version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 124
start: 5 12 116 1 28 4
data:
$ID,512
$MISSION,7
$DIVE,124
$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,30
$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,-129735.5
$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,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,26
$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
$GPS1,120516,010932,3534.365,-15806.642,26,0.8,36,11.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-72.5
$GPS2,120516,012742,3534.413,-15806.769,7,1.1,7,11.4
$SPEED_LIMITS,0.173,0.252
$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,168.1,1424998,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-136.3,181,2326,437,555,0.0,0.0,0,104,0.00,0.00,-87.22,0.000,16386,0.000,0.000,181,2298,2735,2719,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.80,-136.3,181,2328,2719,2753,3.0,-1.6,10,144,8.73,2.22,-17.48,0.000,18948,0.223,0.056,2395,904,3317,3316,3319,0,0,0,0,0,0,25.76,26.01,26.34
$GC,381,-0.80,-136.3,2395,903,3317,3320,73.8,-28.9,39,392,0.00,2.22,0.00,0.000,3078,0.000,0.043,2386,2299,3317,3316,3319,0,0,0,0,0,0,28.83,26.25,28.83
$GC,629,-0.80,-136.3,2386,2299,3317,3319,147.5,-27.4,64,631,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2299,3318,3317,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,899,-0.80,-136.3,2386,2298,3317,3319,222.1,-27.4,85,903,0.00,2.17,0.00,0.000,2564,0.000,0.043,2393,890,3318,3317,3320,0,0,0,0,0,0,28.83,26.42,28.83
$GC,918,-0.80,-136.3,2393,890,3317,3319,222.1,-27.4,85,922,0.00,2.22,0.00,0.000,3078,0.000,0.044,2384,2324,3318,3317,3319,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1175,-0.80,-136.3,2384,2323,3318,3319,296.1,-26.7,92,1176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2384,2323,3318,3318,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1415,-0.80,-136.3,2384,2322,3318,3319,360.7,-26.9,98,1419,0.00,2.12,0.00,0.000,2308,0.000,0.057,2373,3706,3319,3318,3320,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1433,-0.80,-136.3,2373,3705,3317,3319,360.7,-26.9,98,1438,0.03,2.17,0.00,0.000,3078,0.180,0.035,2389,2292,3318,3317,3319,0,0,0,0,0,0,26.46,26.57,28.83
$GC,1691,-0.80,-136.3,2388,2265,3317,3319,431.3,-25.3,105,1692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2389,2265,3318,3317,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.80,-136.3,2388,2264,3317,3319,491.7,-25.0,111,1935,0.00,2.25,0.00,0.000,2308,0.000,0.057,2379,3715,3318,3317,3319,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1949,-0.80,-136.3,2379,3715,3317,3319,491.7,-25.0,111,1954,0.00,2.20,0.00,0.000,3078,0.000,0.037,2382,2301,3318,3317,3319,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2207,-0.80,-136.3,2382,2267,3316,3319,562.5,-25.5,118,2208,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2267,3317,3316,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2446,-0.80,-136.3,2382,2267,3316,3319,620.1,-23.8,124,2448,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2267,3317,3316,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2686,-0.80,-136.3,2382,2267,3315,3319,675.3,-22.5,130,2688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2267,3317,3315,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2927,-0.80,-136.3,2382,2267,3315,3317,729.1,-22.4,136,2931,0.00,2.22,0.00,0.000,2308,0.000,0.060,2373,3704,3316,3315,3318,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2981,-0.80,-136.3,2373,3704,3314,3318,737.3,-22.4,137,2985,0.05,2.15,0.00,0.000,3078,0.203,0.037,2390,2283,3316,3314,3318,0,0,0,0,0,0,26.60,26.69,28.83
$GC,3242,-0.80,-136.3,2390,2258,3314,3316,797.1,-21.2,144,3244,0.00,0.00,0.00,0.000,2054,0.000,0.000,2390,2258,3315,3314,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3482,-0.80,-136.3,2390,2258,3313,3315,849.0,-21.3,150,3484,0.00,0.00,0.00,0.000,2054,0.000,0.000,2390,2258,3314,3313,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3723,-0.80,-136.3,2390,2258,3312,3314,899.4,-20.9,156,3728,0.00,2.25,0.00,0.000,2308,0.000,0.061,2381,3703,3313,3312,3314,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,3761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3761,begin apogee
$GC,3767,-0.17,0.0,2385,2281,3312,3314,908.1,-21.0,157,3886,0.68,0.00,115.68,1.103,10246,0.137,0.000,2597,2255,2762,2773,2751,0,0,0,0,0,0,26.54,28.83,24.33
$STATE,3887,end apogee,CONTROL_FINISHED_OK
$STATE,3887,begin climb
$GC,3888,0.80,136.3,2597,2255,2772,2751,914.9,0.0,160,4022,0.90,2.38,123.00,1.053,10756,0.072,0.051,2916,885,2205,2235,2176,0,0,0,0,0,0,25.10,24.80,24.11
$GC,4031,0.80,136.3,2916,885,2231,2176,905.0,10.7,163,4036,0.00,2.38,0.00,0.000,5126,0.000,0.049,2916,2279,2203,2231,2175,0,0,0,0,0,0,28.83,25.03,28.83
$GC,4283,0.80,136.3,2916,2278,2224,2171,843.9,22.0,170,4288,0.00,2.30,0.00,0.000,4356,0.000,0.067,2916,3698,2197,2224,2171,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4347,0.80,136.3,2916,3698,2223,2171,835.1,22.4,171,4352,0.05,2.25,0.00,0.000,5126,0.221,0.045,2917,2290,2197,2223,2171,0,0,0,0,0,0,25.91,26.01,28.83
