version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 126
start: 5 12 116 6 35 28
data:
$ID,512
$MISSION,7
$DIVE,126
$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,650
$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,-129782.94
$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,67
$R_STBD_OVSHOOT,39
$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
$GPS1,120516,062819,3532.857,-15807.486,40,1.1,40,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-74.1
$GPS2,120516,063506,3532.908,-15807.537,6,0.9,6,11.3
$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,168.2,1422223,-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,-136.3,198,2322,1112,1218,0.0,0.0,0,87,0.00,0.00,-69.93,0.000,16386,0.000,0.000,198,2329,2862,2841,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.80,-136.3,198,2323,2840,2884,3.2,-2.4,8,119,8.62,2.20,-12.77,0.000,18948,0.223,0.056,2394,920,3317,3315,3320,0,0,0,0,0,0,25.78,26.04,26.36
$GC,346,-0.80,-136.3,2394,919,3316,3321,74.4,-29.0,34,357,0.00,2.12,0.00,0.000,3078,0.000,0.044,2386,2294,3318,3316,3321,0,0,0,0,0,0,28.83,26.26,28.83
$GC,598,-0.80,-136.3,2386,2293,3317,3321,147.0,-28.5,59,604,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2293,3319,3317,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-0.80,-136.3,2385,2293,3318,3321,222.5,-26.6,81,875,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2293,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1114,-0.80,-136.3,2385,2293,3318,3321,287.0,-26.9,87,1115,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2293,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1354,-0.80,-136.3,2386,2293,3319,3321,353.7,-27.7,93,1355,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2293,3320,3319,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1594,-0.80,-136.3,2386,2293,3319,3321,418.5,-27.0,99,1595,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2293,3320,3319,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1834,-0.80,-136.3,2386,2293,3319,3321,483.5,-27.2,105,1838,0.00,2.12,0.00,0.000,2564,0.000,0.043,2391,920,3320,3319,3321,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1888,-0.80,-136.3,2391,920,3318,3321,494.0,-27.0,106,1892,0.00,2.15,0.00,0.000,3078,0.000,0.044,2382,2316,3319,3318,3321,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2155,-0.80,-136.3,2382,2315,3319,3321,568.4,-26.7,113,2156,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2315,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2395,-0.80,-136.3,2382,2315,3318,3321,631.2,-26.0,119,2396,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2315,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2635,-0.80,-136.3,2382,2315,3318,3321,692.1,-25.2,125,2636,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2315,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2875,-0.80,-136.3,2382,2314,3317,3320,749.7,-23.4,131,2876,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2314,3319,3317,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3115,-0.80,-136.3,2382,2314,3317,3319,803.5,-22.3,137,3116,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2315,3318,3317,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.80,-136.3,2382,2314,3316,3319,855.0,-21.2,143,3359,0.00,2.17,0.00,0.000,2308,0.000,0.063,2372,3708,3317,3316,3319,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3390,-0.80,-136.3,2371,3708,3315,3319,862.9,-21.1,144,3395,0.08,2.10,0.00,0.000,3078,0.181,0.038,2392,2318,3317,3316,3319,0,0,0,0,0,0,26.59,26.71,28.83
$STATE,3586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3586,begin apogee
$GC,3590,-0.17,0.0,2392,2292,3315,3318,902.2,-19.7,149,3709,0.65,0.00,116.28,1.101,10246,0.138,0.000,2595,2291,2762,2773,2752,0,0,0,0,0,0,26.55,28.83,24.34
$STATE,3710,end apogee,CONTROL_FINISHED_OK
$STATE,3710,begin climb
$GC,3712,0.80,136.3,2595,2291,2772,2751,907.3,0.0,152,3839,0.93,0.00,123.65,1.056,10246,0.073,0.000,2906,2291,2206,2239,2173,0,0,0,0,0,0,25.10,28.83,24.10
$GC,4067,0.80,136.3,2906,2291,2230,2166,845.7,21.3,161,4071,0.00,2.25,0.00,0.000,2564,0.000,0.054,2916,892,2198,2230,2166,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4106,0.80,136.3,2068,892,2194,2161,838.2,21.3,162,4110,0.00,2.30,0.00,0.000,5126,0.000,0.052,2916,2279,2197,2228,2166,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4383,0.80,136.3,2916,2278,2225,2166,778.3,21.1,169,4387,0.00,2.28,0.00,0.000,4356,0.000,0.069,2916,3698,2195,2225,2166,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4412,0.80,136.3,2916,3698,2224,2166,778.3,21.1,169,4420,0.05,2.20,0.00,0.000,5126,0.219,0.045,2917,2300,2195,2224,2166,0,0,0,0,0,0,26.11,26.21,28.83
