version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 110
start: 5 10 116 7 19 11
data:
$ID,512
$MISSION,7
$DIVE,110
$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,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,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52650
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,400
$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,-129716.74
$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,32
$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,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,22
$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,0.00079999998
$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
$GPS1,100516,071102,3544.335,-15801.447,35,1.0,42,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-70.3
$GPS2,100516,071849,3544.366,-15801.458,7,1.0,8,11.4
$SPEED_LIMITS,0.214,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.001,-0.285
$KALMAN_X,-2644.9,788.8,61.0,924.2,-5790.6
$KALMAN_Y,208676.8,-776.9,-825.4,-298047.0,8369.7
$MHEAD_RNG_PITCHd_Wd,168.5,1443387,-18.9,-10.000,-21.63,2088
$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,-0.70,-136.3,161,2308,1057,1184,0.0,0.0,0,97,0.00,0.00,-78.97,0.000,16386,0.000,0.000,150,2334,3078,3054,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.70,-136.3,150,2308,3055,3103,3.6,-3.1,9,120,9.05,2.33,-5.47,0.000,19204,0.228,0.071,2410,3722,3320,3311,3329,0,0,0,0,0,0,25.77,26.03,26.33
$GC,413,-0.70,-136.3,2410,3722,3313,3329,96.4,-27.7,38,422,0.00,2.22,0.00,0.000,3078,0.000,0.038,2412,2310,3321,3314,3329,0,0,0,0,0,0,28.83,26.27,28.83
$GC,659,-0.70,-136.3,2411,2277,3314,3329,162.8,-24.6,63,661,0.05,0.00,0.00,0.000,2054,0.213,0.000,2422,2277,3321,3314,3329,0,0,0,0,0,0,26.42,28.83,28.83
$GC,899,-0.70,-136.3,2422,2277,3315,3329,219.8,-23.6,81,900,0.00,0.00,0.00,0.000,2054,0.000,0.000,2422,2277,3322,3315,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1139,-0.70,-136.3,2422,2276,3315,3329,275.0,-22.8,87,1143,0.00,2.25,0.00,0.000,2308,0.000,0.056,2413,3722,3321,3315,3328,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1158,-0.70,-136.3,2412,3722,3315,3329,275.0,-22.8,87,1162,0.03,2.22,0.00,0.000,3078,0.241,0.037,2423,2264,3322,3315,3329,0,0,0,0,0,0,26.45,26.53,28.83
$GC,1415,-0.70,-136.3,2423,2239,3314,3329,336.9,-22.4,94,1416,0.00,0.00,0.00,0.000,2054,0.000,0.000,2424,2239,3322,3316,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1655,-0.70,-136.3,2424,2238,3316,3329,390.7,-22.5,100,1656,0.00,0.00,0.00,0.000,2054,0.000,0.000,2424,2239,3322,3316,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1895,-0.70,-136.3,2423,2238,3316,3329,444.9,-22.5,106,1899,0.00,2.30,0.00,0.000,2308,0.000,0.057,2414,3718,3322,3316,3329,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1944,-0.70,-136.3,2414,3718,3316,3329,453.2,-22.6,107,1948,0.00,2.17,0.00,0.000,3078,0.000,0.038,2414,2292,3322,3315,3329,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2211,-0.70,-136.3,2414,2262,3316,3329,515.3,-22.0,114,2215,0.00,2.10,0.00,0.000,2564,0.000,0.046,2414,894,3322,3316,3328,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2246,-0.70,-136.3,2414,894,3315,3328,523.0,-21.8,115,2251,0.10,2.20,0.00,0.000,3078,0.179,0.044,2426,2320,3322,3316,3328,0,0,0,0,0,0,26.52,26.65,28.83
