version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 202
start: 5 21 116 12 53 8
data:
$ID,512
$MISSION,7
$DIVE,202
$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,-130233.83
$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,20
$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
$GPS1,210516,124550,3421.644,-15726.085,39,1.0,39,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-73.8
$GPS2,210516,125227,3421.648,-15726.003,6,1.0,7,11.3
$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,171.3,1291497,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-136.3,191,4094,1110,1218,0.0,0.0,0,87,0.00,0.00,-69.50,0.000,16386,0.000,0.000,190,4095,2908,2887,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,190,4095,2888,2931,3.3,-2.6,8,119,8.80,2.20,-10.07,0.000,18948,0.219,0.052,2447,990,3318,3316,3320,0,0,0,0,0,0,25.72,26.08,26.39
$GC,236,-0.72,-136.3,2447,989,3317,3320,39.2,-24.6,25,247,0.05,2.15,0.00,0.000,3078,0.164,0.041,2455,4095,3318,3317,3320,0,0,0,0,0,0,26.06,26.20,28.83
$GC,485,-0.72,-136.3,2455,4095,3318,3320,91.3,-19.5,50,488,0.00,0.10,0.00,0.000,2308,0.000,0.076,2455,2263,3319,3319,3319,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1041,-0.72,-136.3,2455,2263,3321,3320,201.5,-20.0,100,1045,0.00,0.17,0.00,0.000,3078,0.000,0.067,2455,4095,3320,3321,3320,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1299,-0.72,-136.3,2455,4095,3322,3320,254.0,-20.1,107,1302,0.00,0.15,0.00,0.000,2308,0.000,0.063,2455,2255,3321,3322,3320,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1802,-0.72,-136.3,2455,2255,3322,3320,341.8,-17.3,119,1806,0.00,0.17,0.00,0.000,3078,0.000,0.069,2455,4095,3321,3322,3320,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2059,-0.72,-136.3,2454,4095,3322,3320,390.0,-17.3,126,2063,0.00,0.15,0.00,0.000,2308,0.000,0.063,2455,2246,3321,3322,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2563,-0.72,-136.3,2454,2247,3322,3319,476.3,-17.8,138,2566,0.00,0.20,0.00,0.000,3078,0.000,0.064,2454,4095,3320,3322,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2820,-0.72,-136.3,2454,4095,3321,3319,526.3,-17.6,145,2824,0.00,0.15,0.00,0.000,2308,0.000,0.066,2454,2256,3320,3321,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3324,-0.72,-136.3,2454,2255,3319,3319,604.6,-15.8,157,3327,0.00,0.17,0.00,0.000,3078,0.000,0.070,2453,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3581,-0.72,-136.3,2453,4095,3319,3319,646.4,-15.0,164,3585,0.00,0.12,0.00,0.000,2308,0.000,0.070,2453,2265,3319,3319,3319,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4085,-0.72,-136.3,2453,2265,3318,3317,714.8,-14.3,176,4088,0.00,0.15,0.00,0.000,3078,0.000,0.076,2453,4095,3317,3318,3317,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4341,-0.72,-136.3,2453,4095,3317,3316,756.1,-14.8,183,4345,0.00,0.12,0.00,0.000,2308,0.000,0.071,2453,2256,3316,3317,3316,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4845,-0.72,-136.3,2453,2256,3316,3314,824.0,-14.0,195,4849,0.00,0.17,0.00,0.000,3078,0.000,0.073,2453,4095,3314,3315,3314,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5103,-0.72,-136.3,2452,4094,3315,3313,863.7,-14.2,202,5106,0.00,0.12,0.00,0.000,2308,0.000,0.072,2452,2263,3313,3314,3313,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,5382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5382,begin apogee
$GC,5387,-0.17,0.0,2452,4095,3314,3312,905.3,-14.8,209,5506,0.55,0.17,115.68,1.107,10246,0.119,0.059,2629,2259,2762,2777,2747,0,0,0,0,0,0,26.45,25.09,24.37
