version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 115
start: 5 10 116 22 1 17
data:
$ID,512
$MISSION,7
$DIVE,115
$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,-129723.16
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,100516,215231,3540.745,-15802.570,24,1.1,24,11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-68.9
$GPS2,100516,220056,3540.786,-15802.593,7,1.2,7,11.4
$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,168.4,1436762,-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,13,begin dive
$GC,15,-0.79,-136.3,173,2330,1106,1218,0.0,0.0,0,70,0.00,0.00,-53.05,0.000,16386,0.000,0.000,171,2330,2474,2458,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.79,-136.3,170,2330,2459,2492,3.5,-2.9,6,127,8.57,2.25,-36.33,0.000,18692,0.215,0.067,2382,3705,3317,3314,3321,0,0,0,0,0,0,25.84,26.06,26.39
$GC,366,-0.79,-136.3,2382,3706,3314,3322,78.2,-36.3,38,377,0.00,2.22,0.00,0.000,3078,0.000,0.038,2382,2261,3318,3315,3322,0,0,0,0,0,0,28.83,26.30,28.83
$GC,617,-0.79,-136.3,2380,2260,3316,3322,148.3,-22.3,63,626,0.05,2.00,0.00,0.000,2564,0.213,0.039,2395,932,3319,3316,3322,0,0,0,0,0,0,26.41,26.38,28.83
$GC,673,-0.79,-136.3,2394,931,3316,3322,162.9,-25.2,68,681,0.00,2.17,0.00,0.000,3078,0.000,0.045,2386,2305,3319,3316,3322,0,0,0,0,0,0,28.83,26.41,28.83
$GC,930,-0.79,-136.3,2384,2313,3317,3322,252.1,-31.6,82,934,0.00,2.17,0.00,0.000,2308,0.000,0.059,2374,3707,3319,3316,3322,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1326,-0.79,-136.3,2373,3718,3316,3323,361.1,-27.0,92,1330,0.08,2.08,0.00,0.000,3078,0.181,0.035,2391,2327,3319,3316,3322,0,0,0,0,0,0,26.46,26.58,28.83
$GC,1602,-0.79,-136.3,2391,2301,3316,3322,432.5,-25.9,99,1606,0.00,2.12,0.00,0.000,2564,0.000,0.043,2392,902,3319,3316,3322,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1626,-0.79,-136.3,2392,902,3316,3322,432.5,-25.9,99,1630,0.00,2.15,0.00,0.000,3078,0.000,0.044,2383,2306,3320,3317,3323,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1879,-0.79,-136.3,2383,2304,3317,3322,504.6,-25.7,106,1880,0.00,0.00,0.00,0.000,2054,0.000,0.000,2383,2305,3319,3316,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,-0.79,-136.3,2383,2305,3316,3322,564.4,-24.8,112,2119,0.00,0.00,0.00,0.000,2054,0.000,0.000,2384,2304,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-0.79,-136.3,2383,2304,3316,3321,622.8,-24.2,118,2362,0.00,2.15,0.00,0.000,2308,0.000,0.058,2373,3706,3318,3316,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2387,-0.79,-136.3,2372,3706,3316,3322,622.8,-24.2,118,2395,0.10,2.12,0.00,0.000,3078,0.167,0.036,2396,2299,3319,3316,3322,0,0,0,0,0,0,26.54,26.68,28.83
$GC,2634,-0.79,-136.3,2396,2270,3316,3321,683.8,-21.4,125,2638,0.00,2.22,0.00,0.000,2308,0.000,0.060,2387,3704,3318,3315,3322,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2669,-0.79,-136.3,2387,3704,3316,3321,691.7,-21.4,126,2673,0.00,2.12,0.00,0.000,3078,0.000,0.037,2387,2295,3318,3316,3321,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2945,-0.79,-136.3,2387,2266,3315,3320,753.9,-22.7,133,2946,0.00,0.00,0.00,0.000,2054,0.000,0.000,2387,2266,3317,3315,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3185,-0.79,-136.3,2387,2266,3315,3319,806.2,-21.5,139,3186,0.00,0.00,0.00,0.000,2054,0.000,0.000,2387,2266,3317,3315,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3425,-0.79,-136.3,2388,2266,3315,3319,856.4,-20.9,145,3429,0.00,2.28,0.00,0.000,2308,0.000,0.063,2378,3713,3317,3315,3319,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3463,-0.79,-136.3,1608,3712,3303,3316,864.0,-20.8,146,3469,0.05,2.20,0.00,0.000,3078,0.154,0.038,2394,2289,3316,3314,3318,0,0,0,0,0,0,26.60,26.72,28.83
$STATE,3660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3660,begin apogee
$GC,3663,-0.16,0.0,2394,2263,3314,3318,902.7,-19.2,151,3783,0.65,0.00,116.25,1.106,10246,0.132,0.000,2600,2262,2762,2771,2753,0,0,0,0,0,0,26.58,28.83,24.31
$STATE,3784,end apogee,CONTROL_FINISHED_OK
$STATE,3784,begin climb
$GC,3785,0.79,136.3,2600,2262,2770,2752,907.8,0.0,154,3913,0.90,0.00,123.70,1.050,10246,0.071,0.000,2906,2262,2206,2240,2172,0,0,0,0,0,0,25.10,28.83,24.11
$GC,4141,0.79,136.3,2905,2262,2231,2165,845.6,21.7,163,4145,0.00,2.20,0.00,0.000,516,0.000,0.051,2916,891,2198,2232,2165,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4195,0.79,136.3,2916,891,2229,2165,837.8,21.5,164,4199,0.00,2.28,0.00,0.000,5126,0.000,0.051,2916,2299,2197,2229,2165,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4457,0.79,136.3,2915,2297,2227,2164,778.0,21.6,171,4461,0.00,2.25,0.00,0.000,4356,0.000,0.067,2916,3705,2195,2227,2164,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4511,0.79,136.3,2916,3705,2225,2164,769.5,22.1,172,4516,0.08,2.22,0.00,0.000,5126,0.200,0.045,2913,2294,2194,2225,2164,0,0,0,0,0,0,26.12,26.24,28.83
