version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 15
start: 4 28 116 12 4 7
data:
$ID,512
$MISSION,7
$DIVE,15
$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,-129397.91
$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,2655
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2550
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$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,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
$GPS1,280416,115803,3635.515,-15757.862,18,1.5,18,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-73.8
$GPS2,280416,120311,3635.581,-15757.838,9,1.5,9,11.5
$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,10422.6,-1253.7,65.2,-5459.0,5235.6
$KALMAN_Y,24845.7,-281.6,-279.2,-21750.3,12091.4
$MHEAD_RNG_PITCHd_Wd,168.8,1538239,-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,-0.94,-126.5,182,2543,1024,1141,0.0,0.0,0,96,0.00,0.00,-78.68,0.000,16386,0.000,0.000,181,2541,2967,2946,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.94,-126.5,182,2516,2946,2990,3.3,-3.0,9,117,8.48,0.00,-8.18,0.000,18950,0.223,0.000,2343,2513,3279,3270,3288,0,0,0,0,0,0,25.82,28.83,26.34
$GC,386,-0.94,-126.5,2343,2513,3272,3287,93.1,-32.7,41,392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2343,2513,3280,3272,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,633,-0.94,-126.5,2343,2513,3273,3288,171.5,-30.7,66,637,0.00,2.08,0.00,0.000,2564,0.000,0.047,2352,1162,3280,3272,3288,0,0,0,0,0,0,28.83,26.39,28.83
$GC,694,-0.94,-126.5,2352,1162,3273,3287,190.0,-30.3,71,698,0.00,2.17,0.00,0.000,3078,0.000,0.055,2343,2554,3280,3273,3288,0,0,0,0,0,0,28.83,26.40,28.83
$GC,969,-0.94,-126.5,2343,2553,3274,3287,273.6,-30.5,80,973,0.00,2.12,0.00,0.000,2564,0.000,0.047,2343,1167,3281,3274,3288,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1032,-0.94,-126.5,2343,1167,3275,3287,284.5,-30.7,81,1037,0.03,2.17,0.00,0.000,3078,0.223,0.054,2341,2549,3280,3274,3287,0,0,1,0,0,0,26.39,26.51,28.83
$GC,1284,-0.94,-126.5,2341,2548,3275,3288,369.1,-30.1,88,1288,0.00,2.10,0.00,0.000,2564,0.000,0.047,2343,1168,3281,3275,3287,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1333,-0.94,-126.5,2342,1168,3275,3287,379.7,-30.0,89,1338,0.03,2.17,0.00,0.000,3078,0.219,0.054,2341,2551,3281,3275,3287,0,0,1,0,0,0,26.46,26.56,28.83
$GC,1600,-0.94,-126.5,2340,2550,3275,3287,461.7,-29.4,96,1604,0.00,2.10,0.00,0.000,2564,0.000,0.047,2342,1169,3281,3275,3288,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1718,-0.94,-126.5,2342,1169,3274,3287,494.7,-28.6,99,1724,0.03,2.17,0.00,0.000,3078,0.213,0.054,2341,2553,3281,3275,3287,0,0,1,0,0,0,26.52,26.63,28.83
$GC,1996,-0.94,-126.5,2341,2552,3275,3287,572.9,-27.7,106,1999,0.00,2.12,0.00,0.000,2564,0.000,0.048,2342,1162,3281,3275,3287,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2069,-0.94,-126.5,2341,1162,3275,3287,583.8,-27.4,107,2077,0.05,2.17,0.00,0.000,3078,0.184,0.056,2348,2543,3281,3275,3287,0,0,1,0,0,0,26.54,26.66,28.83
