version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 198
start: 5 21 116 0 58 53
data:
$ID,512
$MISSION,7
$DIVE,198
$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,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130228.8
$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,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,42
$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
$GPS1,210516,005201,3421.806,-15732.771,24,1.1,24,11.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-74.5
$GPS2,210516,005812,3421.843,-15732.687,6,0.9,6,11.3
$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,170.8,1291396,-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,-136.3,181,2332,1110,1216,0.0,0.0,0,79,0.00,0.00,-61.62,0.000,16386,0.000,0.000,181,2324,2692,2671,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,181,4095,2672,2713,3.1,-1.6,7,119,8.90,2.08,-19.12,0.000,18948,0.222,0.051,2448,987,3318,3317,3319,0,0,0,0,0,0,25.75,26.08,26.41
$GC,149,-0.72,-136.3,2447,987,3318,3319,12.9,-19.3,15,159,0.03,2.12,0.00,0.000,3078,0.202,0.041,2447,2338,3318,3318,3319,0,0,0,0,0,0,25.99,26.13,28.83
$GC,425,-0.72,-136.3,2447,2337,3319,3319,79.1,-21.7,45,428,0.00,0.05,0.00,0.000,2308,0.000,0.144,2447,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.45,28.83
$GC,983,-0.72,-136.3,1632,4071,3312,3317,196.7,-20.6,95,989,0.00,0.17,0.00,0.000,3078,0.000,0.057,2447,2251,3320,3322,3319,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1241,-0.72,-136.3,2447,2251,3323,3319,248.9,-20.0,103,1244,0.00,0.17,0.00,0.000,2308,0.000,0.066,2448,4095,3321,3324,3319,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1744,-0.72,-136.3,2447,4095,3323,3319,345.6,-20.4,115,1748,0.00,0.17,0.00,0.000,3078,0.000,0.055,2448,2245,3321,3323,3319,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2001,-0.72,-136.3,2447,2245,3323,3319,398.5,-18.7,122,2004,0.00,0.20,0.00,0.000,2308,0.000,0.060,2448,4095,3321,3323,3319,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2504,-0.72,-136.3,2447,4095,3323,3319,488.2,-19.1,134,2508,0.00,0.20,0.00,0.000,3078,0.000,0.053,2447,2253,3321,3323,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2762,-0.72,-136.3,2447,2252,3321,3319,544.0,-20.1,141,2765,0.00,0.17,0.00,0.000,2308,0.000,0.067,2448,4095,3320,3322,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3265,-0.72,-136.3,2447,4095,3319,3319,639.6,-19.1,153,3269,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2247,3319,3319,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3522,-0.72,-136.3,2447,2246,3318,3318,690.1,-18.2,160,3526,0.00,0.20,0.00,0.000,2308,0.000,0.063,2448,4095,3318,3319,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4026,-0.72,-136.3,2447,4095,3317,3316,773.4,-17.4,172,4030,0.00,0.20,0.00,0.000,3078,0.000,0.056,2447,2256,3316,3317,3316,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4283,-0.72,-136.3,2447,2256,3317,3315,817.8,-15.5,179,4287,0.00,0.17,0.00,0.000,2308,0.000,0.070,2447,4095,3315,3316,3315,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4787,-0.72,-136.3,2447,4095,3315,3313,890.7,-15.0,191,4790,0.00,0.20,0.00,0.000,3078,0.000,0.055,2447,2246,3314,3315,3313,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4844,begin apogee
$GC,4848,-0.17,0.0,2447,4095,3315,3312,902.9,-15.0,193,4968,0.57,0.17,115.65,1.103,10246,0.119,0.057,2633,2258,2762,2776,2748,0,0,0,0,0,0,26.47,25.10,24.39
$STATE,4969,end apogee,CONTROL_FINISHED_OK
