version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 195
start: 5 20 116 16 7 59
data:
$ID,512
$MISSION,7
$DIVE,195
$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,-130196.23
$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,65
$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
$GPS1,200516,155550,3422.401,-15737.650,15,1.4,15,11.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-73.7
$GPS2,200516,160718,3422.493,-15737.506,9,1.5,10,11.3
$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,170.4,1292327,-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,-136.3,168,2326,1111,1214,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,16386,0.000,0.000,167,4095,2919,2895,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,167,2335,2896,2944,3.4,-2.6,8,119,9.05,2.22,-9.82,0.000,18948,0.225,0.054,2451,918,3318,3317,3320,0,0,0,0,0,0,25.75,26.09,26.44
$GC,204,-0.72,-136.3,2450,918,3318,3320,31.3,-22.1,23,214,0.00,2.20,0.00,0.000,3078,0.000,0.043,2442,2306,3319,3318,3320,0,0,0,0,0,0,28.83,26.21,28.83
$GC,451,-0.72,-136.3,2442,2305,3319,3320,94.4,-24.7,48,454,0.00,0.10,0.00,0.000,2308,0.000,0.091,2441,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.40,28.83
$GC,995,-0.72,-136.3,2441,4095,3321,3320,215.0,-23.2,92,1000,0.05,0.22,0.00,0.000,3078,0.210,0.051,2451,2183,3320,3320,3320,0,0,1,0,0,0,26.41,26.55,28.83
$GC,1252,-0.72,-136.3,2451,2182,3321,3320,275.4,-21.6,99,1256,0.00,0.30,0.00,0.000,2308,0.000,0.054,2451,4095,3320,3321,3320,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1756,-0.72,-136.3,2451,4095,3321,3320,374.8,-19.8,111,1759,0.00,0.20,0.00,0.000,3078,0.000,0.054,2451,2249,3320,3320,3320,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2013,-0.72,-136.3,2451,2249,3322,3319,425.8,-17.8,118,2017,0.00,0.17,0.00,0.000,2308,0.000,0.067,2450,4095,3320,3321,3320,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2517,-0.72,-136.3,2450,4095,3320,3319,508.6,-16.9,130,2520,0.00,0.20,0.00,0.000,3078,0.000,0.055,2450,2244,3319,3320,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2774,-0.72,-136.3,2450,2244,3319,3319,555.7,-16.7,137,2777,0.00,0.20,0.00,0.000,2308,0.000,0.063,2450,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3278,-0.72,-136.3,2450,4095,3318,3318,639.0,-17.4,149,3281,0.00,0.20,0.00,0.000,3078,0.000,0.055,2450,2252,3318,3318,3318,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3534,-0.72,-136.3,2450,2252,3318,3317,686.9,-17.1,156,3538,0.00,0.17,0.00,0.000,2308,0.000,0.069,2450,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4038,-0.72,-136.3,2449,4095,3317,3316,764.3,-15.9,168,4042,0.00,0.20,0.00,0.000,3078,0.000,0.055,2450,2244,3316,3316,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4295,-0.72,-136.3,2449,2244,3316,3314,809.9,-16.0,175,4299,0.00,0.20,0.00,0.000,2308,0.000,0.063,2449,4095,3315,3316,3314,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4799,-0.72,-136.3,2449,4095,3314,3312,880.9,-14.5,187,4803,0.00,0.20,0.00,0.000,3078,0.000,0.057,2449,2250,3312,3313,3312,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,4934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4934,begin apogee
$GC,4939,-0.17,0.0,2449,2304,3313,3312,903.7,-14.3,191,5058,0.57,0.00,115.60,1.102,10246,0.119,0.000,2636,2303,2762,2777,2748,0,0,0,0,0,0,26.48,28.83,24.39
$STATE,5059,end apogee,CONTROL_FINISHED_OK
$STATE,5059,begin climb
