version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 182
start: 5 19 116 0 59 16
data:
$ID,512
$MISSION,7
$DIVE,182
$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,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130113
$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,82
$R_STBD_OVSHOOT,43
$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
$GPS1,190516,002455,3425.382,-15754.523,34,1.1,34,11.3
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-69.3
$GPS2,190516,005836,3425.711,-15754.095,6,1.1,6,11.3
$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,169.1,1297756,-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,16,-0.72,-136.3,159,2323,446,551,0.0,0.0,0,105,0.00,0.00,-87.20,0.000,16386,0.000,0.000,157,2348,2782,2764,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.72,-136.3,157,2351,2764,2802,3.1,-2.0,10,145,9.00,2.20,-15.12,0.000,18948,0.221,0.056,2451,937,3319,3320,3318,0,0,0,0,0,0,25.79,26.10,26.41
$GC,230,-0.72,-136.3,2450,937,3320,3318,26.7,-21.0,26,240,0.00,2.15,0.00,0.000,3078,0.000,0.042,2442,2296,3319,3320,3318,0,0,0,0,0,0,28.83,26.21,28.83
$GC,488,-0.72,-136.3,2442,2296,3320,3318,89.0,-23.8,52,491,0.00,0.10,0.00,0.000,2308,0.000,0.093,2441,4095,3319,3320,3318,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1037,-0.72,-136.3,2441,4095,3321,3318,206.7,-21.5,99,1041,0.05,0.22,0.00,0.000,3078,0.209,0.050,2452,2237,3319,3320,3318,0,0,0,0,0,0,26.43,26.57,28.83
$GC,1294,-0.72,-136.3,2452,2237,3321,3318,260.2,-18.5,106,1298,0.00,0.20,0.00,0.000,2308,0.000,0.063,2452,4095,3319,3321,3318,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1797,-0.72,-136.3,2452,4095,3319,3318,349.5,-18.4,118,1801,0.00,0.20,0.00,0.000,3078,0.000,0.054,2452,2243,3318,3319,3318,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2054,-0.72,-136.3,2451,2243,3318,3318,400.1,-18.2,125,2058,0.00,0.20,0.00,0.000,2308,0.000,0.062,2452,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2363,-0.72,-136.3,2451,4095,3317,3316,451.2,-18.1,132,2367,0.00,0.20,0.00,0.000,3078,0.000,0.055,2451,2252,3316,3317,3316,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2615,-0.72,-136.3,2451,2252,3317,3316,502.1,-17.9,139,2619,0.00,0.17,0.00,0.000,2308,0.000,0.069,2451,4095,3316,3317,3316,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2815,-0.72,-136.3,2452,4095,3316,3315,537.7,-17.7,144,2819,0.00,0.17,0.00,0.000,3078,0.000,0.059,2451,2244,3315,3316,3315,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3096,-0.72,-136.3,2451,2244,3316,3314,585.9,-17.1,151,3099,0.00,0.20,0.00,0.000,2308,0.000,0.063,2451,4095,3314,3315,3314,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3594,-0.72,-136.3,2451,4095,3314,3312,667.1,-16.9,163,3598,0.00,0.20,0.00,0.000,3078,0.000,0.056,2451,2252,3313,3314,3312,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3856,-0.72,-136.3,2451,2252,3313,3311,713.7,-16.5,170,3860,0.00,0.17,0.00,0.000,2308,0.000,0.071,2451,4095,3312,3313,3311,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4180,-0.72,-136.3,2451,4095,3312,3309,763.9,-15.6,178,4183,0.00,0.20,0.00,0.000,3078,0.000,0.057,2451,2244,3310,3312,3309,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4457,-0.72,-136.3,2451,2244,3311,3308,806.6,-15.4,185,4460,0.00,0.20,0.00,0.000,2308,0.000,0.065,2450,4095,3309,3311,3308,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4961,-0.72,-136.3,2450,4095,3308,3305,879.4,-14.9,197,4964,0.00,0.20,0.00,0.000,3078,0.000,0.058,2451,2252,3307,3309,3305,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,5096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5096,begin apogee
$GC,5100,-0.17,0.0,2450,2253,3308,3305,903.0,-14.7,201,5218,0.55,0.00,114.78,1.111,10246,0.120,0.000,2629,2252,2762,2778,2746,0,0,0,0,0,0,26.52,28.83,24.41
$STATE,5219,end apogee,CONTROL_FINISHED_OK
$STATE,5219,begin climb
$GC,5221,0.72,136.3,2629,2252,2777,2746,907.8,0.0,204,5352,0.77,2.20,122.95,1.051,10756,0.050,0.045,2926,924,2205,2237,2174,0,0,0,0,0,0,25.20,24.87,24.18
