version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 163
start: 5 16 116 16 16 20
data:
$ID,512
$MISSION,7
$DIVE,163
$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,-130012.86
$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,80
$R_STBD_OVSHOOT,29
$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
$GPS1,160516,160914,3444.508,-15807.753,14,1.4,15,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-74.8
$GPS2,160516,161539,3444.504,-15807.732,18,1.5,18,11.3
$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,168.1,1332586,-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,-136.3,182,2329,1105,1225,0.0,0.0,0,80,0.00,0.00,-61.65,0.000,16386,0.000,0.000,182,2301,2650,2631,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,181,2330,2631,2670,3.0,-1.6,7,119,8.93,0.15,-22.30,0.000,18692,0.223,0.311,2442,4095,3319,3317,3322,0,0,0,0,0,0,25.74,25.94,26.37
$GC,725,-0.72,-136.3,2442,4095,3319,3322,142.4,-21.1,69,729,0.00,0.20,0.00,0.000,3078,0.000,0.055,2442,2237,3320,3319,3322,0,0,0,0,0,0,28.83,26.46,28.83
$GC,979,-0.72,-136.3,2442,2237,3320,3322,193.5,-20.5,94,982,0.00,0.20,0.00,0.000,2308,0.000,0.062,2442,4095,3321,3320,3322,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1485,-0.72,-136.3,2442,4095,3321,3322,292.9,-20.5,109,1488,0.00,0.20,0.00,0.000,3078,0.000,0.057,2442,2245,3321,3321,3322,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1742,-0.72,-136.3,2442,2245,3321,3322,351.7,-21.1,116,1745,0.00,0.17,0.00,0.000,2308,0.000,0.068,2443,4095,3321,3321,3322,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2245,-0.72,-136.3,2442,4095,3321,3322,453.3,-20.6,128,2249,0.00,0.20,0.00,0.000,3078,0.000,0.056,2443,2237,3321,3321,3322,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2502,-0.72,-136.3,2442,2237,3321,3322,508.1,-19.2,135,2505,0.00,0.20,0.00,0.000,2308,0.000,0.062,2443,4095,3321,3321,3322,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3005,-0.72,-136.3,2442,4095,3321,3322,595.1,-17.2,147,3009,0.00,0.20,0.00,0.000,3078,0.000,0.057,2442,2248,3321,3321,3322,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3262,-0.72,-136.3,2442,2247,3320,3322,643.8,-17.7,154,3266,0.00,0.17,0.00,0.000,2308,0.000,0.070,2443,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3766,-0.72,-136.3,2442,4095,3320,3321,733.8,-18.8,166,3770,0.00,0.20,0.00,0.000,3078,0.000,0.057,2443,2240,3320,3320,3321,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4023,-0.72,-136.3,2442,2240,3319,3320,783.3,-17.1,173,4026,0.00,0.20,0.00,0.000,2308,0.000,0.064,2442,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4526,-0.72,-136.3,2442,4095,3317,3318,866.0,-17.6,185,4530,0.00,0.17,0.00,0.000,3078,0.000,0.060,2443,2252,3318,3318,3319,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4742,begin apogee
$GC,4746,-0.17,0.0,2442,2303,3318,3318,905.8,-16.4,191,4866,0.57,0.00,117.07,1.113,10246,0.119,0.000,2629,2303,2762,2774,2750,0,0,0,0,0,0,26.53,28.83,24.34
$STATE,4867,end apogee,CONTROL_FINISHED_OK
$STATE,4867,begin climb
$GC,4869,0.72,136.3,2628,2303,2773,2750,911.2,0.0,194,5002,0.77,2.40,122.72,1.063,10756,0.047,0.050,2928,929,2205,2242,2169,0,0,0,0,0,0,25.13,24.75,24.07
$GC,5224,0.72,136.3,2927,929,2234,2163,852.4,21.9,203,5228,0.00,2.20,0.00,0.000,5126,0.000,0.050,2920,2290,2198,2234,2163,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5500,0.72,136.3,2919,2289,2232,2161,794.0,21.3,210,5501,0.00,0.00,0.00,0.000,4102,0.000,0.000,2920,2289,2196,2232,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5740,0.72,136.3,2919,2289,2230,2161,740.4,22.4,216,5741,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2289,2195,2230,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5980,0.72,136.3,2919,2289,2228,2161,688.7,21.7,222,5981,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