version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 227
start: 5 24 116 13 12 49
data:
$ID,512
$MISSION,7
$DIVE,227
$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,-130310.48
$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
$GPS1,240516,130432,3405.887,-15657.486,15,1.6,15,11.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-72.5
$GPS2,240516,131208,3405.792,-15657.515,6,1.6,7,11.4
$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,173.4,1265335,-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,-136.3,164,2250,1110,1218,0.0,0.0,0,79,0.00,0.00,-61.62,0.000,16386,0.000,0.000,163,2243,2692,2672,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,163,2243,2673,2712,3.1,-2.2,7,119,8.95,0.20,-18.30,0.000,18692,0.218,0.200,2445,4095,3316,3315,3317,0,0,0,0,0,0,25.67,26.02,26.29
$GC,149,-0.72,-136.3,2445,4095,3315,3317,14.9,-22.0,15,159,0.00,0.17,0.00,0.000,3078,0.000,0.056,2444,2246,3316,3315,3317,0,0,0,0,0,0,28.83,26.20,28.83
$GC,420,-0.72,-136.3,2444,2246,3317,3317,82.2,-25.2,44,432,0.00,1.92,0.00,0.000,2564,0.000,0.041,2448,980,3317,3317,3317,0,0,0,0,0,0,28.83,26.28,28.83
$GC,671,-0.72,-136.3,2448,980,3318,3317,136.7,-21.2,66,681,0.03,2.15,0.00,0.000,3078,0.196,0.041,2448,4095,3317,3318,3317,0,0,0,0,0,0,26.26,26.40,28.83
$GC,922,-0.72,-136.3,2447,4095,3319,3317,190.1,-21.8,91,926,0.00,0.12,0.00,0.000,2308,0.000,0.068,2448,2244,3318,3319,3317,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1428,-0.72,-136.3,2448,2243,3320,3317,293.2,-20.9,107,1432,0.00,0.20,0.00,0.000,3078,0.000,0.063,2448,4095,3318,3320,3317,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1685,-0.72,-136.3,2448,4095,3320,3317,349.5,-19.9,114,1689,0.00,0.15,0.00,0.000,2308,0.000,0.063,2448,2248,3318,3320,3317,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2189,-0.72,-136.3,2448,2248,3320,3317,448.0,-21.3,126,2192,0.00,0.17,0.00,0.000,3078,0.000,0.070,2448,4095,3318,3320,3317,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2446,-0.72,-136.3,2447,4095,3320,3317,508.3,-21.6,133,2449,0.00,0.15,0.00,0.000,2308,0.000,0.064,2448,2243,3318,3320,3317,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2949,-0.72,-136.3,2447,2243,3318,3317,606.9,-20.5,145,2953,0.00,0.17,0.00,0.000,3078,0.000,0.068,2447,4095,3317,3318,3316,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3206,-0.72,-136.3,2446,4095,3317,3317,661.8,-19.3,152,3209,0.00,0.15,0.00,0.000,2308,0.000,0.064,2447,2246,3317,3317,3317,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3709,-0.72,-136.3,2446,2246,3316,3315,745.8,-16.9,164,3713,0.00,0.20,0.00,0.000,3078,0.000,0.066,2446,4095,3315,3316,3315,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3967,-0.72,-136.3,2446,4095,3315,3314,795.0,-17.4,171,3971,0.00,0.15,0.00,0.000,2308,0.000,0.066,2445,2253,3314,3315,3314,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4470,-0.72,-136.3,2445,2253,3314,3312,879.0,-17.5,183,4474,0.00,0.17,0.00,0.000,3078,0.000,0.073,2445,4095,3313,3314,3312,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,4566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4566,begin apogee
$GC,4571,-0.17,0.0,2445,2243,3314,3312,900.3,-17.7,186,4690,0.57,0.20,115.05,1.086,10246,0.119,0.067,2630,4095,2763,2777,2749,0,0,0,0,0,0,26.39,25.11,24.40
$STATE,4691,end apogee,CONTROL_FINISHED_OK
$STATE,4691,begin climb
