version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 233
start: 5 25 116 7 2 11
data:
$ID,512
$MISSION,7
$DIVE,233
$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,-130384.22
$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,20
$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
$GPS1,250516,065532,3400.631,-15655.736,15,1.6,15,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-74.6
$GPS2,250516,070130,3400.581,-15655.739,17,3.0,38,11.4
$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,173.6,1255980,-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,-136.3,150,4095,1123,1205,0.0,0.0,0,87,0.00,0.00,-69.95,0.000,16386,0.000,0.000,147,4095,2912,2891,2934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,147,4095,2892,2934,3.3,-2.4,8,118,8.90,0.20,-9.82,0.000,18692,0.214,0.191,2450,2243,3318,3314,3323,0,0,0,0,0,0,25.72,26.07,26.44
$GC,198,-0.72,-136.3,2450,2243,3316,3323,31.9,-22.7,22,208,0.00,0.20,0.00,0.000,3078,0.000,0.062,2450,4095,3319,3316,3323,0,0,0,0,0,0,28.83,26.24,28.83
$GC,449,-0.72,-136.3,2450,4095,3317,3322,89.1,-22.5,47,453,0.00,0.15,0.00,0.000,2308,0.000,0.062,2450,2247,3320,3317,3323,0,0,0,0,0,0,28.83,26.43,28.83
$GC,721,-0.72,-136.3,2450,2247,3318,3323,144.2,-19.9,71,728,0.00,0.20,0.00,0.000,3078,0.000,0.062,2450,4095,3320,3318,3323,0,0,0,0,0,0,28.83,26.48,28.83
$GC,969,-0.72,-136.3,2450,4095,3319,3323,196.2,-20.9,96,973,0.00,0.17,0.00,0.000,2308,0.000,0.057,2450,2237,3321,3319,3323,0,0,0,0,0,0,28.83,26.59,28.83
$GC,999,-0.72,-136.3,2450,2237,3319,3323,201.1,-21.3,98,1003,0.00,0.20,0.00,0.000,3078,0.000,0.063,2450,4095,3321,3319,3323,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1251,-0.72,-136.3,2450,4095,3320,3323,254.1,-20.0,105,1255,0.00,0.15,0.00,0.000,2308,0.000,0.061,2450,2243,3321,3320,3323,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1621,-0.72,-136.3,2450,2243,3320,3323,325.7,-19.5,114,1624,0.00,0.17,0.00,0.000,3078,0.000,0.067,2450,4095,3321,3320,3323,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1892,-0.72,-136.3,2450,4095,3320,3322,378.5,-18.6,121,1896,0.00,0.15,0.00,0.000,2308,0.000,0.063,2450,2246,3321,3320,3323,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2013,-0.72,-136.3,2450,2246,3320,3322,400.2,-18.1,124,2016,0.00,0.15,0.00,0.000,3078,0.000,0.072,2450,4095,3321,3320,3322,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2293,-0.72,-136.3,2449,4095,3320,3322,451.0,-18.4,131,2297,0.00,0.12,0.00,0.000,2308,0.000,0.069,2450,2254,3321,3320,3322,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2374,-0.72,-136.3,2449,2255,3320,3322,466.2,-18.5,133,2377,0.00,0.15,0.00,0.000,3078,0.000,0.073,2449,4095,3321,3320,3322,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2654,-0.72,-136.3,2449,4095,3320,3321,520.1,-19.2,140,2657,0.00,0.15,0.00,0.000,2308,0.000,0.063,2449,2244,3320,3319,3321,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2987,-0.72,-136.3,2449,2244,3319,3321,581.4,-19.3,148,2991,0.00,0.20,0.00,0.000,3078,0.000,0.064,2449,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3255,-0.72,-136.3,2449,4095,3318,3320,632.1,-17.7,155,3258,0.00,1.02,0.00,0.000,2564,0.000,0.037,2449,1678,3319,3319,3320,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3758,-0.72,-136.3,2449,1678,3318,3319,711.1,-15.8,167,3762,0.00,1.02,0.00,0.000,3078,0.000,0.046,2444,4095,3318,3317,3319,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4015,-0.72,-136.3,2444,4095,3317,3318,757.2,-16.5,174,4019,0.00,1.00,0.00,0.000,2564,0.000,0.037,2444,1676,3317,3317,3318,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4096,-0.72,-136.3,2444,1675,3317,3318,769.9,-16.1,176,4100,0.03,1.05,0.00,0.000,3078,0.179,0.046,2449,4095,3317,3317,3318,0,0,0,0,0,0,26.53,26.67,28.83
$GC,4377,-0.72,-136.3,2449,4095,3316,3316,813.9,-15.9,183,4381,0.00,0.12,0.00,0.000,2308,0.000,0.070,2449,2252,3316,3316,3316,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4881,-0.72,-136.3,2449,2252,3315,3314,893.1,-16.6,195,4884,0.00,0.17,0.00,0.000,3078,0.000,0.072,2449,4095,3314,3314,3314,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4938,begin apogee
$GC,4942,-0.17,0.0,2449,2244,3314,3313,906.3,-16.4,197,5062,0.55,0.20,115.90,1.098,10246,0.112,0.067,2630,4095,2761,2777,2746,0,0,0,0,0,0,26.39,25.10,24.37
$STATE,5063,end apogee,CONTROL_FINISHED_OK
$STATE,5063,begin climb
$GC,5065,0.72,136.3,2630,4095,2776,2746,912.9,0.0,200,5197,0.77,1.10,122.93,1.037,10756,0.048,0.044,2924,1701,2205,2243,2167,0,0,0,0,0,0,25.21,24.82,24.12
