version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 24
start: 4 29 116 15 30 51
data:
$ID,512
$MISSION,7
$DIVE,24
$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,375
$T_MISSION,760
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,390
$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,-129440.82
$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,2647
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$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
$GPS1,290416,151601,3632.999,-15752.328,30,1.2,31,11.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-68.0
$GPS2,290416,152954,3633.177,-15752.128,10,1.2,10,11.5
$SPEED_LIMITS,0.172,0.219
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,-0.219
$KALMAN_X,18222.1,-187.6,-657.8,-5101.3,6437.7
$KALMAN_Y,41255.8,-780.2,-530.7,-41842.9,10708.1
$MHEAD_RNG_PITCHd_Wd,169.2,1533842,-16.9,-8.000,-20.10,2233
$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,-0.58,-116.8,135,2596,1118,1204,0.0,0.0,0,96,0.00,0.00,-78.72,0.000,16386,0.000,0.000,130,2570,3060,3035,3086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.58,-116.8,130,2594,3034,3087,3.2,-3.0,9,117,9.18,0.00,-4.32,0.000,19206,0.228,0.000,2449,2568,3241,3230,3252,0,0,0,0,0,0,25.87,28.83,26.36
$GC,387,-0.58,-116.8,2449,2568,3232,3249,71.1,-20.6,41,398,0.00,2.12,0.00,0.000,2308,0.000,0.065,2440,3913,3240,3232,3249,0,0,0,0,0,0,28.83,26.27,28.83
$GC,439,-0.58,-116.8,2439,3913,3233,3249,82.4,-21.8,45,448,0.03,2.12,0.00,0.000,3078,0.174,0.038,2455,2539,3241,3233,3249,0,0,0,0,0,0,26.25,26.34,28.83
$GC,688,-0.58,-116.8,2455,2538,3234,3249,131.9,-19.4,70,700,0.00,2.08,0.00,0.000,2564,0.000,0.044,2460,1167,3241,3234,3248,0,0,0,0,0,0,28.83,26.41,28.83
$GC,769,-0.58,-116.8,2460,1167,3234,3248,146.8,-18.7,77,777,0.00,2.12,0.00,0.000,3078,0.000,0.052,2451,2552,3241,3234,3248,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1016,-0.58,-116.8,2452,2550,3235,3248,196.0,-19.1,102,1020,0.00,2.08,0.00,0.000,2564,0.000,0.044,2452,1177,3241,3235,3248,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1063,-0.58,-116.8,2451,1178,3235,3248,203.4,-18.9,105,1067,0.08,2.10,0.00,0.000,3078,0.194,0.051,2457,2553,3242,3236,3248,0,0,1,0,0,0,26.39,26.49,28.83
$GC,1334,-0.58,-116.8,2457,2551,3236,3248,255.9,-18.6,112,1338,0.00,2.08,0.00,0.000,2564,0.000,0.044,2457,1177,3242,3236,3248,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1363,-0.58,-116.8,2457,1177,3236,3248,255.9,-18.6,112,1370,0.00,2.15,0.00,0.000,3078,0.000,0.052,2449,2550,3242,3236,3248,0,0,1,0,0,0,28.83,26.55,28.83
$GC,1610,-0.58,-116.8,2448,2549,3236,3248,308.3,-19.1,119,1614,0.00,2.08,0.00,0.000,2564,0.000,0.044,2449,1173,3242,3236,3248,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1689,-0.58,-116.8,2448,1173,3236,3248,322.8,-19.0,121,1694,0.05,2.15,0.00,0.000,3078,0.161,0.051,2457,2548,3242,3236,3248,0,0,1,0,0,0,26.50,26.60,28.83
$GC,1966,-0.58,-116.8,2456,2547,3236,3248,373.4,-17.8,128,1969,0.00,2.08,0.00,0.000,2564,0.000,0.044,2457,1167,3242,3236,3248,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2054,-0.58,-116.8,2457,1168,3236,3248,387.2,-18.1,130,2058,0.00,2.15,0.00,0.000,3078,0.000,0.053,2448,2550,3242,3236,3248,0,0,1,0,0,0,28.83,26.65,28.83
$GC,2321,-0.58,-116.8,2448,2548,3236,3248,437.1,-17.7,137,2325,0.00,2.05,0.00,0.000,2564,0.000,0.044,2448,1178,3242,3236,3248,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2420,-0.58,-116.8,2448,1178,3236,3248,449.7,-17.0,139,2424,0.05,2.15,0.00,0.000,3078,0.161,0.054,2456,2552,3242,3236,3248,0,0,1,0,0,0,26.58,26.67,28.83