$GC,2523,-0.70,-136.3,2426,2319,3316,3328,577.2,-19.4,122,2527,0.00,2.12,0.00,0.000,2308,0.000,0.058,2417,3705,3321,3315,3328,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2562,-0.70,-136.3,2417,3705,3316,3327,584.3,-19.7,123,2567,0.00,2.15,0.00,0.000,3078,0.000,0.039,2420,2292,3321,3315,3327,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2834,-0.70,-136.3,2420,2264,3316,3326,639.0,-20.1,130,2835,0.00,0.00,0.00,0.000,2054,0.000,0.000,2420,2264,3321,3316,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3074,-0.70,-136.3,2420,2264,3316,3325,685.1,-19.1,136,3075,0.00,0.00,0.00,0.000,2054,0.000,0.000,2421,2264,3320,3316,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3314,-0.70,-136.3,2420,2263,3316,3324,732.1,-19.7,142,3318,0.00,2.25,0.00,0.000,2308,0.000,0.060,2411,3709,3319,3315,3324,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3352,-0.70,-136.3,1616,3708,3304,3321,739.5,-19.7,143,3358,0.03,2.20,0.00,0.000,3078,0.155,0.038,2423,2288,3319,3315,3324,0,0,0,0,0,0,26.62,26.72,28.83
$GC,3630,-0.70,-136.3,2423,2263,3316,3322,794.5,-19.9,150,3632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2423,2263,3319,3315,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,-0.70,-136.3,2423,2263,3315,3321,841.4,-19.4,156,3871,0.00,0.00,0.00,0.000,2054,0.000,0.000,2423,2263,3318,3315,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4110,-0.70,-136.3,2423,2263,3315,3320,886.8,-18.8,162,4114,0.00,2.25,0.00,0.000,2308,0.000,0.061,2414,3704,3317,3315,3319,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4174,-0.70,-136.3,2413,3704,3314,3319,893.5,-18.7,163,4178,0.00,2.12,0.00,0.000,3078,0.000,0.040,2414,2304,3317,3315,3319,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4185,begin apogee
$GC,4188,-0.16,0.0,2413,2276,3315,3319,901.0,-18.8,164,4308,0.60,0.00,116.53,1.099,10246,0.127,0.000,2603,2275,2762,2771,2753,0,0,0,0,0,0,26.59,28.83,24.32
$STATE,4309,end apogee,CONTROL_FINISHED_OK
$STATE,4309,begin climb
$GC,4310,0.70,136.3,2603,2275,2770,2752,906.2,0.0,167,4440,0.82,2.45,122.93,1.045,10500,0.076,0.066,2877,3698,2206,2242,2170,0,0,0,0,0,0,25.09,24.78,24.11
$GC,4476,0.70,136.3,2877,3697,2237,2169,889.3,13.1,171,4480,0.00,2.30,0.00,0.000,5126,0.000,0.044,2886,2299,2202,2237,2168,0,0,0,0,0,0,28.83,25.25,28.83
$GC,4738,0.70,136.3,2887,2270,2233,2164,833.5,19.8,178,4742,0.00,2.33,0.00,0.000,4356,0.000,0.067,2888,3698,2198,2233,2164,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4761,0.70,136.3,2887,3698,2232,2164,833.5,19.8,178,4766,0.08,2.28,0.00,0.000,5126,0.178,0.045,2883,2268,2198,2232,2164,0,0,0,0,0,0,25.89,25.98,28.83
$GC,5013,0.70,136.3,2882,2245,2230,2163,780.8,18.6,185,5015,0.00,0.00,0.00,0.000,4102,0.000,0.000,2883,2245,2196,2230,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5254,0.70,136.3,2882,2245,2229,2162,735.8,18.8,191,5255,0.00,0.00,0.00,0.000,4102,0.000,0.000,2883,2245,2196,2229,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5493,0.70,136.3,2882,2245,2228,2162,692.0,18.0,197,5495,0.00,0.00,0.00,0.000,4102,0.000,0.000,2883,2245,2195,2228,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5734,0.70,136.3,2882,2245,2226,2162,649.0,18.0,203,5738,0.00,2.12,0.00,0.000,4612,0.000,0.053,2892,880,2194,2226,2162,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5777,0.70,136.3,2891,880,2225,2161,642.4,18.1,204,5782,0.00,2.22,0.00,0.000,5126,0.000,0.050,2891,2294,2193,2224,2162,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6049,0.70,136.3,2891,2293,2224,2162,594.9,16.9,211,6051,0.00,0.00,0.00,0.000,4102,0.000,0.000,2891,2293,2193,2224,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6289,0.70,136.3,2890,2293,2223,2162,553.2,17.2,217,6293,0.00,2.22,0.00,0.000,4356,0.000,0.068,2891,3703,2192,2223,2162,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6333,0.70,136.3,2891,3703,2222,2162,546.8,17.2,218,6338,0.10,2.20,0.00,0.000,5126,0.168,0.045,2877,2283,2192,2223,2162,0,0,0,0,0,0,26.47,26.60,28.83
