version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 208
start: 5 22 116 6 22 7
data:
$ID,512
$MISSION,7
$DIVE,208
$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,-130241.38
$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
$GPS1,220516,061603,3420.630,-15717.424,14,1.5,14,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-73.5
$GPS2,220516,062126,3420.660,-15717.350,8,1.5,8,11.4
$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,171.8,1290420,-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,-136.3,192,2254,1111,1218,0.0,0.0,0,79,0.00,0.00,-61.67,0.000,16386,0.000,0.000,191,2249,2701,2682,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,191,2242,2682,2722,3.1,-2.2,7,118,8.75,1.95,-17.85,0.000,18948,0.216,0.054,2448,988,3316,3315,3317,0,0,0,0,0,0,25.72,26.07,26.41
$GC,169,-0.72,-136.3,2447,988,3315,3318,20.3,-26.3,18,180,0.05,2.17,0.00,0.000,3078,0.163,0.043,2455,4095,3316,3316,3317,0,0,0,0,0,0,25.97,26.15,28.83
$GC,431,-0.72,-136.3,2455,4095,3317,3317,84.1,-23.5,45,439,0.00,2.08,0.00,0.000,2564,0.000,0.039,2463,991,3317,3317,3318,0,0,0,0,0,0,28.83,26.28,28.83
$GC,456,-0.72,-136.3,2463,990,3317,3318,89.6,-23.3,47,463,0.00,2.15,0.00,0.000,1030,0.000,0.041,2454,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.30,28.83
$GC,705,-0.72,-136.3,2454,4095,3318,3318,144.7,-22.1,72,706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,4095,3318,3318,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,944,-0.72,-136.3,2454,4095,3320,3317,194.9,-20.1,96,945,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,4095,3318,3319,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1213,-0.72,-136.3,2454,4095,3320,3318,248.8,-19.7,105,1217,0.00,2.08,0.00,0.000,2564,0.000,0.041,2455,990,3318,3320,3317,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1242,-0.72,-136.3,2454,990,3320,3318,248.8,-19.7,105,1250,0.00,2.12,0.00,0.000,3078,0.000,0.050,2445,4095,3319,3320,3318,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1489,-0.72,-136.3,2445,4095,3320,3318,304.0,-20.1,112,1491,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,4095,3319,3321,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1729,-0.72,-136.3,2445,4095,3320,3318,351.2,-19.6,118,1733,0.00,2.10,0.00,0.000,2564,0.000,0.041,2445,984,3319,3320,3318,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1768,-0.72,-136.3,2445,985,3321,3318,358.2,-19.6,119,1773,0.10,2.10,0.00,0.000,3078,0.174,0.042,2459,4095,3319,3321,3318,0,0,0,0,0,0,26.41,26.58,28.83
$GC,2041,-0.72,-136.3,2459,4095,3320,3318,406.9,-17.5,126,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,4095,3319,3321,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2280,-0.72,-136.3,2459,4095,3321,3318,446.5,-16.2,132,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,4095,3319,3320,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-0.72,-136.3,2458,4095,3320,3317,485.2,-16.2,138,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,4095,3318,3319,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,-0.72,-136.3,2459,4095,3320,3317,526.5,-17.2,144,2764,0.00,0.12,0.00,0.000,260,0.000,0.064,2459,2253,3318,3320,3317,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3264,-0.72,-136.3,2460,2253,3318,3317,608.9,-16.9,156,3267,0.00,0.17,0.00,0.000,1030,0.000,0.072,2459,4095,3317,3318,3317,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3521,-0.72,-136.3,2459,4095,3317,3317,655.4,-16.6,163,3524,0.00,0.15,0.00,0.000,260,0.000,0.060,2460,2244,3317,3317,3317,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4024,-0.72,-136.3,2459,2244,3316,3315,733.2,-16.6,175,4028,0.00,0.20,0.00,0.000,1030,0.000,0.065,2459,4095,3315,3316,3315,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4282,-0.72,-136.3,2459,4095,3315,3314,777.5,-15.5,182,4285,0.00,0.15,0.00,0.000,260,0.000,0.057,2460,2250,3314,3315,3314,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4785,-0.72,-136.3,2459,2250,3314,3312,845.6,-13.4,194,4789,0.00,0.17,0.00,0.000,1030,0.000,0.071,2459,4095,3313,3314,3312,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5043,-0.72,-136.3,2459,4095,3313,3312,883.9,-13.9,201,5046,0.00,0.12,0.00,0.000,260,0.000,0.067,2460,2256,3312,3313,3312,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,5162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5162,begin apogee
