version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 17
start: 4 28 116 16 42 42
data:
$ID,512
$MISSION,7
$DIVE,17
$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,-129431.91
$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,52
$R_STBD_OVSHOOT,22
$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
$GPS1,280416,163502,3634.280,-15757.096,14,1.9,14,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-73.9
$GPS2,280416,164145,3634.342,-15757.021,18,2.0,18,11.5
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,-0.244
$KALMAN_X,10356.4,-389.2,-626.6,-4343.5,5261.4
$KALMAN_Y,31720.1,-2414.1,-869.4,-28181.6,18789.7
$MHEAD_RNG_PITCHd_Wd,168.9,1535949,-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,-126.5,177,2533,1021,1142,0.0,0.0,0,96,0.00,0.00,-78.80,0.000,16386,0.000,0.000,176,2516,2967,2948,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.94,-126.5,176,2540,2949,2989,3.1,-2.2,9,127,8.50,2.33,-8.05,0.000,18692,0.223,0.081,2335,3912,3278,3268,3288,0,0,0,0,0,0,25.83,26.02,26.34
$GC,304,-0.94,-126.5,2335,3912,3268,3288,71.5,-34.7,30,316,0.00,2.10,0.00,0.000,3078,0.000,0.043,2343,2559,3277,3268,3287,0,0,0,0,0,0,28.83,26.25,28.83
$GC,556,-0.94,-126.5,2342,2542,3270,3288,154.4,-32.0,55,564,0.00,2.10,0.00,0.000,2564,0.000,0.047,2342,1161,3278,3270,3287,0,0,0,0,0,0,28.83,26.35,28.83
$GC,643,-0.94,-126.5,2342,1160,3271,3287,184.0,-33.1,63,655,0.03,2.20,0.00,0.000,3078,0.227,0.053,2341,2548,3279,3271,3288,0,0,1,0,0,0,26.27,26.39,28.83
$GC,891,-0.94,-126.5,2340,2547,3271,3287,267.5,-33.1,73,895,0.00,2.15,0.00,0.000,2564,0.000,0.048,2342,1150,3279,3271,3287,0,0,0,0,0,0,28.83,26.46,28.83
$GC,980,-0.94,-126.5,2342,1150,3272,3287,291.8,-32.6,75,985,0.03,2.20,0.00,0.000,3078,0.223,0.054,2340,2545,3279,3272,3287,0,0,1,0,0,0,26.38,26.48,28.83
$GC,1247,-0.94,-126.5,2340,2543,3272,3287,380.6,-31.5,82,1251,0.00,2.12,0.00,0.000,2564,0.000,0.046,2342,1150,3279,3272,3287,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1315,-0.94,-126.5,2341,1150,3273,3287,391.9,-31.5,83,1323,0.05,2.20,0.00,0.000,3078,0.187,0.054,2347,2549,3280,3273,3287,0,0,1,0,0,0,26.44,26.56,28.83
$GC,1562,-0.94,-126.5,2347,2548,3272,3287,472.8,-28.2,90,1566,0.00,2.12,0.00,0.000,2564,0.000,0.047,2351,1153,3279,3272,3287,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1616,-0.94,-126.5,2351,1153,3273,3287,482.6,-28.0,91,1620,0.00,2.20,0.00,0.000,3078,0.000,0.055,2342,2549,3280,3273,3287,0,0,1,0,0,0,28.83,26.60,28.83
$GC,1878,-0.94,-126.5,2342,2548,3273,3287,558.2,-26.7,98,1882,0.00,2.12,0.00,0.000,2564,0.000,0.047,2343,1153,3279,3272,3287,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1907,-0.94,-126.5,2342,1153,3273,3287,558.2,-26.7,98,1915,0.05,2.20,0.00,0.000,3078,0.186,0.054,2348,2548,3280,3273,3287,0,0,1,0,0,0,26.51,26.63,28.83
$GC,2154,-0.94,-126.5,2347,2547,3273,3287,629.6,-25.6,105,2155,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2547,3280,3273,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2394,-0.94,-126.5,2347,2547,3272,3287,691.0,-26.0,111,2398,0.00,2.12,0.00,0.000,2564,0.000,0.049,2349,1154,3279,3272,3287,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2432,-0.94,-126.5,2348,1154,3273,3287,700.8,-26.2,112,2436,0.00,2.20,0.00,0.000,3078,0.000,0.057,2340,2548,3280,3273,3287,0,0,1,0,0,0,28.83,26.69,28.83
