version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 127
start: 5 12 116 9 6 25
data:
$ID,512
$MISSION,7
$DIVE,127
$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,-129784.2
$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,41
$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
$GPS1,120516,090003,3532.195,-15807.869,12,2.0,13,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-73.8
$GPS2,120516,090603,3532.243,-15807.902,8,1.9,8,11.3
$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,168.2,1420997,-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,14,begin dive
$GC,15,-0.80,-136.3,193,2337,1114,1215,0.0,0.0,0,87,0.00,0.00,-69.82,0.000,16386,0.000,0.000,193,2335,2859,2835,2884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.80,-136.3,193,2335,2835,2884,3.2,-2.2,8,119,8.70,2.22,-12.55,0.000,18948,0.223,0.056,2395,892,3318,3315,3321,0,0,0,0,0,0,25.77,26.02,26.34
$GC,372,-0.80,-136.3,2395,892,3316,3321,83.6,-30.4,36,384,0.00,2.20,0.00,0.000,3078,0.000,0.046,2386,2303,3319,3316,3322,0,0,0,0,0,0,28.83,26.26,28.83
$GC,625,-0.80,-136.3,2386,2302,3317,3321,156.1,-28.8,61,630,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2302,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,901,-0.80,-136.3,2385,2302,3318,3321,235.2,-28.3,80,905,0.00,2.17,0.00,0.000,2564,0.000,0.042,2389,891,3319,3318,3321,0,0,0,0,0,0,28.83,26.44,28.83
$GC,919,-0.80,-136.3,2389,890,3318,3321,235.2,-28.3,80,924,0.05,2.20,0.00,0.000,3078,0.233,0.045,2389,2312,3319,3318,3321,0,0,0,0,0,0,26.34,26.46,28.83
$GC,1177,-0.80,-136.3,2389,2312,3318,3322,309.4,-26.7,87,1180,0.00,2.17,0.00,0.000,2308,0.000,0.058,2380,3712,3319,3318,3321,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1220,-0.80,-136.3,2380,3711,3318,3321,320.4,-26.8,88,1225,0.00,2.20,0.00,0.000,3078,0.000,0.036,2382,2299,3320,3318,3322,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1497,-0.80,-136.3,2382,2266,3318,3322,393.4,-25.6,95,1498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2382,2266,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1737,-0.80,-136.3,2382,2266,3318,3321,453.9,-25.3,101,1741,0.00,2.10,0.00,0.000,2564,0.000,0.045,2382,892,3319,3318,3321,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1786,-0.80,-136.3,2382,893,3318,3322,463.1,-25.3,102,1791,0.10,2.20,0.00,0.000,3078,0.184,0.045,2394,2316,3319,3318,3321,0,0,0,0,0,0,26.46,26.60,28.83
$GC,2053,-0.80,-136.3,2394,2316,3318,3321,529.9,-23.2,109,2059,0.00,2.15,0.00,0.000,2308,0.000,0.060,2386,3710,3320,3318,3322,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2076,-0.80,-136.3,2385,3710,3318,3321,529.9,-23.2,109,2080,0.00,2.15,0.00,0.000,3078,0.000,0.037,2390,2291,3319,3318,3321,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2333,-0.80,-136.3,2390,2260,3319,3321,595.7,-22.9,116,2337,0.00,2.08,0.00,0.000,2564,0.000,0.045,2395,902,3319,3318,3321,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2369,-0.80,-136.3,2395,902,3318,3321,603.7,-22.7,117,2373,0.00,2.15,0.00,0.000,3078,0.000,0.045,2386,2302,3319,3318,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2645,-0.80,-136.3,2386,2301,3318,3321,666.4,-22.6,124,2646,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2301,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2885,-0.80,-136.3,2386,2301,3317,3321,722.2,-23.3,130,2889,0.00,2.17,0.00,0.000,2564,0.000,0.047,2393,892,3319,3317,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2908,-0.80,-136.3,2393,892,3317,3321,722.2,-23.3,130,2913,0.00,2.22,0.00,0.000,3078,0.000,0.047,2384,2299,3319,3317,3321,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3161,-0.80,-136.3,2384,2297,3317,3320,787.1,-23.8,137,3165,0.00,2.20,0.00,0.000,2308,0.000,0.061,2373,3716,3318,3316,3320,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3224,-0.80,-136.3,2373,3715,3316,3320,796.4,-24.4,138,3230,0.05,2.20,0.00,0.000,3078,0.156,0.037,2393,2293,3318,3316,3320,0,0,0,0,0,0,26.55,26.71,28.83
