version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 151
start: 5 15 116 5 21 59
data:
$ID,512
$MISSION,7
$DIVE,151
$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,20
$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,-129915.41
$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,2688
$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,23
$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
$GPS1,150516,051445,3501.533,-15810.215,15,1.4,15,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-71.4
$GPS2,150516,052119,3501.571,-15810.193,9,1.3,9,11.3
$SPEED_LIMITS,0.275,0.285
$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,168.0,1364240,-16.4,-10.000,-19.35,2731
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-136.3,170,2330,1108,1217,0.0,0.0,0,89,0.00,0.00,-70.57,0.000,16386,0.000,0.000,167,2332,2865,2844,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.72,-136.3,167,2322,2844,2887,3.2,-2.5,8,120,9.02,2.22,-12.15,0.000,18948,0.225,0.057,2451,893,3318,3316,3321,0,0,0,0,0,0,25.76,26.03,26.36
$GC,157,-0.72,-136.3,2450,892,3317,3321,16.9,-21.3,16,167,0.00,2.28,0.00,0.000,3078,0.000,0.047,2442,2307,3318,3316,3321,0,0,0,0,0,0,28.83,26.10,28.83
$GC,428,-0.72,-136.3,2442,2306,3318,3321,82.0,-22.5,45,437,0.03,2.17,0.00,0.000,2308,0.272,0.061,2441,3706,3319,3318,3321,0,0,0,0,0,0,26.34,26.28,28.83
$GC,497,-0.72,-136.3,2441,3706,3318,3321,98.2,-22.8,51,505,0.00,2.15,0.00,0.000,3078,0.000,0.037,2448,2292,3319,3318,3321,0,0,0,0,0,0,28.83,26.32,28.83
$GC,747,-0.72,-136.3,2447,2259,3319,3321,154.1,-21.8,76,753,0.00,0.00,0.00,0.000,2054,0.000,0.000,2448,2259,3320,3319,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1004,-0.72,-136.3,2447,2259,3320,3321,209.5,-20.8,99,1008,0.00,2.10,0.00,0.000,2564,0.000,0.044,2448,890,3320,3320,3321,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1022,-0.72,-136.3,2447,890,3320,3321,209.5,-20.8,99,1027,0.08,2.20,0.00,0.000,3078,0.196,0.045,2455,2303,3321,3320,3322,0,0,0,0,0,0,26.33,26.46,28.83
$GC,1280,-0.72,-136.3,2454,2302,3321,3322,264.3,-19.8,106,1281,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,2302,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1520,-0.72,-136.3,2454,2302,3321,3321,310.6,-19.3,112,1521,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,2302,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1760,-0.72,-136.3,2454,2302,3321,3321,356.4,-19.2,118,1761,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,2302,3321,3321,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1999,-0.72,-136.3,2454,2302,3321,3321,403.5,-19.7,124,2003,0.00,2.20,0.00,0.000,2308,0.000,0.063,2445,3714,3321,3321,3321,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2043,-0.72,-136.3,2445,3714,3321,3321,410.4,-19.5,125,2048,0.00,2.15,0.00,0.000,3078,0.000,0.037,2446,2296,3321,3321,3321,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2315,-0.72,-136.3,2446,2265,3321,3321,465.0,-19.3,132,2316,0.00,0.00,0.00,0.000,2054,0.000,0.000,2446,2265,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2555,-0.72,-136.3,2446,2265,3321,3321,509.5,-18.2,138,2559,0.00,2.25,0.00,0.000,2308,0.000,0.063,2437,3706,3321,3321,3321,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2584,-0.72,-136.3,2437,3706,3321,3321,509.5,-18.2,138,2592,0.08,2.15,0.00,0.000,3078,0.169,0.044,2455,2283,3320,3320,3321,0,0,0,0,0,0,26.54,26.65,28.83
