version: 66.11 revision: 1138 glider: 512 mission: 7 dive: 193 start: 5 20 116 10 15 19 data: $ID,512 $MISSION,7 $DIVE,193 $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,-130193.71 $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,59 $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 $GPS1,200516,100832,3423.263,-15740.240,14,1.0,25,11.3 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,2.27 $_SM_ANGLEo,-73.4 $GPS2,200516,101439,3423.282,-15740.164,6,1.0,7,11.3 $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,170.2,1293662,-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,14,begin dive $GC,15,-0.72,-136.3,179,2278,1113,1214,0.0,0.0,0,96,0.00,0.00,-78.32,0.000,16386,0.000,0.000,178,2278,3164,3143,3186,0,0,0,0,0,0,28.83,28.83,28.83 $GC,99,-0.72,-136.3,178,2253,3144,3186,4.2,-3.6,9,119,9.00,2.05,-3.20,0.000,18948,0.224,0.050,2457,903,3317,3306,3329,0,0,0,0,0,0,25.72,26.09,26.37 $GC,179,-0.72,-136.3,2457,902,3308,3328,33.0,-25.5,19,190,0.00,2.22,0.00,0.000,3078,0.000,0.041,2449,2310,3318,3308,3328,0,0,0,0,0,0,28.83,26.16,28.83 $GC,427,-0.72,-136.3,2448,2309,3311,3329,90.2,-22.0,44,430,0.00,0.10,0.00,0.000,2308,0.000,0.090,2449,4095,3319,3311,3328,0,0,0,0,0,0,28.83,26.36,28.83 $GC,980,-0.72,-136.3,2448,4095,3314,3329,202.7,-21.3,92,984,0.00,0.22,0.00,0.000,3078,0.000,0.050,2448,2179,3321,3314,3328,0,0,1,0,0,0,28.83,26.55,28.83 $GC,1237,-0.72,-136.3,2448,2179,3315,3328,260.1,-20.3,99,1240,0.00,0.30,0.00,0.000,2308,0.000,0.053,2448,4095,3321,3314,3328,0,0,0,0,0,0,28.83,26.56,28.83 $GC,1740,-0.72,-136.3,2448,4095,3315,3329,358.2,-19.8,111,1744,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2244,3321,3314,3329,0,0,0,0,0,0,28.83,26.67,28.83 $GC,1997,-0.72,-136.3,2448,2244,3314,3328,408.8,-17.7,118,2001,0.00,0.20,0.00,0.000,2308,0.000,0.061,2448,4095,3321,3314,3329,0,0,0,0,0,0,28.83,26.67,28.83 $GC,2501,-0.72,-136.3,2448,4095,3315,3327,495.3,-18.0,130,2505,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2251,3321,3315,3327,0,0,0,0,0,0,28.83,26.72,28.83 $GC,2758,-0.72,-136.3,2448,2251,3315,3326,546.4,-18.3,137,2762,0.00,0.17,0.00,0.000,2308,0.000,0.068,2449,4095,3319,3314,3325,0,0,0,0,0,0,28.83,26.70,28.83 $GC,3261,-0.72,-136.3,2447,4095,3314,3323,631.3,-17.5,149,3265,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2242,3319,3315,3323,0,0,0,0,0,0,28.83,26.75,28.83 $GC,3519,-0.72,-136.3,2448,2242,3315,3322,681.3,-17.8,156,3522,0.00,0.20,0.00,0.000,2308,0.000,0.063,2448,4095,3317,3314,3321,0,0,0,0,0,0,28.83,26.72,28.83 $GC,4022,-0.72,-136.3,2448,4095,3314,3319,758.8,-15.9,168,4026,0.00,0.20,0.00,0.000,3078,0.000,0.056,2448,2251,3316,3314,3319,0,0,0,0,0,0,28.83,26.76,28.83 $GC,4279,-0.72,-136.3,2447,2251,3314,3318,804.4,-16.3,175,4283,0.00,0.17,0.00,0.000,2308,0.000,0.070,2448,4095,3316,3314,3318,0,0,0,0,0,0,28.83,26.72,28.83 $GC,4783,-0.72,-136.3,2448,4095,3312,3316,880.2,-15.8,187,4786,0.00,0.20,0.00,0.000,3078,0.000,0.056,2447,2242,3314,3312,3316,0,0,0,0,0,0,28.83,26.77,28.83 $STATE,4919,end dive,TARGET_DEPTH_EXCEEDED $STATE,4919,begin apogee $GC,4923,-0.17,0.0,2447,2294,3312,3315,905.1,-15.6,191,5042,0.57,0.00,115.82,1.105,10246,0.120,0.000,2634,2294,2762,2776,2749,0,0,0,0,0,0,26.48,28.83,24.38 $STATE,5043,end apogee,CONTROL_FINISHED_OK $STATE,5043,begin climb $GC,5045,0.72,136.3,2633,2294,2774,2748,909.4,0.0,194,5174,0.77,0.12,122.00,1.050,10500,0.044,0.062,2929,4095,2207,2244,2171,0,0,0,0,0,0,25.18,24.77,24.13 $GC,5194,0.72,136.3,2929,4095,2241,2167,901.4,10.0,197,5201,0.00,0.20,0.00,0.000,5126,0.000,0.056,2930,2258,2204,2241,2167,0,0,0,0,0,0,28.83,25.13,28.83 $GC,5441,0.72,136.3,2930,2258,2234,2164,833.2,24.6,204,5445,0.00,2.12,0.00,0.000,4612,0.000,0.047,2940,913,2199,2234,2164,0,0,0,0,0,0,28.83,25.90,28.83 $GC,5620,0.72,136.3,2939,913,2230,2164,795.9,23.9,208,5624,0.00,2.17,0.00,0.000,5126,0.000,0.047,2932,2280,2197,2230,2164,0,0,0,0,0,0,28.83,26.10,28.83 $GC,5877,0.72,136.3,2932,2278,2229,2163,733.9,21.8,215,5881,0.00,0.12,0.00,0.000,4356,0.000,0.080,2931,4095,2196,2229,2163,0,0,0,0,0,0,28.83,26.31,28.83 $GC,6381,0.72,136.3,2932,4095,2226,2162,637.9,18.6,227,6384,0.00,0.20,0.00,0.000,5126,0.000,0.057,2931,2259,2194,2226,2162,0,0,0,0,0,0,28.83,26.53,28.83 $GC,6638,0.72,136.3,2931,2258,2225,2162,584.1,19.4,234,6642,0.00,0.15,0.00,0.000,4356,0.000,0.073,2932,4095,2194,2226,2162,0,0,0,0,0,0,28.83,26.54,28.83 $GC,6732,0.72,136.3,2931,4095,2225,2162,569.1,18.9,236,6735,0.00,0.20,0.00,0.000,5126,0.000,0.057,2932,2247,2193,2224,2162,0,0,0,0,0,0,28.83,26.59,28.83 $GC,6999,0.72,136.3,2931,2247,2224,2162,514.3,20.0,243,7002,0.00,0.17,0.00,0.000,4356,0.000,0.067,2931,4095,2192,2223,2162,0,0,0,0,0,0,28.83,26.60,28.83 $GC,7092,0.72,136.3,2931,4095,2224,2161,499.2,19.0,245,7096,0.00,0.20,0.00,0.000,5126,0.000,0.057,2931,2245,2193,2224,2162,0,0,0,0,0,0,28.83,26.63,28.83 $GC,7359,0.72,136.3,2931,2245,2223,2161,446.4,19.5,252,7362,0.00,0.17,0.00,0.000,4356,0.000,0.067,2931,4095,2192,2223,2162,0,0,0,0,0,0,28.83,26.63,28.83 $GC,7572,0.72,136.3,2931,4095,2223,2161,406.5,20.2,257,7576,0.00,0.17,0.00,0.000,5126,0.000,0.060,2931,2257,2192,2223,2162,0,0,0,0,0,0,28.83,26.69,28.83 $GC,7839,0.72,136.3,2931,2257,2223,2161,352.6,18.9,264,7843,0.00,0.15,0.00,0.000,4356,0.000,0.073,2931,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.65,28.83 $GC,8243,0.72,136.3,2931,4095,2223,2161,273.1,20.2,274,8247,0.00,0.20,0.00,0.000,5126,0.000,0.057,2932,2243,2192,2223,2162,0,0,0,0,0,0,28.83,26.71,28.83 $GC,8521,0.72,136.3,2931,2243,2223,2162,218.7,19.1,281,8524,0.00,0.17,0.00,0.000,4356,0.000,0.066,2931,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.69,28.83 $GC,8905,0.72,136.3,2048,4069,2187,2156,152.5,17.3,308,8912,0.00,0.17,0.00,0.000,5126,0.000,0.059,2932,2255,2192,2223,2162,0,0,0,0,0,0,28.83,26.72,28.83 $GC,9156,0.72,136.3,2932,2255,2223,2162,111.1,16.1,333,9159,0.00,0.17,0.00,0.000,4356,0.000,0.065,2932,4095,2192,2223,2162,0,0,0,0,0,0,28.83,26.67,28.83 $GC,9459,0.72,136.3,2932,4095,2223,2162,62.5,15.1,359,9463,0.03,0.17,0.00,0.000,5126,0.164,0.060,2924,2250,2192,2223,2162,0,0,0,0,0,0,26.56,26.72,28.83 $GC,9726,0.72,136.3,2924,2250,2223,2162,18.9,16.2,388,9735,0.00,0.00,0.00,0.000,4102,0.000,0.000,2924,2250,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83 $STATE,9826,end climb,SURFACE_DEPTH_REACHED $STATE,9826,begin surface coast $FINISH,0.9,2.706245 $STATE,9848,end surface coast,CONTROL_FINISHED_OK $STATE,9848,begin surface $SM_CCo,9862,114.47,0.634,0,0,1171,390.02 $SM_GC,2.34,6.80,0.10,114.47,0.021,0.100,0.634,187,2325,1171,-7.72,-0.59,390.02,0,0,0,0,0,0,26.67,26.72,24.96 $IRIDIUM_FIX,3409.50,-15819.68,160309,202054 $TT8_MAMPS,0.023219,0.023219 $HUMID,45.94 $INTERNAL_PRESSURE,8.29133 $TCM_TEMP,18.60 $XPDR_PINGS,356 $24V_AH,24.1,25.369 $10V_AH,10.3,14.260 $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,17.175,13.900,237.825,114.475,0.000,31.074,47.102,193.886,89.000,0.000,8.285,1321.944,5876.455,399.727,2659.018,113.458,0.000,1366.164,0.000,1995.619,0.000,0.542,0.000 $DEVICE_MAMPS,224.145,108.630,1104.660,634.185,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,288.720,176.572,348.903,313.752,650.455,0.000,0.000,0.000,0.000,0.000 $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,33981,405 $CAP_FILE_SIZE,103787,0 $CFSIZE,259248128,248999936 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0 $GPS,200516,130247,3422.703,-15739.365,14,2.2,35,11.3