version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 222
start: 5 23 116 22 50 25
data:
$ID,512
$MISSION,7
$DIVE,222
$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,-130304.17
$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
$GPS1,230516,224242,3408.152,-15701.023,19,1.7,19,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-73.8
$GPS2,230516,224944,3408.126,-15700.926,22,1.8,22,11.4
$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,173.2,1269165,-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,-136.3,158,2275,1110,1219,0.0,0.0,0,88,0.00,0.00,-70.05,0.000,16386,0.000,0.000,155,2271,2927,2908,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.72,-136.3,155,2271,2909,2947,3.3,-2.6,8,119,8.98,0.20,-9.12,0.000,19204,0.220,0.200,2446,4095,3318,3316,3321,0,0,0,0,0,0,25.75,26.06,26.42
$GC,714,-0.72,-136.3,1632,4071,3309,3319,152.4,-22.4,66,723,0.00,0.20,0.00,0.000,3078,0.000,0.053,2446,2244,3320,3320,3321,0,0,0,0,0,0,28.83,26.49,28.83
$GC,971,-0.72,-136.3,2447,2244,3321,3321,210.4,-21.9,89,975,0.00,0.20,0.00,0.000,2308,0.000,0.060,2445,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1255,-0.72,-136.3,2445,4095,3321,3321,271.6,-21.7,96,1259,0.00,0.22,0.00,0.000,3078,0.000,0.050,2446,2175,3321,3321,3321,0,0,1,0,0,0,28.83,26.60,28.83
$GC,1532,-0.72,-136.3,2445,2174,3321,3321,330.6,-20.9,103,1535,0.00,0.30,0.00,0.000,2308,0.000,0.053,2444,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2036,-0.72,-136.3,2444,4095,3321,3321,424.8,-19.3,115,2039,0.00,0.20,0.00,0.000,3078,0.000,0.054,2444,2240,3321,3321,3321,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2293,-0.72,-136.3,2444,2240,3320,3321,478.8,-19.1,122,2296,0.00,0.20,0.00,0.000,2308,0.000,0.060,2443,4095,3320,3320,3321,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2796,-0.72,-136.3,2443,4095,3319,3321,573.3,-20.3,134,2800,0.00,0.22,0.00,0.000,3078,0.000,0.051,2443,2236,3319,3318,3321,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3053,-0.72,-136.3,2443,2236,3318,3320,627.8,-19.1,141,3057,0.00,0.20,0.00,0.000,2308,0.000,0.064,2442,4095,3319,3318,3320,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3557,-0.72,-136.3,2442,4095,3317,3318,717.5,-18.4,153,3561,0.00,0.20,0.00,0.000,3078,0.000,0.054,2441,2241,3317,3317,3318,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3814,-0.72,-136.3,2442,2241,3316,3317,764.0,-16.1,160,3818,0.00,1.90,0.00,0.000,2564,0.000,0.043,2443,982,3317,3316,3318,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3828,-0.72,-136.3,2443,982,3316,3317,764.0,-16.1,160,3832,0.10,2.12,0.00,0.000,3078,0.164,0.044,2459,4095,3317,3316,3318,0,0,0,0,0,0,26.48,26.65,28.83
$GC,4095,-0.72,-136.3,2459,4095,3316,3316,805.6,-14.6,167,4098,0.00,0.12,0.00,0.000,260,0.000,0.063,2459,2258,3316,3316,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4598,-0.72,-136.3,2459,2258,3314,3313,880.0,-15.6,179,4602,0.00,0.17,0.00,0.000,1030,0.000,0.072,2460,4095,3314,3314,3314,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,4734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4734,begin apogee
$GC,4738,-0.17,0.0,2459,2248,3314,3313,904.9,-15.6,183,4858,0.52,0.20,115.85,1.087,10246,0.113,0.067,2632,4095,2762,2777,2748,0,0,0,0,0,0,26.41,25.10,24.39
$STATE,4859,end apogee,CONTROL_FINISHED_OK
$STATE,4859,begin climb
$GC,4861,0.72,136.3,2631,4095,2775,2748,911.8,0.0,186,4994,0.77,2.38,122.50,1.034,10756,0.043,0.049,2936,996,2205,2242,2168,0,0,0,0,0,0,25.22,24.82,24.14
$GC,5170,0.72,136.3,2936,996,2234,2163,875.2,19.9,193,5176,0.00,2.20,0.00,0.000,5126,0.000,0.051,2930,4095,2198,2234,2163,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5416,0.72,136.3,2930,4095,2232,2161,817.5,20.6,200,5419,0.00,0.10,0.00,0.000,4356,0.000,0.075,2931,2260,2196,2232,2161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5594,0.72,136.3,2930,2260,2229,2161,785.5,19.9,204,5598,0.00,0.17,0.00,0.000,5126,0.000,0.080,2930,4095,2195,2230,2161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5857,0.72,136.3,2930,4095,2229,2160,726.9,20.6,211,5862,0.00,2.15,0.00,0.000,4612,0.000,0.049,2939,986,2194,2228,2160,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6005,0.72,136.3,2939,986,2226,2160,704.5,19.2,214,6010,0