$GC,4659,0.80,136.3,2917,2273,2224,2165,721.9,20.0,176,4660,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2273,2195,2225,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4899,0.80,136.3,2917,2272,2223,2165,675.0,19.6,182,4903,0.00,2.28,0.00,0.000,4356,0.000,0.069,2917,3698,2193,2223,2164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4935,0.80,136.3,2917,3698,2222,2164,667.2,20.1,183,4940,0.05,2.20,0.00,0.000,5126,0.226,0.046,2916,2286,2193,2222,2165,0,0,0,0,0,0,26.33,26.44,28.83
$GC,5212,0.80,136.3,2917,2276,2222,2164,611.8,19.9,190,5216,0.00,2.12,0.00,0.000,4612,0.000,0.051,2926,886,2192,2221,2164,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5306,0.80,136.3,2926,885,2220,2164,597.4,19.4,192,5310,0.00,2.22,0.00,0.000,5126,0.000,0.050,2917,2304,2192,2220,2164,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5568,0.80,136.3,2916,2302,2220,2163,546.0,18.3,199,5569,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2302,2192,2220,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5808,0.80,136.3,2917,2302,2219,2163,500.4,19.4,205,5812,0.00,2.20,0.00,0.000,4612,0.000,0.050,2926,882,2191,2220,2163,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5844,0.80,136.3,2926,882,2219,2163,493.2,19.8,206,5848,0.00,2.20,0.00,0.000,5126,0.000,0.049,2917,2292,2191,2219,2163,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6120,0.80,136.3,2917,2291,2219,2164,439.9,19.3,213,6124,0.00,2.17,0.00,0.000,4612,0.000,0.050,2926,887,2191,2219,2163,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6168,0.80,136.3,2926,886,2219,2163,432.7,19.6,214,6173,0.00,2.20,0.00,0.000,5126,0.000,0.050,2918,2290,2191,2219,2164,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6436,0.80,136.3,2918,2288,2219,2163,376.6,20.1,221,6440,0.00,2.17,0.00,0.000,4612,0.000,0.047,2927,872,2191,2219,2163,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6474,0.80,136.3,2064,872,2184,2158,368.8,20.5,222,6478,0.00,2.25,0.00,0.000,5126,0.000,0.047,2918,2290,2190,2218,2163,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6751,0.80,136.3,2917,2288,2219,2163,312.7,19.6,229,6755,0.00,2.17,0.00,0.000,4612,0.000,0.047,2927,871,2190,2218,2163,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6787,0.80,136.3,2927,871,2218,2163,306.0,19.1,230,6791,0.00,2.20,0.00,0.000,5126,0.000,0.047,2918,2291,2190,2218,2163,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7063,0.80,136.3,2918,2290,2218,2164,254.2,18.8,237,7067,0.00,2.20,0.00,0.000,4356,0.000,0.063,2917,3695,2191,2218,2164,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7127,0.80,136.3,2917,3695,2218,2164,246.6,19.3,238,7132,0.05,2.20,0.00,0.000,5126,0.222,0.040,2916,2282,2191,2218,2164,0,0,0,0,0,0,26.57,26.68,28.83
$GC,7379,0.80,136.3,2916,2281,2218,2164,194.4,18.3,245,7383,0.00,2.10,0.00,0.000,4612,0.000,0.045,2926,878,2191,2218,2164,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7408,0.80,136.3,2925,878,2217,2164,189.6,18.3,247,7416,0.00,2.17,0.00,0.000,5126,0.000,0.046,2917,2293,2190,2217,2164,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7657,0.80,136.3,2916,2291,2217,2164,144.5,17.8,272,7669,0.00,2.12,0.00,0.000,4612,0.000,0.044,2926,889,2190,2217,2164,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7703,0.80,136.3,2926,889,2217,2164,135.8,18.2,276,7707,0.00,2.17,0.00,0.000,5126,0.000,0.047,2917,2293,2190,2217,2164,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7949,0.80,136.3,2917,2291,2217,2164,90.8,18.0,300,7960,0.00,2.15,0.00,0.000,4612,0.000,0.045,2926,885,2190,2217,2164,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8017,0.80,136.3,2926,885,2217,2164,78.2,18.2,306,8021,0.00,2.20,0.00,0.000,5126,0.000,0.046,2917,2301,2190,2217,2164,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8266,0.80,136.3,2917,2300,2217,2164,38.4,16.5,330,8275,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2300,2190,2217,2164,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8473,end climb,SURFACE_DEPTH_REACHED
$STATE,8473,begin surface coast
$FINISH,1.0,3.111695
$STATE,8497,end surface coast,CONTROL_FINISHED_OK
$STATE,8497,begin surface
$SM_CCo,8510,115.22,0.664,0,0,1172,390.02
$SM_GC,2.24,6.88,0.00,115.22,0.025,0.000,0.664,196,2300,1172,-7.61,0.00,390.02,0,0,0,0,0,0,26.67,28.83,24.88
$IRIDIUM_FIX,3517.72,-15809.46,080309,171726
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.37
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.10
$XPDR_PINGS,291
$24V_AH,24.1,16.833
$10V_AH,10.3,9.871
$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,17.300,65.625,239.925,115.225,0.000,29.910,50.257,240.644,72.750,0.000,7.551,1017.740,5935.248,465.460,1542.405,83.551,0.000,964.150,0.000,894.701,0.000,0.540,0.000
$DEVICE_MAMPS,225.675,68.850,1100.835,664.020,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.398,162.927,318.008,292.215,605.459,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353100
$DATA_FILE_SIZE,30565,361
$CAP_FILE_SIZE,76518,0
$CFSIZE,259248128,252321792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120516,090003,3532.195,-15807.869,12,2.0,13,11.3