version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 162
start: 5 16 116 13 18 51
data:
$ID,512
$MISSION,7
$DIVE,162
$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,-130011.6
$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,76
$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
$GPS1,160516,131129,3446.073,-15808.266,10,3.0,31,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-73.0
$GPS2,160516,131810,3446.054,-15808.243,5,0.9,5,11.3
$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,168.1,1335466,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-136.3,182,2268,1106,1221,0.0,0.0,0,79,0.00,0.00,-61.55,0.000,16386,0.000,0.000,182,2266,2648,2632,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,182,2267,2631,2668,3.0,-1.8,7,119,8.90,0.22,-22.45,0.000,18692,0.222,0.218,2445,4095,3319,3317,3321,0,0,0,0,0,0,25.75,26.04,26.36
$GC,725,-0.72,-136.3,2444,4095,3319,3321,136.6,-20.2,69,729,0.00,0.17,0.00,0.000,3078,0.000,0.060,2445,2246,3320,3320,3321,0,0,0,0,0,0,28.83,26.46,28.83
$GC,979,-0.72,-136.3,2444,2245,3320,3321,187.2,-19.6,94,982,0.00,0.17,0.00,0.000,2308,0.000,0.070,2445,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1372,-0.72,-136.3,2444,4095,3322,3321,258.5,-19.5,109,1376,0.00,0.20,0.00,0.000,3078,0.000,0.056,2445,2239,3322,3323,3321,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1624,-0.72,-136.3,2444,2238,3322,3321,313.8,-19.8,116,1625,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,2237,3321,3322,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1864,-0.72,-136.3,2444,2238,3322,3321,360.3,-19.2,122,1868,0.00,0.20,0.00,0.000,2308,0.000,0.063,2444,4095,3321,3322,3321,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2026,-0.72,-136.3,2444,4095,3322,3321,390.4,-18.6,126,2030,0.00,0.17,0.00,0.000,3078,0.000,0.062,2444,2248,3321,3322,3321,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2307,-0.72,-136.3,2444,2248,3322,3321,439.2,-17.1,133,2308,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,2248,3321,3322,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2546,-0.72,-136.3,2444,2248,3321,3321,481.1,-17.6,139,2550,0.00,2.00,0.00,0.000,2564,0.000,0.044,2453,937,3321,3322,3321,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2582,-0.72,-136.3,2453,937,3322,3321,487.4,-17.5,140,2586,0.00,2.12,0.00,0.000,3078,0.000,0.044,2444,2323,3322,3322,3322,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2859,-0.72,-136.3,2444,2322,3321,3321,536.8,-18.4,147,2860,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,2322,3321,3321,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3098,-0.72,-136.3,2444,2322,3321,3321,582.1,-19.0,153,3102,0.00,2.12,0.00,0.000,2564,0.000,0.045,2450,937,3321,3321,3321,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3167,-0.72,-136.3,2450,937,3321,3321,588.8,-19.0,154,3174,0.00,2.10,0.00,0.000,3078,0.000,0.044,2441,2301,3321,3321,3321,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3414,-0.72,-136.3,2442,2300,3320,3321,638.6,-17.3,161,3415,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,2300,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3654,-0.72,-136.3,2442,2300,3320,3321,679.4,-17.0,167,3655,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,2300,3320,3320,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3894,-0.72,-136.3,2441,2300,3320,3319,719.0,-16.5,173,3895,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,2300,3320,3320,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,-0.72,-136.3,2442,2300,3319,3319,759.5,-16.8,179,4135,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,2300,3319,3319,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4374,-0.72,-136.3,2442,2300,3318,3319,797.8,-16.0,185,4378,0.00,2.12,0.00,0.000,2564,0.000,0.048,2447,930,3318,3318,3319,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4415,-0.72,-136.3,2448,930,3318,3319,804.1,-15.8,186,4419,0.00,2.12,0.00,0.000,3078,0.000,0.048,2438,2303,3318,3318,3318,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4691,-0.72,-136.3,2438,2302,3318,3318,846.4,-15.5,193,4695,0.03,0.10,0.00,0.000,2308,0.273,0.063,2449,4095,3318,3318,3318,0,0,0,0,0,0,26.76,26.68,28.83
$STATE,5090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5091,begin apogee
$GC,5095,-0.17,0.0,2450,2249,3316,3316,905.5,-14.8,203,5215,0.55,0.08,116.72,1.114,10246,0.116,0.113,2629,2296,2762,2775,2750,0,0,0,0,0,0,26.53,24.98,24.34
$STATE,5216,end apogee,CONTROL_FINISHED_OK
$STATE,5217,begin climb
$GC,5218,0.72,136.3,2629,2297,2773,2749,910.4,0.0,206,5351,0.77,2.38,122.55,1.060,10756,0.046,0.049,2929,927,2205,2242,2169,0,0,0,0,0,0,25.15,24.75,24.08
