version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 11
start: 4 28 116 1 52 7
data:
$ID,512
$MISSION,7
$DIVE,11
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52650
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,410
$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,-129376.55
$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,2660
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,2250
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2772
$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
$GPS1,280416,014628,3637.062,-15757.072,5,1.0,5,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-73.0
$GPS2,280416,015111,3637.058,-15757.088,6,1.1,7,11.5
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.118,-0.210
$KALMAN_X,4920.3,1015.3,678.4,-1717.7,2140.3
$KALMAN_Y,11391.4,1660.8,-641.9,-7141.0,9134.8
$MHEAD_RNG_PITCHd_Wd,197.9,1540978,-19.9,-10.000,-22.56,1886
$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,14,-0.86,-123.1,189,2294,984,1122,0.0,0.0,0,104,0.00,0.00,-87.57,0.000,16386,0.000,0.000,189,2296,3208,3184,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.87,-126.5,188,2309,3184,3232,3.6,-3.8,10,126,8.68,2.28,-1.80,0.000,18948,0.229,0.060,2383,866,3286,3271,3302,0,0,0,0,0,0,25.89,26.09,26.35
$GC,459,-0.87,-126.5,2383,866,3273,3301,104.9,-26.4,43,468,0.00,2.17,0.00,0.000,3078,0.000,0.054,2374,2259,3287,3275,3300,0,0,0,0,0,0,28.83,26.35,28.83
$GC,707,-0.87,-126.5,2374,2259,3276,3298,172.1,-26.3,68,708,0.00,0.00,0.00,0.000,2054,0.000,0.000,2374,2259,3287,3276,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,976,-0.87,-126.5,2374,2259,3277,3298,242.5,-25.9,83,977,0.00,0.00,0.00,0.000,2054,0.000,0.000,2374,2259,3287,3277,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1216,-0.87,-126.5,2374,2259,3277,3298,303.9,-25.6,89,1220,0.00,2.22,0.00,0.000,2308,0.000,0.068,2363,3666,3287,3277,3298,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1235,-0.87,-126.5,2363,3666,3277,3298,303.9,-25.6,89,1239,0.00,2.22,0.00,0.000,3078,0.000,0.046,2366,2254,3287,3277,3298,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1492,-0.87,-126.5,2365,2237,3277,3298,376.4,-26.2,96,1493,0.00,0.00,0.00,0.000,2054,0.000,0.000,2366,2236,3287,3277,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1732,-0.87,-126.5,2366,2237,3277,3297,436.1,-24.8,102,1733,0.00,0.00,0.00,0.000,2054,0.000,0.000,2366,2236,3287,3277,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,-0.87,-126.5,2366,2237,3277,3297,495.7,-25.1,108,1976,0.00,2.25,0.00,0.000,2308,0.000,0.069,2357,3661,3287,3277,3297,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2051,-0.87,-126.5,2357,3660,3277,3297,515.4,-25.2,110,2056,0.05,2.20,0.00,0.000,3078,0.158,0.045,2374,2248,3287,3277,3297,0,0,0,0,0,0,26.60,26.70,28.83
$GC,2328,-0.87,-126.5,2373,2232,3277,3296,584.4,-24.7,117,2329,0.00,0.00,0.00,0.000,2054,0.000,0.000,2374,2232,3286,3277,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2568,-0.87,-126.5,2374,2232,3277,3295,643.8,-24.8,123,2572,0.00,2.25,0.00,0.000,2308,0.000,0.068,2365,3661,3286,3277,3295,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2643,-0.87,-126.5,2364,3660,3277,3295,662.6,-24.7,125,2648,0.05,2.15,0.00,0.000,3078,0.213,0.045,2376,2244,3286,3277,3295,0,0,0,0,0,0,26.67,26.74,28.83
