version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 130
start: 5 12 116 16 53 43
data:
$ID,512
$MISSION,7
$DIVE,130
$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,-129831.05
$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
$GPS1,120516,164531,3529.984,-15808.666,38,0.9,38,11.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-75.4
$GPS2,120516,165321,3530.007,-15808.650,7,0.9,7,11.3
$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,168.1,1416869,-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,-136.3,191,2328,1110,1220,0.0,0.0,0,87,0.00,0.00,-69.93,0.000,16386,0.000,0.000,191,2331,2855,2833,2877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.80,-136.3,191,2331,2833,2878,3.0,-2.3,8,119,8.57,2.22,-13.18,0.000,18948,0.220,0.055,2395,897,3317,3315,3320,0,0,0,0,0,0,25.79,26.06,26.38
$GC,362,-0.80,-136.3,2395,897,3316,3321,75.3,-28.1,36,373,0.00,2.25,0.00,0.000,3078,0.000,0.044,2386,2311,3318,3316,3321,0,0,0,0,0,0,28.83,26.28,28.83
$GC,613,-0.80,-136.3,2386,2310,3317,3321,147.7,-27.3,61,619,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2310,3319,3317,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-0.80,-136.3,2386,2310,3317,3321,223.9,-27.4,83,894,0.00,2.17,0.00,0.000,2308,0.000,0.058,2375,3712,3319,3318,3321,0,0,0,0,0,0,28.83,26.44,28.83
$GC,914,-0.80,-136.3,2375,3712,3317,3321,223.9,-27.4,83,917,0.00,2.15,0.00,0.000,3078,0.000,0.035,2381,2300,3319,3317,3321,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1165,-0.80,-136.3,2381,2267,3318,3321,301.3,-27.9,90,1167,0.00,0.00,0.00,0.000,2054,0.000,0.000,2381,2267,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1406,-0.80,-136.3,2381,2267,3319,3321,366.6,-27.1,96,1407,0.00,0.00,0.00,0.000,2054,0.000,0.000,2381,2267,3320,3319,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1645,-0.80,-136.3,2381,2267,3319,3321,430.0,-26.4,102,1650,0.00,2.25,0.00,0.000,2308,0.000,0.059,2372,3710,3320,3319,3321,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1670,-0.80,-136.3,2372,3710,3319,3321,430.0,-26.4,102,1675,0.05,2.15,0.00,0.000,3078,0.206,0.035,2390,2292,3319,3318,3321,0,0,0,0,0,0,26.51,26.62,28.83
$GC,1916,-0.80,-136.3,2390,2265,3319,3321,498.9,-25.0,108,1917,0.00,0.00,0.00,0.000,2054,0.000,0.000,2390,2265,3320,3319,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-0.80,-136.3,2390,2265,3319,3321,556.9,-24.2,114,2160,0.00,2.25,0.00,0.000,2308,0.000,0.058,2381,3712,3319,3318,3320,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2192,-0.80,-136.3,2380,3712,3319,3321,565.6,-24.3,115,2197,0.00,2.15,0.00,0.000,3078,0.000,0.036,2382,2293,3320,3319,3321,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2468,-0.80,-136.3,2382,2263,3319,3321,631.9,-23.7,122,2472,0.00,2.25,0.00,0.000,2308,0.000,0.058,2373,3710,3319,3318,3321,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2492,-0.80,-136.3,2373,3710,3318,3321,631.9,-23.7,122,2497,0.03,2.20,0.00,0.000,3078,0.176,0.036,2388,2285,3319,3318,3321,0,0,0,0,0,0,26.56,26.67,28.83
$GC,2744,-0.80,-136.3,2388,2261,3318,3321,696.9,-23.8,129,2746,0.00,0.00,0.00,0.000,2054,0.000,0.000,2388,2261,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2984,-0.80,-136.3,2388,2261,3317,3321,753.4,-24.1,135,2988,0.00,2.28,0.00,0.000,2308,0.000,0.060,2379,3713,3319,3317,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3013,-0.80,-136.3,2378,3713,3317,3321,753.4,-24.1,135,3020,0.00,2.17,0.00,0.000,3078,0.000,0.037,2383,2307,3318,3316,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3260,-0.80,-136.3,2383,2276,3316,3320,819.5,-24.0,142,3261,0.00,0.00,0.00,0.000,2054,0.000,0.000,2383,2276,3318,3316,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-0.80,-136.3,2383,2276,3316,3319,875.7,-23.2,148,3501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2384,2276,3317,3316,3319,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3621,begin apogee
$GC,3624,-0.17,0.0,2383,2276,3315,3319,903.4,-23.1,151,3744,0.68,0.00,116.32,1.106,10246,0.141,0.000,2592,2275,2762,2773,2752,0,0,0,0,0,0,26.54,28.83,24.32
$STATE,3745,end apogee,CONTROL_FINISHED_OK
$STATE,3745,begin climb
$GC,3746,0.80,136.3,2592,2275,2772,2751,911.1,0.0,154,3874,0.95,0.00,124.00,1.057,10246,0.076,0.000,2909,2275,2206,2241,2172,0,0,0,0,0,0,25.09,28.83,24.09
