version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 71
start: 5 5 116 9 14 56
data:
$ID,512
$MISSION,7
$DIVE,71
$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,250
$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,140
$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,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,-129580.74
$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,2654
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2300
$C_ROLL_CLIMB,2340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,250
$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
$GPS1,050516,090703,3613.996,-15755.175,12,1.9,14,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-70.4
$GPS2,050516,091402,3614.026,-15755.094,6,2.0,6,11.5
$SPEED_LIMITS,0.208,0.267
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,-0.077
$KALMAN_X,55992.2,-778.7,27.3,-47386.1,3866.8
$KALMAN_Y,131664.4,-1138.5,-790.5,-167083.7,10529.9
$MHEAD_RNG_PITCHd_Wd,241.7,1498339,-22.0,-12.000,-24.28,1735
$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,16,-0.90,-135.7,134,2373,1106,1217,0.0,0.0,0,88,0.00,0.00,-70.62,0.000,16386,0.000,0.000,129,2370,2868,2842,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.90,-136.3,129,2344,2842,2895,3.5,-3.2,8,119,8.98,2.25,-11.43,0.000,18948,0.234,0.055,2361,903,3316,3308,3325,0,0,0,0,0,0,25.86,26.08,26.38
$GC,203,-0.90,-136.3,2361,903,3310,3325,37.2,-33.5,22,215,0.00,2.12,0.00,0.000,3078,0.000,0.044,2353,2267,3317,3310,3325,0,0,0,0,0,0,28.83,26.18,28.83
$GC,455,-0.90,-136.3,2352,2267,3312,3325,119.9,-31.7,47,463,0.00,2.08,0.00,0.000,2564,0.000,0.042,2357,911,3318,3312,3325,0,0,0,0,0,0,28.83,26.32,28.83
$GC,467,-0.90,-136.3,2356,911,3311,3325,123.3,-32.0,48,479,0.00,2.22,0.00,0.000,3078,0.000,0.044,2348,2308,3318,3312,3325,0,0,0,0,0,0,28.83,26.34,28.83
$GC,735,-0.90,-136.3,2346,2307,3313,3326,215.3,-32.8,72,740,0.05,2.17,0.00,0.000,2308,0.241,0.054,2347,3716,3319,3313,3325,0,0,0,0,0,0,26.43,26.42,28.83
$GC,840,-0.90,-136.3,2347,3716,3313,3325,241.3,-33.6,74,844,0.00,2.12,0.00,0.000,3078,0.000,0.035,2355,2309,3319,3313,3325,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1092,-0.90,-136.3,2355,2277,3314,3325,332.6,-31.9,81,1093,0.00,0.00,0.00,0.000,2054,0.000,0.000,2356,2277,3319,3314,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1332,-0.90,-136.3,2355,2277,3314,3325,406.3,-30.1,87,1335,0.00,2.12,0.00,0.000,2564,0.000,0.044,2360,892,3319,3314,3325,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1365,-0.90,-136.3,2360,892,3314,3325,406.3,-30.1,87,1372,0.00,2.17,0.00,0.000,3078,0.000,0.044,2351,2307,3319,3314,3325,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1612,-0.90,-136.3,2350,2306,3314,3325,491.0,-30.4,94,1613,0.00,0.00,0.00,0.000,2054,0.000,0.000,2351,2306,3319,3314,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1852,-0.90,-136.3,2350,2306,3314,3325,560.8,-28.7,100,1856,0.00,2.15,0.00,0.000,2308,0.000,0.058,2340,3709,3319,3314,3325,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1876,-0.90,-136.3,2340,3709,3314,3325,560.8,-28.7,100,1881,0.05,2.17,0.00,0.000,3078,0.162,0.037,2359,2300,3319,3314,3325,0,0,0,0,0,0,26.54,26.66,28.83
