version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 114
start: 5 10 116 19 25 1
data:
$ID,512
$MISSION,7
$DIVE,114
$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,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,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,-129721.9
$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,52
$R_STBD_OVSHOOT,27
$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
$GPS1,100516,190844,3541.335,-15802.249,14,1.7,14,11.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-71.0
$GPS2,100516,192439,3541.395,-15802.291,17,1.6,17,11.4
$SPEED_LIMITS,0.257,0.267
$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,168.4,1437888,-21.9,-12.000,-24.23,1743
$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,14,begin dive
$GC,15,-0.79,-136.3,130,2297,1100,1226,0.0,0.0,0,88,0.00,0.00,-69.95,0.000,16386,0.000,0.000,124,2300,2881,2857,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.79,-136.3,124,2325,2858,2905,3.4,-2.5,8,119,9.12,2.25,-11.52,0.000,19204,0.232,0.070,2379,3717,3317,3314,3321,0,0,0,0,0,0,25.84,26.08,26.40
$GC,407,-0.79,-136.3,2379,3717,3315,3322,98.4,-30.5,39,415,0.03,2.20,0.00,0.000,3078,0.190,0.035,2388,2309,3318,3314,3322,0,0,0,0,0,0,26.21,26.33,28.83
$GC,659,-0.79,-136.3,2388,2284,3316,3322,169.0,-27.4,64,668,0.00,2.10,0.00,0.000,2564,0.000,0.043,2395,900,3318,3315,3322,0,0,0,0,0,0,28.83,26.40,28.83
$GC,706,-0.79,-136.3,2394,899,3316,3322,182.2,-27.7,68,713,0.00,2.20,0.00,0.000,3078,0.000,0.043,2386,2316,3319,3316,3322,0,0,0,0,0,0,28.83,26.42,28.83
$GC,972,-0.79,-136.3,2386,2314,3317,3322,258.4,-28.6,80,973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2314,3319,3316,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1212,-0.79,-136.3,2386,2314,3317,3322,326.4,-28.4,86,1213,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2314,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1452,-0.79,-136.3,2385,2314,3317,3322,393.4,-27.7,92,1453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2314,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1692,-0.79,-136.3,2386,2314,3317,3322,457.8,-26.5,98,1696,0.00,2.15,0.00,0.000,2308,0.000,0.058,2375,3709,3319,3317,3322,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1728,-0.79,-136.3,2376,3709,3316,3322,467.4,-26.8,99,1732,0.05,2.15,0.00,0.000,3078,0.210,0.037,2391,2290,3319,3317,3322,0,0,0,0,0,0,26.52,26.63,28.83
$GC,2004,-0.79,-136.3,2391,2263,3316,3322,536.7,-25.0,106,2005,0.00,0.00,0.00,0.000,2054,0.000,0.000,2391,2264,3318,3316,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2244,-0.79,-136.3,2391,2263,3316,3321,594.9,-24.3,112,2248,0.00,2.08,0.00,0.000,2564,0.000,0.045,2396,905,3318,3316,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2268,-0.79,-136.3,2395,905,3316,3321,594.9,-24.3,112,2272,0.00,2.20,0.00,0.000,3078,0.000,0.045,2387,2331,3318,3316,3321,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2520,-0.79,-136.3,2386,2330,3316,3320,662.1,-24.5,119,2524,0.00,2.12,0.00,0.000,2308,0.000,0.059,2376,3710,3318,3316,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2539,-0.79,-136.3,2376,3709,3316,3321,662.1,-24.5,119,2543,0.05,2.17,0.00,0.000,3078,0.213,0.036,2392,2273,3318,3316,3321,0,0,0,0,0,0,26.58,26.69,28.83
