version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 166
start: 5 17 116 0 58 32
data:
$ID,512
$MISSION,7
$DIVE,166
$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,-130045.05
$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,69
$R_STBD_OVSHOOT,24
$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
$GPS1,170516,005101,3441.559,-15806.581,24,1.2,24,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-74.8
$GPS2,170516,005752,3441.568,-15806.518,5,0.8,6,11.3
$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,168.2,1327130,-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,14,begin dive
$GC,15,-0.72,-136.3,185,2281,1107,1221,0.0,0.0,0,79,0.00,0.00,-61.35,0.000,16386,0.000,0.000,185,2256,2660,2641,2680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,185,2257,2641,2680,3.0,-1.9,7,119,8.82,2.15,-22.58,0.000,18948,0.220,0.057,2458,922,3318,3315,3322,0,0,0,0,0,0,25.77,26.04,26.35
$GC,285,-0.72,-136.3,2457,922,3317,3322,39.3,-21.4,32,297,0.00,2.12,0.00,0.000,3078,0.000,0.042,2449,2303,3319,3317,3322,0,0,0,0,0,0,28.83,26.21,28.83
$GC,537,-0.72,-136.3,2449,2302,3318,3322,94.0,-22.5,57,541,0.00,0.10,0.00,0.000,2308,0.000,0.090,2448,4095,3320,3318,3322,0,0,0,0,0,0,28.83,26.38,28.83
$GC,916,-0.72,-136.3,2448,4095,3319,3322,174.5,-20.2,91,923,0.00,0.22,0.00,0.000,3078,0.000,0.052,2448,2226,3320,3319,3322,0,0,1,0,0,0,28.83,26.51,28.83
$GC,1164,-0.72,-136.3,2448,2226,3320,3322,225.4,-19.7,107,1165,0.00,0.00,0.00,0.000,2054,0.000,0.000,2448,2226,3321,3320,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1404,-0.72,-136.3,2448,2226,3320,3322,273.1,-20.2,113,1407,0.00,0.22,0.00,0.000,2308,0.000,0.060,2448,4095,3321,3320,3322,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1907,-0.72,-136.3,2448,4095,3321,3321,368.7,-19.5,125,1911,0.00,0.20,0.00,0.000,3078,0.000,0.056,2448,2246,3321,3320,3322,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2164,-0.72,-136.3,2448,2246,3320,3321,424.2,-19.7,132,2168,0.00,0.17,0.00,0.000,2308,0.000,0.067,2448,4095,3321,3320,3322,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2668,-0.72,-136.3,2448,4095,3320,3321,515.9,-18.4,144,2671,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2239,3320,3320,3321,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2925,-0.72,-136.3,2448,2239,3320,3321,567.3,-18.2,151,2928,0.00,0.20,0.00,0.000,2308,0.000,0.063,2448,4095,3320,3320,3321,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3428,-0.72,-136.3,2448,4095,3319,3320,655.7,-17.7,163,3432,0.00,0.20,0.00,0.000,3078,0.000,0.057,2448,2249,3319,3319,3320,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3685,-0.72,-136.3,2448,2248,3318,3319,700.1,-15.7,170,3689,0.00,0.17,0.00,0.000,2308,0.000,0.070,2448,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4189,-0.72,-136.3,2447,4095,3317,3318,777.2,-16.1,182,4192,0.00,0.20,0.00,0.000,3078,0.000,0.056,2448,2241,3318,3318,3318,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4445,-0.72,-136.3,2447,2241,3317,3317,820.2,-15.1,189,4449,0.00,0.20,0.00,0.000,2308,0.000,0.065,2448,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4949,-0.72,-136.3,2447,4095,3315,3315,893.3,-16.0,201,4952,0.00,0.20,0.00,0.000,3078,0.000,0.057,2448,2249,3315,3315,3315,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,5004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5004,begin apogee
$GC,5009,-0.17,0.0,2447,2301,3315,3315,906.3,-16.3,203,5128,0.55,0.00,116.38,1.112,10246,0.119,0.000,2626,2301,2762,2775,2750,0,0,0,0,0,0,26.53,28.83,24.34
$STATE,5129,end apogee,CONTROL_FINISHED_OK
$STATE,5129,begin climb
$GC,5131,0.72,136.3,2626,2301,2773,2749,912.3,0.0,206,5262,0.80,2.33,122.60,1.060,10756,0.051,0.047,2931,925,2205,2241,2169,0,0,0,0,0,0,25.13,24.77,24.08
$GC,5447,0.72,136.3,2931,925,2233,2163,863.4,21.8,214,5452,0.05,2.20,0.00,0.000,5126,0.210,0.049,2920,2282,2198,2233,2163,0,0,0,0,0,0,25.64,25.70,28.83