$GC,5468,0.72,136.3,2926,924,2229,2169,874.2,19.9,210,5472,0.00,2.20,0.00,0.000,1030,0.000,0.047,2919,2284,2199,2229,2169,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5729,0.72,136.3,2919,2283,2225,2167,813.1,22.3,217,5733,0.00,0.12,0.00,0.000,260,0.000,0.088,2917,4095,2196,2226,2166,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6043,0.72,136.3,2918,4095,2223,2166,750.7,22.2,224,6050,0.00,0.20,0.00,0.000,1030,0.000,0.057,2918,2253,2194,2223,2166,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6290,0.72,136.3,2918,2253,2222,2165,689.8,21.5,231,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2253,2193,2222,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6530,0.72,136.3,2918,2253,2221,2165,639.3,21.0,237,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2253,2192,2221,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6770,0.72,136.3,2918,2253,2220,2164,590.5,20.3,243,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2253,2192,2220,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7010,0.72,136.3,2918,2253,2220,2164,541.5,20.5,249,7013,0.00,0.17,0.00,0.000,260,0.000,0.074,2918,4095,2191,2219,2164,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7124,0.72,136.3,2918,4095,2220,2164,525.8,20.1,251,7130,0.00,0.20,0.00,0.000,1030,0.000,0.057,2918,2243,2191,2219,2164,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7370,0.72,136.3,2918,2244,2219,2164,474.2,18.1,258,7374,0.00,0.20,0.00,0.000,260,0.000,0.069,2918,4095,2191,2219,2164,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7451,0.72,136.3,2918,4095,2219,2164,459.4,18.1,260,7454,0.00,0.17,0.00,0.000,1030,0.000,0.061,2918,2246,2191,2219,2164,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7731,0.72,136.3,2918,2246,2219,2164,409.1,17.7,267,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2246,2191,2218,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7971,0.72,136.3,2918,2246,2218,2164,364.6,18.4,273,7974,0.00,0.20,0.00,0.000,260,0.000,0.071,2918,4095,2191,2218,2164,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8474,0.72,136.3,2918,4095,2218,2163,274.3,18.6,285,8478,0.00,0.20,0.00,0.000,1030,0.000,0.057,2918,2241,2191,2218,2164,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8731,0.72,136.3,2918,2241,2218,2164,225.3,17.3,292,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2241,2191,2218,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8976,0.72,136.3,2917,2241,2217,2164,181.6,17.9,304,8979,0.00,0.20,0.00,0.000,260,0.000,0.067,2918,4095,2190,2218,2163,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9208,0.72,136.3,2918,4095,2217,2164,138.9,18.0,325,9215,0.00,0.20,0.00,0.000,1030,0.000,0.054,2919,2242,2190,2217,2164,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9456,0.72,136.3,2918,2242,2218,2164,94.5,17.0,350,9459,0.00,0.20,0.00,0.000,260,0.000,0.067,2918,4095,2190,2217,2164,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,10029,end climb,SURFACE_DEPTH_REACHED
$STATE,10029,begin surface coast
$FINISH,1.5,2.791395
$STATE,10051,end surface coast,CONTROL_FINISHED_OK
$STATE,10051,begin surface
$SM_CCo,10065,110.35,0.643,0,0,1171,390.02
$SM_GC,2.10,6.85,0.20,110.35,0.027,0.054,0.643,189,2242,1171,-7.73,0.85,390.02,0,0,0,0,0,0,26.65,26.74,24.98
$IRIDIUM_FIX,3412.10,-15756.38,150309,141423
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.57
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.40
$XPDR_PINGS,353
$24V_AH,24.2,23.812
$10V_AH,10.3,13.422
$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,17.225,13.775,237.725,110.350,0.000,106.035,199.981,1381.295,88.250,0.000,7.266,1297.546,6442.147,407.912,3917.848,157.362,0.000,1312.150,0.000,1843.819,0.000,0.545,0.000
$DEVICE_MAMPS,221.085,94.095,1110.780,642.600,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,289.054,180.286,353.019,320.101,663.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353004
$DATA_FILE_SIZE,37139,411
$CAP_FILE_SIZE,117170,0
$CFSIZE,259248128,249540608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190516,035001,3424.927,-15753.164,32,0.8,32,11.3