$GC,2796,-0.79,-136.3,2391,2248,3316,3320,728.5,-23.7,126,2800,0.00,2.28,0.00,0.000,2308,0.000,0.060,2382,3706,3318,3316,3320,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2832,-0.79,-136.3,2382,3706,3316,3320,737.4,-23.8,127,2836,0.00,2.12,0.00,0.000,3078,0.000,0.037,2382,2303,3317,3315,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3107,-0.79,-136.3,2382,2271,3315,3319,804.6,-24.1,134,3109,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2271,3317,3315,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3347,-0.79,-136.3,2382,2271,3314,3318,862.0,-24.2,140,3352,0.00,2.25,0.00,0.000,2308,0.000,0.061,2373,3712,3316,3314,3318,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3376,-0.79,-136.3,2373,3711,3314,3318,862.0,-24.2,140,3384,0.08,2.17,0.00,0.000,3078,0.183,0.037,2393,2284,3316,3314,3318,0,0,0,0,0,0,26.60,26.72,28.83
$STATE,3542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3542,begin apogee
$GC,3546,-0.16,0.0,2392,2260,3314,3317,907.5,-22.7,145,3665,0.65,0.00,116.38,1.104,10246,0.135,0.000,2597,2259,2762,2771,2754,0,0,0,0,0,0,26.56,28.83,24.32
$STATE,3666,end apogee,CONTROL_FINISHED_OK
$STATE,3666,begin climb
$GC,3668,0.79,136.3,2597,2259,2769,2753,915.7,0.0,148,3795,0.90,0.00,122.68,1.059,10502,0.075,0.000,2904,2259,2206,2240,2172,0,0,0,0,0,0,25.10,28.83,24.10
$GC,4023,0.79,136.3,2904,2259,2231,2165,861.0,19.8,157,4027,0.00,2.17,0.00,0.000,2564,0.000,0.051,2914,898,2198,2231,2165,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4102,0.79,136.3,2048,898,2194,2159,846.2,19.4,159,4106,0.00,2.28,0.00,0.000,5126,0.000,0.049,2911,2284,2197,2229,2165,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4379,0.79,136.3,2910,2282,2227,2164,787.4,21.5,166,4385,0.00,2.28,0.00,0.000,260,0.000,0.067,2904,3699,2195,2226,2164,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4421,0.79,136.3,2048,3699,2191,2158,778.2,21.7,167,4426,0.00,2.25,0.00,0.000,5126,0.000,0.044,2913,2300,2194,2225,2164,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4699,0.79,136.3,2913,2272,2224,2163,720.8,20.3,174,4703,0.00,2.28,0.00,0.000,4356,0.000,0.068,2905,3696,2193,2224,2163,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4728,0.79,136.3,2904,3696,2224,2164,720.8,20.3,174,4735,0.00,2.20,0.00,0.000,5126,0.000,0.044,2914,2287,2194,2224,2164,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4975,0.79,136.3,2914,2278,2224,2162,663.1,20.8,181,4981,0.00,2.15,0.00,0.000,4612,0.000,0.052,2925,876,2193,2223,2163,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5008,0.79,136.3,2925,875,2223,2162,663.1,20.8,181,5015,0.00,2.28,0.00,0.000,5126,0.000,0.051,2917,2320,2193,2223,2163,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5255,0.79,136.3,2916,2319,2222,2162,605.4,20.3,188,5257,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2319,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5495,0.79,136.3,2916,2319,2222,2162,558.0,19.7,194,5496,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2319,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5735,0.79,136.3,2917,2319,2221,2162,513.0,18.9,200,5739,0.00,2.25,0.00,0.000,4612,0.000,0.050,2926,876,2191,2221,2162,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5759,0.79,136.3,2926,876,2221,2162,513.0,18.9,200,5763,0.00,2.25,0.00,0.000,5126,0.000,0.049,2917,2288,2191,2220,2162,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6011,0.79,136.3,2917,2286,2220,2161,461.6,18.6,207,6015,0.00,2.17,0.00,0.000,4612,0.000,0.049,2926,879,2191,2220,2162,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6065,0.79,136.3,2926,879,2220,2161,454.9,18.6,208,6069,0.00,2.25,0.00,0.000,5126,0.000,0.048,2917,2323,2190,2219,2161,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6327,0.79,136.3,2917,2321,2220,2161,404.1,18.4,215,6331,0.00,2.15,0.00,0.000,4356,0.000,0.066,2917,3702,2191,2220,2162,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6371,0.79,136.3,2917,3701,2219,2162,397.5,18.5,216,6375,0.08,2.17,0.00,0.000,5126,0.199,0.042,2913,2287,2190,2219,2162,0,0,0,0,0,0,26.52,26.65,28.83