$STATE,5507,end apogee,CONTROL_FINISHED_OK
$STATE,5507,begin climb
$GC,5509,0.72,136.3,2629,2254,2776,2747,911.1,0.0,212,5637,0.77,0.15,121.88,1.065,11012,0.052,0.062,2915,4095,2207,2245,2169,0,0,0,0,0,0,25.19,24.77,24.12
$GC,6137,0.72,136.3,2915,4095,2233,2162,804.3,21.1,227,6144,0.00,0.17,0.00,0.000,1030,0.000,0.063,2916,2258,2197,2232,2162,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6384,0.72,136.3,2916,2258,2231,2161,749.3,19.0,234,6388,0.00,0.17,0.00,0.000,260,0.000,0.080,2916,4095,2196,2231,2161,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6888,0.72,136.3,2916,4095,2229,2160,661.3,18.5,246,6892,0.00,0.17,0.00,0.000,1030,0.000,0.063,2916,2260,2194,2229,2160,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7145,0.72,136.3,2916,2260,2227,2160,604.6,21.0,253,7149,0.00,0.17,0.00,0.000,260,0.000,0.081,2916,4095,2193,2227,2160,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7648,0.72,136.3,2916,4095,2226,2160,504.2,19.9,265,7652,0.00,0.17,0.00,0.000,1030,0.000,0.063,2916,2259,2192,2226,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7906,0.72,136.3,2916,2258,2226,2160,452.7,18.6,272,7909,0.00,0.17,0.00,0.000,260,0.000,0.079,2916,4095,2192,2226,2159,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8409,0.72,136.3,2916,4095,2225,2159,366.0,18.0,284,8413,0.00,0.17,0.00,0.000,1030,0.000,0.062,2917,2261,2192,2225,2159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8666,0.72,136.3,2916,2261,2225,2159,316.1,17.6,291,8670,0.00,0.17,0.00,0.000,260,0.000,0.080,2916,4095,2192,2225,2159,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9170,0.72,136.3,2916,4095,2225,2160,233.1,17.2,303,9174,0.00,0.17,0.00,0.000,1030,0.000,0.061,2916,2262,2192,2225,2159,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9417,0.72,136.3,2916,2262,2224,2159,188.1,15.5,315,9421,0.00,0.17,0.00,0.000,260,0.000,0.077,2917,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9977,0.72,136.3,2916,4095,2224,2160,98.8,16.4,365,9983,0.00,0.17,0.00,0.000,1030,0.000,0.060,2916,2248,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10227,0.72,136.3,2917,2248,2224,2159,59.2,14.9,390,10230,0.00,0.20,0.00,0.000,260,0.000,0.071,2916,4094,2192,2224,2160,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,10576,end climb,SURFACE_DEPTH_REACHED
$STATE,10576,begin surface coast
$FINISH,1.0,2.058371
$STATE,10598,end surface coast,CONTROL_FINISHED_OK
$STATE,10598,begin surface
$SM_CCo,10613,116.72,0.650,0,0,1171,390.02
$SM_GC,2.25,6.93,0.20,116.72,0.031,0.054,0.650,186,2242,1171,-7.73,-0.51,390.02,0,0,0,0,0,0,26.64,26.72,24.91
$IRIDIUM_FIX,3409.50,-15726.83,170309,232304
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.45
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.80
$XPDR_PINGS,373
$24V_AH,24.1,26.501
$10V_AH,10.3,14.940
$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,17.100,9.300,237.550,116.725,0.000,25.697,47.346,230.961,93.250,0.000,8.097,1417.503,6170.818,392.961,3051.389,112.374,0.000,1483.947,0.000,2330.589,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,81.090,1106.955,650.250,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,306.248,186.268,369.921,328.715,681.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353060
$DATA_FILE_SIZE,37150,431
$CAP_FILE_SIZE,109849,0
$CFSIZE,259248128,248545280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210516,155302,3421.641,-15724.684,18,1.0,37,11.3