version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 206
start: 5 22 116 0 41 13
data:
$ID,512
$MISSION,7
$DIVE,206
$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,-130238.87
$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
$GPS1,220516,002901,3421.365,-15720.153,38,0.8,38,11.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-74.4
$GPS2,220516,004032,3421.408,-15719.972,6,0.8,6,11.3
$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,171.7,1291558,-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,-136.3,152,2279,1109,1216,0.0,0.0,0,88,0.00,0.00,-70.15,0.000,16386,0.000,0.000,152,2251,2939,2919,2959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.72,-136.3,151,2252,2921,2959,3.3,-2.5,8,120,9.00,1.95,-9.35,0.000,18948,0.220,0.053,2451,990,3316,3314,3318,0,0,0,0,0,0,25.75,26.10,26.44
$GC,143,-0.72,-136.3,2451,990,3315,3318,16.5,-24.8,14,153,0.00,2.15,0.00,0.000,3078,0.000,0.043,2442,4095,3316,3315,3318,0,0,0,0,0,0,28.83,26.15,28.83
$GC,414,-0.72,-136.3,2442,4095,3316,3318,83.8,-23.4,43,418,0.00,0.10,0.00,0.000,2308,0.000,0.076,2442,2260,3317,3316,3318,0,0,0,0,0,0,28.83,26.44,28.83
$GC,967,-0.72,-136.3,2442,2259,3318,3318,202.7,-21.5,92,971,0.00,0.17,0.00,0.000,3078,0.000,0.069,2442,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1224,-0.72,-136.3,2442,4095,3319,3318,259.5,-20.9,99,1228,0.00,0.15,0.00,0.000,2308,0.000,0.065,2442,2251,3318,3318,3318,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1728,-0.72,-136.3,2441,2251,3318,3318,353.1,-18.9,111,1731,0.00,0.17,0.00,0.000,3078,0.000,0.068,2442,4095,3318,3319,3318,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1985,-0.72,-136.3,2441,4095,3318,3318,404.6,-18.4,118,1988,0.00,0.15,0.00,0.000,2308,0.000,0.063,2442,2245,3318,3318,3318,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2488,-0.72,-136.3,2442,2245,3317,3317,494.4,-18.7,130,2492,0.00,0.20,0.00,0.000,3078,0.000,0.063,2442,4095,3317,3317,3318,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2745,-0.72,-136.3,2441,4095,3316,3317,547.6,-19.0,137,2748,0.00,0.15,0.00,0.000,2308,0.000,0.063,2442,2251,3316,3316,3317,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3249,-0.72,-136.3,2441,2251,3315,3315,635.8,-17.9,149,3252,0.00,0.17,0.00,0.000,3078,0.000,0.070,2442,4095,3315,3315,3315,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3505,-0.72,-136.3,2441,4095,3315,3314,684.3,-17.2,156,3509,0.00,0.15,0.00,0.000,2308,0.000,0.065,2442,2244,3314,3314,3314,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3679,-0.72,-136.3,2441,2244,3314,3313,710.4,-16.3,160,3683,0.00,0.20,0.00,0.000,3078,0.000,0.066,2442,4095,3313,3314,3313,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3946,-0.72,-136.3,2441,4095,3313,3312,756.1,-16.4,167,3950,0.00,2.12,0.00,0.000,2564,0.000,0.044,2447,983,3312,3313,3312,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4230,-0.72,-136.3,2447,982,3311,3312,800.2,-16.0,174,4235,0.08,2.10,0.00,0.000,3078,0.192,0.047,2455,4095,3311,3311,3312,0,0,0,0,0,0,26.52,26.65,28.83
$GC,4497,-0.72,-136.3,2454,4095,3311,3310,842.0,-15.0,181,4501,0.00,0.10,0.00,0.000,2308,0.000,0.078,2455,2262,3310,3311,3309,0,0,0,0,0,0,28.83,26.80,28.83
$STATE,4896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4897,begin apogee
$GC,4901,-0.17,0.0,2455,4095,3310,3308,902.1,-14.8,191,5020,0.55,0.17,114.72,1.092,10246,0.117,0.059,2634,2251,2762,2777,2747,0,0,0,0,0,0,26.46,25.12,24.41