$GC,5441,0.72,136.3,2929,926,2236,2164,886.6,15.0,211,5445,0.00,2.22,0.00,0.000,5126,0.000,0.049,2929,2282,2200,2236,2164,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5693,0.72,136.3,2929,2281,2232,2162,825.7,21.4,218,5694,0.00,0.00,0.00,0.000,4102,0.000,0.000,2929,2281,2197,2232,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5933,0.72,136.3,2929,2281,2230,2162,774.3,21.7,224,5934,0.00,0.00,0.00,0.000,4102,0.000,0.000,2929,2281,2196,2230,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6173,0.72,136.3,2929,2281,2229,2161,723.7,20.7,230,6174,0.00,0.00,0.00,0.000,4102,0.000,0.000,2929,2281,2195,2229,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6413,0.72,136.3,2929,2280,2228,2161,674.6,20.8,236,6417,0.00,2.12,0.00,0.000,4612,0.000,0.049,2938,930,2194,2228,2161,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6442,0.72,136.3,2938,930,2227,2160,674.6,20.8,236,6446,0.05,2.15,0.00,0.000,5126,0.216,0.049,2918,2296,2193,2227,2160,0,0,0,0,0,0,26.31,26.39,28.83
$GC,6693,0.72,136.3,2918,2294,2226,2160,620.5,19.3,243,6695,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2294,2193,2226,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6933,0.72,136.3,2918,2294,2225,2160,574.2,19.2,249,6935,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2294,2192,2225,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7174,0.72,136.3,2918,2294,2225,2159,530.4,18.2,255,7175,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2294,2192,2225,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7414,0.72,136.3,2918,2294,2224,2160,486.0,18.7,261,7417,0.00,2.12,0.00,0.000,4612,0.000,0.047,2927,928,2192,2224,2160,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7457,0.72,136.3,2064,928,2189,2154,478.0,18.9,262,7462,0.00,2.17,0.00,0.000,5126,0.000,0.048,2919,2290,2191,2223,2160,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7734,0.72,136.3,2918,2288,2223,2160,424.5,19.2,269,7738,0.00,2.10,0.00,0.000,4612,0.000,0.048,2928,929,2191,2223,2159,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7785,0.72,136.3,2927,929,2223,2159,416.9,19.2,270,7789,0.00,2.12,0.00,0.000,5126,0.000,0.047,2919,2296,2191,2223,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8051,0.72,136.3,2919,2294,2223,2160,364.5,18.6,277,8054,0.00,2.10,0.00,0.000,4612,0.000,0.046,2928,932,2191,2223,2160,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8064,0.72,136.3,2928,932,2223,2160,364.5,18.6,277,8068,0.00,2.15,0.00,0.000,5126,0.000,0.047,2919,2315,2191,2223,2160,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8331,0.72,136.3,2919,2313,2223,2160,311.3,18.6,284,8333,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2313,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8571,0.72,136.3,2919,2313,2223,2160,265.9,18.9,290,8572,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2313,2191,2223,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8811,0.72,136.3,2919,2313,2223,2159,220.6,19.0,296,8813,0.00,0.00,0.00,0.000,4102,0.000,0.000,2920,2313,2191,2223,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9052,0.72,136.3,2919,2313,2223,2160,175.9,19.0,311,9053,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2313,2192,2224,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9294,0.72,136.3,2919,2313,2223,2160,130.5,18.0,335,9298,0.00,0.08,0.00,0.000,4356,0.000,0.110,2918,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9375,0.72,136.3,2048,4071,2189,2154,115.9,17.8,342,9385,0.00,0.22,0.00,0.000,5126,0.000,0.055,2918,2231,2191,2223,2159,0,0,1,0,0,0,28.83,26.70,28.83
$GC,9626,0.72,136.3,2918,2231,2223,2159,71.0,18.3,367,9638,0.00,1.95,0.00,0.000,4612,0.000,0.044,2928,931,2191,2223,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9642,0.72,136.3,2928,931,2223,2160,68.9,18.4,368,9653,0.00,2.15,0.00,0.000,5126,0.000,0.045,2928,2290,2191,2223,2160,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9905,0.72,136.3,2928,2289,2223,2160,21.3,17.5,396,9915,0.00,2.12,0.00,0.000,4612,0.000,0.044,2938,929,2191,2223,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10000,0.72,136.3,2937,929,2223,2160,4.3,18.0,409,10011,0.03,2.15,0.00,0.000,5126,0.185,0.046,2921,2292,2191,2223,2160,0,0,0,0,0,0,26.53,26.63,28.83
$STATE,10019,end climb,SURFACE_DEPTH_REACHED
$STATE,10019,begin surface coast
$FINISH,1.1,3.262266
$STATE,10041,end surface coast,CONTROL_FINISHED_OK
$STATE,10042,begin surface
$SM_CCo,10055,117.90,0.667,0,0,1171,390.02
$SM_GC,2.09,6.95,0.00,117.90,0.031,0.000,0.667,186,2291,1171,-7.73,-0.23,390.02,0,0,0,0,0,0,26.65,28.83,24.86
$IRIDIUM_FIX,3433.01,-15811.43,120309,232305
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.86
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.00
$XPDR_PINGS,346
$24V_AH,24.1,21.211
$10V_AH,10.3,12.009
$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,17.275,44.575,239.275,117.900,0.000,29.309,51.138,230.529,86.500,0.000,7.102,1209.848,6979.615,422.138,1894.467,97.397,0.000,1081.759,0.000,1228.387,0.000,0.540,0.000
$DEVICE_MAMPS,273.105,218.025,1113.840,667.080,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,315.526,179.704,355.778,315.969,654.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353048
$DATA_FILE_SIZE,37404,414
$CAP_FILE_SIZE,88200,0
$CFSIZE,259248128,250580992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,160516,160914,3444.508,-15807.753,14,1.4,15,11.3