$GC,2709,-0.94,-126.5,2340,2547,3273,3286,778.7,-27.6,119,2713,0.00,2.12,0.00,0.000,2564,0.000,0.049,2340,1155,3279,3273,3286,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2768,-0.94,-126.5,2339,1154,3274,3286,788.7,-27.7,120,2773,0.05,2.20,0.00,0.000,3078,0.192,0.057,2345,2549,3280,3274,3286,0,0,1,0,0,0,26.58,26.71,28.83
$GC,3025,-0.94,-126.5,2344,2548,3274,3284,862.6,-26.3,127,3029,0.00,2.15,0.00,0.000,2564,0.000,0.050,2348,1147,3279,3274,3284,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3140,-0.94,-126.5,2348,1147,3274,3284,892.0,-25.6,130,3144,0.00,2.20,0.00,0.000,3078,0.000,0.059,2339,2554,3279,3274,3284,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,3175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3175,begin apogee
$GC,3179,-0.20,0.0,2339,2309,3274,3284,901.3,-25.5,131,3296,0.80,0.00,109.60,1.096,10246,0.145,0.000,2585,2308,2761,2768,2754,0,0,0,0,0,0,26.63,28.83,24.21
$STATE,3297,end apogee,CONTROL_FINISHED_OK
$STATE,3297,begin climb
$GC,3298,0.94,126.5,2585,2308,2767,2754,910.2,0.0,134,3424,1.12,2.47,116.50,1.053,10756,0.080,0.057,2969,891,2244,2264,2225,0,0,1,0,0,0,25.04,24.67,23.97
$GC,3444,0.94,126.5,2969,891,2261,2224,899.2,11.9,137,3448,0.00,2.40,0.00,0.000,5126,0.000,0.058,2969,2290,2242,2261,2223,0,0,1,0,0,0,28.83,25.06,28.83
$GC,3696,0.94,126.5,2969,2289,2259,2217,828.6,25.4,144,3700,0.00,2.28,0.00,0.000,4612,0.000,0.060,2978,896,2238,2258,2218,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3724,0.94,126.5,2977,895,2258,2218,828.6,25.4,144,3732,0.00,2.33,0.00,0.000,5126,0.000,0.060,2972,2301,2237,2257,2217,0,0,1,0,0,0,28.83,25.93,28.83
$GC,3972,0.94,126.5,2972,2299,2257,2216,759.0,25.2,151,3973,0.00,0.00,0.00,0.000,4102,0.000,0.000,2972,2300,2237,2257,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4212,0.94,126.5,2972,2299,2255,2216,701.9,23.6,157,4213,0.00,0.00,0.00,0.000,4102,0.000,0.000,2973,2299,2236,2256,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4452,0.94,126.5,2972,2299,2254,2216,645.0,23.6,163,4456,0.00,2.28,0.00,0.000,4356,0.000,0.074,2973,3715,2235,2254,2216,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4490,0.94,126.5,2972,3715,2252,2216,636.0,23.8,164,4495,0.05,2.30,0.00,0.000,5126,0.200,0.050,2968,2299,2233,2252,2215,0,0,0,0,0,0,26.29,26.43,28.83
$GC,4767,0.94,126.5,2968,2272,2251,2216,572.6,22.2,171,4772,0.00,2.33,0.00,0.000,4356,0.000,0.073,2967,3715,2233,2251,2216,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4806,0.94,126.5,2112,3714,2216,2209,564.0,22.3,172,4811,0.05,2.30,0.00,0.000,5126,0.190,0.051,2963,2294,2233,2251,2216,0,0,0,0,0,0,26.38,26.51,28.83
