version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 13
start: 4 28 116 7 2 23
data:
$ID,512
$MISSION,7
$DIVE,13
$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,-129395.41
$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,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,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$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
$GPS1,280416,065033,3635.886,-15758.174,14,1.2,14,11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.7
$GPS2,280416,070128,3636.038,-15758.285,8,1.5,8,11.5
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.125,-0.207
$KALMAN_X,6836.7,-153.6,-170.3,-3403.7,2269.7
$KALMAN_Y,21350.4,-3213.8,-127.1,-14633.7,14562.4
$MHEAD_RNG_PITCHd_Wd,199.6,1539083,-19.8,-10.000,-22.43,1914
$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,-0.86,-124.9,158,2616,1019,1144,0.0,0.0,0,96,0.00,0.00,-78.28,0.000,16386,0.000,0.000,155,2635,2966,2943,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.86,-126.5,155,2633,2943,2990,3.4,-3.2,9,127,8.80,2.22,-8.02,0.000,18948,0.228,0.060,2379,1198,3280,3271,3289,0,0,1,0,0,0,25.85,26.04,26.37
$GC,388,-0.86,-126.5,2378,1197,3273,3288,84.9,-28.9,38,392,0.00,2.20,0.00,0.000,3078,0.000,0.057,2370,2595,3280,3273,3288,0,0,0,0,0,0,28.83,26.28,28.83
$GC,633,-0.86,-126.5,2370,2594,3273,3288,155.3,-28.8,62,637,0.00,2.15,0.00,0.000,2564,0.000,0.048,2370,1194,3280,3273,3288,0,0,0,0,0,0,28.83,26.40,28.83
$GC,704,-0.86,-126.5,2370,1194,3273,3288,175.6,-28.4,68,709,0.10,2.20,0.00,0.000,3078,0.184,0.057,2381,2600,3281,3274,3288,0,0,0,0,0,0,26.31,26.41,28.83
$GC,959,-0.86,-126.5,2381,2599,3274,3288,244.7,-27.2,81,963,0.00,2.15,0.00,0.000,2564,0.000,0.048,2381,1197,3281,3274,3288,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1039,-0.86,-126.5,2381,1197,3274,3289,265.2,-27.3,83,1043,0.00,2.20,0.00,0.000,3078,0.000,0.056,2372,2605,3281,3274,3288,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1310,-0.86,-126.5,2372,2603,3275,3288,341.7,-27.7,90,1314,0.00,2.15,0.00,0.000,2564,0.000,0.047,2372,1197,3281,3274,3288,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1393,-0.86,-126.5,2372,1197,3275,3288,362.8,-27.7,92,1398,0.05,2.22,0.00,0.000,3078,0.168,0.056,2378,2606,3281,3275,3288,0,0,1,0,0,0,26.47,26.58,28.83
$GC,1665,-0.86,-126.5,2377,2603,3275,3288,436.3,-26.1,99,1669,0.00,2.15,0.00,0.000,2564,0.000,0.047,2378,1192,3281,3275,3288,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1764,-0.86,-126.5,2377,1192,3275,3288,456.0,-25.9,101,1768,0.00,2.22,0.00,0.000,3078,0.000,0.057,2369,2602,3281,3275,3288,0,0,1,0,0,0,28.83,26.63,28.83
$GC,2021,-0.86,-126.5,2369,2600,3275,3288,529.3,-26.2,108,2025,0.00,2.15,0.00,0.000,2564,0.000,0.048,2369,1189,3281,3274,3288,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2044,-0.86,-126.5,2369,1189,3275,3288,529.3,-26.2,108,2049,0.05,2.22,0.00,0.000,3078,0.170,0.057,2375,2604,3281,3275,3288,0,0,1,0,0,0,26.55,26.66,28.83
$GC,2296,-0.86,-126.5,2375,2601,3274,3288,599.6,-25.3,115,2300,0.00,2.15,0.00,0.000,2564,0.000,0.047,2375,1189,3281,3275,3288,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2412,-0.86,-126.5,2374,1189,3274,3288,628.1,-24.8,118,2417,0.05,2.20,0.00,0.000,3078,0.229,0.057,2376,2603,3281,3275,3287,0,0,0,0,0,0,26.60,26.68,28.83