$GC,2831,-0.72,-136.3,2455,2259,3320,3321,555.8,-16.4,145,2835,0.00,2.08,0.00,0.000,2564,0.000,0.045,2455,909,3320,3320,3321,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2877,-0.72,-136.3,2455,909,3320,3321,562.6,-16.4,146,2881,0.00,2.15,0.00,0.000,3078,0.000,0.047,2446,2301,3320,3320,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3147,-0.72,-136.3,2446,2299,3320,3321,611.2,-17.9,153,3149,0.00,0.00,0.00,0.000,2054,0.000,0.000,2446,2300,3320,3320,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3387,-0.72,-136.3,2446,2300,3319,3321,655.6,-18.5,159,3391,0.00,2.20,0.00,0.000,2308,0.000,0.065,2436,3711,3319,3319,3320,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3416,-0.72,-136.3,2435,3711,3319,3320,655.6,-18.5,159,3424,0.03,2.20,0.00,0.000,3078,0.162,0.041,2449,2302,3320,3319,3321,0,0,0,0,0,0,26.58,26.69,28.83
$GC,3663,-0.72,-136.3,2449,2276,3318,3320,705.2,-17.7,166,3664,0.00,0.00,0.00,0.000,2054,0.000,0.000,2449,2276,3319,3319,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3903,-0.72,-136.3,2448,2275,3318,3319,748.6,-18.0,172,3907,0.00,2.25,0.00,0.000,2308,0.000,0.064,2440,3707,3318,3318,3319,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3939,-0.72,-136.3,2439,3707,3317,3319,755.0,-17.9,173,3944,0.08,2.15,0.00,0.000,3078,0.165,0.040,2456,2290,3318,3318,3319,0,0,0,0,0,0,26.59,26.70,28.83
$GC,4216,-0.72,-136.3,2456,2262,3317,3318,800.8,-16.2,180,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2263,3318,3317,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4456,-0.72,-136.3,2456,2263,3317,3318,837.9,-15.2,186,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2263,3316,3316,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4696,-0.72,-136.3,2456,2262,3316,3316,871.7,-13.7,192,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2263,3316,3316,3316,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4935,begin apogee
$GC,4938,-0.17,0.0,2456,2262,3316,3316,903.0,-13.0,198,5058,0.55,0.00,116.70,1.107,10246,0.122,0.000,2634,2261,2762,2775,2750,0,0,0,0,0,0,26.54,28.83,24.34
$STATE,5059,end apogee,CONTROL_FINISHED_OK
$STATE,5059,begin climb
$GC,5061,0.72,136.3,2634,2261,2773,2749,906.4,0.0,201,5194,0.77,2.40,122.72,1.058,10756,0.040,0.054,2944,895,2205,2242,2169,0,0,0,0,0,0,25.15,24.75,24.08
$GC,5229,0.72,136.3,2943,895,2237,2167,889.2,14.1,205,5234,0.05,2.38,0.00,0.000,5126,0.158,0.051,2921,2283,2201,2237,2166,0,0,0,0,0,0,25.08,25.17,28.83
$GC,5496,0.72,136.3,2920,2282,2233,2162,825.4,21.9,212,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2282,2197,2233,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5736,0.72,136.3,2920,2282,2231,2162,775.3,20.8,218,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2282,2196,2231,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5976,0.72,136.3,2920,2282,2229,2161,727.9,19.7,224,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2282,2195,2229,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6216,0.72,136.3,2920,2281,2228,2161,681.3,19.5,230,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2282,2194,2228,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6456,0.72,136.3,2920,2282,2227,2160,634.9,19.4,236,6462,0.00,2.28,0.00,0.000,260,0.000,0.071,2917,3705,2193,2226,2160,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6504,0.72,136.3,2917,3705,2224,2161,626.2,20.0,237,6508,0.00,2.22,0.00,0.000,5126,0.000,0.048,2927,2288,2192,2224,2160,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6776,0.72,136.3,2927,2261,2224,2161,568.0,20.6,244,6780,0.00,2.12,0.00,0.000,4612,0.000,0.051,2937,888,2192,2224,2160,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6812,0.72,136.3,2937,888,2222,2161,560.4,20.7,245,6816,0.00,2.22,0.00,0.000,5126,0.000,0.051,2930,2302,2191,2223,2160,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7088,0.72,136.3,2930,2300,2223,2160,501.6,21