$GC,6642,0.79,136.3,2913,2258,2219,2162,349.3,16.9,223,6643,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,2258,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6882,0.79,136.3,2913,2258,2220,2162,307.3,17.5,229,6883,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,2258,2190,2219,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7123,0.79,136.3,2913,2258,2220,2162,265.8,17.3,235,7124,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,2258,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,0.79,136.3,2913,2258,2219,2162,224.2,17.2,241,7366,0.00,2.10,0.00,0.000,4612,0.000,0.047,2922,889,2190,2219,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7421,0.79,136.3,2922,889,2218,2162,216.9,17.4,242,7425,0.00,2.20,0.00,0.000,5126,0.000,0.047,2916,2310,2190,2218,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7674,0.79,136.3,2916,2309,2218,2162,167.9,17.5,260,7682,0.00,2.15,0.00,0.000,4356,0.000,0.064,2917,3697,2190,2218,2162,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7707,0.79,136.3,2916,3697,2219,2162,161.1,19.9,263,7712,0.08,2.15,0.00,0.000,5126,0.196,0.041,2913,2287,2190,2219,2162,0,0,0,0,0,0,26.57,26.70,28.83
$GC,7955,0.79,136.3,2912,2271,2218,2162,118.5,16.2,287,7963,0.00,2.08,0.00,0.000,4612,0.000,0.046,2922,878,2190,2218,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8069,0.79,136.3,2922,878,2218,2162,99.9,16.9,297,8077,0.00,2.25,0.00,0.000,5126,0.000,0.046,2917,2299,2190,2218,2162,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8320,0.79,136.3,2916,2298,2218,2162,60.9,16.5,322,8332,0.00,2.15,0.00,0.000,4356,0.000,0.063,2917,3700,2190,2218,2162,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8373,0.79,136.3,2917,3700,2218,2162,51.1,18.5,326,8385,0.05,2.20,0.00,0.000,5126,0.163,0.040,2911,2291,2190,2218,2162,0,0,0,0,0,0,26.55,26.70,28.83
$STATE,8640,end climb,SURFACE_DEPTH_REACHED
$STATE,8640,begin surface coast
$FINISH,1.1,2.420897
$STATE,8662,end surface coast,CONTROL_FINISHED_OK
$STATE,8662,begin surface
$SM_CCo,8676,115.38,0.667,0,0,1171,390.02
$SM_GC,2.15,6.93,0.08,115.38,0.031,0.119,0.667,190,2303,1171,-7.61,-0.85,390.02,0,0,0,0,0,0,26.72,26.77,24.87
$IRIDIUM_FIX,3528.30,-15804.03,070309,080819
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.31
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.40
$XPDR_PINGS,294
$24V_AH,24.1,15.320
$10V_AH,10.3,9.162
$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,18.000,78.925,239.050,115.375,0.000,137.994,268.457,198.409,73.500,0.000,18.265,1028.048,6309.738,452.482,1878.775,86.081,0.000,992.410,0.000,938.422,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,119.340,1103.895,667.080,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,262.010,158.697,315.051,281.353,583.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353064
$DATA_FILE_SIZE,30618,362
$CAP_FILE_SIZE,84489,0
$CFSIZE,259248128,252882944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100516,215231,3540.745,-15802.570,24,1.1,24,11.4