version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 196
start: 5 20 116 19 15 36
data:
$ID,512
$MISSION,7
$DIVE,196
$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,-130197.49
$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,46
$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
$GPS1,200516,185731,3422.361,-15735.765,30,0.9,30,11.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-75.1
$GPS2,200516,191455,3422.466,-15735.501,6,1.0,6,11.3
$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,170.6,1292383,-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,-136.3,161,4095,1110,1217,0.0,0.0,0,79,0.00,0.00,-61.58,0.000,16386,0.000,0.000,158,4095,2701,2676,2727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,157,2324,2677,2727,3.1,-1.7,7,119,9.00,2.17,-17.88,0.000,18948,0.222,0.057,2451,936,3319,3320,3319,0,0,0,0,0,0,25.79,26.14,26.47
$GC,163,-0.72,-136.3,2450,936,3320,3319,17.4,-22.4,17,173,0.03,2.12,0.00,0.000,3078,0.197,0.042,2450,2282,3319,3320,3319,0,0,0,0,0,0,26.07,26.20,28.83
$GC,427,-0.72,-136.3,2450,2282,3321,3319,81.4,-23.6,45,431,0.00,0.12,0.00,0.000,2308,0.000,0.082,2450,4095,3320,3321,3319,0,0,0,0,0,0,28.83,26.39,28.83
$GC,764,-0.72,-136.3,2450,4095,3323,3319,153.5,-20.7,75,774,0.00,0.20,0.00,0.000,3078,0.000,0.052,2450,2245,3320,3322,3319,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1031,-0.72,-136.3,2450,2245,3323,3320,209.7,-20.9,99,1034,0.00,0.20,0.00,0.000,2308,0.000,0.059,2450,4095,3321,3323,3320,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1439,-0.72,-136.3,2450,4095,3323,3319,289.9,-19.9,109,1443,0.00,0.20,0.00,0.000,3078,0.000,0.052,2450,2252,3321,3323,3319,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1712,-0.72,-136.3,2450,2252,3323,3319,344.1,-19.5,116,1715,0.00,0.17,0.00,0.000,2308,0.000,0.067,2450,4095,3321,3323,3319,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2215,-0.72,-136.3,2450,4095,3322,3319,436.1,-19.4,128,2219,0.00,0.20,0.00,0.000,3078,0.000,0.054,2450,2246,3320,3321,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2472,-0.72,-136.3,2450,2246,3320,3319,490.0,-19.3,135,2476,0.00,0.20,0.00,0.000,2308,0.000,0.061,2450,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2976,-0.72,-136.3,2449,4095,3319,3318,584.5,-19.6,147,2979,0.00,0.20,0.00,0.000,3078,0.000,0.054,2450,2254,3318,3319,3318,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3232,-0.72,-136.3,2450,2255,3319,3318,637.1,-18.4,154,3236,0.00,0.17,0.00,0.000,2308,0.000,0.070,2450,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3736,-0.72,-136.3,2449,4095,3317,3316,719.3,-16.7,166,3739,0.00,0.20,0.00,0.000,3078,0.000,0.054,2450,2245,3316,3317,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3993,-0.72,-136.3,2449,2246,3316,3315,766.9,-16.8,173,3996,0.00,0.20,0.00,0.000,2308,0.000,0.063,2450,4095,3315,3317,3314,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4496,-0.72,-136.3,2449,4095,3315,3312,843.4,-15.2,185,4500,0.00,0.20,0.00,0.000,3078,0.000,0.056,2450,2253,3313,3314,3312,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4753,-0.72,-136.3,2449,2253,3314,3311,885.6,-15.1,192,4757,0.00,0.17,0.00,0.000,2308,0.000,0.070,2449,4095,3313,3314,3312,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,4872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4872,begin apogee
$GC,4877,-0.17,0.0,2449,2245,3313,3311,904.2,-15.3,195,4997,0.55,0.10,115.95,1.095,10246,0.121,0.094,2628,2311,2762,2777,2748,0,0,0,0,0,0,26.46,25.06,24.41