$GC,4100,0.80,136.3,2909,2275,2232,2165,848.1,22.8,163,4104,0.00,2.22,0.00,0.000,516,0.000,0.051,2920,889,2198,2231,2165,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4124,0.80,136.3,2920,889,2230,2165,848.1,22.8,163,4128,0.00,2.25,0.00,0.000,5126,0.000,0.050,2917,2285,2197,2230,2165,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4376,0.80,136.3,2916,2284,2228,2165,784.3,23.0,170,4377,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2283,2196,2228,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4616,0.80,136.3,2916,2283,2226,2164,731.4,21.9,176,4622,0.00,2.20,0.00,0.000,4612,0.000,0.050,2926,882,2195,2226,2164,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4639,0.80,136.3,2925,882,2225,2164,731.4,21.9,176,4643,0.00,2.25,0.00,0.000,5126,0.000,0.048,2917,2302,2194,2225,2164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4896,0.80,136.3,2917,2300,2224,2164,673.1,20.7,183,4897,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2300,2194,2224,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5137,0.80,136.3,2917,2300,2224,2163,624.8,20.5,189,5138,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2300,2193,2224,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5376,0.80,136.3,2917,2300,2224,2163,576.6,19.9,195,5377,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2300,2193,2223,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5616,0.80,136.3,2917,2300,2223,2162,528.4,19.9,201,5620,0.00,2.20,0.00,0.000,4612,0.000,0.050,2926,884,2192,2223,2161,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5660,0.80,136.3,2926,884,2222,2162,521.0,19.9,202,5664,0.00,2.22,0.00,0.000,5126,0.000,0.049,2917,2303,2192,2222,2162,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5932,0.80,136.3,2917,2301,2222,2162,464.1,20.4,209,5936,0.00,2.20,0.00,0.000,4356,0.000,0.066,2917,3707,2191,2221,2162,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5996,0.80,136.3,2917,3708,2221,2163,456.3,20.5,210,6001,0.05,2.20,0.00,0.000,5126,0.220,0.043,2916,2281,2191,2220,2163,0,0,0,0,0,0,26.50,26.61,28.83
$GC,6248,0.80,136.3,2916,2256,2220,2162,400.6,19.1,217,6252,0.00,2.28,0.00,0.000,4356,0.000,0.064,2916,3703,2191,2220,2162,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6317,0.80,136.3,2916,3703,2220,2163,393.0,19.5,218,6325,0.03,2.20,0.00,0.000,5126,0.194,0.041,2918,2298,2191,2220,2162,0,0,0,0,0,0,26.51,26.64,28.83
$GC,6564,0.80,136.3,2918,2265,2219,2162,340.6,18.5,225,6568,0.00,2.12,0.00,0.000,4612,0.000,0.048,2928,873,2191,2220,2163,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6628,0.80,136.3,2927,873,2219,2162,334.2,18.5,226,6632,0.00,2.25,0.00,0.000,5126,0.000,0.047,2918,2294,2190,2219,2162,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6880,0.80,136.3,2918,2293,2219,2162,283.4,18.0,233,6881,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2292,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7120,0.80,136.3,2918,2292,2219,2162,240.2,18.0,239,7124,0.00,2.17,0.00,0.000,4612,0.000,0.047,2928,872,2190,2219,2162,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7155,0.80,136.3,2928,872,2219,2162,233.6,18.1,240,7160,0.00,2.20,0.00,0.000,5126,0.000,0.047,2919,2294,2190,2219,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7405,0.80,136.3,2919,2293,2219,2162,188.9,18.1,250,7413,0.00,2.17,0.00,0.000,4612,0.000,0.047,2928,882,2190,2219,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7417,0.80,136.3,2928,882,2219,2162,187.0,18.1,251,7425,0.00,2.22,0.00,0.000,5126,0.000,0.046,2919,2290,2191,2219,2163,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7666,0.80,136.3,2919,2289,2218,2162,140.8,18.6,276,7667,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2289,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7905,0.80,136.3,2919,2289,2219,2162,97.2,18.3,300,7909,0.00,2.17,0.00,0.000,4356,0.000,0.063,2917,3697,2191,2219,2163,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7959,0.80,136.3,2917,3697,2219,2162,88.0,18.4,304,7970,0.03,2.20,0.00,0.000,5126,0.190,0.040,2918,2279,2190,2218,2163,0,0,0,0,0,0,26.55,26.67,28.83
$GC,8209,0.80,136.3,2918,2278,2218,2162,45.9,16.6,329,8221,0.00,2.08,0.00,0.000,4612,0.000,0.047,2928,877,2190,2218,2162,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8288,0.80,136.3,2927,876,2218,2162,32.6,17.3,335,8298,0.00,2.22,0.00,0.000,5126,0.000,0.046,2918,2289,2190,2218,2163,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,8458,end climb,SURFACE_DEPTH_REACHED
$STATE,8458,begin surface coast
$FINISH,1.1,2.367423
$STATE,8481,end surface coast,CONTROL_FINISHED_OK
$STATE,8481,begin surface
$SM_CCo,8495,114.88,0.659,0,0,1172,390.02
$SM_GC,2.30,6.95,0.00,114.88,0.031,0.000,0.659,188,2288,1172,-7.62,-0.31,390.02,0,0,0,0,0,0,26.69,28.83,24.88
$IRIDIUM_FIX,3517.72,-15807.00,090309,060611
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.55
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.30
$XPDR_PINGS,292
$24V_AH,24.1,17.315
$10V_AH,10.3,10.081
$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,17.325,70.550,240.325,114.875,0.000,60.712,94.606,164.943,73.000,0.000,9.198,1015.186,6006.661,476.467,1511.956,81.624,0.000,961.478,0.000,859.076,0.000,0.540,0.000
$DEVICE_MAMPS,220.320,65.790,1106.190,659.430,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.266,164.163,320.676,296.414,614.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353084
$DATA_FILE_SIZE,30614,362
$CAP_FILE_SIZE,77721,0
$CFSIZE,259248128,252141568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120516,191802,3529.034,-15808.799,15,1.5,15,11.3