version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 169
start: 5 17 116 9 45 54
data:
$ID,512
$MISSION,7
$DIVE,169
$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,-130048.84
$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,2688
$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,80
$R_STBD_OVSHOOT,38
$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
$GPS1,170516,093425,3437.432,-15805.211,38,0.8,38,11.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-71.7
$GPS2,170516,094513,3437.397,-15805.214,5,1.6,5,11.2
$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,168.4,1319390,-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,-136.3,175,4095,1103,1223,0.0,0.0,0,88,0.00,0.00,-69.95,0.000,16386,0.000,0.000,174,4095,2882,2862,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,174,2335,2862,2904,3.3,-1.9,8,119,8.93,2.15,-11.65,0.000,18948,0.222,0.054,2450,930,3317,3316,3319,0,0,0,0,0,0,25.78,26.08,26.41
$GC,387,-0.72,-136.3,2449,930,3317,3320,69.9,-21.5,39,399,0.00,2.10,0.00,0.000,3078,0.000,0.043,2441,2294,3318,3317,3320,0,0,0,0,0,0,28.83,26.29,28.83
$GC,637,-0.72,-136.3,2441,2293,3318,3320,126.1,-21.2,64,639,0.05,0.00,0.00,0.000,2054,0.230,0.000,2451,2293,3319,3318,3320,0,0,0,0,0,0,26.42,28.83,28.83
$GC,881,-0.72,-136.3,2451,2293,3319,3320,174.2,-19.6,88,886,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,2292,3319,3319,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1136,-0.72,-136.3,2451,2293,3320,3320,223.1,-18.7,105,1137,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,2292,3320,3320,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1376,-0.72,-136.3,2451,2292,3320,3319,268.7,-19.0,111,1377,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,2292,3319,3320,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1616,-0.72,-136.3,2451,2292,3320,3320,313.0,-18.5,117,1617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,2292,3320,3320,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1856,-0.72,-136.3,2451,2292,3320,3319,357.3,-18.5,123,1857,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,2292,3320,3321,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2096,-0.72,-136.3,2450,2292,3320,3320,401.9,-18.7,129,2097,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,2292,3319,3320,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.72,-136.3,2451,2292,3320,3319,445.5,-17.8,135,2340,0.00,2.08,0.00,0.000,2564,0.000,0.044,2451,938,3320,3320,3320,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2385,-0.72,-136.3,2451,938,3320,3319,452.0,-17.7,136,2389,0.00,2.12,0.00,0.000,3078,0.000,0.044,2442,2321,3319,3320,3319,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2652,-0.72,-136.3,2442,2320,3320,3319,502.3,-17.7,143,2655,0.00,0.10,0.00,0.000,2308,0.000,0.097,2441,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2786,-0.72,-136.3,2441,4095,3319,3319,523.9,-17.9,146,2789,0.00,0.22,0.00,0.000,3078,0.000,0.053,2441,2233,3319,3320,3319,0,0,1,0,0,0,28.83,26.72,28.83
$GC,3052,-0.72,-136.3,2441,2233,3319,3319,573.3,-17.7,153,3056,0.05,0.20,0.00,0.000,2308,0.211,0.050,2453,4095,3318,3318,3319,0,0,0,0,0,0,26.72,26.69,28.83
$GC,3206,-0.72,-136.3,2453,4095,3318,3319,594.5,-17.7,156,3213,0.00,0.20,0.00,0.000,3078,0.000,0.054,2454,2239,3318,3318,3319,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3453,-0.72,-136.3,2453,2239,3318,3319,642.6,-16.8,163,3456,0.00,0.20,0.00,0.000,2308,0.000,0.064,2454,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3868,-0.72,-136.3,2453,4095,3318,3317,707.3,-16.2,173,3871,0.00,0.17,0.00,0.000,3078,0.000,0.060,2454,2250,3317,3317,3317,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4133,-0.72,-136.3,2453,2250,3317,3316,752.9,-16.4,180,4137,0.00,0.17,0.00,0.000,2308,0.000,0.070,2453,4095,3316,3316,3317,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4637,-0.72,-136.3,2453,4095,3316,3315,829.8,-15.6,192,4640,0.00,0.20,0.00,0.000,3078,0.000,0.056,2453,2244,3315,3316,3314,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4894,-0.72,-136.3,2453,2243,3315,3313,872.6,-15.2,199,4898,0.00,0.20,0.00,0.000,2308,0.000,0.067,2452,4095,3314,3315,3313,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5093,begin apogee
$GC,5098,-0.17,0.0,2452,2249,3314,3312,903.1,-15.1,204,5217,0.55,0.08,115.78,1.102,10246,0.115,0.110,2631,2297,2762,2775,2749,0,0,0,0,0,0,26.54,25.00,24.36
$STATE,5218,end apogee,CONTROL_FINISHED_OK
$STATE,5218,begin climb
$GC,5220,0.72,136.3,2631,2297,2773,2749,908.3,0.0,207,5351,0.77,2.28,122.18,1.047,10756,0.050,0.046,2928,931,2206,2243,2170,0,0,0,0,0,0,25.18,24.79,24.11