$GC,4693,0.72,136.3,2631,4095,2775,2748,907.2,0.0,189,4822,0.80,0.17,122.50,1.038,10500,0.053,0.061,2926,2257,2205,2242,2169,0,0,0,0,0,0,25.21,24.82,24.14
$GC,5237,0.72,136.3,2925,2257,2230,2162,818.5,20.6,202,5241,0.00,0.15,0.00,0.000,5126,0.000,0.081,2926,4095,2196,2230,2162,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5489,0.72,136.3,2925,4095,2228,2161,759.7,21.1,209,5494,0.00,2.12,0.00,0.000,4612,0.000,0.047,2935,992,2194,2227,2161,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5817,0.72,136.3,2935,992,2224,2161,691.4,21.2,217,5821,0.00,2.15,0.00,0.000,5126,0.000,0.050,2931,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6084,0.72,136.3,2930,4095,2223,2160,635.6,20.1,224,6087,0.00,0.10,0.00,0.000,4356,0.000,0.077,2930,2262,2191,2223,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6587,0.72,136.3,2930,2261,2223,2159,542.8,19.6,236,6591,0.00,0.17,0.00,0.000,5126,0.000,0.079,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6844,0.72,136.3,2930,4094,2223,2159,487.8,19.5,243,6848,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2261,2190,2222,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7348,0.72,136.3,2930,2261,2222,2159,390.9,20.3,255,7352,0.00,0.17,0.00,0.000,5126,0.000,0.078,2930,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7605,0.72,136.3,2930,4095,2222,2159,336.4,19.5,262,7608,0.00,0.15,0.00,0.000,4356,0.000,0.060,2930,2248,2190,2222,2159,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8108,0.72,136.3,2930,2248,2221,2159,241.2,19.5,274,8112,0.00,0.17,0.00,0.000,5126,0.000,0.078,2930,4095,2190,2221,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8358,0.72,136.3,2930,4095,2221,2159,188.4,19.9,283,8362,0.00,0.12,0.00,0.000,4356,0.000,0.067,2931,2249,2190,2221,2159,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8917,0.72,136.3,2931,2249,2221,2159,81.9,19.4,333,8924,0.00,0.17,0.00,0.000,5126,0.000,0.079,2930,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9169,0.72,136.3,2930,4095,2222,2159,36.7,17.9,358,9172,0.00,0.12,0.00,0.000,4356,0.000,0.064,2931,2248,2190,2222,2159,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9309,0.72,136.3,2931,2248,2221,2159,12.5,16.4,375,9318,0.00,0.15,0.00,0.000,5126,0.000,0.080,2931,4095,2190,2221,2159,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9374,end climb,SURFACE_DEPTH_REACHED
$STATE,9374,begin surface coast
$FINISH,1.0,1.024855
$STATE,9397,end surface coast,CONTROL_FINISHED_OK
$STATE,9397,begin surface
$SM_CCo,9411,116.47,0.640,0,0,1172,390.02
$SM_GC,2.20,6.93,0.15,116.47,0.029,0.063,0.640,193,2258,1172,-7.72,0.00,390.02,0,0,0,0,0,0,26.67,26.78,24.96
$IRIDIUM_FIX,3351.28,-15652.18,200309,232318
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.98
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.70
$XPDR_PINGS,8
$24V_AH,24.1,29.442
$10V_AH,10.3,16.724
$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,17.275,12.900,237.550,116.475,0.000,25.295,47.197,288.133,2.000,0.000,8.280,1272.234,5418.875,399.992,2799.479,110.704,0.000,1387.654,0.000,2060.024,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,199.665,1085.535,639.540,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,271.107,168.981,333.451,305.194,632.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353072
$DATA_FILE_SIZE,33980,387
$CAP_FILE_SIZE,101815,0
$CFSIZE,259248128,247308288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240516,155231,3404.938,-15657.206,27,1.0,28,11.4