version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 228
start: 5 24 116 16 5 14
data:
$ID,512
$MISSION,7
$DIVE,228
$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,554.85956
$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,-130344.84
$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
$GPS1,240516,155231,3404.938,-15657.206,27,1.0,28,11.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-74.5
$GPS2,240516,160433,3404.880,-15657.305,8,1.0,8,11.4
$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,173.5,1263682,-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,-136.3,168,4095,1109,1219,0.0,0.0,0,87,0.00,0.00,-70.25,0.000,16386,0.000,0.000,167,4095,2932,2914,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,167,4095,2915,2951,3.3,-2.3,8,119,8.85,2.17,-9.23,0.000,18948,0.217,0.050,2457,989,3318,3316,3320,0,0,0,0,0,0,25.81,26.20,26.54
$GC,347,-0.72,-136.3,2457,989,3317,3320,60.6,-20.8,34,359,0.00,2.08,0.00,0.000,3078,0.000,0.041,2449,4095,3318,3317,3320,0,0,0,0,0,0,28.83,26.34,28.83
$GC,599,-0.72,-136.3,2449,4095,3318,3320,117.8,-22.7,59,605,0.00,0.00,0.00,0.000,2054,0.000,0.000,2449,4095,3319,3318,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,846,-0.72,-136.3,2449,4095,3319,3320,171.2,-20.5,84,849,0.00,2.08,0.00,0.000,2564,0.000,0.037,2449,986,3319,3318,3320,0,0,0,0,0,0,28.83,26.47,28.83
$GC,870,-0.72,-136.3,2449,986,3319,3320,175.8,-20.5,86,879,0.03,2.08,0.00,0.000,3078,0.192,0.040,2449,4095,3319,3319,3320,0,0,0,0,0,0,26.36,26.50,28.83
$GC,1119,-0.72,-136.3,2449,4095,3320,3320,225.0,-19.5,102,1122,0.00,0.12,0.00,0.000,2308,0.000,0.067,2449,2247,3320,3320,3320,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1302,-0.72,-136.3,2448,2246,3320,3320,257.6,-20.3,106,1306,0.00,0.20,0.00,0.000,3078,0.000,0.063,2449,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1559,-0.72,-136.3,2448,4095,3320,3320,316.0,-21.2,113,1565,0.00,2.10,0.00,0.000,2564,0.000,0.037,2449,985,3320,3320,3320,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1592,-0.72,-136.3,2449,985,3320,3320,316.0,-21.2,113,1600,0.08,2.10,0.00,0.000,3078,0.189,0.040,2455,4095,3320,3320,3320,0,0,0,0,0,0,26.44,26.59,28.83
$GC,1839,-0.72,-136.3,2455,4095,3320,3320,372.4,-19.4,120,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,4095,3320,3320,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2079,-0.72,-136.3,2456,4095,3320,3319,412.3,-16.0,126,2083,0.00,2.10,0.00,0.000,516,0.000,0.039,2456,979,3319,3319,3320,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2108,-0.72,-136.3,2456,979,3320,3320,412.3,-16.0,126,2112,0.00,2.12,0.00,0.000,3078,0.000,0.041,2448,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2360,-0.72,-136.3,2448,4095,3318,3320,458.6,-16.9,133,2364,0.00,0.15,0.00,0.000,2308,0.000,0.061,2447,2241,3319,3318,3320,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2864,-0.72,-136.3,2448,2241,3317,3320,548.8,-19.8,145,2867,0.00,0.20,0.00,0.000,3078,0.000,0.064,2447,4095,3318,3317,3319,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3121,-0.72,-136.3,2446,4095,3317,3319,602.5,-19.0,152,3124,0.00,0.15,0.00,0.000,2308,0.000,0.063,2446,2248,3318,3317,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3624,-0.72,-136.3,2447,2248,3317,3317,688.1,-17.0,164,3628,0.00,0.17,0.00,0.000,3078,0.000,0.070,2446,4095,3316,3316,3317,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3881,-0.72,-136.3,2445,4095,3315,3316,734.2,-16.2,171,3885,0.00,0.15,0.00,0.000,2308,0.000,0.064,2446,2242,3315,3315,3316,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4122,-0.72,-136.3,2445,2242,3315,3315,773.3,-16.2,177,4125,0.00,0.17,0.00,0.000,3078,0.000,0.068,2445,4095,3315,3315,3315,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4403,-0.72,-136.3,2444,4095,3314,3314,819.3,-16.6,184,4406,0.00,2.12,0.00,0.000,2564,0.000,0.042,2445,988,3314,3314,3314,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4411,-0.72,-136.3,2444,987,3314,3314,819.3,-16.6,184,4416,0.05,2.15,0.00,0.000,3078,0.152,0.043,2453,4095,3314,3314,3314,0,0,0,0,0,0,26.47,26.66,28.83