$GC,2316,-0.94,-126.5,2348,2542,3275,3287,656.5,-25.4,114,2320,0.00,2.10,0.00,0.000,2564,0.000,0.047,2348,1161,3281,3275,3287,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2414,-0.94,-126.5,2348,1161,3275,3287,676.6,-25.4,116,2419,0.00,2.20,0.00,0.000,3078,0.000,0.057,2339,2555,3281,3275,3287,0,0,1,0,0,0,28.83,26.69,28.83
$GC,2676,-0.94,-126.5,2339,2554,3276,3287,749.9,-26.2,123,2680,0.00,2.10,0.00,0.000,2564,0.000,0.049,2339,1170,3281,3275,3287,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2695,-0.94,-126.5,2339,1171,3275,3287,749.9,-26.2,123,2700,0.05,2.17,0.00,0.000,3078,0.199,0.057,2344,2556,3281,3275,3287,0,0,1,0,0,0,26.58,26.71,28.83
$GC,2952,-0.94,-126.5,2343,2554,3275,3286,821.0,-25.6,130,2955,0.00,2.12,0.00,0.000,2564,0.000,0.050,2344,1170,3280,3275,3286,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3000,-0.94,-126.5,2344,1170,3275,3286,831.2,-25.5,131,3005,0.05,2.15,0.00,0.000,3078,0.243,0.058,2344,2561,3280,3275,3286,0,0,1,0,0,0,26.63,26.72,28.83
$STATE,3271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3271,begin apogee
$GC,3275,-0.20,0.0,2344,2328,3275,3284,902.7,-25.8,138,3392,0.77,0.00,109.68,1.099,10246,0.143,0.000,2585,2327,2761,2769,2754,0,0,0,0,0,0,26.63,28.83,24.20
$STATE,3393,end apogee,CONTROL_FINISHED_OK
$STATE,3393,begin climb
$GC,3395,0.94,126.5,2585,2327,2768,2754,911.4,0.0,141,3520,1.08,2.50,115.70,1.052,10500,0.081,0.078,2944,3700,2245,2265,2226,0,0,0,0,0,0,25.05,24.68,23.97
$GC,3540,0.94,126.5,2944,3699,2263,2224,901.2,10.9,144,3545,0.00,2.40,0.00,0.000,1030,0.000,0.055,2953,2305,2243,2263,2223,0,0,0,0,0,0,28.83,25.08,28.83
$GC,3793,0.94,126.5,2953,2284,2259,2218,836.7,23.0,151,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2284,2238,2259,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4032,0.94,126.5,2952,2284,2257,2217,782.9,22.3,157,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2284,2237,2257,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4272,0.94,126.5,2953,2284,2256,2216,729.0,22.9,163,4277,0.00,2.33,0.00,0.000,260,0.000,0.076,2953,3703,2236,2256,2216,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4308,0.94,126.5,2953,3703,2255,2216,720.1,23.5,164,4312,0.00,2.25,0.00,0.000,5126,0.000,0.054,2964,2288,2235,2255,2216,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4584,0.94,126.5,2964,2269,2254,2215,653.8,24.3,171,4588,0.00,2.33,0.00,0.000,4356,0.000,0.077,2959,3702,2235,2254,2216,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4633,0.94,126.5,2959,3701,2253,2216,644.5,24.6,172,4637,0.00,2.28,0.00,0.000,5126,0.000,0.057,2968,2305,2234,2253,2216,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4900,0.94,126.5,2968,2302,2253,2216,575.7,24.3,179,4904,0.00,2.20,0.00,0.000,4612,0.000,0.060,2979,883,2234,2253,2216,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4968,0.94,126.5,2979,883,2251,2216,567.4,23.9,180,4976,0.03,2.28,0.00,0.000,5126,0.207,0.060,2968,2299,2234,2252,2216,0,0,1,0,0,0,26.41,26.51,28.83
$GC,5215,0.94,126.5,2968,2299,2252,2215,504.0,22.1,187,5217,0.00,0.00,0.00,0.000,4102,0.000,0.000,2968,2299,2233,2251,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5455,0.94,126.5,2968,2298,2251,2215,451.2,22.1,193,5459,0.00,2.20,0.00,0.000,4612,0.000,0.058,2977,895,2233,2251,2215,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5499,0.94,126.5,2977,895,2251,2215,443.3,21.9,194,5504,0.05,2.25,0.00,0.000,5126,0.177,0.059,2961,2300,2233,2251,2215,0,0,1,0,0,0,26.48,26.59,28.83