$GC,3477,-0.80,-136.3,2393,2268,3315,3319,862.7,-23.7,145,3478,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,2268,3317,3316,3319,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3675,begin apogee
$GC,3679,-0.17,0.0,2393,2268,3315,3319,907.9,-22.6,150,3799,0.65,0.00,116.57,1.108,10246,0.138,0.000,2596,2267,2762,2773,2752,0,0,0,0,0,0,26.54,28.83,24.32
$STATE,3799,end apogee,CONTROL_FINISHED_OK
$STATE,3800,begin climb
$GC,3801,0.80,136.3,2596,2266,2772,2751,915.8,0.0,153,3932,0.90,2.33,122.78,1.060,10756,0.076,0.051,2914,893,2207,2241,2173,0,0,0,0,0,0,25.09,24.77,24.09
$GC,3956,0.80,136.3,2064,893,2202,2165,899.7,12.5,157,3961,0.00,2.38,0.00,0.000,5126,0.000,0.050,2914,2279,2203,2236,2170,0,0,0,0,0,0,28.83,25.12,28.83
$GC,4234,0.80,136.3,2914,2278,2231,2167,840.3,21.4,164,4235,0.00,0.00,0.00,0.000,4102,0.000,0.000,2914,2278,2198,2230,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4474,0.80,136.3,2914,2278,2228,2167,789.5,21.6,170,4475,0.00,0.00,0.00,0.000,4102,0.000,0.000,2914,2278,2197,2228,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4715,0.80,136.3,2914,2278,2226,2166,739.2,20.6,176,4720,0.00,2.28,0.00,0.000,4356,0.000,0.070,2914,3700,2195,2226,2165,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4758,0.80,136.3,2000,3699,2187,2159,730.1,21.0,177,4763,0.00,2.20,0.00,0.000,5126,0.000,0.045,2925,2292,2195,2225,2166,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5029,0.80,136.3,2925,2266,2225,2165,671.2,21.5,184,5033,0.00,2.15,0.00,0.000,4612,0.000,0.054,2935,891,2194,2224,2165,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5093,0.80,136.3,2935,891,2223,2165,663.0,21.2,185,5098,0.08,2.22,0.00,0.000,5126,0.194,0.052,2914,2297,2194,2223,2165,0,0,0,0,0,0,26.33,26.42,28.83
$GC,5345,0.80,136.3,2914,2296,2223,2165,607.6,19.9,192,5346,0.00,0.00,0.00,0.000,4102,0.000,0.000,2914,2296,2194,2223,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5585,0.80,136.3,2914,2296,2223,2164,561.4,19.4,198,5589,0.00,2.20,0.00,0.000,4612,0.000,0.054,2923,892,2193,2223,2164,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5621,0.80,136.3,2923,892,2223,2164,554.6,19.4,199,5625,0.00,2.20,0.00,0.000,5126,0.000,0.050,2917,2293,2193,2222,2165,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5897,0.80,136.3,2916,2292,2222,2164,501.0,19.9,206,5901,0.00,2.20,0.00,0.000,4612,0.000,0.050,2926,875,2193,2222,2164,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5933,0.80,136.3,2926,875,2221,2164,493.9,20.1,207,5937,0.00,2.22,0.00,0.000,5126,0.000,0.050,2918,2295,2192,2221,2164,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6209,0.80,136.3,2917,2293,2221,2164,443.0,18.2,214,6213,0.00,2.20,0.00,0.000,4612,0.000,0.052,2926,882,2192,2221,2164,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6247,0.80,136.3,2926,882,2221,2164,436.4,18.1,215,6252,0.00,2.22,0.00,0.000,5126,0.000,0.050,2917,2304,2192,2220,2164,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6525,0.80,136.3,2917,2302,2220,2164,386.0,18.1,222,6529,0.00,2.17,0.00,0.000,4356,0.000,0.067,2917,3697,2192,2220,2164,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6548,0.80,136.3,2917,3697,2220,2164,386.0,18.1,222,6553,0.05,2.17,0.00,0.000,5126,0.218,0.043,2916,2281,2192,2220,2164,0,0,0,0,0,0,26.53,26.64,28.83