$GC,2677,-0.58,-116.8,2456,2551,3236,3248,493.2,-15.2,146,2681,0.00,2.08,0.00,0.000,2564,0.000,0.046,2457,1172,3241,3236,3247,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2735,-0.58,-116.8,2456,1172,3236,3247,498.9,-15.2,147,2740,0.00,2.15,0.00,0.000,3078,0.000,0.054,2448,2554,3241,3236,3247,0,0,1,0,0,0,28.83,26.70,28.83
$GC,2992,-0.58,-116.8,2448,2553,3236,3246,542.8,-16.1,154,2996,0.00,2.08,0.00,0.000,2564,0.000,0.046,2448,1175,3241,3236,3246,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3091,-0.58,-116.8,2448,1175,3236,3246,555.8,-16.8,156,3096,0.03,2.15,0.00,0.000,3078,0.197,0.056,2448,2546,3241,3236,3246,0,0,1,0,0,0,26.62,26.71,28.83
$GC,3348,-0.58,-116.8,2448,2545,3236,3245,603.1,-16.7,163,3352,0.00,2.08,0.00,0.000,2564,0.000,0.049,2451,1181,3240,3236,3245,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3376,-0.58,-116.8,2451,1180,3236,3244,603.1,-16.7,163,3381,0.03,2.15,0.00,0.000,3078,0.192,0.056,2451,2555,3240,3236,3244,0,0,1,0,0,0,26.64,26.73,28.83
$GC,3628,-0.58,-116.8,2451,2553,3236,3243,647.4,-15.7,170,3632,0.00,2.08,0.00,0.000,2564,0.000,0.047,2452,1180,3240,3237,3243,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3687,-0.58,-116.8,2452,1180,3236,3243,653.0,-15.7,171,3692,0.03,2.15,0.00,0.000,3078,0.193,0.056,2452,2550,3239,3236,3242,0,0,1,0,0,0,26.65,26.74,28.83
$GC,3944,-0.58,-116.8,2451,2548,3236,3242,695.2,-14.9,178,3948,0.00,2.08,0.00,0.000,2564,0.000,0.049,2452,1180,3239,3236,3242,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4012,-0.58,-116.8,2452,1180,3236,3242,700.6,-15.0,179,4021,0.03,2.15,0.00,0.000,3078,0.200,0.057,2453,2547,3239,3236,3242,0,0,1,0,0,0,26.66,26.75,28.83
$GC,4260,-0.58,-116.8,2453,2546,3236,3240,742.2,-14.8,186,4264,0.00,2.08,0.00,0.000,2564,0.000,0.050,2455,1179,3237,3236,3239,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4318,-0.58,-116.8,2455,1179,3236,3240,747.7,-14.9,187,4323,0.00,2.15,0.00,0.000,3078,0.000,0.057,2447,2549,3238,3236,3240,0,0,1,0,0,0,28.83,26.75,28.83
$GC,4575,-0.58,-116.8,2447,2548,3237,3238,791.2,-15.6,194,4579,0.00,2.08,0.00,0.000,2564,0.000,0.050,2447,1181,3237,3236,3239,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4684,-0.58,-116.8,2447,1181,3236,3238,803.4,-15.9,196,4692,0.05,2.17,0.00,0.000,3078,0.167,0.059,2455,2558,3237,3236,3238,0,0,1,0,0,0,26.66,26.77,28.83
$GC,4931,-0.58,-116.8,2455,2557,3236,3237,847.1,-15.3,203,4935,0.00,2.12,0.00,0.000,2564,0.000,0.050,2458,1172,3236,3236,3237,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5014,-0.58,-116.8,1664,1171,3221,3234,859.1,-15.0,205,5019,0.00,2.17,0.00,0.000,3078,0.000,0.059,2449,2546,3236,3236,3237,0,0,1,0,0,0,28.83,26.77,28.83
$STATE,5290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5290,begin apogee
$GC,5294,-0.13,0.0,2449,2419,3235,3236,900.9,-14.7,212,5397,0.47,0.00,99.97,1.114,10246,0.122,0.000,2601,2419,2762,2771,2754,0,0,0,0,0,0,26.70,28.83,24.31
$STATE,5398,end apogee,CONTROL_FINISHED_OK
$STATE,5398,begin climb
$GC,5399,0.58,116.8,2601,2419,2770,2754,904.6,0.0,214,5515,0.65,2.53,106.80,1.064,10500,0.078,0.078,2824,3809,2284,2310,2259,0,0,0,0,0,0,25.08,24.73,24.03
$GC,5560,0.58,116.8,2824,3809,2306,2256,895.3,8.3,218,5564,0.00,2.38,0.00,0.000,5126,0.000,0.053,2835,2419,2281,2306,2256,0,0,0,0,0,0,28.83,25.30,28.83
$GC,5812,0.58,116.8,2835,2400,2302,2251,855.6,14.0,225,5816,0.00,2.25,0.00,0.000,4612,0.000,0.058,2845,993,2276,2302,2251,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5915,0.58,116.8,2845,993,2299,2251,845.3,13.7,227,5920,0.00,2.30,0.00,0.000,5126,0.000,0.059,2845,2396,2275,2299,2251,0,0,1,0,0,0,28.83,26.06,28.83
$GC,6167,0.58,116.8,2845,2395,2298,2251,808.1,12.9,234,6172,0.00,2.22,0.00,0.000,4612,0.000,0.057,2855,1000,2274,2298,2250,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6221,0.58,116.8,2855,1000,2297,2250,803.8,12.8,235,6226,0.03,2.30,0.00,0.000,5126,0.164,0.062,2837,2404,2273,2297,2250,0,0,1,0,0,0,26.22,26.27,28.83