$GC,5167,-0.17,0.0,2460,4095,3313,3311,900.7,-13.9,204,5286,0.52,0.17,115.45,1.095,10246,0.118,0.059,2629,2266,2762,2777,2748,0,0,0,0,0,0,26.45,25.10,24.39
$STATE,5288,end apogee,CONTROL_FINISHED_OK
$STATE,5288,begin climb
$GC,5289,0.72,136.3,2629,2261,2776,2747,905.5,0.0,207,5422,0.77,2.17,122.47,1.040,10756,0.047,0.048,2928,991,2205,2243,2168,0,0,0,0,0,0,25.21,24.82,24.14
$GC,5577,0.72,136.3,2928,991,2236,2163,863.6,21.9,214,5581,0.00,2.22,0.00,0.000,5126,0.000,0.051,2920,4095,2199,2236,2162,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5844,0.72,136.3,2920,4095,2233,2161,801.8,21.8,221,5848,0.00,0.12,0.00,0.000,260,0.000,0.073,2920,2258,2196,2232,2161,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6348,0.72,136.3,2920,2257,2229,2160,702.1,21.2,233,6352,0.00,0.17,0.00,0.000,1030,0.000,0.081,2920,4095,2194,2229,2160,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6605,0.72,136.3,2920,4095,2228,2159,645.1,20.5,240,6608,0.00,0.12,0.00,0.000,260,0.000,0.075,2920,2263,2193,2228,2159,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7108,0.72,136.3,2920,2264,2225,2159,548.3,20.0,252,7112,0.00,0.17,0.00,0.000,1030,0.000,0.080,2920,4095,2192,2225,2159,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7365,0.72,136.3,2920,4095,2224,2159,494.8,19.3,259,7369,0.00,0.15,0.00,0.000,260,0.000,0.067,2920,2254,2191,2224,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7869,0.72,136.3,2920,2254,2224,2159,401.2,19.8,271,7873,0.00,0.17,0.00,0.000,1030,0.000,0.081,2920,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8126,0.72,136.3,2920,4094,2223,2160,348.1,18.6,278,8130,0.00,0.12,0.00,0.000,260,0.000,0.073,2919,2261,2191,2223,2159,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8630,0.72,136.3,2920,2260,2223,2159,262.9,18.2,290,8633,0.00,0.17,0.00,0.000,1030,0.000,0.078,2920,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8887,0.72,136.3,2920,4095,2223,2159,214.8,16.8,297,8890,0.00,0.15,0.00,0.000,260,0.000,0.066,2920,2251,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9427,0.72,136.3,2048,2250,2189,2154,128.2,17.0,338,9437,0.00,0.17,0.00,0.000,1030,0.000,0.079,2920,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9678,0.72,136.3,2920,4095,2223,2159,87.0,15.7,363,9682,0.00,0.12,0.00,0.000,260,0.000,0.072,2920,2258,2191,2222,2160,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,10203,end climb,SURFACE_DEPTH_REACHED
$STATE,10203,begin surface coast
$FINISH,1.3,2.718635
$STATE,10225,end surface coast,CONTROL_FINISHED_OK
$STATE,10226,begin surface
$SM_CCo,10240,117.32,0.630,0,0,1171,390.02
$SM_GC,2.21,6.82,0.17,117.32,0.024,0.076,0.630,195,4095,1171,-7.72,-0.45,390.02,0,0,0,0,0,0,26.63,26.67,24.96
$IRIDIUM_FIX,3406.89,-15719.60,180309,161638
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.86
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,19.00
$XPDR_PINGS,365
$24V_AH,24.1,27.203
$10V_AH,10.3,15.373
$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,17.025,24.650,237.925,117.325,0.000,31.205,41.079,158.325,91.250,0.000,9.072,1319.757,6316.136,408.505,2531.750,122.387,0.000,1334.743,0.000,1916.635,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,81.090,1095.480,629.595,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,298.826,183.227,360.000,320.152,663.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353044
$DATA_FILE_SIZE,37226,419
$CAP_FILE_SIZE,100840,0
$CFSIZE,259248128,248258560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220516,091549,3420.041,-15715.477,37,0.8,37,11.4