$GC,6800,0.80,136.3,2916,2274,2220,2164,335.0,18.1,229,6804,0.00,2.12,0.00,0.000,4612,0.000,0.050,2925,880,2192,2220,2164,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6850,0.80,136.3,2925,879,2219,2164,327.6,18.2,230,6854,0.00,2.20,0.00,0.000,5126,0.000,0.049,2917,2291,2191,2219,2164,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7116,0.80,136.3,2916,2290,2219,2164,275.7,18.6,237,7120,0.00,2.22,0.00,0.000,4356,0.000,0.066,2916,3697,2191,2219,2164,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7145,0.80,136.3,2916,3697,2219,2164,275.7,18.6,237,7149,0.03,2.20,0.00,0.000,5126,0.188,0.042,2918,2293,2191,2219,2164,0,0,0,0,0,0,26.55,26.67,28.83
$GC,7397,0.80,136.3,2918,2263,2220,2164,223.3,18.2,244,7401,0.00,2.25,0.00,0.000,4356,0.000,0.063,2917,3702,2191,2219,2164,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7411,0.80,136.3,2917,3702,2219,2164,223.3,18.2,244,7416,0.05,2.17,0.00,0.000,5126,0.220,0.042,2916,2282,2191,2220,2163,0,0,0,0,0,0,26.56,26.68,28.83
$GC,7661,0.80,136.3,2916,2281,2220,2164,176.7,17.5,259,7667,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2281,2191,2219,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7908,0.80,136.3,2916,2281,2219,2164,131.6,18.6,284,7912,0.00,2.10,0.00,0.000,4612,0.000,0.047,2925,876,2192,2220,2164,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7936,0.80,136.3,2925,877,2219,2164,126.2,18.3,286,7941,0.00,2.20,0.00,0.000,5126,0.000,0.047,2917,2298,2191,2219,2164,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8182,0.80,136.3,2916,2296,2219,2164,81.5,17.8,310,8194,0.00,2.17,0.00,0.000,4612,0.000,0.048,2926,882,2191,2219,2164,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8233,0.80,136.3,2926,882,2219,2164,73.4,17.5,314,8244,0.00,2.22,0.00,0.000,5126,0.000,0.046,2917,2291,2191,2219,2164,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8485,0.80,136.3,2917,2291,2219,2164,33.2,16.7,339,8493,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2291,2191,2219,2164,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8661,end climb,SURFACE_DEPTH_REACHED
$STATE,8661,begin surface coast
$FINISH,1.0,3.219644
$STATE,8684,end surface coast,CONTROL_FINISHED_OK
$STATE,8684,begin surface
$SM_CCo,8697,115.47,0.657,0,0,1171,390.02
$SM_GC,2.27,6.95,0.00,115.47,0.034,0.000,0.657,199,2292,1171,-7.60,-0.25,390.02,0,0,0,0,0,0,26.67,28.83,24.89
$IRIDIUM_FIX,3517.72,-15809.46,080309,191958
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.49
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.20
$XPDR_PINGS,303
$24V_AH,24.1,16.952
$10V_AH,10.3,9.923
$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,17.600,87.825,239.350,115.475,0.000,30.411,50.136,193.217,75.750,0.000,9.076,1062.636,6014.013,436.043,1586.954,85.908,0.000,1010.880,0.000,979.985,0.000,0.540,0.000
$DEVICE_MAMPS,233.325,69.615,1108.485,657.135,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,265.317,162.409,320.778,292.136,605.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353092
$DATA_FILE_SIZE,30591,367
$CAP_FILE_SIZE,84757,0
$CFSIZE,259248128,252268544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120516,113431,3531.500,-15808.229,37,0.8,38,11.3