version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 14
start: 4 28 116 9 35 20
data:
$ID,512
$MISSION,7
$DIVE,14
$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,-129396.66
$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,31
$R_STBD_OVSHOOT,16
$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
$GPS1,280416,092349,3635.890,-15758.559,39,0.7,39,11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-74.4
$GPS2,280416,093424,3636.030,-15758.588,6,1.0,7,11.5
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.001,-0.244
$KALMAN_X,9584.1,-1554.3,250.9,-5627.5,5338.3
$KALMAN_Y,21873.3,-586.1,-193.8,-17728.7,11659.5
$MHEAD_RNG_PITCHd_Wd,168.8,1539068,-19.6,-10.000,-22.31,1939
$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,-0.86,-126.5,184,2600,1021,1142,0.0,0.0,0,96,0.00,0.00,-78.40,0.000,16386,0.000,0.000,183,2609,2959,2938,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.86,-126.5,182,2619,2938,2981,3.2,-2.6,9,126,8.57,2.20,-8.48,0.000,18948,0.223,0.062,2379,1195,3279,3272,3287,0,0,1,0,0,0,25.87,26.05,26.38
$GC,229,-0.86,-126.5,2379,1195,3273,3288,37.9,-27.3,25,241,0.00,2.22,0.00,0.000,3078,0.000,0.056,2370,2608,3280,3273,3287,0,0,0,0,0,0,28.83,26.17,28.83
$GC,478,-0.86,-126.5,2370,2607,3273,3287,110.1,-29.5,50,482,0.00,2.17,0.00,0.000,2564,0.000,0.047,2370,1192,3280,3273,3287,0,0,0,0,0,0,28.83,26.33,28.83
$GC,541,-0.86,-126.5,2370,1192,3273,3287,127.6,-28.5,55,551,0.05,2.22,0.00,0.000,3078,0.170,0.056,2376,2602,3280,3273,3287,0,0,0,0,0,0,26.25,26.35,28.83
$GC,789,-0.86,-126.5,2376,2601,3274,3287,194.7,-26.6,80,793,0.00,2.17,0.00,0.000,2564,0.000,0.048,2376,1183,3280,3274,3287,0,0,0,0,0,0,28.83,26.44,28.83
$GC,850,-0.86,-126.5,2376,1183,3274,3287,204.9,-26.1,83,854,0.00,2.25,0.00,0.000,3078,0.000,0.056,2367,2603,3280,3273,3287,0,0,1,0,0,0,28.83,26.46,28.83
$GC,1107,-0.86,-126.5,2366,2602,3275,3287,280.5,-27.3,90,1112,0.05,2.17,0.00,0.000,2564,0.236,0.046,2377,1181,3281,3275,3287,0,0,0,0,0,0,26.57,26.53,28.83
$GC,1151,-0.86,-126.5,2377,1181,3275,3287,290.2,-27.3,91,1155,0.00,2.25,0.00,0.000,3078,0.000,0.056,2367,2601,3281,3275,3287,0,0,1,0,0,0,28.83,26.53,28.83
$GC,1423,-0.86,-126.5,2367,2600,3275,3287,366.3,-27.2,98,1427,0.00,2.15,0.00,0.000,2564,0.000,0.047,2368,1190,3281,3275,3287,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1472,-0.86,-126.5,2367,1191,3275,3287,376.0,-27.0,99,1477,0.05,2.22,0.00,0.000,3078,0.168,0.057,2374,2595,3281,3275,3287,0,0,1,0,0,0,26.48,26.58,28.83
$GC,1739,-0.86,-126.5,2374,2593,3275,3287,446.9,-25.1,106,1743,0.00,2.15,0.00,0.000,2564,0.000,0.048,2374,1183,3281,3275,3287,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1868,-0.86,-126.5,2374,1183,3275,3287,476.0,-25.1,109,1873,0.08,2.20,0.00,0.000,3078,0.199,0.057,2380,2602,3281,3275,3287,0,0,1,0,0,0,26.54,26.64,28.83
$GC,2130,-0.86,-126.5,2379,2601,3275,3287,541.9,-23.9,116,2134,0.00,2.15,0.00,0.000,2564,0.000,0.048,2379,1192,3281,3275,3287,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2223,-0.86,-126.5,2379,1191,3274,3286,559.9,-24.0,118,2227,0.00,2.22,0.00,0.000,3078,0.000,0.057,2370,2602,3281,3275,3287,0,0,1,0,0,0,28.83,26.67,28.83
$GC,2485,-0.86,-126.5,2370,2601,3275,3287,625.4,-23.5,125,2489,0.00,2.15,0.00,0.000,2564,0.000,0.048,2370,1189,3281,3275,3287,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2614,-0.86,-126.5,2370,1190,3275,3286,652.7,-23.4,128,2619,0.10,2.17,0.00,0.000,3078,0.178,0.058,2382,2600,3280,3275,3286,0,0,1,0,0,0,26.60,26.70,28.83