$GC,6605,0.70,136.3,2877,2258,2223,2162,502.3,15.7,225,6609,0.00,2.12,0.00,0.000,516,0.000,0.050,2886,882,2192,2222,2162,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6684,0.70,136.3,2048,881,2187,2156,490.0,16.0,227,6688,0.00,2.25,0.00,0.000,5126,0.000,0.048,2887,2296,2191,2221,2162,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6961,0.70,136.3,2886,2295,2221,2161,443.6,16.7,234,6962,0.00,0.00,0.00,0.000,4102,0.000,0.000,2887,2295,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7201,0.70,136.3,2886,2294,2221,2162,402.5,17.2,240,7202,0.00,0.00,0.00,0.000,4102,0.000,0.000,2887,2295,2191,2221,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7441,0.70,136.3,2886,2294,2221,2161,361.8,17.1,246,7445,0.00,2.20,0.00,0.000,4356,0.000,0.066,2886,3705,2192,2222,2162,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7470,0.70,136.3,2886,3704,2220,2162,361.8,17.1,246,7478,0.08,2.20,0.00,0.000,5126,0.177,0.050,2881,2272,2191,2220,2162,0,0,0,0,0,0,26.57,26.67,28.83
$GC,7717,0.70,136.3,2881,2249,2220,2162,317.6,15.6,253,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2249,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7957,0.70,136.3,2881,2249,2220,2162,280.8,15.2,259,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2249,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8197,0.70,136.3,2881,2249,2220,2162,244.1,15.3,265,8201,0.00,2.10,0.00,0.000,516,0.000,0.048,2890,879,2191,2220,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8221,0.70,136.3,2890,879,2220,2162,244.1,15.3,265,8225,0.00,2.25,0.00,0.000,5126,0.000,0.047,2890,2297,2191,2220,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8473,0.70,136.3,2890,2295,2220,2162,199.5,16.2,272,8474,0.00,0.00,0.00,0.000,4102,0.000,0.000,2890,2295,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8713,0.70,136.3,2890,2295,2221,2162,159.5,16.2,296,8717,0.00,2.15,0.00,0.000,4612,0.000,0.045,2900,888,2191,2220,2162,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8761,0.70,136.3,2899,888,2221,2162,151.3,16.6,300,8766,0.08,2.20,0.00,0.000,5126,0.173,0.047,2883,2299,2190,2219,2162,0,0,0,0,0,0,26.60,26.67,28.83
$GC,9006,0.70,136.3,2883,2298,2220,2162,112.8,15.8,324,9010,0.00,2.17,0.00,0.000,4356,0.000,0.063,2877,3706,2191,2220,2162,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9094,0.70,136.3,2877,3706,2220,2162,99.2,15.4,331,9102,0.00,2.22,0.00,0.000,5126,0.000,0.041,2888,2279,2191,2220,2162,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9346,0.70,136.3,2887,2255,2220,2162,60.7,15.3,356,9355,0.00,0.00,0.00,0.000,4102,0.000,0.000,2887,2255,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9615,0.70,136.3,2887,2253,2220,2162,18.3,15.9,386,9624,0.00,2.10,0.00,0.000,4612,0.000,0.045,2897,896,2191,2220,2162,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9647,0.70,136.3,2897,897,2220,2162,13.1,15.6,390,9657,0.05,2.20,0.00,0.000,5126,0.144,0.047,2880,2290,2191,2220,2162,0,0,0,0,0,0,26.57,26.67,28.83
$STATE,9713,end climb,SURFACE_DEPTH_REACHED
$STATE,9713,begin surface coast
$FINISH,1.1,3.132316
$STATE,9736,end surface coast,CONTROL_FINISHED_OK
$STATE,9736,begin surface
$SM_CCo,9749,121.25,0.657,0,0,1130,400.08
$SM_GC,2.26,6.72,0.00,121.25,0.025,0.000,0.657,187,2298,1130,-7.60,-0.06,400.08,0,0,0,0,0,0,26.73,28.83,24.85
$IRIDIUM_FIX,3530.95,-15800.58,060309,171740
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.84
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.50
$XPDR_PINGS,339
$24V_AH,24.1,14.809
$10V_AH,10.3,8.925
$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,17.775,75.200,239.450,121.250,0.000,26.638,42.156,309.546,84.750,0.000,8.295,1142.106,6950.326,462.474,1702.811,88.843,0.000,1013.454,0.000,987.689,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,71.145,1098.540,657.135,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,289.638,175.665,346.097,305.215,632.169,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353024
$DATA_FILE_SIZE,34028,402
$CAP_FILE_SIZE,87774,0
$CFSIZE,259248128,253067264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100516,100433,3543.835,-15801.688,16,1.9,16,11.4