version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 116
start: 5 11 116 0 35 11
data:
$ID,512
$MISSION,7
$DIVE,116
$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,-129724.41
$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,40
$R_STBD_OVSHOOT,24
$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
$GPS1,110516,002819,3540.344,-15802.989,21,1.6,21,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-69.5
$GPS2,110516,003449,3540.371,-15803.026,20,2.0,20,11.4
$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,168.4,1435995,-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,-136.3,182,2327,1101,1226,0.0,0.0,0,87,0.00,0.00,-70.15,0.000,16386,0.000,0.000,178,2297,2865,2839,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.79,-136.3,177,2303,2840,2891,3.0,-1.4,8,119,8.68,2.28,-12.32,0.000,19204,0.221,0.070,2378,3717,3318,3313,3324,0,0,0,0,0,0,25.80,26.05,26.36
$GC,495,-0.79,-136.3,2378,3717,3315,3324,119.2,-27.3,47,504,0.08,2.20,0.00,0.000,3078,0.183,0.036,2394,2296,3319,3315,3324,0,0,0,0,0,0,26.22,26.35,28.83
$GC,742,-0.79,-136.3,2394,2264,3316,3324,183.7,-25.8,72,743,0.00,0.00,0.00,0.000,2054,0.000,0.000,2394,2265,3320,3316,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1011,-0.79,-136.3,2394,2264,3317,3324,252.1,-25.1,84,1012,0.00,0.00,0.00,0.000,2054,0.000,0.000,2394,2264,3320,3316,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1251,-0.79,-136.3,2394,2264,3316,3324,312.7,-25.1,90,1252,0.00,0.00,0.00,0.000,2054,0.000,0.000,2394,2264,3320,3317,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1491,-0.79,-136.3,2394,2264,3317,3324,372.7,-24.9,96,1495,0.00,2.10,0.00,0.000,2564,0.000,0.044,2394,886,3320,3317,3324,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1530,-0.79,-136.3,2394,886,3317,3324,381.9,-24.9,97,1534,0.00,2.20,0.00,0.000,3078,0.000,0.044,2386,2320,3320,3317,3324,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1802,-0.79,-136.3,2385,2320,3317,3324,451.3,-25.1,104,1806,0.00,2.15,0.00,0.000,2308,0.000,0.057,2375,3711,3320,3317,3323,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1856,-0.79,-136.3,2374,3711,3317,3324,462.1,-25.5,105,1861,0.08,2.15,0.00,0.000,3078,0.183,0.037,2392,2294,3320,3317,3324,0,0,0,0,0,0,26.51,26.63,28.83
$GC,2117,-0.79,-136.3,2391,2265,3317,3323,528.8,-24.0,112,2121,0.00,2.10,0.00,0.000,2564,0.000,0.045,2395,897,3319,3316,3323,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2136,-0.79,-136.3,2394,897,3317,3323,528.8,-24.0,112,2140,0.00,2.15,0.00,0.000,3078,0.000,0.044,2386,2303,3320,3317,3323,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2398,-0.79,-136.3,2386,2301,3317,3323,597.7,-24.4,119,2399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2301,3320,3317,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2638,-0.79,-136.3,2386,2301,3317,3322,655.1,-23.8,125,2642,0.00,2.17,0.00,0.000,2308,0.000,0.059,2375,3712,3319,3317,3322,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2692,-0.79,-136.3,2375,3711,3316,3322,663.8,-23.8,126,2696,0.08,2.15,0.00,0.000,3078,0.181,0.037,2391,2294,3319,3316,3322,0,0,0,0,0,0,26.57,26.69,28.83