$GC,2881,-0.86,-126.5,2382,2598,3275,3286,714.9,-22.0,135,2882,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2598,3280,3275,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,-0.86,-126.5,2383,2598,3275,3285,769.1,-22.7,141,3125,0.00,2.15,0.00,0.000,2564,0.000,0.050,2382,1191,3279,3275,3284,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3164,-0.86,-126.5,2382,1191,3275,3285,777.4,-22.9,142,3169,0.00,2.22,0.00,0.000,3078,0.000,0.060,2373,2594,3279,3275,3284,0,0,1,0,0,0,28.83,26.73,28.83
$GC,3436,-0.86,-126.5,2373,2592,3276,3283,842.6,-23.2,149,3440,0.00,2.15,0.00,0.000,2564,0.000,0.051,2374,1189,3279,3275,3283,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3490,-0.86,-126.5,2373,1189,3275,3283,850.9,-23.1,150,3495,0.05,2.25,0.00,0.000,3078,0.169,0.061,2379,2602,3278,3274,3283,0,0,1,0,0,0,26.64,26.74,28.83
$STATE,3711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3711,begin apogee
$GC,3715,-0.18,0.0,2380,2272,3275,3281,901.1,-20.5,156,3832,0.70,0.00,109.60,1.104,10246,0.137,0.000,2601,2272,2761,2769,2754,0,0,0,0,0,0,26.66,28.83,24.19
$STATE,3833,end apogee,CONTROL_FINISHED_OK
$STATE,3833,begin climb
$GC,3835,0.86,126.5,2601,2272,2769,2754,906.2,0.0,159,3960,1.00,2.60,116.53,1.055,10500,0.073,0.076,2938,3704,2244,2265,2223,0,0,0,0,0,0,25.06,24.70,23.98
$GC,3992,0.86,126.5,2938,3704,2263,2222,884.1,16.7,163,3996,0.00,2.33,0.00,0.000,5126,0.000,0.052,2949,2310,2242,2263,2222,0,0,0,0,0,0,28.83,25.19,28.83
$GC,4268,0.86,126.5,2949,2290,2259,2216,816.1,24.1,170,4269,0.00,0.00,0.00,0.000,4102,0.000,0.000,2949,2290,2237,2259,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4508,0.86,126.5,2949,2290,2257,2215,759.9,23.3,176,4512,0.00,2.33,0.00,0.000,4356,0.000,0.075,2949,3710,2236,2257,2215,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4543,0.86,126.5,2949,3710,2257,2216,751.2,23.4,177,4548,0.10,2.28,0.00,0.000,5126,0.190,0.056,2939,2292,2235,2256,2215,0,0,0,0,0,0,26.10,26.22,28.83
$GC,4820,0.86,126.5,2939,2273,2255,2215,692.1,20.8,184,4824,0.00,2.35,0.00,0.000,4356,0.000,0.076,2931,3710,2235,2256,2215,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4869,0.86,126.5,2930,3709,2255,2215,684.4,20.7,185,4873,0.00,2.30,0.00,0.000,5126,0.000,0.056,2940,2302,2235,2255,2215,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5136,0.86,126.5,2940,2281,2255,2214,628.6,19.7,192,5140,0.00,2.30,0.00,0.000,4356,0.000,0.074,2940,3707,2234,2255,2214,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5164,0.86,126.5,2940,3707,2254,2214,628.6,19.7,192,5172,0.03,2.28,0.00,0.000,5126,0.194,0.054,2943,2301,2233,2253,2214,0,0,0,0,0,0,26.37,26.46,28.83
$GC,5411,0.86,126.5,2943,2280,2254,2213,574.5,19.5,199,5415,0.00,2.20,0.00,0.000,4612,0.000,0.061,2952,890,2233,2253,2213,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5500,0.86,126.5,2952,890,2252,2213,559.5,19.8,201,5504,0.00,2.28,0.00,0.000,5126,0.000,0.059,2949,2306,2233,2252,2214,0,0,1,0,0,0,28.83,26.52,28.83
$GC,5767,0.86,126.5,2948,2305,2252,2213,505.2,19.4,208,5768,0.00,0.00,0.00,0.000,4102,0.000,0.000,2949,2305,2232,2251,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,0.86,126.5,2948,2305,2251,2212,457.6,19.7,214,6011,0.00,2.22,0.00,0.000,4612,0.000,0.058,2958,885,2232,2252,2212,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6061,0.86,126.5,2958,886,2251,2212,450.3,19.6,215,6066,0.05,2.28,0.00,0.000,5126,0.164,0.058,2940,2306,2231,2251,2212,0,0,1,0,0,0,26.51,26.61,28.83