$GC,4683,-0.72,-136.3,2453,4095,3314,3313,863.1,-15.6,191,4687,0.00,2.08,0.00,0.000,2564,0.000,0.041,2453,991,3313,3314,3312,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,4958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4958,begin apogee
$GC,4964,-0.17,0.0,2444,4095,3312,3312,906.1,-15.4,198,5083,0.57,0.17,115.53,1.090,10246,0.117,0.058,2631,2257,2762,2776,2748,0,0,0,0,0,0,26.39,25.13,24.39
$STATE,5084,end apogee,CONTROL_FINISHED_OK
$STATE,5084,begin climb
$GC,5086,0.72,136.3,2631,2249,2774,2747,912.3,0.0,201,5217,0.77,0.22,122.72,1.035,10500,0.046,0.071,2924,4095,2206,2242,2170,0,0,0,0,0,0,25.22,24.81,24.15
$GC,5719,0.72,136.3,2924,4095,2230,2163,787.3,22.4,217,5723,0.00,0.15,0.00,0.000,5126,0.000,0.067,2925,2257,2196,2230,2163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6000,0.72,136.3,2925,2256,2229,2162,728.4,21.4,224,6003,0.00,0.15,0.00,0.000,4356,0.000,0.077,2925,4095,2195,2229,2162,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6504,0.72,136.3,2925,4095,2226,2161,630.7,19.2,236,6507,0.00,0.17,0.00,0.000,5126,0.000,0.061,2925,2251,2193,2226,2161,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6761,0.72,136.3,2925,2251,2225,2160,577.4,18.6,243,6764,0.00,0.17,0.00,0.000,4356,0.000,0.074,2925,4095,2193,2225,2161,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7094,0.72,136.3,2925,4095,2224,2160,517.1,18.9,251,7098,0.00,0.20,0.00,0.000,5126,0.000,0.057,2925,2244,2192,2224,2160,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7361,0.72,136.3,2925,2244,2224,2160,466.0,17.8,258,7364,0.00,0.17,0.00,0.000,4356,0.000,0.072,2925,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7864,0.72,136.3,2925,4095,2223,2160,375.6,19.0,270,7868,0.00,0.17,0.00,0.000,5126,0.000,0.060,2926,2250,2191,2223,2160,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8122,0.72,136.3,2926,2250,2223,2160,321.7,19.2,277,8125,0.00,0.17,0.00,0.000,4356,0.000,0.070,2926,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8535,0.72,136.3,2926,4095,2222,2160,244.5,19.1,287,8539,0.00,0.20,0.00,0.000,5126,0.000,0.056,2927,2243,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8802,0.72,136.3,2927,2243,2223,2160,195.0,17.4,294,8806,0.00,1.88,0.00,0.000,4612,0.000,0.042,2936,990,2192,2223,2161,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8831,0.72,136.3,2936,989,2222,2160,190.3,17.5,296,8835,0.00,2.10,0.00,0.000,5126,0.000,0.044,2930,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9078,0.72,136.3,2930,4095,2222,2160,146.3,18.1,320,9082,0.00,0.12,0.00,0.000,4356,0.000,0.066,2930,2243,2191,2222,2160,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9663,0.72,136.3,2930,2242,2222,2160,43.6,16.5,370,9673,0.00,0.20,0.00,0.000,5126,0.000,0.069,2930,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,9919,end climb,SURFACE_DEPTH_REACHED
$STATE,9919,begin surface coast
$FINISH,1.0,1.014787
$STATE,9949,end surface coast,CONTROL_FINISHED_OK
$STATE,9949,begin surface
$SM_CCo,9963,230.52,0.640,0,0,500,554.86
$SM_GC,2.19,6.82,0.17,230.52,0.021,0.058,0.640,176,2272,500,-7.72,-0.28,554.86,0,0,0,0,0,0,26.74,26.77,24.68
$IRIDIUM_FIX,3348.69,-15703.80,210309,050519
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.84
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,18.70
$XPDR_PINGS,6
$24V_AH,24.1,29.568
$10V_AH,10.3,16.797
$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,17.175,33.300,238.250,230.525,0.000,137.416,251.713,0.000,1.500,0.000,9.289,1308.480,6289.700,523.084,2689.161,121.700,0.000,1464.920,0.000,1927.901,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,77.265,1090.125,639.540,0.000,64.260,160.000,0.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,293.818,178.944,350.258,313.764,650.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353144
$DATA_FILE_SIZE,33966,407
$CAP_FILE_SIZE,103184,0
$CFSIZE,259248128,247238656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240516,185601,3403.725,-15656.864,26,0.8,27,11.4