$GC,5470,0.72,136.3,2927,931,2235,2165,876.8,19.4,213,5475,0.00,2.20,0.00,0.000,5126,0.000,0.048,2928,2282,2200,2236,2164,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5733,0.72,136.3,2928,2281,2233,2163,810.3,23.9,220,5734,0.00,0.00,0.00,0.000,4102,0.000,0.000,2928,2281,2197,2232,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5973,0.72,136.3,2928,2281,2231,2162,754.3,23.3,226,5977,0.00,0.12,0.00,0.000,4356,0.000,0.082,2928,4095,2196,2230,2162,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6477,0.72,136.3,2928,4095,2227,2162,650.4,21.9,238,6480,0.00,0.20,0.00,0.000,5126,0.000,0.058,2929,2259,2195,2228,2162,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6734,0.72,136.3,2929,2259,2227,2162,592.0,20.6,245,6737,0.00,0.15,0.00,0.000,4356,0.000,0.074,2929,4095,2194,2226,2162,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6854,0.72,136.3,2929,4095,2225,2162,567.2,20.8,248,6858,0.00,0.15,0.00,0.000,5126,0.000,0.068,2930,2263,2193,2225,2162,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7134,0.72,136.3,2929,2263,2225,2161,511.9,19.6,255,7135,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2264,2192,2224,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7375,0.72,136.3,2929,2264,2223,2161,464.1,20.0,261,7379,0.00,0.15,0.00,0.000,4356,0.000,0.074,2930,4095,2192,2224,2161,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7548,0.72,136.3,2930,4095,2224,2161,433.6,19.0,265,7552,0.00,0.20,0.00,0.000,5126,0.000,0.058,2930,2249,2192,2224,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7816,0.72,136.3,2929,2249,2223,2161,383.0,17.9,272,7820,0.00,2.03,0.00,0.000,4612,0.000,0.046,2939,916,2192,2223,2161,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7869,0.72,136.3,2939,916,2223,2161,376.5,17.9,273,7874,0.00,2.15,0.00,0.000,5126,0.000,0.047,2931,2299,2192,2223,2161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8132,0.72,136.3,2931,2297,2223,2161,324.9,18.8,280,8133,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2297,2192,2223,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8372,0.72,136.3,2931,2297,2223,2161,278.6,19.6,286,8378,0.00,2.10,0.00,0.000,4612,0.000,0.043,2939,917,2192,2223,2162,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8411,0.72,136.3,2939,917,2223,2161,270.1,20.3,287,8415,0.00,2.12,0.00,0.000,5126,0.000,0.046,2931,2292,2192,2223,2161,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8687,0.72,136.3,2931,2291,2222,2161,212.3,21.0,294,8688,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2291,2191,2222,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8929,0.72,136.3,2931,2291,2223,2161,163.8,19.8,312,8930,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2291,2192,2223,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9168,0.72,136.3,2931,2291,2223,2161,117.9,18.8,336,9169,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2291,2192,2223,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9412,0.72,136.3,2931,2291,2223,2161,72.6,18.4,360,9416,0.00,0.10,0.00,0.000,4356,0.000,0.091,2931,4095,2192,2223,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9808,0.72,136.3,2930,4095,2223,2161,3.2,16.8,401,9818,0.00,0.17,0.00,0.000,5126,0.000,0.062,2931,2256,2191,2222,2160,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,9826,end climb,SURFACE_DEPTH_REACHED
$STATE,9826,begin surface coast
$FINISH,1.2,3.130838
$STATE,9856,end surface coast,CONTROL_FINISHED_OK
$STATE,9856,begin surface
$SM_CCo,9870,116.05,0.653,0,0,1171,390.02
$SM_GC,2.48,6.88,0.08,116.05,0.024,0.115,0.653,183,2304,1171,-7.73,-0.93,390.02,0,0,0,0,0,0,26.68,26.77,24.90
$IRIDIUM_FIX,3422.54,-15802.68,130309,232301
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.33
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,17.40
$XPDR_PINGS,338
$24V_AH,24.1,22.059
$10V_AH,10.3,12.483
$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,17.225,24.600,237.950,116.050,0.000,53.523,95.538,311.998,84.500,0.000,6.095,1240.158,6561.425,406.281,2338.865,115.288,0.000,1156.895,0.000,1486.177,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,114.750,1101.600,652.545,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,299.527,178.234,351.709,311.547,645.560,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353044
$DATA_FILE_SIZE,37190,407
$CAP_FILE_SIZE,94169,0
$CFSIZE,259248128,250232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,170516,123313,3436.135,-15804.703,16,1.8,16,11.2