2289,2194,2229,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6220,0.72,136.3,2919,2288,2228,2160,640.6,19.4,228,6224,0.00,2.12,0.00,0.000,4612,0.000,0.049,2928,923,2194,2228,2160,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6249,0.72,136.3,2928,923,2227,2160,640.6,19.4,228,6256,0.00,2.17,0.00,0.000,5126,0.000,0.055,2920,2303,2193,2227,2160,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6496,0.72,136.3,2920,2302,2227,2160,587.6,19.5,235,6499,0.00,0.08,0.00,0.000,4356,0.000,0.107,2919,4095,2193,2227,2160,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6704,0.72,136.3,2919,4095,2226,2160,549.0,19.1,240,6708,0.00,0.20,0.00,0.000,5126,0.000,0.059,2919,2248,2193,2226,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6976,0.72,136.3,2919,2248,2226,2160,497.6,18.2,247,6977,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2248,2192,2226,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7216,0.72,136.3,2919,2248,2225,2159,452.7,18.5,253,7218,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2248,2192,2224,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7456,0.72,136.3,2919,2248,2224,2159,408.0,18.7,259,7457,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2248,2192,2225,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7696,0.72,136.3,2919,2248,2224,2159,363.6,18.3,265,7697,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2248,2191,2224,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7936,0.72,136.3,2919,2248,2224,2160,320.6,18.0,271,7938,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2248,2191,2224,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8176,0.72,136.3,2918,2248,2224,2159,277.3,18.0,277,8178,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2248,2192,2224,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8416,0.72,136.3,2919,2248,2224,2159,234.4,18.0,283,8420,0.00,0.17,0.00,0.000,4356,0.000,0.072,2919,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8860,0.72,136.3,2919,4095,2224,2159,155.8,18.1,310,8862,0.00,0.20,0.00,0.000,5126,0.000,0.057,2919,2245,2191,2224,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9104,0.72,136.3,2919,2244,2224,2159,113.1,16.5,334,9107,0.00,2.03,0.00,0.000,4612,0.000,0.045,2929,915,2192,2224,2160,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9161,0.72,136.3,2929,915,2224,2160,103.8,16.4,339,9170,0.00,2.12,0.00,0.000,5126,0.000,0.047,2929,2302,2192,2224,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9412,0.72,136.3,2929,2301,2224,2160,59.5,17.6,364,9416,0.00,0.08,0.00,0.000,4356,0.000,0.106,2929,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9712,end climb,SURFACE_DEPTH_REACHED
$STATE,9712,begin surface coast
$FINISH,1.1,3.086733
$STATE,9734,end surface coast,CONTROL_FINISHED_OK
$STATE,9734,begin surface
$SM_CCo,9749,119.60,0.662,0,0,1171,390.02
$SM_GC,2.37,6.97,0.20,119.60,0.033,0.056,0.662,186,2243,1171,-7.72,0.76,390.02,0,0,0,0,0,0,26.66,26.73,24.86
$IRIDIUM_FIX,3430.39,-15805.58,130309,020210
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.10
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.10
$XPDR_PINGS,335
$24V_AH,24.1,21.331
$10V_AH,10.3,12.075
$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,17.250,16.325,239.800,119.600,0.000,31.217,50.590,202.231,83.750,0.000,19.451,1244.475,6185.104,401.666,2353.899,97.492,0.000,1219.465,0.000,1692.302,0.000,0.540,0.000
$DEVICE_MAMPS,223.380,311.355,1113.075,662.490,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,301.108,172.501,344.776,307.229,636.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353084
$DATA_FILE_SIZE,33893,400
$CAP_FILE_SIZE,91697,0
$CFSIZE,259248128,250535936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160516,190201,3443.415,-15807.855,37,0.9,37,11.2