$STATE,5021,end apogee,CONTROL_FINISHED_OK
$STATE,5021,begin climb
$GC,5022,0.72,136.3,2634,2252,2775,2747,907.3,0.0,194,5153,0.75,2.08,122.15,1.043,10756,0.034,0.048,2944,995,2205,2242,2169,0,0,0,0,0,0,25.25,24.83,24.15
$GC,5303,0.72,136.3,2944,995,2234,2163,863.3,23.5,201,5308,0.10,2.20,0.00,0.000,5126,0.164,0.050,2921,4095,2198,2234,2163,0,0,0,0,0,0,25.58,25.67,28.83
$GC,5570,0.72,136.3,2920,4095,2231,2161,801.1,22.0,208,5573,0.00,0.10,0.00,0.000,260,0.000,0.083,2920,2265,2196,2231,2161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6053,0.72,136.3,2920,2266,2228,2160,701.8,20.0,220,6057,0.00,0.17,0.00,0.000,1030,0.000,0.082,2920,4095,2194,2228,2160,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6331,0.72,136.3,2920,4095,2226,2160,644.5,20.5,227,6336,0.00,2.15,0.00,0.000,516,0.000,0.049,2929,990,2192,2226,2159,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6663,0.72,136.3,2929,990,2223,2159,580.0,20.0,235,6667,0.00,2.17,0.00,0.000,5126,0.000,0.050,2929,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6930,0.72,136.3,2929,4095,2223,2159,519.7,21.6,242,6934,0.00,0.10,0.00,0.000,4356,0.000,0.076,2930,2259,2191,2223,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7434,0.72,136.3,2929,2259,2223,2159,418.0,20.5,254,7437,0.00,0.17,0.00,0.000,5126,0.000,0.082,2930,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7691,0.72,136.3,2929,4095,2222,2159,362.9,19.2,261,7694,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2256,2190,2222,2158,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8194,0.72,136.3,2930,2256,2222,2159,271.0,19.2,273,8198,0.00,0.17,0.00,0.000,5126,0.000,0.082,2930,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8452,0.72,136.3,2930,4095,2222,2159,216.4,20.0,280,8455,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2254,2190,2222,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8993,0.72,136.3,2930,2254,2222,2159,116.5,18.7,321,8999,0.00,0.17,0.00,0.000,5126,0.000,0.080,2931,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9244,0.72,136.3,2930,4095,2222,2159,70.7,18.3,346,9247,0.00,0.12,0.00,0.000,4356,0.000,0.067,2931,2250,2190,2222,2159,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9665,end climb,SURFACE_DEPTH_REACHED
$STATE,9665,begin surface coast
$FINISH,1.0,2.611551
$STATE,9688,end surface coast,CONTROL_FINISHED_OK
$STATE,9688,begin surface
$SM_CCo,9702,116.05,0.644,0,0,1171,390.02
$SM_GC,2.10,6.93,0.17,116.05,0.030,0.076,0.644,191,4095,1171,-7.72,-0.59,390.02,0,0,0,0,0,0,26.65,26.67,24.95
$IRIDIUM_FIX,3409.50,-15724.41,180309,131338
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.08
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.60
$XPDR_PINGS,340
$24V_AH,24.2,26.969
$10V_AH,10.3,15.231
$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,17.400,20.600,236.875,116.050,0.000,80.419,109.666,248.719,85.000,0.000,9.089,1292.667,5815.135,393.442,2912.814,113.759,0.000,1372.425,0.000,2058.405,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,82.620,1091.655,644.130,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.892,169.275,336.347,302.934,627.960,0.000,0.000,0.000,0.000,0.000
$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,33998,394
$CAP_FILE_SIZE,104417,0
$CFSIZE,259248128,248356864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220516,032554,3421.084,-15718.782,14,2.8,35,11.3