$STATE,4969,begin climb
$GC,4971,0.72,136.3,2633,2251,2776,2747,907.7,0.0,196,5102,0.77,2.15,121.40,1.058,10756,0.049,0.046,2930,988,2205,2242,2169,0,0,0,0,0,0,25.20,24.82,24.13
$GC,5126,0.72,136.3,2064,988,2204,2160,893.0,12.0,200,5131,0.00,2.28,0.00,0.000,5126,0.000,0.048,2930,2339,2201,2238,2165,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5404,0.72,136.3,2930,2338,2232,2162,827.0,23.6,207,5408,0.00,0.05,0.00,0.000,4356,0.000,0.136,2930,4095,2197,2233,2162,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5738,0.72,136.3,2929,4095,2230,2162,749.4,24.4,215,5741,0.00,0.17,0.00,0.000,5126,0.000,0.063,2930,2260,2196,2230,2162,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6005,0.72,136.3,2930,2260,2228,2161,680.2,25.0,222,6008,0.00,1.92,0.00,0.000,4612,0.000,0.044,2939,989,2194,2228,2161,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6240,0.72,136.3,2938,989,2225,2161,627.8,21.9,228,6245,0.05,2.12,0.00,0.000,5126,0.216,0.047,2922,4095,2193,2225,2161,0,0,0,0,0,0,26.34,26.42,28.83
$GC,6517,0.72,136.3,2921,4095,2225,2160,572.5,19.9,235,6518,0.00,0.00,0.00,0.000,4102,0.000,0.000,2922,4095,2192,2224,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6757,0.72,136.3,2922,4095,2224,2160,524.1,19.9,241,6760,0.00,0.10,0.00,0.000,4356,0.000,0.076,2922,2258,2192,2224,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7260,0.72,136.3,2922,2258,2223,2160,429.1,19.7,253,7264,0.00,0.17,0.00,0.000,5126,0.000,0.079,2921,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7517,0.72,136.3,2922,4095,2223,2160,376.2,18.8,260,7521,0.00,0.12,0.00,0.000,4356,0.000,0.067,2922,2256,2191,2223,2160,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8021,0.72,136.3,2921,2256,2223,2160,287.2,18.4,272,8025,0.00,0.17,0.00,0.000,5126,0.000,0.079,2922,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8278,0.72,136.3,2921,4095,2222,2159,235.6,18.6,279,8281,0.00,0.12,0.00,0.000,4356,0.000,0.066,2922,2252,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8806,0.72,136.3,2048,2250,2188,2153,140.3,18.0,314,8816,0.00,0.17,0.00,0.000,5126,0.000,0.077,2922,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9057,0.72,136.3,2921,4095,2223,2160,92.1,19.2,339,9061,0.00,0.12,0.00,0.000,4356,0.000,0.064,2922,2249,2191,2223,2160,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,9597,end climb,SURFACE_DEPTH_REACHED
$STATE,9597,begin surface coast
$FINISH,1.0,2.033528
$STATE,9627,end surface coast,CONTROL_FINISHED_OK
$STATE,9627,begin surface
$SM_CCo,9641,115.82,0.637,0,0,1172,390.02
$SM_GC,2.26,6.88,0.17,115.82,0.028,0.079,0.637,176,4095,1172,-7.72,-0.71,390.02,0,0,0,0,0,0,26.70,26.67,24.96
$IRIDIUM_FIX,3406.89,-15736.06,170309,111105
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.10
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.60
$XPDR_PINGS,340
$24V_AH,24.1,25.986
$10V_AH,10.3,14.632
$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,17.200,16.550,237.050,115.825,0.000,28.143,50.048,198.717,85.000,0.000,8.086,1303.138,5643.211,395.970,2707.381,103.576,0.000,1362.813,0.000,2034.162,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,143.820,1103.130,637.245,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.723,175.036,347.513,320.130,663.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353088
$DATA_FILE_SIZE,33959,399
$CAP_FILE_SIZE,100260,0
$CFSIZE,259248128,248754176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210516,034232,3421.514,-15731.373,21,0.8,26,11.3