version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 174
start: 5 18 116 0 39 50
data:
$ID,512
$MISSION,7
$DIVE,174
$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,-130102.92
$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,25
$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
$GPS1,180516,003231,3431.759,-15802.938,35,0.8,35,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-71.3
$GPS2,180516,003910,3431.784,-15802.905,6,0.8,6,11.2
$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,168.6,1308972,-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,-136.3,178,4095,1106,1221,0.0,0.0,0,79,0.00,0.00,-61.35,0.000,16386,0.000,0.000,176,4095,2664,2647,2682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,176,4095,2646,2686,3.1,-2.4,7,119,8.88,2.15,-20.90,0.000,18948,0.217,0.054,2461,940,3317,3315,3319,0,0,0,0,0,0,25.77,26.06,26.39
$GC,211,-0.72,-136.3,2461,940,3317,3319,25.7,-22.4,24,221,0.00,2.17,0.00,0.000,3078,0.000,0.045,2453,2303,3318,3317,3319,0,0,0,0,0,0,28.83,26.17,28.83
$GC,465,-0.72,-136.3,2452,2302,3317,3319,85.7,-24.0,50,466,0.00,0.00,0.00,0.000,2054,0.000,0.000,2453,2302,3318,3317,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,705,-0.72,-136.3,2452,2303,3318,3319,137.4,-21.1,74,708,0.00,0.10,0.00,0.000,2308,0.000,0.092,2452,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1172,-0.72,-136.3,1664,4072,3310,3317,233.2,-20.1,106,1176,0.00,0.22,0.00,0.000,3078,0.000,0.051,2452,2225,3319,3320,3319,0,0,1,0,0,0,28.83,26.57,28.83
$GC,1450,-0.72,-136.3,2452,2225,3320,3319,288.4,-19.6,113,1453,0.00,0.22,0.00,0.000,2308,0.000,0.058,2451,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1863,-0.72,-136.3,2450,4095,3320,3319,363.7,-18.3,123,1867,0.00,0.20,0.00,0.000,3078,0.000,0.054,2451,2244,3319,3320,3319,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2130,-0.72,-136.3,2450,2243,3320,3319,414.1,-17.9,130,2134,0.00,0.20,0.00,0.000,2308,0.000,0.064,2449,4095,3320,3321,3319,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2634,-0.72,-136.3,2449,4095,3321,3319,497.0,-17.4,142,2637,0.00,0.20,0.00,0.000,3078,0.000,0.054,2449,2249,3319,3320,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2891,-0.72,-136.3,2449,2250,3320,3319,545.0,-17.1,149,2894,0.00,0.17,0.00,0.000,2308,0.000,0.069,2450,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3394,-0.72,-136.3,2449,4095,3319,3319,629.3,-17.8,161,3398,0.00,0.20,0.00,0.000,3078,0.000,0.054,2449,2241,3319,3319,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3651,-0.72,-136.3,2449,2241,3318,3319,678.4,-17.3,168,3655,0.00,0.20,0.00,0.000,2308,0.000,0.063,2448,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4155,-0.72,-136.3,2448,4095,3318,3318,758.4,-16.4,180,4158,0.00,0.20,0.00,0.000,3078,0.000,0.056,2448,2250,3318,3318,3318,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4412,-0.72,-136.3,2448,2249,3317,3317,803.0,-15.9,187,4415,0.00,0.17,0.00,0.000,2308,0.000,0.070,2448,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4916,-0.72,-136.3,2448,4095,3316,3315,875.0,-14.6,199,4919,0.00,0.20,0.00,0.000,3078,0.000,0.056,2448,2244,3315,3316,3315,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,5091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5091,begin apogee
$GC,5095,-0.17,0.0,2448,2302,3315,3314,902.7,-13.6,204,5215,0.57,0.00,116.50,1.102,10246,0.116,0.000,2635,2302,2762,2775,2749,0,0,0,0,0,0,26.53,28.83,24.37
$STATE,5216,end apogee,CONTROL_FINISHED_OK
$STATE,5216,begin climb
$GC,5217,0.72,136.3,2635,2302,2773,2750,905.9,0.0,207,5349,0.75,2.30,122.47,1.051,10756,0.031,0.047,2952,927,2205,2241,2170,0,0,0,0,0,0,25.20,24.79,24.11
$GC,5459,0.72,136.3,2953,927,2233,2165,865.8,23.6,213,5464,0.12,2.20,0.00,0.000,5126,0.161,0.048,2923,2279,2199,2234,2165,0,0,0,0,0,0,25.43,25.53,28.83