.00,2.15,0.00,0.000,5126,0.000,0.050,2931,4095,2193,2226,2160,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6251,0.72,136.3,2931,4095,2226,2160,653.6,18.7,220,6255,0.00,0.10,0.00,0.000,4356,0.000,0.076,2931,2256,2193,2226,2160,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6452,0.72,136.3,2931,2256,2226,2159,617.1,18.0,225,6455,0.00,0.15,0.00,0.000,5126,0.000,0.084,2931,4095,2192,2225,2160,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6732,0.72,136.3,2931,4095,2224,2159,565.7,18.6,232,6735,0.00,0.12,0.00,0.000,4356,0.000,0.067,2931,2252,2191,2224,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6977,0.72,136.3,2931,2252,2224,2159,517.4,20.1,238,6980,0.00,0.15,0.00,0.000,5126,0.000,0.083,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7253,0.72,136.3,2931,4095,2223,2160,462.2,19.7,245,7256,0.00,2.10,0.00,0.000,4612,0.000,0.044,2939,990,2191,2223,2159,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7281,0.72,136.3,2939,990,2222,2160,462.2,19.7,245,7285,0.00,2.12,0.00,0.000,5126,0.000,0.047,2932,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7533,0.72,136.3,2931,4095,2222,2160,409.9,18.4,252,7537,0.00,0.10,0.00,0.000,4356,0.000,0.076,2932,2256,2190,2222,2159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7802,0.72,136.3,2931,2256,2222,2160,366.7,17.7,258,7805,0.00,0.17,0.00,0.000,5126,0.000,0.080,2932,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8054,0.72,136.3,2931,4095,2222,2160,316.2,18.2,265,8058,0.00,2.10,0.00,0.000,4612,0.000,0.044,2940,990,2190,2222,2159,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8218,0.72,136.3,2940,990,2222,2160,287.0,18.0,269,8223,0.08,2.12,0.00,0.000,5126,0.177,0.046,2923,4095,2191,2222,2160,0,0,0,0,0,0,26.46,26.57,28.83
$GC,8495,0.72,136.3,2923,4095,2221,2159,236.5,18.0,276,8499,0.00,0.12,0.00,0.000,4356,0.000,0.067,2923,2246,2190,2221,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8544,0.72,136.3,2923,2245,2222,2159,229.4,17.9,277,8547,0.00,0.20,0.00,0.000,5126,0.000,0.072,2923,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8796,0.72,136.3,2922,4095,2221,2160,184.4,17.5,288,8800,0.00,2.10,0.00,0.000,4612,0.000,0.041,2932,981,2190,2221,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8849,0.72,136.3,2932,981,2221,2160,175.8,17.7,292,8857,0.00,2.15,0.00,0.000,5126,0.000,0.046,2930,4095,2190,2221,2160,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9100,0.72,136.3,2930,4095,2221,2159,130.2,17.8,317,9104,0.00,0.10,0.00,0.000,4356,0.000,0.073,2930,2246,2190,2221,2160,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9316,0.72,136.3,2930,2246,2221,2160,93.1,17.1,336,9326,0.00,0.20,0.00,0.000,5126,0.000,0.070,2931,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9567,0.72,136.3,2930,4095,2221,2160,52.3,16.3,361,9579,0.00,2.08,0.00,0.000,4612,0.000,0.041,2939,993,2190,2221,2159,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9682,0.72,136.3,2939,993,2221,2160,33.9,16.3,370,9694,0.03,2.08,0.00,0.000,5126,0.177,0.045,2923,4095,2190,2221,2160,0,0,0,0,0,0,26.46,26.55,28.83
$STATE,9928,end climb,SURFACE_DEPTH_REACHED
$STATE,9928,begin surface coast
$FINISH,1.1,2.628712
$STATE,9964,end surface coast,CONTROL_FINISHED_OK
$STATE,9964,begin surface
$SM_CCo,9978,117.95,0.644,0,0,1171,390.02
$SM_GC,2.22,6.93,0.15,117.95,0.030,0.063,0.644,172,2242,1171,-7.74,-0.57,390.02,0,0,0,0,0,0,26.68,26.74,24.92
$IRIDIUM_FIX,3356.48,-15705.18,200309,090916
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.98
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.80
$XPDR_PINGS,338
$24V_AH,24.1,28.857
$10V_AH,10.3,16.368
$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,17.400,34.600,238.350,117.950,0.000,31.605,78.782,201.530,84.500,0.000,23.385,1310.850,6064.281,417.002,2622.848,121.771,0.000,1357.560,0.000,1903.203,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,199.665,1087.065,644.130,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,304.109,179.888,354.428,326.602,677.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353028
$DATA_FILE_SIZE,37427,409
$CAP_FILE_SIZE,105362,0
$CFSIZE,259248128,247554048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,240516,013949,3407.000,-15700.714,40,0.7,40,11.4