$GC,5719,0.72,136.3,2919,2281,2231,2161,800.9,22.4,221,5723,0.00,2.15,0.00,0.000,4612,0.000,0.049,2928,917,2196,2231,2161,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5755,0.72,136.3,2928,918,2230,2160,792.9,22.2,222,5759,0.00,2.20,0.00,0.000,5126,0.000,0.050,2920,2292,2195,2230,2161,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6031,0.72,136.3,2919,2291,2229,2160,735.8,20.2,229,6032,0.00,0.00,0.00,0.000,4102,0.000,0.000,2920,2290,2194,2229,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6271,0.72,136.3,2919,2290,2228,2160,685.7,21.1,235,6272,0.00,0.00,0.00,0.000,4102,0.000,0.000,2920,2290,2194,2228,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6511,0.72,136.3,2919,2290,2227,2159,637.6,20.0,241,6515,0.00,0.12,0.00,0.000,4356,0.000,0.097,2919,4094,2193,2227,2160,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6765,0.72,136.3,2919,4095,2225,2159,591.1,18.9,247,6769,0.00,0.20,0.00,0.000,5126,0.000,0.060,2919,2254,2192,2226,2159,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7032,0.72,136.3,2919,2254,2225,2159,535.3,20.1,254,7033,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2254,2192,2225,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7272,0.72,136.3,2918,2254,2224,2159,487.6,19.7,260,7275,0.00,0.15,0.00,0.000,4356,0.000,0.074,2919,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7480,0.72,136.3,2919,4095,2224,2159,449.1,19.1,265,7484,0.00,0.17,0.00,0.000,5126,0.000,0.063,2919,2257,2191,2224,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7752,0.72,136.3,2919,2257,2223,2159,397.1,18.4,272,7754,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2257,2191,2224,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7993,0.72,136.3,2918,2257,2223,2159,351.8,18.8,278,7994,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2257,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8232,0.72,136.3,2919,2257,2223,2159,305.5,19.4,284,8233,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2257,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,0.72,136.3,2919,2256,2223,2159,258.1,20.0,290,8476,0.00,0.15,0.00,0.000,4356,0.000,0.074,2919,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8646,0.72,136.3,2919,4095,2223,2159,226.2,20.0,294,8649,0.00,0.20,0.00,0.000,5126,0.000,0.058,2919,2243,2191,2224,2159,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8893,0.72,136.3,2919,2242,2224,2159,177.5,17.9,308,8902,0.00,2.00,0.00,0.000,4612,0.000,0.044,2929,921,2191,2223,2159,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8936,0.72,136.3,2928,921,2223,2159,169.6,17.6,312,8941,0.00,2.12,0.00,0.000,5126,0.000,0.046,2929,2299,2191,2223,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9182,0.72,136.3,2928,2297,2223,2159,122.4,19.2,336,9186,0.00,0.08,0.00,0.000,4356,0.000,0.109,2929,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9797,0.72,136.3,2928,4095,2222,2159,14.1,16.5,393,9807,0.05,0.17,0.00,0.000,5126,0.153,0.063,2913,2245,2190,2222,2159,0,0,0,0,0,0,26.51,26.72,28.83
$STATE,9863,end climb,SURFACE_DEPTH_REACHED
$STATE,9863,begin surface coast
$FINISH,1.0,2.217624
$STATE,9885,end surface coast,CONTROL_FINISHED_OK
$STATE,9885,begin surface
$SM_CCo,9899,117.93,0.657,0,0,1172,390.02
$SM_GC,2.42,6.90,0.10,117.93,0.031,0.102,0.657,187,2325,1172,-7.72,-0.74,390.02,0,0,0,0,0,0,26.68,26.72,24.88
$IRIDIUM_FIX,3427.77,-15806.56,130309,111103
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.25
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.30
$XPDR_PINGS,342
$24V_AH,24.1,21.693
$10V_AH,10.3,12.287
$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,17.175,21.000,238.975,117.925,0.000,28.215,49.179,241.199,85.500,0.000,7.103,1279.798,6192.016,407.958,2470.895,103.387,0.000,1276.225,0.000,1779.395,0.000,0.540,0.000
$DEVICE_MAMPS,219.555,110.925,1112.310,657.135,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,317.051,175.539,348.857,315.753,654.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353112
$DATA_FILE_SIZE,33943,405
$CAP_FILE_SIZE,98014,0
$CFSIZE,259248128,250384384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,170516,034632,3440.370,-15806.130,15,0.9,26,11.2