$GC,6483,0.58,116.8,2837,2403,2297,2250,770.3,11.8,242,6487,0.00,2.22,0.00,0.000,4612,0.000,0.056,2847,992,2273,2297,2250,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6562,0.58,116.8,2846,992,2295,2250,761.5,11.5,244,6566,0.00,2.28,0.00,0.000,5126,0.000,0.059,2847,2395,2272,2295,2250,0,0,1,0,0,0,28.83,26.40,28.83
$GC,6839,0.58,116.8,2846,2393,2295,2249,727.3,12.0,251,6843,0.00,2.20,0.00,0.000,4612,0.000,0.057,2856,992,2272,2295,2249,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6903,0.58,116.8,2856,992,2294,2249,722.9,11.9,252,6908,0.05,2.22,0.00,0.000,5126,0.203,0.059,2835,2402,2271,2294,2249,0,0,1,0,0,0,26.44,26.48,28.83
$GC,7155,0.58,116.8,2835,2400,2294,2249,689.5,12.0,259,7159,0.00,2.20,0.00,0.000,4612,0.000,0.056,2845,998,2271,2294,2249,0,0,1,0,0,0,28.83,26.54,28.83
$GC,7190,0.58,116.8,2844,997,2294,2249,685.3,12.2,260,7194,0.00,2.20,0.00,0.000,5126,0.000,0.059,2844,2401,2271,2294,2249,0,0,1,0,0,0,28.83,26.54,28.83
$GC,7466,0.58,116.8,2843,2399,2293,2249,650.8,12.7,267,7467,0.00,0.00,0.00,0.000,4102,0.000,0.000,2843,2399,2271,2294,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7706,0.58,116.8,2843,2398,2293,2249,621.4,12.1,273,7710,0.00,2.20,0.00,0.000,4612,0.000,0.055,2853,990,2271,2293,2249,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7744,0.58,116.8,2853,990,2293,2249,617.3,11.9,274,7749,0.05,2.25,0.00,0.000,5126,0.138,0.058,2831,2396,2271,2293,2249,0,0,1,0,0,0,26.55,26.60,28.83
$GC,8021,0.58,116.8,2830,2395,2292,2248,585.9,10.9,281,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2395,2270,2292,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8261,0.58,116.8,2830,2394,2292,2248,559.5,11.0,287,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2394,2270,2292,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8501,0.58,116.8,2830,2394,2292,2248,532.4,11.2,293,8505,0.00,2.17,0.00,0.000,516,0.000,0.054,2840,997,2270,2292,2248,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8595,0.58,116.8,2840,997,2292,2248,523.6,11.5,295,8599,0.00,2.20,0.00,0.000,5126,0.000,0.057,2839,2404,2270,2292,2248,0,0,1,0,0,0,28.83,26.67,28.83
$GC,8857,0.58,116.8,2839,2402,2292,2248,491.1,11.6,302,8861,0.00,2.20,0.00,0.000,4612,0.000,0.054,2850,992,2270,2292,2248,0,0,0,0,0,0,28.83,26.69,28.83
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$GC,10511,0.58,116.8,2833,2395,2291,2248,316.2,9.7,344,10515,0.00,2.17,0.00,0.000,516,0.000,0.052,2842,987,2269,2291,2248,0,0,0,0,0,0,28.83,26.73,28.83
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$STATE,13524,end climb,SURFACE_DEPTH_REACHED
$STATE,13525,begin surface coast
$FINISH,0.9,3.118580
$STATE,13561,end surface coast,CONTROL_FINISHED_OK
$STATE,13561,begin surface
$SM_CCo,13574,118.70,0.658,0,0,1171,390.02
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$TT8_MAMPS,0.023968,0.023968
$HUMID,43.06
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.80
$XPDR_PINGS,488
$24V_AH,24.0,3.968
$10V_AH,10.4,3.806
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.875,148.375,206.775,118.700,0.000,89.687,162.830,333.413,122.000,0.000,11.191,1699.376,9372.938,461.873,2902.899,95.983,33.245,1399.727,0.000,1753.752,0.000,0.541,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,414.627,258.883,509.412,461.732,956.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353108
$DATA_FILE_SIZE,50466,578
$CAP_FILE_SIZE,142100,0
$CFSIZE,259248128,257232896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,2,0
$GPS,290416,192020,3632.520,-15751.878,40,0.9,41,11.5