$GC,4599,0.80,136.3,2917,2261,2222,2170,771.4,22.0,178,4603,0.00,2.17,0.00,0.000,4612,0.000,0.052,2926,875,2196,2222,2170,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4638,0.80,136.3,2064,875,2185,2164,763.4,22.0,179,4643,0.00,2.30,0.00,0.000,5126,0.000,0.049,2917,2292,2195,2220,2170,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4916,0.80,136.3,2917,2291,2220,2169,702.5,21.7,186,4917,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2291,2194,2220,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5155,0.80,136.3,2917,2290,2219,2169,654.1,20.0,192,5157,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2290,2194,2219,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5395,0.80,136.3,2917,2290,2218,2168,607.3,19.4,198,5399,0.00,2.25,0.00,0.000,4356,0.000,0.068,2917,3701,2193,2218,2168,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5414,0.80,136.3,2917,3700,2218,2168,607.3,19.4,198,5419,0.05,2.20,0.00,0.000,5126,0.226,0.045,2917,2286,2193,2218,2168,0,0,0,0,0,0,26.41,26.52,28.83
$GC,5666,0.80,136.3,2916,2258,2217,2168,555.0,19.5,205,5670,0.00,2.12,0.00,0.000,4612,0.000,0.050,2926,878,2192,2217,2168,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5725,0.80,136.3,2926,878,2216,2168,548.2,19.7,206,5729,0.00,2.22,0.00,0.000,5126,0.000,0.050,2917,2297,2192,2216,2169,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5982,0.80,136.3,2917,2295,2215,2167,494.5,19.2,213,5983,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2295,2191,2215,2168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6222,0.80,136.3,2917,2295,2215,2167,448.1,19.3,219,6223,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2295,2191,2215,2168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6462,0.80,136.3,2917,2295,2215,2167,405.0,17.9,225,6466,0.00,2.20,0.00,0.000,4612,0.000,0.051,2926,878,2191,2215,2167,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6501,0.80,136.3,2926,877,2214,2167,398.2,17.9,226,6505,0.00,2.22,0.00,0.000,5126,0.000,0.050,2917,2295,2190,2214,2167,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6778,0.80,136.3,2917,2294,2214,2167,347.8,17.7,233,6782,0.00,2.17,0.00,0.000,4612,0.000,0.051,2926,890,2190,2214,2167,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6817,0.80,136.3,2926,890,2213,2167,341.6,17.7,234,6821,0.00,2.20,0.00,0.000,5126,0.000,0.050,2917,2294,2190,2214,2167,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7094,0.80,136.3,2917,2292,2214,2168,290.6,18.5,241,7098,0.00,2.20,0.00,0.000,4356,0.000,0.067,2917,3703,2190,2213,2167,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7133,0.80,136.3,2048,3702,2179,2162,283.2,19.2,242,7138,0.03,2.22,0.00,0.000,5126,0.194,0.042,2918,2284,2190,2213,2167,0,0,0,0,0,0,26.55,26.67,28.83
$GC,7410,0.80,136.3,2918,2283,2213,2167,228.6,19.8,249,7414,0.00,2.10,0.00,0.000,4612,0.000,0.048,2928,878,2190,2213,2167,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7429,0.80,136.3,2928,878,2213,2167,228.6,19.8,249,7433,0.00,2.20,0.00,0.000,5126,0.000,0.047,2919,2295,2190,2213,2167,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7676,0.80,136.3,2918,2293,2213,2168,175.4,19.2,264,7689,0.00,2.17,0.00,0.000,4612,0.000,0.047,2928,875,2190,2213,2168,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7704,0.80,136.3,2928,875,2213,2167,170.6,19.0,266,7711,0.00,2.22,0.00,0.000,5126,0.000,0.054,2919,2290,2189,2212,2167,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7954,0.80,136.3,2919,2289,2213,2167,121.9,19.4,291,7960,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2289,2190,2213,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8204,0.80,136.3,2919,2288,2213,2168,77.3,16.5,316,8215,0.00,2.12,0.00,0.000,4612,0.000,0.047,2928,888,2190,2213,2168,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8294,0.80,136.3,2928,888,2213,2168,62.7,16.6,323,8305,0.00,2.25,0.00,0.000,5126,0.000,0.050,2919,2296,2190,2213,2168,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8565,0.80,136.3,2919,2295,2213,2168,16.4,17.0,353,8574,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2295,2190,2213,2168,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8644,end climb,SURFACE_DEPTH_REACHED
$STATE,8644,begin surface coast
$FINISH,1.2,2.815505
$STATE,8667,end surface coast,CONTROL_FINISHED_OK
$STATE,8667,begin surface
$SM_CCo,8680,114.62,0.651,0,0,1171,390.02
$SM_GC,2.43,6.93,0.00,114.62,0.031,0.000,0.651,188,2295,1171,-7.62,-0.14,390.02,0,0,0,0,0,0,26.70,28.83,24.90
$IRIDIUM_FIX,3520.37,-15811.92,080309,141439
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.98
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.30
$XPDR_PINGS,299
$24V_AH,24.1,16.593
$10V_AH,10.3,9.769
$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,17.425,75.325,238.675,114.625,0.000,82.866,158.334,632.138,74.750,0.000,8.304,1029.447,6193.393,450.348,2112.473,108.363,0.000,1000.087,0.000,918.863,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,68.085,1103.130,651.015,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,267.469,159.815,322.055,296.491,614.408,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353236
$DATA_FILE_SIZE,30524,367
$CAP_FILE_SIZE,88025,0
$CFSIZE,259248128,252399616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120516,035549,3533.672,-15807.034,14,2.5,35,11.4