$GC,5771,0.94,126.5,2960,2299,2251,2215,385.1,20.3,201,5775,0.00,2.20,0.00,0.000,4612,0.000,0.058,2969,894,2233,2251,2215,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5850,0.94,126.5,2969,893,2250,2215,369.2,20.8,203,5854,0.00,2.20,0.00,0.000,5126,0.000,0.058,2969,2300,2232,2250,2215,0,0,1,0,0,0,28.83,26.63,28.83
$GC,6127,0.94,126.5,2969,2299,2250,2215,312.0,20.4,210,6131,0.00,2.22,0.00,0.000,4356,0.000,0.073,2969,3708,2232,2250,2215,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6150,0.94,126.5,2969,3707,2250,2215,312.0,20.4,210,6155,0.05,2.25,0.00,0.000,5126,0.193,0.051,2964,2296,2232,2250,2215,0,0,0,0,0,0,26.54,26.67,28.83
$GC,6402,0.94,126.5,2964,2272,2250,2215,256.0,20.1,217,6403,0.00,0.00,0.00,0.000,4102,0.000,0.000,2964,2272,2232,2250,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6642,0.94,126.5,2964,2272,2250,2215,207.5,20.2,223,6646,0.00,2.12,0.00,0.000,4612,0.000,0.057,2973,893,2232,2250,2215,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6661,0.94,126.5,2973,893,2250,2215,207.5,20.2,223,6666,0.03,2.25,0.00,0.000,5126,0.197,0.056,2964,2309,2232,2250,2215,0,0,1,0,0,0,26.61,26.69,28.83
$GC,6911,0.94,126.5,2964,2307,2250,2215,153.7,19.7,244,6920,0.00,2.17,0.00,0.000,4356,0.000,0.072,2959,3700,2232,2249,2215,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6999,0.94,126.5,2959,3700,2249,2215,133.2,23.6,252,7003,0.00,2.17,0.00,0.000,5126,0.000,0.050,2968,2300,2232,2249,2215,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7244,0.94,126.5,2969,2295,2249,2215,82.8,20.4,276,7245,0.00,0.00,0.00,0.000,4102,0.000,0.000,2968,2295,2232,2249,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,0.94,126.5,2968,2273,2249,2215,33.7,21.0,300,7496,0.00,0.00,0.00,0.000,4102,0.000,0.000,2968,2273,2232,2249,2215,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7636,end climb,SURFACE_DEPTH_REACHED
$STATE,7636,begin surface coast
$FINISH,0.8,1.013803
$STATE,7652,end surface coast,CONTROL_FINISHED_OK
$STATE,7652,begin surface
$SM_CCo,7665,126.22,0.668,0,0,1090,410.13
$SM_GC,2.26,7.10,0.47,126.22,0.034,0.066,0.668,189,2558,1090,-7.63,-0.76,410.13,0,0,0,0,0,0,26.77,26.75,24.82
$IRIDIUM_FIX,3621.56,-15759.96,220209,222231
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.64
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.0,2.956
$10V_AH,10.3,3.206
$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,17.800,75.800,225.375,126.225,0.000,30.486,48.161,143.516,0.000,0.000,10.292,951.940,5222.604,435.438,1452.370,51.531,33.226,961.252,0.000,920.509,0.000,0.539,0.000
$DEVICE_MAMPS,242.505,78.030,1098.540,667.845,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,232.339,139.888,281.797,262.031,542.894,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353164
$DATA_FILE_SIZE,27356,323
$CAP_FILE_SIZE,78011,0
$CFSIZE,259248128,257802240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,2,0
$GPS,280416,141501,3634.853,-15757.351,27,1.1,27,11.5