$GC,5547,0.72,136.3,2925,1701,2232,2162,832.7,21.1,212,5551,0.00,1.05,0.00,0.000,5126,0.000,0.056,2921,4094,2197,2232,2162,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5819,0.72,136.3,2921,4095,2230,2161,773.4,21.1,219,5820,0.00,0.00,0.00,0.000,4102,0.000,0.000,2921,4095,2195,2230,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6059,0.72,136.3,2921,4095,2229,2160,720.6,21.9,225,6062,0.00,1.00,0.00,0.000,4612,0.000,0.045,2925,1694,2194,2229,2160,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6128,0.72,136.3,2924,1693,2228,2160,711.8,21.9,226,6131,0.00,1.05,0.00,0.000,5126,0.000,0.056,2922,4095,2194,2228,2160,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6379,0.72,136.3,2921,4095,2226,2160,651.2,21.3,233,6381,0.00,0.00,0.00,0.000,4102,0.000,0.000,2922,4095,2193,2226,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6619,0.72,136.3,2921,4095,2224,2160,604.8,19.1,239,6621,0.00,0.00,0.00,0.000,4102,0.000,0.000,2922,4095,2192,2224,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6860,0.72,136.3,2921,4095,2223,2160,560.0,18.8,245,6863,0.00,1.00,0.00,0.000,4612,0.000,0.044,2925,1681,2191,2223,2160,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6994,0.72,136.3,2925,1681,2223,2160,536.8,19.3,248,6997,0.00,1.05,0.00,0.000,5126,0.000,0.055,2922,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7260,0.72,136.3,2921,4095,2223,2159,485.3,18.4,255,7261,0.00,0.00,0.00,0.000,4102,0.000,0.000,2922,4095,2191,2223,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7500,0.72,136.3,2922,4095,2222,2160,440.4,18.7,261,7504,0.00,0.98,0.00,0.000,4612,0.000,0.043,2925,1695,2190,2222,2159,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7589,0.72,136.3,2925,1695,2222,2160,425.9,18.2,263,7593,0.00,1.02,0.00,0.000,5126,0.000,0.054,2922,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7861,0.72,136.3,2922,4095,2222,2159,377.7,16.9,270,7864,0.00,0.98,0.00,0.000,4612,0.000,0.041,2925,1684,2191,2222,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7924,0.72,136.3,2925,1684,2222,2160,370.9,16.7,271,7928,0.00,1.02,0.00,0.000,5126,0.000,0.052,2922,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8181,0.72,136.3,2921,4095,2222,2160,324.1,16.9,278,8185,0.00,0.98,0.00,0.000,4612,0.000,0.041,2926,1679,2190,2222,2159,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8295,0.72,136.3,2925,1679,2222,2160,310.0,17.0,280,8301,0.00,1.05,0.00,0.000,5126,0.000,0.051,2922,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8541,0.72,136.3,2922,4095,2221,2160,259.0,18.5,287,8545,0.00,0.98,0.00,0.000,4612,0.000,0.040,2926,1692,2190,2221,2160,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8615,0.72,136.3,2926,1692,2221,2160,251.7,18.6,288,8622,0.00,1.02,0.00,0.000,5126,0.000,0.051,2923,4095,2190,2221,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8862,0.72,136.3,2922,4095,2221,2160,200.2,18.4,295,8865,0.00,0.10,0.00,0.000,4356,0.000,0.073,2923,2251,2190,2221,2160,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9412,0.72,136.3,2922,2251,2221,2160,104.4,17.1,342,9422,0.00,0.17,0.00,0.000,5126,0.000,0.078,2923,4095,2190,2221,2160,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9663,0.72,136.3,2923,4095,2221,2160,62.5,15.4,367,9666,0.00,0.12,0.00,0.000,4356,0.000,0.065,2922,2247,2190,2221,2160,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,10074,end climb,SURFACE_DEPTH_REACHED
$STATE,10074,begin surface coast
$FINISH,1.1,1.021689
$STATE,10104,end surface coast,CONTROL_FINISHED_OK
$STATE,10105,begin surface
$SM_CCo,10119,120.47,0.640,0,0,1172,390.02
$SM_GC,2.25,6.95,0.17,120.47,0.031,0.077,0.640,178,4095,1172,-7.73,-0.74,390.02,0,0,0,0,0,0,26.67,26.69,24.93
$IRIDIUM_FIX,3346.09,-15656.62,210309,171717
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.14
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.80
$XPDR_PINGS,6
$24V_AH,24.1,30.133
$10V_AH,10.3,17.158
$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,17.200,22.200,238.825,120.475,0.000,23.339,59.138,147.833,1.500,0.000,38.985,1299.043,6407.535,411.933,2381.716,114.085,0.000,1270.389,0.000,1726.526,0.000,0.541,0.000
$DEVICE_MAMPS,214.200,191.250,1097.775,640.305,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,292.785,184.563,361.470,328.752,681.608,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352900
$DATA_FILE_SIZE,37218,417
$CAP_FILE_SIZE,100803,0
$CFSIZE,259248128,246996992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250516,095332,3359.650,-15655.534,14,1.7,14,11.4