version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 172
start: 5 17 116 18 42 51
data:
$ID,512
$MISSION,7
$DIVE,172
$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,-130100.41
$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,68
$R_STBD_OVSHOOT,27
$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
$GPS1,170516,183031,3434.039,-15803.777,24,1.1,24,11.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-72.3
$GPS2,170516,184210,3434.073,-15803.688,7,1.2,7,11.2
$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,168.5,1313217,-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,-136.3,173,2332,1102,1226,0.0,0.0,0,88,0.00,0.00,-70.30,0.000,16386,0.000,0.000,171,2331,2894,2874,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,170,4095,2873,2916,3.2,-2.1,8,118,8.82,2.22,-10.98,0.000,18948,0.216,0.055,2447,929,3317,3316,3319,0,0,0,0,0,0,25.73,26.05,26.38
$GC,262,-0.72,-136.3,2447,929,3317,3319,42.7,-22.5,28,273,0.05,2.20,0.00,0.000,3078,0.162,0.043,2455,2308,3318,3317,3319,0,0,0,0,0,0,26.05,26.20,28.83
$GC,514,-0.72,-136.3,2455,2308,3318,3319,96.1,-20.2,53,517,0.00,0.10,0.00,0.000,2308,0.000,0.093,2455,4095,3318,3317,3319,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1069,-0.72,-136.3,2455,4095,3319,3320,200.6,-17.8,103,1073,0.00,0.22,0.00,0.000,3078,0.000,0.052,2455,2230,3319,3319,3319,0,0,1,0,0,0,28.83,26.54,28.83
$GC,1327,-0.72,-136.3,2455,2230,3319,3319,247.6,-17.8,110,1331,0.00,0.20,0.00,0.000,2308,0.000,0.063,2455,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1831,-0.72,-136.3,2454,4095,3320,3319,334.1,-18.5,122,1834,0.00,0.20,0.00,0.000,3078,0.000,0.054,2454,2238,3319,3319,3319,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2087,-0.72,-136.3,2454,2238,3319,3319,388.0,-19.2,129,2091,0.00,0.20,0.00,0.000,2308,0.000,0.063,2454,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2591,-0.72,-136.3,2454,4095,3319,3319,476.9,-18.0,141,2595,0.00,0.20,0.00,0.000,3078,0.000,0.054,2454,2245,3319,3319,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2848,-0.72,-136.3,2453,2245,3319,3319,525.8,-17.2,148,2852,0.00,0.17,0.00,0.000,2308,0.000,0.069,2453,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3352,-0.72,-136.3,2453,4095,3318,3319,604.7,-16.0,160,3355,0.00,0.20,0.00,0.000,3078,0.000,0.054,2453,2239,3318,3318,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3609,-0.72,-136.3,2453,2239,3318,3318,646.1,-14.9,167,3612,0.00,0.20,0.00,0.000,2308,0.000,0.064,2452,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4112,-0.72,-136.3,2452,4095,3317,3317,719.1,-15.7,179,4116,0.00,0.20,0.00,0.000,3078,0.000,0.055,2452,2246,3317,3317,3317,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4369,-0.72,-136.3,2452,2246,3317,3316,764.4,-16.1,186,4373,0.00,0.17,0.00,0.000,2308,0.000,0.071,2452,4095,3316,3317,3316,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4873,-0.72,-136.3,2451,4095,3316,3314,838.4,-15.4,198,4877,0.00,0.20,0.00,0.000,3078,0.000,0.057,2452,2241,3314,3315,3314,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5130,-0.72,-136.3,2451,2241,3315,3313,881.7,-15.3,205,5134,0.00,0.20,0.00,0.000,2308,0.000,0.066,2451,4095,3314,3315,3313,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5250,begin apogee
$GC,5255,-0.17,0.0,2450,2246,3314,3313,900.6,-15.8,208,5375,0.55,0.08,116.22,1.102,10246,0.117,0.110,2630,2293,2762,2775,2749,0,0,0,0,0,0,26.53,25.00,24.37
$STATE,5376,end apogee,CONTROL_FINISHED_OK
$STATE,5376,begin climb
$GC,5378,0.72,136.3,2630,2294,2773,2749,906.5,0.0,211,5510,0.77,2.35,122.28,1.047,10756,0.050,0.049,2928,931,2205,2242,2169,0,0,0,0,0,0,25.20,24.79,24.10