$GC,5061,0.72,136.3,2635,2304,2775,2747,907.1,0.0,194,5190,0.75,0.10,121.95,1.043,11012,0.029,0.071,2945,4095,2207,2243,2171,0,0,0,0,0,0,25.23,24.77,24.14
$GC,5485,0.72,136.3,2946,4094,2232,2164,832.3,23.9,204,5489,0.12,0.17,0.00,0.000,5126,0.179,0.063,2918,2259,2198,2232,2164,0,0,0,0,0,0,25.79,26.02,28.83
$GC,5737,0.72,136.3,2917,2259,2230,2163,772.6,21.2,211,5741,0.00,2.10,0.00,0.000,516,0.000,0.050,2926,923,2196,2230,2163,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5911,0.72,136.3,2926,923,2227,2163,739.0,20.8,215,5915,0.00,2.15,0.00,0.000,1030,0.000,0.050,2918,2283,2195,2227,2163,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6178,0.72,136.3,2918,2282,2226,2162,682.7,20.5,222,6181,0.00,0.12,0.00,0.000,260,0.000,0.092,2917,4095,2194,2226,2162,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6681,0.72,136.3,2917,4095,2224,2161,586.1,19.1,234,6685,0.00,0.20,0.00,0.000,1030,0.000,0.058,2917,2254,2192,2224,2161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6938,0.72,136.3,2917,2253,2224,2161,530.9,19.5,241,6942,0.00,0.17,0.00,0.000,260,0.000,0.074,2917,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7442,0.72,136.3,2917,4095,2223,2161,437.1,19.1,253,7446,0.00,0.17,0.00,0.000,1030,0.000,0.062,2917,2257,2191,2223,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7699,0.72,136.3,2917,2257,2222,2161,383.2,19.2,260,7702,0.00,0.17,0.00,0.000,260,0.000,0.075,2917,4095,2191,2222,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8202,0.72,136.3,2917,4095,2222,2161,297.6,16.9,272,8206,0.00,0.20,0.00,0.000,1030,0.000,0.056,2918,2247,2191,2222,2161,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8459,0.72,136.3,2917,2247,2222,2161,249.7,16.9,279,8463,0.00,0.20,0.00,0.000,260,0.000,0.069,2917,4095,2191,2222,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8978,0.72,136.3,2917,4095,2222,2161,164.1,16.6,305,8985,0.00,0.20,0.00,0.000,1030,0.000,0.056,2917,2246,2191,2222,2161,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9226,0.72,136.3,2917,2246,2222,2161,122.8,17.2,330,9229,0.00,0.20,0.00,0.000,260,0.000,0.067,2918,4095,2191,2222,2161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9834,0.72,136.3,2917,4095,2222,2161,22.4,15.5,384,9843,0.00,0.17,0.00,0.000,1030,0.000,0.060,2918,2247,2191,2222,2161,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9954,end climb,SURFACE_DEPTH_REACHED
$STATE,9954,begin surface coast
$FINISH,1.3,2.706579
$STATE,9977,end surface coast,CONTROL_FINISHED_OK
$STATE,9977,begin surface
$SM_CCo,9991,114.00,0.641,0,0,1171,390.02
$SM_GC,2.15,6.85,0.10,114.00,0.026,0.101,0.641,186,2325,1171,-7.73,-0.74,390.02,0,0,0,0,0,0,26.65,26.73,24.96
$IRIDIUM_FIX,3409.50,-15735.06,170309,050535
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.02
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.60
$XPDR_PINGS,346
$24V_AH,24.1,25.612
$10V_AH,10.3,14.410
$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,17.400,13.375,237.550,114.000,0.000,62.087,98.617,320.587,86.500,0.000,11.259,1341.302,5893.290,392.801,3080.584,112.507,0.000,1420.698,0.000,2166.063,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,123.930,1101.600,641.070,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,290.647,173.931,344.733,305.167,632.530,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353048
$DATA_FILE_SIZE,33727,404
$CAP_FILE_SIZE,108684,0
$CFSIZE,259248128,248893440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,200516,185731,3422.361,-15735.765,30,0.9,30,11.3