,933,2233,2163,848.8,21.9,198,5176,0.05,2.17,0.00,0.000,5126,0.210,0.049,2920,2281,2198,2233,2163,0,0,0,0,0,0,25.73,25.80,28.83
$GC,5443,0.72,136.3,2919,2280,2231,2162,793.2,19.6,205,5445,0.00,0.00,0.00,0.000,4102,0.000,0.000,2920,2281,2196,2231,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5684,0.72,136.3,2919,2280,2229,2161,745.0,20.3,211,5685,0.00,0.00,0.00,0.000,4102,0.000,0.000,2920,2280,2195,2229,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5924,0.72,136.3,2920,2280,2228,2161,695.2,20.9,217,5927,0.00,2.10,0.00,0.000,4612,0.000,0.048,2928,931,2194,2228,2160,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5967,0.72,136.3,2928,931,2228,2161,687.8,20.7,218,5971,0.00,2.17,0.00,0.000,5126,0.000,0.048,2920,2314,2194,2228,2160,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6239,0.72,136.3,2919,2312,2227,2160,633.4,19.0,225,6243,0.00,0.08,0.00,0.000,4356,0.000,0.110,2919,4095,2193,2227,2160,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6368,0.72,136.3,2918,4095,2226,2160,608.6,20.3,228,6372,0.00,0.17,0.00,0.000,5126,0.000,0.064,2919,2262,2192,2226,2159,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6640,0.72,136.3,2919,2262,2226,2160,549.7,21.0,235,6641,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2262,2192,2226,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6880,0.72,136.3,2919,2262,2225,2159,498.5,21.2,241,6883,0.00,0.15,0.00,0.000,4356,0.000,0.074,2919,4095,2192,2225,2159,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7218,0.72,136.3,2919,4095,2224,2159,434.8,19.7,249,7222,0.00,0.20,0.00,0.000,5126,0.000,0.058,2919,2247,2191,2224,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7480,0.72,136.3,2919,2247,2224,2159,380.8,18.9,256,7481,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2247,2192,2224,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,0.72,136.3,2919,2247,2223,2159,335.4,19.0,262,7724,0.00,2.03,0.00,0.000,4612,0.000,0.048,2928,923,2191,2224,2159,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7749,0.72,136.3,2928,923,2223,2159,335.4,19.0,262,7756,0.00,2.12,0.00,0.000,5126,0.000,0.048,2929,2291,2191,2223,2159,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7996,0.72,136.3,2928,2290,2223,2159,280.9,20.0,269,8000,0.00,2.12,0.00,0.000,4612,0.000,0.045,2938,926,2191,2223,2160,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8030,0.72,136.3,2938,926,2222,2159,280.9,20.0,269,8037,0.05,2.17,0.00,0.000,5126,0.219,0.048,2918,2294,2191,2223,2159,0,0,0,0,0,0,26.55,26.63,28.83
$GC,8277,0.72,136.3,2918,2293,2223,2159,228.0,18.6,276,8278,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2293,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8517,0.72,136.3,2918,2293,2223,2160,184.9,18.0,288,8518,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2293,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8757,0.72,136.3,2918,2293,2223,2160,142.2,17.7,312,8761,0.00,2.10,0.00,0.000,4612,0.000,0.044,2927,920,2191,2223,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8810,0.72,136.3,2064,920,2189,2154,133.1,17.8,316,8821,0.00,2.17,0.00,0.000,5126,0.000,0.044,2918,2297,2191,2223,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9061,0.72,136.3,2918,2296,2223,2159,88.3,17.0,341,9067,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2296,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9311,0.72,136.3,2919,2296,2223,2160,47.2,15.8,366,9314,0.00,0.08,0.00,0.000,4356,0.000,0.108,2918,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9570,0.72,136.3,2918,4095,2223,2160,6.8,15.1,396,9579,0.00,0.17,0.00,0.000,5126,0.000,0.062,2918,2245,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9594,end climb,SURFACE_DEPTH_REACHED
$STATE,9594,begin surface coast
$FINISH,1.1,2.233166
$STATE,9616,end surface coast,CONTROL_FINISHED_OK
$STATE,9616,begin surface
$SM_CCo,9630,116.43,0.663,0,0,1171,390.02
$SM_GC,2.28,6.90,0.10,116.43,0.028,0.106,0.663,176,2306,1171,-7.72,-0.79,390.02,0,0,0,0,0,0,26.70,26.71,24.87
$IRIDIUM_FIX,3438.25,-15806.06,120309,151542
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.10
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.10
$XPDR_PINGS,334
$24V_AH,24.1,20.850
$10V_AH,10.3,11.815
$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,17.300,28.875,238.900,116.425,0.000,24.658,51.670,208.609,83.500,0.000,25.281,1257.420,6024.953,413.776,2370.550,102.890,0.000,1251.487,0.000,1694.281,0.000,0.540,0.000
$DEVICE_MAMPS,220.320,351.135,1106.955,663.255,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,316.940,176.422,351.647,318.041,658.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353104
$DATA_FILE_SIZE,33946,402
$CAP_FILE_SIZE,96181,0
$CFSIZE,259248128,250732544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160516,072501,3448.637,-15808.144,35,1.1,35,11.3