$GC,6323,0.86,126.5,2940,2305,2251,2212,393.8,20.1,222,6327,0.00,2.22,0.00,0.000,4612,0.000,0.057,2950,879,2231,2251,2212,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6386,0.86,126.5,2950,879,2251,2212,386.7,20.3,223,6391,0.00,2.28,0.00,0.000,5126,0.000,0.057,2943,2305,2231,2251,2212,0,0,1,0,0,0,28.83,26.64,28.83
$GC,6638,0.86,126.5,2943,2304,2251,2212,332.2,19.4,230,6639,0.00,0.00,0.00,0.000,4102,0.000,0.000,2943,2304,2231,2251,2212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6878,0.86,126.5,2943,2304,2250,2213,286.2,19.0,236,6880,0.00,0.00,0.00,0.000,4102,0.000,0.000,2943,2304,2231,2250,2212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7118,0.86,126.5,2943,2304,2251,2212,240.4,19.2,242,7122,0.00,2.22,0.00,0.000,4356,0.000,0.070,2943,3717,2231,2251,2212,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7137,0.86,126.5,2943,3717,2250,2213,240.4,19.2,242,7142,0.03,2.28,0.00,0.000,5126,0.200,0.048,2945,2284,2231,2250,2213,0,0,0,0,0,0,26.61,26.72,28.83
$GC,7384,0.86,126.5,2945,2264,2250,2212,189.2,19.0,251,7385,0.00,0.00,0.00,0.000,4102,0.000,0.000,2945,2264,2231,2250,2212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7627,0.86,126.5,2945,2264,2251,2213,142.7,18.9,275,7636,0.00,2.25,0.00,0.000,4356,0.000,0.067,2945,3707,2231,2250,2212,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7660,0.86,126.5,2945,3707,2250,2213,135.6,19.9,278,7664,0.08,2.17,0.00,0.000,5126,0.204,0.049,2940,2304,2231,2250,2213,0,0,0,0,0,0,26.63,26.74,28.83
$GC,7905,0.86,126.5,2940,2278,2250,2213,89.2,18.5,302,7906,0.00,0.00,0.00,0.000,4102,0.000,0.000,2941,2278,2231,2250,2212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8148,0.86,126.5,2940,2278,2250,2213,42.7,19.6,326,8159,0.00,2.25,0.00,0.000,4356,0.000,0.071,2933,3710,2231,2250,2213,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8335,0.86,126.5,2933,3710,2250,2213,3.2,23.7,349,8345,0.00,2.22,0.00,0.000,5126,0.000,0.049,2943,2294,2230,2250,2210,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,8352,end climb,SURFACE_DEPTH_REACHED
$STATE,8352,begin surface coast
$FINISH,0.8,1.019841
$STATE,8374,end surface coast,CONTROL_FINISHED_OK
$STATE,8375,begin surface
$SM_CCo,8388,122.57,0.668,0,0,1090,410.13
$SM_GC,2.14,6.90,0.57,122.57,0.024,0.070,0.668,190,2608,1090,-7.63,-0.51,410.13,0,0,0,0,0,0,26.79,26.74,24.84
$IRIDIUM_FIX,3621.56,-15756.46,220209,222224
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.88
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,24.0,2.851
$10V_AH,10.3,3.158
$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,17.825,90.575,226.125,122.575,0.000,57.348,101.090,289.735,0.500,0.000,8.306,1043.346,5768.423,464.105,1822.779,60.294,33.224,1032.042,0.000,1006.297,0.000,0.539,0.000
$DEVICE_MAMPS,235.620,76.500,1103.895,667.845,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,262.830,152.923,308.263,281.363,583.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353116
$DATA_FILE_SIZE,30584,354
$CAP_FILE_SIZE,88176,0
$CFSIZE,259248128,257839104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,2,0
$GPS,280416,115803,3635.515,-15757.862,18,1.5,18,11.5