$GC,4773,0.79,136.3,2913,2266,2225,2163,710.8,20.4,179,4774,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,2266,2194,2225,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5014,0.79,136.3,2913,2266,2224,2162,661.9,20.3,185,5019,0.00,2.15,0.00,0.000,4612,0.000,0.053,2922,883,2193,2224,2163,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5032,0.79,136.3,2922,883,2223,2162,661.9,20.3,185,5036,0.00,2.22,0.00,0.000,5126,0.000,0.050,2917,2296,2193,2223,2163,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5288,0.79,136.3,2916,2294,2223,2162,605.9,20.3,192,5292,0.00,2.22,0.00,0.000,4356,0.000,0.067,2917,3706,2192,2223,2162,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5337,0.79,136.3,2916,3706,2222,2162,598.1,20.4,193,5342,0.08,2.22,0.00,0.000,5126,0.201,0.045,2913,2276,2192,2222,2163,0,0,0,0,0,0,26.39,26.52,28.83
$GC,5604,0.79,136.3,2913,2252,2222,2162,542.0,19.6,200,5606,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,2252,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5844,0.79,136.3,2913,2252,2222,2162,495.5,19.1,206,5848,0.00,2.10,0.00,0.000,4612,0.000,0.050,2922,886,2191,2222,2161,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5873,0.79,136.3,2922,885,2221,2162,495.5,19.1,206,5880,0.00,2.22,0.00,0.000,5126,0.000,0.050,2917,2304,2191,2221,2161,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6120,0.79,136.3,2916,2302,2221,2161,441.2,19.5,213,6124,0.00,2.20,0.00,0.000,4356,0.000,0.067,2917,3697,2191,2220,2162,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6161,0.79,136.3,2917,3697,2220,2162,432.4,19.8,214,6165,0.08,2.17,0.00,0.000,5126,0.199,0.044,2913,2281,2191,2220,2162,0,0,0,0,0,0,26.49,26.63,28.83
$GC,6437,0.79,136.3,2912,2256,2220,2161,380.7,18.5,221,6439,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,2256,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6677,0.79,136.3,2912,2256,2220,2162,335.8,18.5,227,6679,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,2256,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6917,0.79,136.3,2912,2255,2220,2161,291.7,18.4,233,6918,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,2255,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7157,0.79,136.3,2912,2255,2220,2162,248.6,17.9,239,7161,0.00,2.08,0.00,0.000,4612,0.000,0.046,2922,888,2191,2220,2162,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7233,0.79,136.3,2922,888,2219,2161,234.9,17.8,241,7237,0.00,2.20,0.00,0.000,5126,0.000,0.047,2917,2301,2190,2219,2161,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7484,0.79,136.3,2916,2300,2219,2161,189.5,17.7,251,7485,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2300,2190,2219,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7727,0.79,136.3,2917,2300,2219,2162,148.1,17.0,275,7733,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2300,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7975,0.79,136.3,2916,2300,2219,2162,105.4,16.3,300,7976,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2300,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8217,0.79,136.3,2917,2300,2219,2162,67.6,15.3,324,8228,0.00,2.15,0.00,0.000,4612,0.000,0.047,2926,886,2190,2219,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8356,0.79,136.3,2926,886,2219,2162,44.4,16.7,335,8367,0.00,2.15,0.00,0.000,5126,0.000,0.047,2917,2290,2190,2219,2162,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,8612,end climb,SURFACE_DEPTH_REACHED
$STATE,8612,begin surface coast
$FINISH,1.1,2.364676
$STATE,8635,end surface coast,CONTROL_FINISHED_OK
$STATE,8635,begin surface
$SM_CCo,8648,116.55,0.659,0,0,1171,390.02
$SM_GC,2.28,6.85,0.00,116.55,0.027,0.000,0.659,201,2290,1171,-7.60,-0.28,390.02,0,0,0,0,0,0,26.70,28.83,24.88
$IRIDIUM_FIX,3525.66,-15804.03,070309,080802
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.07
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.30
$XPDR_PINGS,299
$24V_AH,24.1,15.441
$10V_AH,10.3,9.216
$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,17.475,65.325,239.950,116.550,0.000,64.122,55.028,236.500,74.750,0.000,8.281,1048.246,5990.647,473.005,1681.534,87.801,0.000,1008.876,0.000,992.441,0.000,0.541,0.000
$DEVICE_MAMPS,214.965,67.320,1106.190,658.665,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,265.902,169.120,329.152,300.667,623.185,0.000,0.000,0.000,0.000,0.000
$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,33926,370
$CAP_FILE_SIZE,79751,0
$CFSIZE,259248128,252837888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110516,002819,3540.344,-15802.989,21,1.6,21,11.4