$GC,2954,-0.79,-136.3,2391,2265,3316,3322,726.3,-22.0,133,2955,0.00,0.00,0.00,0.000,2054,0.000,0.000,2391,2265,3318,3316,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.79,-136.3,2391,2265,3316,3320,777.5,-21.0,139,3198,0.00,2.10,0.00,0.000,2564,0.000,0.047,2393,894,3318,3316,3321,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3217,-0.79,-136.3,2392,894,3316,3320,777.5,-21.0,139,3222,0.00,2.20,0.00,0.000,3078,0.000,0.046,2383,2292,3318,3316,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3470,-0.79,-136.3,2383,2291,3316,3319,836.3,-21.2,146,3476,0.00,2.20,0.00,0.000,2308,0.000,0.061,2373,3713,3317,3315,3319,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3532,-0.79,-136.3,2373,3713,3315,3319,845.3,-21.5,147,3538,0.05,2.20,0.00,0.000,3078,0.154,0.039,2390,2295,3317,3315,3319,0,0,0,0,0,0,26.58,26.72,28.83
$STATE,3788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3788,begin apogee
$GC,3792,-0.16,0.0,2390,2270,3315,3318,902.8,-20.2,154,3912,0.68,0.00,116.62,1.100,10246,0.134,0.000,2603,2268,2762,2771,2753,0,0,0,0,0,0,26.58,28.83,24.32
$STATE,3913,end apogee,CONTROL_FINISHED_OK
$STATE,3913,begin climb
$GC,3914,0.79,136.3,2602,2269,2770,2753,909.1,0.0,157,4042,0.90,0.00,123.78,1.048,10246,0.069,0.000,2909,2268,2206,2241,2172,0,0,0,0,0,0,25.10,28.83,24.10
$GC,4269,0.79,136.3,2909,2268,2232,2165,849.4,21.3,166,4274,0.00,2.20,0.00,0.000,516,0.000,0.051,2919,898,2198,2232,2164,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4288,0.79,136.3,2919,898,2231,2165,849.4,21.3,166,4293,0.00,2.25,0.00,0.000,5126,0.000,0.049,2917,2291,2198,2231,2165,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4545,0.79,136.3,2916,2290,2229,2164,791.1,21.2,173,4546,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2289,2196,2228,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4785,0.79,136.3,2916,2290,2226,2164,739.1,21.7,179,4786,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2290,2195,2226,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5026,0.79,136.3,2916,2289,2225,2163,689.3,20.7,185,5032,0.00,2.17,0.00,0.000,4612,0.000,0.049,2926,898,2194,2225,2163,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5073,0.79,136.3,2925,898,2224,2163,680.6,20.8,186,5077,0.00,2.20,0.00,0.000,5126,0.000,0.049,2917,2291,2194,2224,2164,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5345,0.79,136.3,2917,2290,2224,2162,623.5,20.1,193,5349,0.00,2.25,0.00,0.000,4356,0.000,0.068,2917,3700,2193,2224,2162,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5399,0.79,136.3,2916,3699,2223,2162,615.8,20.0,194,5404,0.08,2.22,0.00,0.000,5126,0.200,0.044,2913,2261,2192,2223,2162,0,0,0,0,0,0,26.38,26.51,28.83
$GC,5662,0.79,136.3,2913,2238,2222,2162,562.8,18.6,201,5667,0.00,2.30,0.00,0.000,4356,0.000,0.065,2907,3696,2192,2222,2162,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5709,0.79,136.3,2907,3696,2221,2162,554.5,18.9,202,5713,0.00,2.22,0.00,0.000,5126,0.000,0.043,2916,2285,2191,2221,2162,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5981,0.79,136.3,2917,2257,2221,2162,502.7,17.9,209,5985,0.00,2.10,0.00,0.000,4612,0.000,0.048,2927,885,2191,2221,2162,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6035,0.79,136.3,2927,885,2220,2162,496.3,17.8,210,6039,0.00,2.20,0.00,0.000,5126,0.000,0.048,2919,2295,2191,2220,2162,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6297,0.79,136.3,2918,2293,2221,2162,445.4,17.8,217,6301,0.00,2.20,0.00,0.000,4356,0.000,0.066,2917,3702,2191,2220,2162,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6341,0.79,136.3,2917,3702,2220,2162,438.3,18.0,218,6346,0.08,2.20,0.00,0.000,5126,0.199,0.042,2913,2273,2191,2220,2162,0,0,0,0,0,0,26.49,26.63,28.83