.5,252,7089,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2300,2191,2223,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7328,0.72,136.3,2930,2300,2223,2160,452.6,20.2,258,7329,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2300,2191,2223,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7568,0.72,136.3,2930,2300,2223,2160,406.2,19.0,264,7572,0.00,2.20,0.00,0.000,4356,0.000,0.068,2930,3702,2191,2222,2161,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7604,0.72,136.3,2930,3702,2221,2160,399.3,18.9,265,7609,0.10,2.20,0.00,0.000,5126,0.184,0.044,2918,2272,2191,2221,2161,0,0,0,0,0,0,26.44,26.60,28.83
$GC,7880,0.72,136.3,2918,2250,2221,2161,350.8,17.4,272,7884,0.00,2.30,0.00,0.000,260,0.000,0.066,2917,3702,2190,2221,2160,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7899,0.72,136.3,2917,3701,2221,2161,350.8,17.4,272,7904,0.00,2.17,0.00,0.000,5126,0.000,0.044,2927,2292,2190,2221,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8156,0.72,136.3,2927,2265,2221,2160,298.1,19.4,279,8157,0.00,0.00,0.00,0.000,4102,0.000,0.000,2927,2265,2190,2220,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8396,0.72,136.3,2927,2265,2221,2160,250.5,19.8,285,8397,0.00,0.00,0.00,0.000,4102,0.000,0.000,2927,2265,2191,2221,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8636,0.72,136.3,2927,2265,2220,2161,203.4,19.6,291,8640,0.00,2.10,0.00,0.000,4612,0.000,0.048,2937,892,2190,2221,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8655,0.72,136.3,2937,891,2220,2161,203.4,19.6,291,8659,0.00,2.20,0.00,0.000,5126,0.000,0.047,2930,2305,2190,2220,2161,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8903,0.72,136.3,2930,2303,2220,2160,152.5,18.8,315,8915,0.00,2.17,0.00,0.000,4356,0.000,0.067,2930,3699,2190,2220,2161,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8937,0.72,136.3,2930,3699,2220,2161,145.5,20.5,318,8950,0.10,2.17,0.00,0.000,5126,0.184,0.042,2918,2262,2190,2220,2161,0,0,0,0,0,0,26.48,26.65,28.83
$GC,9190,0.72,136.3,2917,2261,2221,2161,99.6,18.7,343,9198,0.00,2.05,0.00,0.000,516,0.000,0.047,2927,905,2190,2220,2161,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9292,0.72,136.3,2064,905,2185,2155,81.0,17.1,352,9303,0.00,2.20,0.00,0.000,1030,0.000,0.047,2918,2288,2190,2220,2161,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9543,0.72,136.3,2918,2287,2220,2161,39.9,16.5,377,9555,0.00,2.20,0.00,0.000,260,0.000,0.063,2917,3705,2190,2220,2161,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,9731,end climb,SURFACE_DEPTH_REACHED
$STATE,9731,begin surface coast
$FINISH,1.3,3.093900
$STATE,9746,end surface coast,CONTROL_FINISHED_OK
$STATE,9746,begin surface
$SM_CCo,9762,114.85,0.663,0,0,1171,390.02
$SM_GC,2.17,6.90,2.20,114.85,0.028,0.039,0.663,180,2311,1171,-7.73,1.39,390.02,0,0,0,0,0,0,26.68,26.65,24.87
$IRIDIUM_FIX,3448.74,-15812.40,110309,151536
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.14
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.10
$XPDR_PINGS,339
$24V_AH,24.1,19.877
$10V_AH,10.3,11.307
$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,17.775,74.700,239.425,114.850,0.000,28.248,48.276,225.531,84.750,0.000,10.271,1135.443,7014.983,449.274,1607.075,91.985,0.000,1010.326,0.000,957.261,0.000,0.540,0.000
$DEVICE_MAMPS,272.340,71.145,1106.955,663.255,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.289,173.954,344.381,307.254,636.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353040
$DATA_FILE_SIZE,33985,402
$CAP_FILE_SIZE,85118,0
$CFSIZE,259248128,251133952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,150516,080749,3459.791,-15810.059,37,0.9,38,11.3