$GC,2128,-0.90,-136.3,2358,2274,3314,3324,636.9,-27.1,107,2132,0.00,2.22,0.00,0.000,2308,0.000,0.059,2349,3712,3319,3314,3324,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2156,-0.90,-136.3,2349,3712,3314,3324,636.9,-27.1,107,2164,0.00,2.17,0.00,0.000,3078,0.000,0.037,2352,2304,3318,3314,3323,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2403,-0.90,-136.3,2352,2274,3314,3323,713.4,-27.3,114,2404,0.00,0.00,0.00,0.000,2054,0.000,0.000,2352,2274,3318,3314,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2643,-0.90,-136.3,2352,2274,3313,3322,777.5,-26.2,120,2645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2352,2274,3318,3314,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2883,-0.90,-136.3,2352,2274,3314,3320,837.8,-24.9,126,2885,0.00,0.00,0.00,0.000,2054,0.000,0.000,2352,2274,3317,3314,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,-0.90,-136.3,2352,2274,3314,3319,898.0,-24.9,132,3127,0.00,2.12,0.00,0.000,2564,0.000,0.049,2357,889,3316,3313,3319,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3147,-0.90,-136.3,2357,889,3313,3319,898.0,-24.9,132,3151,0.00,2.22,0.00,0.000,3078,0.000,0.048,2348,2324,3316,3313,3319,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3158,begin apogee
$GC,3161,-0.17,0.0,2348,2323,3313,3319,907.1,-25.2,133,3280,0.80,0.00,116.12,1.086,10246,0.145,0.000,2594,2324,2762,2770,2754,0,0,0,0,0,0,26.60,28.83,24.29
$STATE,3281,end apogee,CONTROL_FINISHED_OK
$STATE,3282,begin climb
$GC,3283,0.90,136.3,2594,2324,2769,2754,915.1,0.0,136,3410,1.05,0.00,123.97,1.040,10246,0.076,0.000,2945,2323,2206,2237,2175,0,0,0,0,0,0,25.06,28.83,24.09
$GC,3639,0.90,136.3,2945,2323,2230,2168,849.0,23.5,145,3643,0.00,2.25,0.00,0.000,516,0.000,0.055,2955,941,2199,2230,2168,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3683,0.90,136.3,2955,941,2228,2168,840.8,23.5,146,3687,0.00,2.30,0.00,0.000,5126,0.000,0.054,2955,2330,2198,2228,2168,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3955,0.90,136.3,2955,2328,2226,2167,772.6,24.7,153,3959,0.00,2.20,0.00,0.000,4612,0.000,0.054,2965,942,2196,2225,2167,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3994,0.90,136.3,2965,942,2224,2167,764.3,24.4,154,3998,0.00,2.28,0.00,0.000,5126,0.000,0.054,2956,2355,2195,2224,2167,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4266,0.90,136.3,2956,2354,2224,2166,699.5,23.3,161,4267,0.00,0.00,0.00,0.000,4102,0.000,0.000,2957,2354,2194,2223,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4505,0.90,136.3,2956,2353,2223,2165,642.6,23.7,167,4510,0.00,2.22,0.00,0.000,4612,0.000,0.052,2965,934,2194,2223,2166,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4549,0.90,136.3,2965,934,2222,2165,634.8,23.2,168,4553,0.00,2.25,0.00,0.000,5126,0.000,0.054,2957,2346,2193,2222,2165,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4821,0.90,136.3,2957,2344,2222,2165,573.1,21.9,175,4825,0.00,2.22,0.00,0.000,4356,0.000,0.070,2956,3746,2193,2222,2165,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4880,0.90,136.3,2956,3746,2220,2165,564.8,22.1,176,4885,0.05,2.25,0.00,0.000,5126,0.178,0.047,2951,2337,2192,2220,2165,0,0,0,0,0,0,26.40,26.54,28.83
$GC,5137,0.90,136.3,2951,2310,2220,2164,506.1,20.8,183,5141,0.00,2.12,0.00,0.000,4612,0.000,0.053,2960,934,2192,2220,2165,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5151,0.90,136.3,2960,934,2220,2164,506.1,20.8,183,5155,0.03,2.28,0.00,0.000,5126,0.187,0.051,2949,2347,2192,2220,2165,0,0,0,0,0,0,26.49,26.56,28.83