$GC,5635,0.72,136.3,2928,931,2235,2164,875.3,19.0,217,5639,0.00,2.20,0.00,0.000,5126,0.000,0.049,2928,2281,2200,2236,2164,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5887,0.72,136.3,2928,2280,2232,2162,813.6,22.3,224,5891,0.00,2.15,0.00,0.000,4612,0.000,0.048,2938,930,2197,2232,2162,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5916,0.72,136.3,2938,929,2231,2162,813.6,22.3,224,5920,0.00,2.17,0.00,0.000,5126,0.000,0.047,2931,2292,2197,2232,2162,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6168,0.72,136.3,2931,2291,2230,2162,751.0,22.2,231,6169,0.00,0.00,0.00,0.000,4102,0.000,0.000,2932,2291,2195,2230,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6408,0.72,136.3,2931,2291,2228,2161,696.5,22.9,237,6412,0.00,2.12,0.00,0.000,4612,0.000,0.047,2940,928,2194,2228,2161,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6433,0.72,136.3,2940,928,2228,2161,696.5,22.9,237,6437,0.00,2.15,0.00,0.000,5126,0.000,0.048,2931,2294,2194,2228,2161,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6679,0.72,136.3,2931,2292,2227,2160,639.8,20.6,243,6680,0.00,0.00,0.00,0.000,4102,0.000,0.000,2932,2292,2193,2227,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6919,0.72,136.3,2931,2292,2227,2160,590.1,20.6,249,6922,0.00,0.10,0.00,0.000,4356,0.000,0.093,2931,4095,2193,2226,2160,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7102,0.72,136.3,2931,4095,2226,2160,557.2,20.6,253,7106,0.00,0.20,0.00,0.000,5126,0.000,0.059,2931,2256,2192,2226,2159,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7359,0.72,136.3,2931,2256,2225,2159,499.1,20.7,260,7361,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2256,2192,2225,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7599,0.72,136.3,2931,2256,2225,2160,450.7,20.0,266,7603,0.00,2.05,0.00,0.000,4612,0.000,0.047,2940,917,2191,2224,2159,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7618,0.72,136.3,2940,918,2224,2160,450.7,20.0,266,7622,0.00,2.15,0.00,0.000,5126,0.000,0.047,2932,2297,2191,2223,2160,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7876,0.72,136.3,2932,2295,2223,2159,392.5,21.0,273,7879,0.00,0.08,0.00,0.000,4356,0.000,0.109,2932,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8139,0.72,136.3,2931,4095,2224,2159,341.2,21.4,279,8143,0.00,0.20,0.00,0.000,5126,0.000,0.059,2932,2242,2191,2224,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8396,0.72,136.3,2931,2242,2224,2159,283.1,20.8,286,8400,0.00,0.17,0.00,0.000,4356,0.000,0.070,2932,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8610,0.72,136.3,2931,4095,2224,2159,241.8,20.5,291,8614,0.00,0.20,0.00,0.000,5126,0.000,0.057,2932,2239,2191,2223,2160,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8857,0.72,136.3,2931,2239,2223,2160,191.1,19.2,299,8861,0.00,0.17,0.00,0.000,4356,0.000,0.068,2932,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9145,0.72,136.3,2931,4095,2223,2160,137.8,18.1,325,9149,0.03,0.15,0.00,0.000,5126,0.192,0.067,2923,2252,2192,2224,2160,0,0,0,0,0,0,26.58,26.72,28.83
$GC,9396,0.72,136.3,2923,2252,2223,2160,93.6,16.7,350,9400,0.00,2.00,0.00,0.000,4612,0.000,0.042,2932,924,2191,2223,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9506,0.72,136.3,2932,924,2223,2160,77.3,14.7,359,9517,0.00,2.15,0.00,0.000,5126,0.000,0.044,2930,2291,2191,2223,2160,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9758,0.72,136.3,2930,2290,2223,2159,38.0,16.7,384,9761,0.00,0.12,0.00,0.000,4356,0.000,0.093,2930,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9960,end climb,SURFACE_DEPTH_REACHED
$STATE,9960,begin surface coast
$FINISH,1.4,3.309889
$STATE,9969,end surface coast,CONTROL_FINISHED_OK
$STATE,9969,begin surface
$SM_CCo,9983,114.78,0.644,0,0,1172,390.02
$SM_GC,2.37,6.85,0.20,114.78,0.021,0.054,0.644,202,2251,1172,-7.71,0.93,390.02,0,0,0,0,0,0,26.65,26.72,24.92
$IRIDIUM_FIX,3419.93,-15806.08,140309,070714
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.10
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,17.60
$XPDR_PINGS,349
$24V_AH,24.1,22.442
$10V_AH,10.3,12.692
$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,17.075,30.350,238.500,114.775,0.000,57.500,94.016,391.301,87.250,0.000,8.278,1315.608,6230.149,401.328,2746.381,129.793,0.000,1299.185,0.000,1826.476,0.000,0.542,0.000
$DEVICE_MAMPS,216.495,110.160,1102.365,644.130,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,298.291,181.926,357.415,324.392,672.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353144
$DATA_FILE_SIZE,37121,411
$CAP_FILE_SIZE,105802,0
$CFSIZE,259248128,250068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,170516,213156,3432.838,-15803.485,11,1.5,12,11.2