version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 192
start: 5 20 116 7 21 44
data:
$ID,512
$MISSION,7
$DIVE,192
$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,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130192.45
$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,79
$R_STBD_OVSHOOT,54
$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
$GPS1,200516,071402,3423.641,-15741.945,22,1.7,22,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-71.2
$GPS2,200516,072102,3423.685,-15741.809,51,0.9,51,11.3
$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,170.1,1294337,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-136.3,176,2337,1113,1212,0.0,0.0,0,87,0.00,0.00,-69.95,0.000,16386,0.000,0.000,175,2340,2899,2876,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,175,2340,2877,2923,3.2,-2.7,8,118,8.93,2.20,-10.55,0.000,18948,0.222,0.053,2457,938,3316,3315,3317,0,0,0,0,0,0,25.82,26.12,26.39
$GC,162,-0.72,-136.3,2457,938,3315,3317,20.7,-22.6,17,171,0.00,2.12,0.00,0.000,3078,0.000,0.044,2449,2273,3316,3315,3318,0,0,0,0,0,0,28.83,26.17,28.83
$GC,429,-0.72,-136.3,2449,2272,3316,3318,82.4,-22.2,45,432,0.00,0.12,0.00,0.000,2308,0.000,0.083,2448,4095,3317,3317,3318,0,0,0,0,0,0,28.83,26.36,28.83
$GC,984,-0.72,-136.3,1624,4070,3307,3315,196.0,-20.2,95,990,0.00,0.20,0.00,0.000,3078,0.000,0.053,2448,2239,3319,3320,3318,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1251,-0.72,-136.3,2448,2239,3320,3317,250.3,-20.1,104,1255,0.00,0.20,0.00,0.000,2308,0.000,0.063,2448,4095,3318,3319,3318,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1584,-0.72,-136.3,2448,4095,3320,3318,314.4,-20.1,112,1588,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2246,3319,3320,3318,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1852,-0.72,-136.3,2448,2246,3320,3318,369.8,-19.8,119,1855,0.00,0.20,0.00,0.000,2308,0.000,0.063,2448,4095,3319,3321,3318,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2355,-0.72,-136.3,2448,4095,3320,3318,461.3,-18.3,131,2359,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2253,3319,3320,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2612,-0.72,-136.3,2447,2252,3320,3318,511.3,-17.7,138,2616,0.00,0.17,0.00,0.000,2308,0.000,0.070,2448,4095,3318,3320,3317,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3116,-0.72,-136.3,2448,4095,3318,3317,593.6,-17.0,150,3120,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2245,3317,3318,3317,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3373,-0.72,-136.3,2447,2245,3317,3317,643.0,-17.6,157,3377,0.00,0.20,0.00,0.000,2308,0.000,0.064,2448,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3876,-0.72,-136.3,2447,4095,3316,3315,721.2,-15.7,169,3880,0.00,0.20,0.00,0.000,3078,0.000,0.056,2448,2252,3315,3316,3315,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4134,-0.72,-136.3,2447,2252,3315,3314,764.1,-15.6,176,4138,0.00,0.17,0.00,0.000,2308,0.000,0.071,2448,4095,3315,3316,3314,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4638,-0.72,-136.3,2447,4095,3314,3312,839.6,-15.9,188,4641,0.00,0.20,0.00,0.000,3078,0.000,0.056,2448,2243,3313,3314,3312,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4895,-0.72,-136.3,2448,2243,3313,3311,884.3,-15.8,195,4898,0.00,0.20,0.00,0.000,2308,0.000,0.067,2448,4095,3312,3313,3311,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,5014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5014,begin apogee
$GC,5019,-0.17,0.0,2447,2244,3313,3310,904.1,-16.4,198,5139,0.57,0.10,115.43,1.108,10246,0.119,0.096,2634,2309,2762,2777,2748,0,0,0,0,0,0,26.48,25.04,24.38
$STATE,5140,end apogee,CONTROL_FINISHED_OK
$STATE,5140,begin climb
$GC,5141,0.72,136.3,2634,2309,2775,2748,910.7,0.0,201,5274,0.75,2.38,122.18,1.053,10756,0.039,0.049,2938,932,2205,2242,2169,0,0,0,0,0,0,25.22,24.82,24.13
$GC,5519,0.72,136.3,2938,932,2233,2162,851.9,22.7,210,5523,0.00,2.17,0.00,0.000,5126,0.000,0.050,2931,2279,2198,2234,2163,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5776,0.72,136.3,2931,2278,2231,2161,791.0,21.9,217,5780,0.00,0.12,0.00,0.000,4356,0.000,0.081,2931,4095,2196,2231,2161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6280,0.72,136.3,2931,4095,2227,2160,686.8,21.5,229,6283,0.00,0.20,0.00,0.000,5126,0.000,0.058,2930,2256,2194,2227,2161,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6537,0.72,136.3,2930,2256,2226,2160,626.1,21.6,236,6540,0.00,0.17,0.00,0.000,4356,0.000,0.070,2931,4095,2193,2226,2160,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7040,0.72,136.3,2931,4095,2224,2160,525.4,21.6,248,7044,0.00,0.20,0.00,0.000,5126,0.000,0.059,2931,2251,2191,2223,2160,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7297,0.72,136.3,2930,2252,2223,2160,468.0,20.1,255,7300,0.00,0.17,0.00,0.000,4356,0.000,0.070,2931,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7800,0.72,136.3,2931,4095,2223,2159,370.6,20.2,267,7804,0.00,0.20,0.00,0.000,5126,0.000,0.059,2931,2249,2191,2223,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8057,0.72,136.3,2931,2249,2223,2160,317.2,18.7,274,8061,0.00,0.17,0.00,0.000,4356,0.000,0.070,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8561,0.72,136.3,2931,4094,2223,2160,225.7,19.6,286,8565,0.00,0.20,0.00,0.000,5126,0.000,0.057,2931,2245,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8811,0.72,136.3,2930,2245,2223,2160,174.0,19.4,301,8815,0.00,0.17,0.00,0.000,4356,0.000,0.069,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9376,0.72,136.3,2931,4095,2223,2160,70.9,15.7,351,9385,0.00,0.17,0.00,0.000,5126,0.000,0.060,2931,2256,2191,2222,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9628,0.72,136.3,2931,2256,2223,2160,29.1,16.1,376,9637,0.00,0.15,0.00,0.000,4356,0.000,0.073,2931,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9796,end climb,SURFACE_DEPTH_REACHED
$STATE,9797,begin surface coast
$FINISH,1.1,2.378096
$STATE,9819,end surface coast,CONTROL_FINISHED_OK
$STATE,9820,begin surface
$SM_CCo,9834,113.10,0.650,0,0,1171,390.02
$SM_GC,2.37,6.93,0.17,113.10,0.029,0.057,0.650,190,2274,1171,-7.73,1.07,390.02,0,0,0,0,0,0,26.65,26.74,24.94
$IRIDIUM_FIX,3406.89,-15744.29,160309,171740
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.29
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.60
$XPDR_PINGS,345
$24V_AH,24.1,25.252
$10V_AH,10.3,14.189
$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,17.175,13.875,237.600,113.100,0.000,34.641,51.222,195.410,86.250,0.000,52.303,1326.812,5725.413,395.916,2839.938,106.477,0.000,1403.717,0.000,2117.476,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,96.390,1107.720,650.250,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,291.855,175.406,347.469,318.056,659.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353064
$DATA_FILE_SIZE,33744,403
$CAP_FILE_SIZE,103228,0
$CFSIZE,259248128,249049088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200516,100832,3423.263,-15740.240,14,1.0,25,11.3