version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 156
start: 5 15 116 19 59 17
data:
$ID,512
$MISSION,7
$DIVE,156
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-129964.48
$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,2685
$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,2300
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,19
$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
$GPS1,150516,195121,3453.098,-15808.890,16,1.6,16,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-71.4
$GPS2,150516,195834,3453.115,-15808.862,17,1.6,17,11.3
$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,168.1,1348553,-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,-136.3,158,2303,1107,1220,0.0,0.0,0,87,0.00,0.00,-70.05,0.000,16386,0.000,0.000,156,2305,2847,2825,2870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,156,2333,2826,2871,3.1,-2.1,8,118,8.95,0.12,-13.20,0.000,18692,0.220,0.365,2447,4095,3319,3316,3322,0,0,0,0,0,0,25.77,25.87,26.37
$GC,718,-0.72,-136.3,1584,4070,3308,3319,143.9,-20.8,68,728,0.00,0.17,0.00,0.000,3078,0.000,0.060,2447,2243,3321,3320,3322,0,0,0,0,0,0,28.83,26.46,28.83
$GC,965,-0.72,-136.3,2446,2244,3321,3322,195.5,-20.6,93,968,0.00,0.20,0.00,0.000,2308,0.000,0.064,2447,4095,3321,3321,3322,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1470,-0.72,-136.3,2446,4095,3323,3322,296.2,-20.8,107,1474,0.00,0.20,0.00,0.000,3078,0.000,0.055,2447,2252,3322,3323,3322,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1727,-0.72,-136.3,2447,2252,3323,3321,353.1,-20.1,114,1731,0.00,0.17,0.00,0.000,2308,0.000,0.070,2447,4095,3322,3322,3322,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2231,-0.72,-136.3,2446,4095,3323,3322,446.2,-19.4,126,2235,0.00,0.20,0.00,0.000,3078,0.000,0.056,2446,2247,3322,3323,3322,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2488,-0.72,-136.3,2446,2247,3323,3322,498.8,-18.9,133,2492,0.00,0.17,0.00,0.000,2308,0.000,0.070,2447,4095,3322,3322,3322,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2991,-0.72,-136.3,2446,4095,3322,3321,588.7,-18.5,145,2995,0.00,0.20,0.00,0.000,3078,0.000,0.055,2447,2240,3321,3321,3321,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3249,-0.72,-136.3,2446,2240,3321,3322,637.1,-16.9,152,3252,0.00,0.20,0.00,0.000,2308,0.000,0.065,2447,4095,3321,3321,3322,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3752,-0.72,-136.3,2445,4095,3320,3320,717.5,-16.9,164,3756,0.00,0.20,0.00,0.000,3078,0.000,0.057,2446,2248,3320,3320,3320,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4009,-0.72,-136.3,2446,2248,3319,3319,768.3,-18.3,171,4013,0.00,0.17,0.00,0.000,2308,0.000,0.073,2447,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4513,-0.72,-136.3,2446,4095,3318,3318,850.0,-16.3,183,4517,0.00,0.20,0.00,0.000,3078,0.000,0.057,2446,2241,3318,3318,3318,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4770,-0.72,-136.3,2446,2241,3318,3317,894.3,-15.6,190,4774,0.00,0.20,0.00,0.000,2308,0.000,0.067,2446,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4809,begin apogee
$GC,4813,-0.17,0.0,2446,2247,3318,3317,900.7,-15.6,191,4934,0.55,0.10,116.93,1.115,10246,0.119,0.097,2625,2312,2762,2774,2750,0,0,0,0,0,0,26.54,24.99,24.33
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4936,begin climb
$GC,4937,0.72,136.3,2625,2312,2772,2749,905.9,0.0,194,5069,0.80,2.38,122.60,1.063,11012,0.056,0.049,2926,933,2205,2242,2169,0,0,0,0,0,0,25.13,24.76,24.08
$GC,5341,0.72,136.3,2926,933,2233,2163,839.5,21.3,204,5345,0.00,2.17,0.00,0.000,5126,0.000,0.050,2919,2283,2198,2233,2163,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5607,0.72,136.3,2918,2281,2231,2161,782.5,20.6,211,5611,0.00,0.10,0.00,0.000,4356,0.000,0.092,2918,4095,2196,2231,2161,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6111,0.72,136.3,2918,4095,2228,2161,679.1,21.3,223,6114,0.00,0.20,0.00,0.000,5126,0.000,0.059,2918,2249,2194,2228,2161,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6368,0.72,136.3,2917,2249,2227,2160,624.0,19.3,230,6371,0.00,0.17,0.00,0.000,260,0.000,0.074,2918,4095,2193,2227,2160,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6871,0.72,136.3,2918,4095,2225,2160,532.5,18.8,242,6875,0.00,0.17,0.00,0.000,5126,0.000,0.063,2918,2256,2192,2225,2160,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7128,0.72,136.3,2917,2257,2224,2160,484.0,16.9,249,7132,0.00,0.15,0.00,0.000,4356,0.000,0.075,2918,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7632,0.72,136.3,2917,4095,2224,2160,396.5,18.9,261,7636,0.00,0.20,0.00,0.000,5126,0.000,0.059,2917,2245,2192,2224,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7889,0.72,136.3,2917,2245,2224,2160,345.0,18.2,268,7893,0.00,0.17,0.00,0.000,4356,0.000,0.070,2917,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8393,0.72,136.3,2917,4095,2223,2160,258.4,17.9,280,8396,0.00,0.20,0.00,0.000,5126,0.000,0.057,2918,2244,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8650,0.72,136.3,2918,2243,2223,2160,208.9,17.7,287,8653,0.00,0.20,0.00,0.000,260,0.000,0.070,2918,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9195,0.72,136.3,2917,4095,2223,2160,112.4,18.5,331,9202,0.00,0.20,0.00,0.000,5126,0.000,0.057,2917,2246,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9446,0.72,136.3,2917,2246,2223,2160,66.3,18.0,356,9450,0.00,0.17,0.00,0.000,4356,0.000,0.068,2918,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9829,end climb,SURFACE_DEPTH_REACHED
$STATE,9829,begin surface coast
$FINISH,1.1,3.192050
$STATE,9851,end surface coast,CONTROL_FINISHED_OK
$STATE,9852,begin surface
$SM_CCo,9866,112.07,0.656,0,0,1171,390.02
$SM_GC,2.27,6.88,0.17,112.07,0.028,0.057,0.656,181,2259,1171,-7.72,1.13,390.02,0,0,0,0,0,0,26.72,26.76,24.91
$IRIDIUM_FIX,3440.87,-15814.36,120309,060606
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.45
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.40
$XPDR_PINGS,336
$24V_AH,24.1,20.495
$10V_AH,10.3,11.612
$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,17.175,9.400,239.525,112.075,0.000,29.028,48.162,253.788,84.000,0.000,18.408,1331.399,5741.553,389.317,2884.213,95.356,0.000,1407.146,0.000,2156.095,0.000,0.539,0.000
$DEVICE_MAMPS,219.555,364.905,1115.370,655.605,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,304.910,171.484,343.368,307.174,636.706,0.000,0.000,0.000,0.000,0.000
$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,34023,401
$CAP_FILE_SIZE,103107,0
$CFSIZE,259248128,250875904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,150516,224649,3452.695,-15808.818,38,1.5,38,11.3