$GC,2688,-0.86,-126.5,2375,2602,3274,3287,693.3,-23.4,125,2692,0.00,2.15,0.00,0.000,2564,0.000,0.048,2376,1188,3281,3274,3288,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2804,-0.86,-126.5,2376,1188,3275,3287,719.5,-22.9,128,2808,0.00,2.20,0.00,0.000,3078,0.000,0.058,2366,2603,3281,3275,3287,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3079,-0.86,-126.5,2366,2602,3275,3287,781.3,-22.2,135,3084,0.03,2.15,0.00,0.000,2564,0.280,0.047,2379,1190,3280,3274,3286,0,0,0,0,0,0,26.78,26.74,28.83
$GC,3155,-0.86,-126.5,2379,1190,3275,3286,797.4,-21.6,137,3160,0.00,2.20,0.00,0.000,3078,0.000,0.058,2370,2605,3280,3274,3286,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3431,-0.86,-126.5,2369,2602,3274,3285,856.8,-21.8,144,3435,0.00,2.15,0.00,0.000,2564,0.000,0.050,2370,1192,3279,3274,3285,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3455,-0.86,-126.5,2370,1192,3274,3285,856.8,-21.8,144,3460,0.05,2.22,0.00,0.000,3078,0.163,0.059,2375,2600,3279,3274,3285,0,0,1,0,0,0,26.65,26.74,28.83
$STATE,3665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3666,begin apogee
$GC,3669,-0.18,0.0,2376,2284,3274,3284,907.2,-21.0,150,3787,0.70,0.00,109.43,1.105,10246,0.139,0.000,2596,2284,2761,2769,2754,0,0,0,0,0,0,26.65,28.83,24.20
$STATE,3788,end apogee,CONTROL_FINISHED_OK
$STATE,3788,begin climb
$GC,3789,0.86,126.5,2597,2283,2769,2754,913.9,0.0,153,3912,0.98,2.50,115.30,1.052,10500,0.077,0.074,2930,3703,2247,2268,2226,0,0,0,0,0,0,25.06,24.70,23.98
$GC,3944,0.86,126.5,2930,3703,2265,2223,894.7,14.7,157,3948,0.00,2.30,0.00,0.000,5126,0.000,0.051,2939,2316,2243,2264,2223,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4220,0.86,126.5,2939,2297,2261,2218,834.2,21.3,164,4224,0.00,2.33,0.00,0.000,4356,0.000,0.074,2939,3704,2239,2261,2218,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4248,0.86,126.5,2939,3704,2260,2218,834.2,21.3,164,4256,0.00,2.30,0.00,0.000,5126,0.000,0.053,2948,2305,2239,2260,2218,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4495,0.86,126.5,2949,2284,2258,2217,772.7,22.0,171,4500,0.00,2.33,0.00,0.000,4356,0.000,0.073,2950,3712,2237,2258,2217,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4531,0.86,126.5,2949,3712,2258,2217,764.2,22.5,172,4536,0.10,2.25,0.00,0.000,5126,0.194,0.054,2939,2301,2237,2258,2217,0,0,0,0,0,0,26.13,26.25,28.83
$GC,4808,0.86,126.5,2939,2280,2257,2216,704.8,21.5,179,4809,0.00,0.00,0.00,0.000,4102,0.000,0.000,2939,2279,2236,2257,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5048,0.86,126.5,2939,2279,2257,2216,653.1,21.7,185,5052,0.00,2.17,0.00,0.000,4612,0.000,0.060,2948,897,2236,2257,2216,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5083,0.86,126.5,2948,897,2256,2216,645.6,21.5,186,5087,0.00,2.22,0.00,0.000,5126,0.000,0.058,2944,2300,2236,2256,2216,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5359,0.86,126.5,2943,2299,2256,2215,584.6,22.3,193,5360,0.00,0.00,0.00,0.000,4102,0.000,0.000,2944,2299,2235,2255,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5599,0.86,126.5,2943,2299,2255,2215,531.7,22.0,199,5603,0.00,2.22,0.00,0.000,4612,0.000,0.058,2953,886,2235,2255,2215,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5638,0.86,126.5,2952,886,2254,2215,523.5,22.3,200,5642,0.03,2.28,0.00,0.000,5126,0.184,0.057,2943,2302,2234,2254,2215,0,0,1,0,0,0,26.49,26.56,28.83
