version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 211
start: 5 22 116 15 11 19
data:
$ID,512
$MISSION,7
$DIVE,211
$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,-130245.16
$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
$GPS1,220516,150431,3418.231,-15713.047,27,0.7,27,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-72.9
$GPS2,220516,151039,3418.253,-15713.012,6,1.1,6,11.4
$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,172.2,1286410,-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,-136.3,178,2272,1113,1215,0.0,0.0,0,87,0.00,0.00,-69.68,0.000,16386,0.000,0.000,177,2269,2904,2882,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,178,2271,2882,2927,3.3,-2.6,8,119,8.95,1.98,-10.35,0.000,18948,0.221,0.054,2448,988,3318,3316,3320,0,0,0,0,0,0,25.71,26.08,26.41
$GC,163,-0.72,-136.3,2447,988,3317,3320,20.8,-22.7,17,173,0.05,2.17,0.00,0.000,3078,0.166,0.041,2455,4095,3318,3317,3320,0,0,0,0,0,0,25.96,26.15,28.83
$GC,425,-0.72,-136.3,2455,4095,3318,3320,81.5,-22.6,44,436,0.00,2.08,0.00,0.000,2564,0.000,0.037,2464,993,3319,3318,3320,0,0,0,0,0,0,28.83,26.29,28.83
$GC,451,-0.72,-136.3,2463,993,3318,3320,88.1,-23.8,46,461,0.00,2.15,0.00,0.000,1030,0.000,0.042,2455,4095,3319,3318,3320,0,0,0,0,0,0,28.83,26.32,28.83
$GC,703,-0.72,-136.3,2455,4095,3320,3320,143.3,-22.3,71,711,0.00,2.08,0.00,0.000,2564,0.000,0.039,2455,986,3320,3320,3320,0,0,0,0,0,0,28.83,26.38,28.83
$GC,749,-0.72,-136.3,2455,985,3320,3320,153.8,-22.0,75,759,0.00,2.15,0.00,0.000,3078,0.000,0.048,2445,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.41,28.83
$GC,996,-0.72,-136.3,2445,4095,3321,3320,209.5,-22.9,97,997,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,4095,3320,3321,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1236,-0.72,-136.3,2445,4095,3322,3320,262.3,-21.8,103,1237,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,4095,3321,3322,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1476,-0.72,-136.3,2445,4095,3322,3320,312.5,-20.6,109,1477,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,4095,3321,3322,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1716,-0.72,-136.3,2445,4095,3322,3320,361.3,-20.3,115,1717,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,4095,3321,3322,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1956,-0.72,-136.3,2445,4095,3322,3320,408.4,-19.5,121,1957,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,4095,3321,3322,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2196,-0.72,-136.3,2445,4095,3322,3320,452.4,-18.0,127,2197,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,4095,3321,3322,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2436,-0.72,-136.3,2445,4095,3322,3320,497.2,-18.8,133,2437,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,4095,3320,3321,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,-0.72,-136.3,2445,4095,3321,3320,543.3,-19.2,139,2680,0.00,2.08,0.00,0.000,2564,0.000,0.041,2445,987,3320,3322,3319,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2730,-0.72,-136.3,2445,987,3321,3320,550.2,-19.2,140,2734,0.08,2.10,0.00,0.000,3078,0.190,0.042,2452,4095,3320,3321,3320,0,0,0,0,0,0,26.49,26.64,28.83
$GC,2992,-0.72,-136.3,2452,4095,3320,3319,597.0,-16.0,147,2993,0.00,0.00,0.00,0.000,2054,0.000,0.000,2452,4095,3320,3320,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3232,-0.72,-136.3,2452,4095,3319,3319,633.7,-15.2,153,3235,0.00,0.12,0.00,0.000,2308,0.000,0.070,2452,2255,3319,3320,3319,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3735,-0.72,-136.3,2452,2255,3318,3318,714.2,-17.2,165,3739,0.00,0.17,0.00,0.000,3078,0.000,0.072,2452,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3992,-0.72,-136.3,2452,4095,3318,3317,761.6,-16.7,172,3996,0.00,0.15,0.00,0.000,2308,0.000,0.065,2452,2244,3317,3318,3317,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4313,-0.72,-136.3,2452,2245,3317,3316,814.3,-16.3,180,4317,0.00,0.17,0.00,0.000,3078,0.000,0.068,2452,4095,3316,3317,3316,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4594,-0.72,-136.3,2452,4095,3316,3315,860.7,-16.5,187,4598,0.00,2.15,0.00,0.000,2564,0.000,0.045,2452,982,3315,3316,3315,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,4874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4874,begin apogee