$STATE,4998,end apogee,CONTROL_FINISHED_OK
$STATE,4998,begin climb
$GC,5000,0.72,136.3,2628,2311,2775,2747,909.9,0.0,198,5132,0.80,2.38,121.38,1.056,10756,0.056,0.048,2929,930,2205,2242,2168,0,0,0,0,0,0,25.19,24.83,24.15
$GC,5462,0.72,136.3,2929,931,2233,2162,832.0,22.8,209,5467,0.00,2.15,0.00,0.000,5126,0.000,0.050,2930,2278,2197,2233,2162,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5709,0.72,136.3,2929,2277,2231,2161,769.6,22.3,215,5713,0.00,2.10,0.00,0.000,4612,0.000,0.048,2938,930,2196,2231,2161,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5813,0.72,136.3,2938,930,2230,2161,753.0,22.1,217,5817,0.00,2.15,0.00,0.000,5126,0.000,0.049,2930,2291,2195,2230,2161,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6065,0.72,136.3,2930,2291,2229,2160,696.6,20.1,224,6068,0.00,0.12,0.00,0.000,4356,0.000,0.095,2931,4095,2194,2229,2159,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6568,0.72,136.3,2930,4095,2225,2160,597.8,20.9,236,6572,0.00,0.20,0.00,0.000,5126,0.000,0.059,2930,2254,2192,2225,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6825,0.72,136.3,2930,2254,2224,2160,534.3,22.9,243,6829,0.00,0.17,0.00,0.000,4356,0.000,0.070,2930,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7329,0.72,136.3,2930,4095,2223,2159,432.3,19.8,255,7333,0.00,0.20,0.00,0.000,5126,0.000,0.057,2930,2250,2191,2223,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7585,0.72,136.3,2930,2250,2223,2159,378.4,19.0,262,7589,0.00,0.17,0.00,0.000,4356,0.000,0.069,2930,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8089,0.72,136.3,2930,4095,2222,2160,285.6,19.4,274,8093,0.00,0.20,0.00,0.000,5126,0.000,0.057,2931,2246,2190,2222,2159,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8346,0.72,136.3,2930,2246,2222,2160,232.7,18.8,281,8349,0.00,0.17,0.00,0.000,4356,0.000,0.068,2931,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8877,0.72,136.3,2930,4095,2222,2160,128.5,20.3,316,8887,0.00,0.17,0.00,0.000,5126,0.000,0.060,2931,2254,2191,2222,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9129,0.72,136.3,2930,2254,2222,2160,80.9,18.6,341,9133,0.00,0.17,0.00,0.000,4356,0.000,0.067,2931,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9624,end climb,SURFACE_DEPTH_REACHED
$STATE,9624,begin surface coast
$FINISH,0.9,2.684356
$STATE,9646,end surface coast,CONTROL_FINISHED_OK
$STATE,9646,begin surface
$SM_CCo,9660,114.55,0.647,0,0,1171,390.02
$SM_GC,2.19,6.88,0.17,114.55,0.024,0.056,0.647,178,2272,1171,-7.73,0.59,390.02,0,0,0,0,0,0,26.66,26.76,24.95
$IRIDIUM_FIX,3412.10,-15743.30,170309,080813
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.22
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.60
$XPDR_PINGS,344
$24V_AH,24.2,25.751
$10V_AH,10.3,14.487
$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,17.250,17.600,237.325,114.550,0.000,106.624,225.511,396.809,86.000,0.000,7.302,1305.501,5815.511,394.938,3219.726,109.297,0.000,1384.629,0.000,2070.723,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,94.860,1094.715,647.190,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,281.560,172.753,341.854,309.432,641.337,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353068
$DATA_FILE_SIZE,33899,395
$CAP_FILE_SIZE,106427,0
$CFSIZE,259248128,248848384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200516,215921,3421.894,-15733.953,14,1.4,14,11.3