$GC,5083,0.94,126.5,2963,2268,2251,2215,503.5,21.3,179,5084,0.00,0.00,0.00,0.000,4102,0.000,0.000,2963,2268,2233,2251,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5323,0.94,126.5,2963,2268,2250,2215,453.9,20.7,185,5327,0.00,2.33,0.00,0.000,4356,0.000,0.073,2959,3713,2233,2251,2215,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5417,0.94,126.5,2959,3712,2250,2215,437.4,20.8,187,5421,0.00,2.28,0.00,0.000,5126,0.000,0.051,2968,2299,2232,2250,2215,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5679,0.94,126.5,2968,2274,2250,2215,381.6,19.7,194,5680,0.00,0.00,0.00,0.000,4102,0.000,0.000,2969,2274,2232,2250,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5919,0.94,126.5,2968,2273,2250,2215,333.7,20.2,200,5920,0.00,0.00,0.00,0.000,4102,0.000,0.000,2968,2273,2232,2250,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6159,0.94,126.5,2968,2273,2250,2215,284.5,20.7,206,6163,0.00,2.15,0.00,0.000,4612,0.000,0.057,2979,883,2232,2250,2215,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6183,0.94,126.5,2978,883,2249,2215,284.5,20.7,206,6188,0.03,2.25,0.00,0.000,5126,0.199,0.054,2965,2303,2232,2249,2215,0,0,1,0,0,0,26.58,26.67,28.83
$GC,6435,0.94,126.5,2964,2302,2249,2215,228.4,20.1,213,6439,0.00,2.20,0.00,0.000,4612,0.000,0.054,2974,881,2232,2249,2215,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6453,0.94,126.5,2973,881,2249,2215,228.4,20.1,213,6458,0.00,2.25,0.00,0.000,5126,0.000,0.055,2972,2300,2232,2249,2215,0,0,1,0,0,0,28.83,26.69,28.83
$GC,6700,0.94,126.5,2972,2298,2249,2215,173.0,21.7,228,6702,0.00,0.00,0.00,0.000,4102,0.000,0.000,2972,2299,2231,2248,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6940,0.94,126.5,2972,2298,2249,2215,124.7,19.5,252,6945,0.00,2.20,0.00,0.000,4356,0.000,0.068,2972,3708,2232,2249,2215,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6981,0.94,126.5,2972,3708,2248,2215,116.8,20.5,255,6991,0.05,2.17,0.00,0.000,5126,0.196,0.047,2966,2290,2231,2248,2215,0,0,0,0,0,0,26.60,26.74,28.83
$GC,7232,0.94,126.5,2966,2264,2248,2215,67.3,19.4,280,7243,0.00,2.25,0.00,0.000,4356,0.000,0.068,2956,3706,2231,2248,2215,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7345,0.94,126.5,2956,3707,2248,2215,43.6,20.8,289,7356,0.00,2.17,0.00,0.000,5126,0.000,0.047,2966,2286,2231,2248,2215,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,7577,end climb,SURFACE_DEPTH_REACHED
$STATE,7577,begin surface coast
$FINISH,0.9,1.024969
$STATE,7600,end surface coast,CONTROL_FINISHED_OK
$STATE,7600,begin surface
$SM_CCo,7613,123.57,0.665,0,0,1089,410.13
$SM_GC,2.24,7.00,0.50,123.57,0.029,0.063,0.665,199,2560,1089,-7.61,-0.51,410.13,0,0,0,0,0,0,26.77,26.74,24.84
$IRIDIUM_FIX,3621.56,-15759.96,230209,030357
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.40
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,24.0,3.178
$10V_AH,10.3,3.304
$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,17.800,80.850,226.100,123.575,0.000,26.073,47.259,231.940,0.500,0.000,19.274,940.546,5178.429,471.923,1511.804,51.457,33.226,988.813,0.000,892.427,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,81.090,1096.245,664.785,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,229.685,141.514,283.105,257.747,533.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353168
$DATA_FILE_SIZE,27331,322
$CAP_FILE_SIZE,78063,0
$CFSIZE,259248128,257712128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,2,0
$GPS,280416,185250,3633.868,-15756.605,36,1.1,36,11.5