version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 229
start: 5 24 116 19 5 53
data:
$ID,512
$MISSION,7
$DIVE,229
$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,-130346.09
$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
$GPS1,240516,185601,3403.725,-15656.864,26,0.8,27,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-69.7
$GPS2,240516,190512,3403.721,-15656.886,7,1.0,7,11.4
$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,173.5,1261604,-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,-136.3,160,4094,441,552,0.0,0.0,0,105,0.00,0.00,-87.25,0.000,16386,0.000,0.000,157,4095,2792,2770,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.72,-136.3,157,4095,2770,2814,3.1,-2.1,10,137,8.98,0.22,-14.25,0.000,18692,0.219,0.205,2450,2169,3319,3318,3320,0,0,1,0,0,0,25.71,26.11,26.41
$GC,209,-0.72,-136.3,2450,2169,3319,3320,26.8,-29.0,23,218,0.00,0.30,0.00,0.000,3078,0.000,0.054,2449,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.19,28.83
$GC,469,-0.72,-136.3,2449,4095,3319,3320,88.0,-23.2,49,472,0.00,0.15,0.00,0.000,2308,0.000,0.063,2449,2242,3319,3319,3320,0,0,0,0,0,0,28.83,26.41,28.83
$GC,494,-0.72,-136.3,2449,2242,3319,3320,93.1,-23.1,51,500,0.00,0.20,0.00,0.000,3078,0.000,0.063,2449,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.39,28.83
$GC,742,-0.72,-136.3,2449,4095,3320,3320,145.7,-20.2,76,745,0.00,0.15,0.00,0.000,2308,0.000,0.063,2449,2244,3320,3320,3320,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1188,-0.72,-136.3,2449,2244,3321,3320,228.4,-19.4,106,1191,0.00,0.20,0.00,0.000,3078,0.000,0.063,2448,4095,3320,3321,3320,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1445,-0.72,-136.3,2448,4095,3321,3320,283.9,-19.9,113,1449,0.00,2.10,0.00,0.000,2564,0.000,0.039,2448,991,3320,3321,3320,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1805,-0.72,-136.3,2447,991,3321,3320,354.9,-20.3,122,1809,0.08,2.08,0.00,0.000,3078,0.190,0.041,2456,4095,3320,3321,3320,0,0,0,0,0,0,26.44,26.59,28.83
$GC,2077,-0.72,-136.3,2456,4095,3320,3319,407.6,-19.0,129,2080,0.00,0.12,0.00,0.000,260,0.000,0.062,2456,2247,3319,3320,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2580,-0.72,-136.3,2456,2247,3319,3318,495.3,-18.2,141,2583,0.00,0.20,0.00,0.000,1030,0.000,0.064,2456,4095,3318,3319,3318,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2837,-0.72,-136.3,2456,4095,3319,3318,545.3,-17.8,148,2841,0.00,0.15,0.00,0.000,260,0.000,0.060,2456,2252,3318,3319,3318,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3341,-0.72,-136.3,2455,2252,3318,3316,626.0,-16.4,160,3344,0.00,0.17,0.00,0.000,3078,0.000,0.071,2455,4095,3316,3317,3316,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3598,-0.72,-136.3,2455,4095,3317,3315,671.7,-16.5,167,3601,0.00,0.15,0.00,0.000,2308,0.000,0.064,2455,2244,3316,3317,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3936,-0.72,-136.3,2455,2243,3316,3314,721.8,-15.6,175,3940,0.00,0.20,0.00,0.000,3078,0.000,0.066,2454,4095,3315,3316,3314,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4198,-0.72,-136.3,2454,4095,3315,3313,765.4,-15.6,182,4202,0.00,0.15,0.00,0.000,2308,0.000,0.064,2454,2249,3314,3315,3313,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4422,-0.72,-136.3,2454,2249,3315,3312,796.1,-15.3,187,4425,0.00,0.17,0.00,0.000,3078,0.000,0.071,2453,4095,3313,3315,3312,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4679,-0.72,-136.3,2453,4095,3314,3311,837.8,-14.7,194,4682,0.00,0.15,0.00,0.000,2308,0.000,0.066,2453,2242,3312,3314,3311,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4823,-0.72,-136.3,2453,2242,3314,3310,855.1,-14.3,197,4827,0.00,0.17,0.00,0.000,3078,0.000,0.068,2452,4095,3312,3314,3310,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5079,-0.72,-136.3,2452,4095,3313,3309,893.0,-13.5,204,5083,0.00,0.15,0.00,0.000,2308,0.000,0.065,2452,2246,3310,3312,3309,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,5158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5159,begin apogee