$GC,5726,0.72,136.3,2923,2278,2231,2162,800.3,23.2,220,5727,0.00,0.00,0.00,0.000,4102,0.000,0.000,2923,2278,2196,2231,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5966,0.72,136.3,2923,2278,2229,2162,746.8,21.9,226,5967,0.00,0.00,0.00,0.000,4102,0.000,0.000,2923,2278,2195,2229,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6206,0.72,136.3,2923,2278,2228,2161,694.5,21.8,232,6210,0.00,2.10,0.00,0.000,4612,0.000,0.050,2932,931,2194,2228,2161,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6230,0.72,136.3,2931,931,2227,2161,694.5,21.8,232,6234,0.00,2.15,0.00,0.000,5126,0.000,0.049,2930,2290,2194,2227,2161,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6477,0.72,136.3,2930,2289,2226,2160,634.5,21.9,238,6480,0.00,0.10,0.00,0.000,4356,0.000,0.093,2930,4095,2193,2226,2161,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6790,0.72,136.3,2930,4095,2225,2160,573.4,21.5,245,6797,0.00,0.20,0.00,0.000,5126,0.000,0.058,2930,2253,2192,2225,2160,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7037,0.72,136.3,2930,2252,2224,2160,514.5,20.5,252,7041,0.00,2.05,0.00,0.000,4612,0.000,0.047,2939,914,2192,2224,2160,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7051,0.72,136.3,2939,914,2223,2160,514.5,20.5,252,7055,0.00,2.15,0.00,0.000,5126,0.000,0.047,2931,2294,2192,2224,2160,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7313,0.72,136.3,2931,2293,2223,2160,459.1,19.5,259,7316,0.00,0.10,0.00,0.000,4356,0.000,0.092,2931,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7416,0.72,136.3,2931,4095,2223,2160,443.9,18.9,261,7420,0.00,0.22,0.00,0.000,5126,0.000,0.054,2931,2243,2191,2224,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7673,0.72,136.3,2931,2243,2223,2160,389.4,19.6,268,7677,0.00,0.17,0.00,0.000,4356,0.000,0.069,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8007,0.72,136.3,2931,4095,2223,2159,326.3,20.2,276,8011,0.00,0.20,0.00,0.000,5126,0.000,0.057,2931,2241,2191,2223,2159,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8274,0.72,136.3,2931,2241,2223,2160,273.3,18.7,283,8278,0.00,0.17,0.00,0.000,4356,0.000,0.069,2931,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8533,0.72,136.3,2931,4095,2223,2160,227.5,19.1,289,8537,0.00,0.17,0.00,0.000,5126,0.000,0.060,2931,2253,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8788,0.72,136.3,2931,2253,2223,2160,176.1,18.9,304,8794,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,2253,2191,2223,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9038,0.72,136.3,2931,2252,2223,2160,129.1,19.6,329,9041,0.00,0.15,0.00,0.000,4356,0.000,0.073,2932,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9409,0.72,136.3,2931,4095,2223,2160,62.1,16.0,361,9419,0.00,0.17,0.00,0.000,5126,0.000,0.060,2931,2253,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9676,0.72,136.3,2931,2254,2223,2160,18.4,18.6,390,9686,0.00,0.15,0.00,0.000,4356,0.000,0.070,2931,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,9756,end climb,SURFACE_DEPTH_REACHED
$STATE,9756,begin surface coast
$FINISH,1.2,3.242186
$STATE,9771,end surface coast,CONTROL_FINISHED_OK
$STATE,9772,begin surface
$SM_CCo,9786,118.20,0.656,0,0,1172,390.02
$SM_GC,2.13,6.93,0.20,118.20,0.028,0.054,0.656,198,2237,1172,-7.71,0.68,390.02,0,0,0,0,0,0,26.65,26.73,24.89
$IRIDIUM_FIX,3417.32,-15807.06,140309,111142
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.98
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,17.70
$XPDR_PINGS,342
$24V_AH,24.1,22.690
$10V_AH,10.3,12.835
$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,17.250,21.675,238.975,118.200,0.000,25.478,49.780,224.803,85.500,0.000,7.301,1287.697,6002.146,411.352,2522.342,105.347,0.000,1311.044,0.000,1836.619,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,110.160,1102.365,655.605,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,294.992,178.150,348.847,315.865,654.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353084
$DATA_FILE_SIZE,33833,403
$CAP_FILE_SIZE,100159,0
$CFSIZE,259248128,249970688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,180516,032546,3430.779,-15802.079,15,1.4,16,11.2