$GC,5914,0.86,126.5,2943,2301,2254,2215,461.1,22.4,207,5919,0.00,2.22,0.00,0.000,4356,0.000,0.072,2944,3707,2234,2254,2215,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5950,0.86,126.5,2943,3707,2253,2215,453.1,22.3,208,5955,0.08,2.20,0.00,0.000,5126,0.202,0.051,2939,2295,2234,2253,2215,0,0,0,0,0,0,26.51,26.62,28.83
$GC,6227,0.86,126.5,2939,2274,2253,2215,396.7,19.7,215,6231,0.00,2.15,0.00,0.000,4612,0.000,0.059,2949,894,2234,2253,2215,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6262,0.86,126.5,2948,894,2252,2215,389.4,19.8,216,6266,0.00,2.22,0.00,0.000,5126,0.000,0.057,2943,2308,2233,2252,2215,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6538,0.86,126.5,2943,2306,2252,2215,334.6,19.8,223,6542,0.00,2.20,0.00,0.000,4612,0.000,0.057,2953,899,2233,2252,2215,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6567,0.86,126.5,2952,899,2252,2215,334.6,19.8,223,6575,0.03,2.22,0.00,0.000,5126,0.185,0.055,2943,2299,2233,2252,2215,0,0,1,0,0,0,26.58,26.67,28.83
$GC,6814,0.86,126.5,2943,2298,2252,2216,281.5,19.0,230,6818,0.00,2.22,0.00,0.000,4356,0.000,0.070,2943,3713,2233,2252,2215,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6837,0.86,126.5,2943,3713,2252,2215,281.5,19.0,230,6842,0.03,2.22,0.00,0.000,5126,0.198,0.049,2945,2309,2233,2251,2215,0,0,0,0,0,0,26.59,26.70,28.83
$GC,7089,0.86,126.5,2945,2286,2252,2215,228.0,19.3,237,7090,0.00,0.00,0.00,0.000,4102,0.000,0.000,2945,2286,2233,2252,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7329,0.86,126.5,2945,2286,2252,2215,181.2,19.6,249,7333,0.00,2.15,0.00,0.000,4612,0.000,0.054,2954,884,2233,2251,2215,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7348,0.86,126.5,2954,884,2251,2216,178.0,19.6,250,7357,0.03,2.20,0.00,0.000,5126,0.191,0.054,2946,2308,2233,2251,2215,0,0,0,0,0,0,26.63,26.72,28.83
$GC,7598,0.86,126.5,2945,2307,2251,2215,129.5,18.7,275,7604,0.00,0.00,0.00,0.000,4102,0.000,0.000,2946,2307,2233,2251,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7845,0.86,126.5,2946,2307,2251,2215,81.6,19.2,300,7846,0.00,0.00,0.00,0.000,4102,0.000,0.000,2946,2307,2233,2251,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8088,0.86,126.5,2946,2307,2251,2215,35.5,17.7,324,8099,0.00,2.17,0.00,0.000,4612,0.000,0.054,2955,886,2233,2251,2215,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,8257,end climb,SURFACE_DEPTH_REACHED
$STATE,8257,begin surface coast
$FINISH,0.9,1.025730
$STATE,8273,end surface coast,CONTROL_FINISHED_OK
$STATE,8273,begin surface
$SM_CCo,8289,123.00,0.666,0,0,1089,410.13
$SM_GC,2.22,7.03,2.75,123.00,0.034,0.057,0.666,201,2595,1089,-7.62,-0.71,410.13,0,0,1,0,0,0,26.77,26.72,24.84
$IRIDIUM_FIX,3621.56,-15804.94,220209,202005
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.56
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,24.0,2.735
$10V_AH,10.3,3.103
$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,18.100,94.000,224.725,123.000,0.000,50.564,98.386,234.386,0.500,0.000,9.284,1034.163,5681.599,442.124,1864.427,58.101,33.238,1027.004,0.000,1033.700,0.000,0.540,0.000
$DEVICE_MAMPS,279.990,74.205,1104.660,665.550,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,248.019,150.223,302.710,272.807,565.323,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353148
$DATA_FILE_SIZE,30521,348
$CAP_FILE_SIZE,88503,0
$CFSIZE,259248128,257888256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,2,0
$GPS,280416,092349,3635.890,-15758.559,39,0.7,39,11.5