$GC,6613,0.79,136.3,2911,2247,2220,2162,386.5,18.4,225,6614,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,2247,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6853,0.79,136.3,2912,2247,2220,2162,342.4,18.3,231,6857,0.00,2.08,0.00,0.000,4612,0.000,0.047,2922,885,2191,2220,2162,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6907,0.79,136.3,2921,884,2219,2162,335.8,18.4,232,6911,0.00,2.20,0.00,0.000,5126,0.000,0.047,2917,2304,2190,2219,2162,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7169,0.79,136.3,2917,2303,2219,2162,286.1,17.7,239,7173,0.00,2.17,0.00,0.000,4612,0.000,0.047,2926,883,2190,2219,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7193,0.79,136.3,2926,883,2219,2162,286.1,17.7,239,7197,0.00,2.20,0.00,0.000,5126,0.000,0.047,2917,2297,2190,2219,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7445,0.79,136.3,2917,2295,2219,2162,238.5,17.1,246,7451,0.00,2.15,0.00,0.000,4612,0.000,0.047,2926,890,2190,2219,2162,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7458,0.79,136.3,2926,890,2219,2162,238.5,17.1,246,7462,0.00,2.17,0.00,0.000,5126,0.000,0.045,2917,2295,2190,2219,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7710,0.79,136.3,2917,2294,2219,2162,194.1,16.6,255,7711,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2294,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7950,0.79,136.3,2917,2294,2219,2162,155.2,16.2,279,7954,0.00,2.17,0.00,0.000,4356,0.000,0.063,2917,3704,2190,2218,2162,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8001,0.79,136.3,2917,3704,2219,2162,146.6,18.0,283,8010,0.03,2.12,0.00,0.000,5126,0.191,0.041,2918,2296,2190,2219,2162,0,0,0,0,0,0,26.58,26.70,28.83
$GC,8249,0.79,136.3,2918,2285,2219,2162,106.7,16.4,308,8261,0.00,2.12,0.00,0.000,4612,0.000,0.047,2927,869,2190,2219,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8424,0.79,136.3,2928,869,2219,2162,81.0,14.9,323,8430,0.00,2.22,0.00,0.000,5126,0.000,0.047,2918,2297,2190,2219,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8674,0.79,136.3,2918,2295,2219,2162,41.6,17.0,348,8685,0.00,2.15,0.00,0.000,4612,0.000,0.046,2928,878,2190,2218,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8739,0.79,136.3,2927,878,2218,2162,30.7,16.9,353,8750,0.00,2.22,0.00,0.000,5126,0.000,0.045,2918,2293,2190,2219,2162,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,8896,end climb,SURFACE_DEPTH_REACHED
$STATE,8896,begin surface coast
$FINISH,1.1,2.374786
$STATE,8919,end surface coast,CONTROL_FINISHED_OK
$STATE,8919,begin surface
$SM_CCo,8932,115.80,0.660,0,0,1171,390.02
$SM_GC,2.21,6.95,0.00,115.80,0.032,0.000,0.660,197,2294,1171,-7.60,-0.20,390.02,0,0,0,0,0,0,26.70,28.83,24.88
$IRIDIUM_FIX,3528.30,-15801.57,070309,111153
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.19
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.40
$XPDR_PINGS,315
$24V_AH,24.1,15.561
$10V_AH,10.3,9.270
$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,17.650,82.875,240.400,115.800,0.000,24.414,47.079,214.031,78.750,0.000,21.710,1086.172,6171.448,469.310,1629.686,94.620,0.000,1018.091,0.000,993.392,0.000,0.540,0.000
$DEVICE_MAMPS,221.085,70.380,1100.070,660.195,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,285.020,168.129,334.816,298.546,618.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353076
$DATA_FILE_SIZE,33776,378
$CAP_FILE_SIZE,83967,0
$CFSIZE,259248128,252788736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110516,030701,3539.679,-15803.271,26,1.1,26,11.4