$GC,2920,-0.87,-126.5,2376,2228,3277,3295,727.6,-23.4,132,2921,0.00,0.00,0.00,0.000,2054,0.000,0.000,2376,2228,3286,3278,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3160,-0.87,-126.5,2376,2228,3277,3294,782.8,-22.9,138,3164,0.00,2.12,0.00,0.000,2564,0.000,0.056,2379,846,3285,3277,3294,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3208,-0.87,-126.5,2378,847,3277,3294,790.6,-22.4,139,3212,0.00,2.22,0.00,0.000,3078,0.000,0.058,2370,2250,3286,3278,3294,0,0,1,0,0,0,28.83,26.77,28.83
$GC,3475,-0.87,-126.5,2369,2249,3277,3292,852.9,-22.3,146,3479,0.00,2.22,0.00,0.000,2308,0.000,0.071,2359,3667,3284,3277,3292,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3529,-0.87,-126.5,2358,3667,3277,3291,861.1,-22.5,147,3534,0.05,2.20,0.00,0.000,3078,0.161,0.048,2378,2258,3284,3277,3291,0,0,0,0,0,0,26.67,26.78,28.83
$STATE,3710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3710,begin apogee
$GC,3714,-0.18,0.0,2377,2325,3277,3290,904.4,-21.2,152,3825,0.70,0.00,108.22,1.105,10246,0.138,0.000,2598,2324,2772,2780,2764,0,0,0,0,0,0,26.67,28.83,24.24
$STATE,3826,end apogee,CONTROL_FINISHED_OK
$STATE,3826,begin climb
$GC,3827,0.87,126.5,2598,2324,2779,2764,909.4,0.0,154,3952,0.98,0.00,116.22,1.054,10246,0.077,0.000,2933,2324,2255,2275,2235,0,0,0,0,0,0,25.06,28.83,24.04
$GC,4191,0.87,126.5,2933,2324,2269,2227,845.7,22.1,164,4195,0.00,2.30,0.00,0.000,2564,0.000,0.061,2943,905,2247,2268,2227,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4235,0.87,126.5,2943,905,2267,2227,837.6,22.2,165,4239,0.00,2.28,0.00,0.000,5126,0.000,0.059,2943,2284,2247,2267,2227,0,0,1,0,0,0,28.83,25.98,28.83
$GC,4507,0.87,126.5,2943,2283,2266,2226,773.5,23.1,172,4511,0.00,2.30,0.00,0.000,4356,0.000,0.074,2943,3708,2246,2266,2226,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4550,0.87,126.5,2943,3708,2263,2226,764.7,23.3,173,4555,0.00,2.30,0.00,0.000,5126,0.000,0.054,2953,2302,2245,2264,2226,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4822,0.87,126.5,2953,2279,2263,2224,698.1,23.7,180,4824,0.00,0.00,0.00,0.000,4102,0.000,0.000,2953,2279,2243,2262,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5063,0.87,126.5,2953,2279,2262,2225,643.3,22.7,186,5067,0.00,2.17,0.00,0.000,4612,0.000,0.063,2963,893,2243,2262,2225,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5126,0.87,126.5,2963,892,2261,2225,635.2,22.8,187,5131,0.05,2.28,0.00,0.000,5126,0.172,0.060,2943,2301,2243,2261,2225,0,0,1,0,0,0,26.40,26.49,28.83
$GC,5378,0.87,126.5,2942,2300,2261,2224,576.1,21.0,194,5379,0.00,0.00,0.00,0.000,4102,0.000,0.000,2942,2300,2242,2261,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5618,0.87,126.5,2942,2300,2261,2224,524.0,21.7,200,5619,0.00,0.00,0.00,0.000,4102,0.000,0.000,2942,2300,2242,2261,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5858,0.87,126.5,2942,2300,2260,2223,473.8,21.0,206,5862,0.00,2.28,0.00,0.000,4356,0.000,0.075,2932,3713,2241,2260,2223,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5902,0.87,126.5,2932,3713,2259,2223,466.4,20.8,207,5906,0.00,2.28,0.00,0.000,5126,0.000,0.054,2941,2295,2241,2258,2224,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