$GC,5413,0.90,136.3,2949,2345,2220,2164,449.1,20.5,190,5417,0.00,2.20,0.00,0.000,4612,0.000,0.052,2958,931,2192,2220,2164,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5448,0.90,136.3,2958,931,2219,2165,441.4,20.7,191,5453,0.00,2.22,0.00,0.000,5126,0.000,0.051,2956,2349,2192,2220,2164,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5724,0.90,136.3,2956,2348,2219,2164,383.3,21.0,198,5728,0.00,2.20,0.00,0.000,4612,0.000,0.051,2965,931,2191,2219,2164,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5773,0.90,136.3,2965,931,2219,2165,376.0,20.9,199,5778,0.03,2.25,0.00,0.000,5126,0.188,0.051,2951,2339,2191,2219,2164,0,0,0,0,0,0,26.55,26.63,28.83
$GC,6040,0.90,136.3,2951,2338,2219,2164,322.2,19.1,206,6041,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,2338,2191,2219,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6280,0.90,136.3,2951,2338,2219,2164,276.2,19.2,212,6284,0.00,2.17,0.00,0.000,4612,0.000,0.050,2960,930,2191,2219,2164,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6318,0.90,136.3,2960,930,2219,2164,269.5,19.1,213,6323,0.03,2.25,0.00,0.000,5126,0.186,0.051,2950,2340,2191,2219,2164,0,0,0,0,0,0,26.59,26.66,28.83
$GC,6596,0.90,136.3,2950,2338,2219,2164,213.8,20.1,220,6600,0.00,2.17,0.00,0.000,4612,0.000,0.049,2959,933,2192,2219,2165,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6644,0.90,136.3,2958,933,2218,2164,206.3,20.3,221,6648,0.00,2.25,0.00,0.000,5126,0.000,0.050,2956,2343,2191,2219,2164,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6897,0.90,136.3,2956,2342,2219,2164,153.6,19.6,244,6905,0.00,2.17,0.00,0.000,4356,0.000,0.066,2956,3749,2191,2219,2164,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7052,0.90,136.3,2956,3750,2219,2165,115.6,25.7,258,7064,0.10,2.17,0.00,0.000,5126,0.191,0.042,2944,2309,2191,2218,2164,0,0,0,0,0,0,26.58,26.71,28.83
$GC,7304,0.90,136.3,2944,2308,2219,2165,65.5,19.3,283,7315,0.00,2.05,0.00,0.000,516,0.000,0.047,2953,955,2191,2218,2164,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7432,0.90,136.3,2952,955,2218,2164,43.9,16.7,293,7443,0.00,2.20,0.00,0.000,5126,0.000,0.049,2952,2341,2191,2218,2165,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,7650,end climb,SURFACE_DEPTH_REACHED
$STATE,7650,begin surface coast
$FINISH,0.9,3.084513
$STATE,7672,end surface coast,CONTROL_FINISHED_OK
$STATE,7672,begin surface
$SM_CCo,7685,113.35,0.653,0,0,1172,390.02
$SM_GC,2.04,7.10,0.00,113.35,0.038,0.000,0.653,195,2340,1172,-7.61,1.16,390.02,0,0,0,0,0,0,26.72,28.83,24.92
$IRIDIUM_FIX,3557.52,-15755.06,010309,191900
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.23
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,17.40
$XPDR_PINGS,259
$24V_AH,24.1,9.695
$10V_AH,10.3,6.543
$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,18.250,79.150,240.100,113.350,0.000,30.533,52.842,247.173,64.750,0.000,7.276,938.297,5267.470,476.244,1477.584,67.708,33.247,967.948,0.000,849.010,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,87.975,1085.535,652.545,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,238.380,140.728,283.002,260.233,539.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353068
$DATA_FILE_SIZE,27220,324
$CAP_FILE_SIZE,76775,0
$CFSIZE,259248128,255037440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050516,112601,3613.752,-15755.946,32,0.9,32,11.5