$GC,5163,-0.17,0.0,2451,4095,3312,3308,904.5,-14.0,206,5283,0.55,0.20,115.80,1.110,10246,0.116,0.056,2630,2256,2762,2780,2745,0,0,0,0,0,0,26.40,25.10,24.37
$STATE,5284,end apogee,CONTROL_FINISHED_OK
$STATE,5284,begin climb
$GC,5286,0.72,136.3,2629,2249,2779,2744,908.9,0.0,209,5416,0.77,0.22,123.32,1.055,10500,0.046,0.070,2919,4095,2206,2241,2172,0,0,0,0,0,0,25.21,24.79,24.11
$GC,5918,0.72,136.3,2919,4095,2228,2164,793.7,20.3,225,5921,0.00,0.15,0.00,0.000,1030,0.000,0.067,2920,2257,2196,2228,2165,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6198,0.72,136.3,2919,2257,2226,2164,736.8,20.1,232,6201,0.00,0.17,0.00,0.000,260,0.000,0.078,2919,4095,2195,2226,2164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6701,0.72,136.3,2919,4095,2224,2162,637.4,20.7,244,6705,0.00,0.17,0.00,0.000,1030,0.000,0.063,2919,2259,2193,2224,2163,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6958,0.72,136.3,2919,2260,2223,2162,580.5,20.6,251,6962,0.00,0.17,0.00,0.000,260,0.000,0.079,2920,4095,2192,2223,2162,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7462,0.72,136.3,2919,4095,2222,2161,482.2,20.6,263,7466,0.00,0.20,0.00,0.000,1030,0.000,0.057,2920,2245,2192,2223,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7719,0.72,136.3,2919,2245,2222,2161,429.4,19.2,270,7723,0.00,0.20,0.00,0.000,260,0.000,0.073,2920,4095,2191,2221,2161,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7879,0.72,136.3,2919,4095,2222,2161,399.4,18.8,274,7883,0.00,0.17,0.00,0.000,5126,0.000,0.062,2920,2246,2191,2222,2161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8160,0.72,136.3,2919,2246,2221,2161,347.5,18.4,281,8163,0.00,0.17,0.00,0.000,260,0.000,0.075,2920,4095,2191,2221,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8289,0.72,136.3,2919,4095,2221,2161,325.0,18.7,284,8293,0.00,0.15,0.00,0.000,5126,0.000,0.065,2920,2250,2191,2221,2162,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8561,0.72,136.3,2919,2250,2221,2161,274.6,17.9,291,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2250,2191,2222,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8800,0.72,136.3,2919,2250,2221,2161,232.7,17.6,297,8804,0.00,0.17,0.00,0.000,260,0.000,0.074,2920,4095,2191,2221,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9036,0.72,136.3,2920,4095,2222,2161,192.8,16.6,305,9043,0.00,0.17,0.00,0.000,1030,0.000,0.059,2920,2249,2191,2221,2162,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9284,0.72,136.3,2920,2249,2221,2161,149.7,16.8,330,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2249,2191,2221,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9524,0.72,136.3,2920,2249,2221,2161,107.7,17.8,354,9527,0.00,0.17,0.00,0.000,260,0.000,0.073,2920,4095,2191,2221,2162,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10153,0.72,136.3,2920,4095,2221,2162,4.8,14.7,416,10162,0.00,0.15,0.00,0.000,1030,0.000,0.064,2920,2251,2191,2221,2162,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,10170,end climb,SURFACE_DEPTH_REACHED
$STATE,10170,begin surface coast
$FINISH,1.0,1.012269
$STATE,10199,end surface coast,CONTROL_FINISHED_OK
$STATE,10199,begin surface
$SM_CCo,10214,114.07,0.640,0,0,1171,390.02
$SM_GC,2.15,6.85,0.17,114.07,0.024,0.073,0.640,184,4095,1171,-7.73,-0.54,390.02,0,0,0,0,0,0,26.67,26.71,24.97
$IRIDIUM_FIX,3351.28,-15701.40,210309,050538
$TT8_MAMPS,0.02247,0.02247
$HUMID,47.08
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.70
$XPDR_PINGS,6
$24V_AH,24.1,29.687
$10V_AH,10.3,16.872
$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,17.225,10.425,239.125,114.075,0.000,30.609,51.488,370.473,1.500,0.000,8.299,1351.356,6135.753,407.682,2874.199,128.314,0.000,1390.542,0.000,2027.046,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,205.020,1110.015,639.540,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,302.588,185.293,365.526,326.630,677.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352980
$DATA_FILE_SIZE,37324,422
$CAP_FILE_SIZE,108392,0
$CFSIZE,259248128,247193600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,240516,215902,3403.237,-15656.333,15,0.9,33,11.4