6174,0.87,126.5,2941,2277,2258,2224,409.2,20.3,214,6178,0.00,2.30,0.00,0.000,4356,0.000,0.074,2941,3714,2241,2258,2224,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6253,0.87,126.5,2941,3714,2258,2224,392.6,21.0,216,6257,0.00,2.25,0.00,0.000,5126,0.000,0.052,2952,2312,2240,2258,2223,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6530,0.87,126.5,2952,2286,2258,2224,335.9,20.2,223,6534,0.00,2.15,0.00,0.000,4612,0.000,0.056,2963,887,2241,2258,2224,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6549,0.87,126.5,2962,887,2258,2223,335.9,20.2,223,6553,0.10,2.20,0.00,0.000,5126,0.184,0.057,2941,2303,2240,2257,2224,0,0,1,0,0,0,26.58,26.67,28.83
$GC,6805,0.87,126.5,2940,2302,2258,2224,283.2,19.0,230,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2302,2240,2257,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7045,0.87,126.5,2940,2302,2257,2224,237.2,19.2,236,7049,0.00,2.20,0.00,0.000,4612,0.000,0.056,2950,881,2240,2257,2223,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7081,0.87,126.5,2949,881,2257,2224,230.2,19.4,237,7085,0.00,2.22,0.00,0.000,5126,0.000,0.054,2943,2309,2240,2257,2224,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7330,0.87,126.5,2943,2308,2257,2224,182.9,19.1,250,7338,0.00,2.17,0.00,0.000,4612,0.000,0.054,2953,891,2240,2257,2224,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7366,0.87,126.5,2952,891,2257,2224,176.7,18.5,253,7372,0.00,2.22,0.00,0.000,5126,0.000,0.055,2952,2311,2240,2257,2224,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7612,0.87,126.5,2952,2310,2257,2224,126.3,20.2,278,7613,0.00,0.00,0.00,0.000,4102,0.000,0.000,2952,2310,2240,2257,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7852,0.87,126.5,2952,2310,2257,2224,79.3,20.0,302,7856,0.00,2.20,0.00,0.000,4612,0.000,0.054,2962,881,2240,2257,2224,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7885,0.87,126.5,2962,881,2257,2224,73.7,19.9,304,7897,0.05,2.22,0.00,0.000,5126,0.164,0.054,2946,2296,2240,2257,2224,0,0,1,0,0,0,26.65,26.75,28.83
$GC,8140,0.87,126.5,2945,2296,2257,2224,27.1,18.8,330,8149,0.00,0.00,0.00,0.000,4102,0.000,0.000,2946,2296,2240,2257,2223,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8281,end climb,SURFACE_DEPTH_REACHED
$STATE,8281,begin surface coast
$FINISH,0.7,1.025714
$STATE,8304,end surface coast,CONTROL_FINISHED_OK
$STATE,8304,begin surface
$SM_CCo,8318,123.60,0.672,0,0,1100,410.13
$SM_GC,2.00,7.03,0.12,123.60,0.037,0.078,0.672,184,2210,1100,-7.65,0.79,410.13,0,0,0,0,0,0,26.80,26.85,24.84
$IRIDIUM_FIX,3621.56,-15758.95,220209,141431
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.02
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,24.0,2.504
$10V_AH,10.4,2.994
$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,17.725,67.100,224.450,123.600,0.000,29.788,48.006,132.799,0.250,0.000,8.273,1009.846,5778.799,464.118,1441.968,50.361,33.201,964.737,0.000,914.074,0.000,0.540,0.000
$DEVICE_MAMPS,228.735,89.505,1104.660,671.670,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,254.972,155.739,312.492,279.254,578.540,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353204
$DATA_FILE_SIZE,30530,353
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