$GC,4880,-0.17,0.0,2443,4095,3314,3314,904.1,-15.0,194,5000,0.57,0.17,116.30,1.089,10246,0.119,0.059,2628,2264,2762,2777,2748,0,0,0,0,0,0,26.41,25.10,24.41
$STATE,5001,end apogee,CONTROL_FINISHED_OK
$STATE,5001,begin climb
$GC,5003,0.72,136.3,2628,2253,2775,2747,909.7,0.0,197,5134,0.80,2.10,122.95,1.035,10756,0.050,0.046,2935,986,2206,2243,2169,0,0,0,0,0,0,25.22,24.82,24.15
$GC,5179,0.72,136.3,2936,986,2238,2164,894.9,12.6,201,5183,0.00,2.28,0.00,0.000,5126,0.000,0.047,2932,4095,2201,2238,2165,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5436,0.72,136.3,2931,4095,2233,2162,830.1,23.2,208,5440,0.00,2.15,0.00,0.000,4612,0.000,0.044,2939,983,2197,2233,2162,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5556,0.72,136.3,2939,983,2230,2162,805.7,21.4,211,5560,0.00,2.17,0.00,0.000,5126,0.000,0.048,2932,4095,2196,2230,2162,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5828,0.72,136.3,2931,4095,2229,2161,747.3,20.8,218,5832,0.00,2.10,0.00,0.000,4612,0.000,0.044,2940,991,2195,2229,2161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5881,0.72,136.3,2939,991,2228,2161,740.1,20.4,219,5885,0.00,2.15,0.00,0.000,5126,0.000,0.048,2932,4095,2194,2228,2161,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6144,0.72,136.3,2932,4095,2227,2160,678.9,22.3,226,6148,0.00,0.10,0.00,0.000,4356,0.000,0.075,2932,2259,2194,2228,2160,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6648,0.72,136.3,2931,2259,2226,2159,577.1,20.3,238,6652,0.00,0.17,0.00,0.000,5126,0.000,0.078,2932,4095,2192,2226,2159,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6905,0.72,136.3,2931,4095,2225,2159,519.2,21.2,245,6908,0.00,0.12,0.00,0.000,4356,0.000,0.068,2932,2257,2192,2225,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7408,0.72,136.3,2932,2257,2224,2159,420.5,19.4,257,7412,0.00,0.17,0.00,0.000,5126,0.000,0.078,2932,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7665,0.72,136.3,2932,4095,2223,2159,365.8,19.5,264,7669,0.00,0.12,0.00,0.000,4356,0.000,0.065,2932,2254,2191,2223,2159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8169,0.72,136.3,2931,2254,2223,2159,275.8,18.3,276,8172,0.00,0.17,0.00,0.000,5126,0.000,0.077,2932,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8426,0.72,136.3,2931,4095,2223,2159,226.1,17.6,283,8430,0.00,0.12,0.00,0.000,4356,0.000,0.065,2932,2254,2191,2223,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8965,0.72,136.3,2931,2253,2223,2159,126.8,18.3,321,8971,0.00,0.17,0.00,0.000,5126,0.000,0.077,2932,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9213,0.72,136.3,2932,4095,2223,2159,81.4,17.5,346,9217,0.00,0.12,0.00,0.000,4356,0.000,0.065,2932,2251,2191,2223,2159,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9679,end climb,SURFACE_DEPTH_REACHED
$STATE,9679,begin surface coast
$FINISH,1.1,2.425538
$STATE,9708,end surface coast,CONTROL_FINISHED_OK
$STATE,9708,begin surface
$SM_CCo,9722,118.45,0.638,0,0,1171,390.02
$SM_GC,2.32,6.93,0.17,118.45,0.031,0.077,0.638,191,4095,1171,-7.71,-0.59,390.02,0,0,0,0,0,0,26.67,26.67,24.93
$IRIDIUM_FIX,3406.89,-15710.36,190309,010158
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.25
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.80
$XPDR_PINGS,347
$24V_AH,24.1,27.553
$10V_AH,10.3,15.585
$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,17.375,36.525,239.250,118.450,0.000,24.887,51.214,196.308,86.750,0.000,7.101,1226.808,6185.895,415.665,2288.659,109.499,0.000,1237.718,0.000,1644.860,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,78.030,1088.595,638.010,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,282.059,175.069,341.764,309.438,641.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353004
$DATA_FILE_SIZE,33929,398
$CAP_FILE_SIZE,93666,0
$CFSIZE,259248128,248119296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220516,175602,3417.747,-15711.496,15,1.3,15,11.4