version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 164
start: 5 16 116 19 8 30
data:
$ID,512
$MISSION,7
$DIVE,164
$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,-130014.12
$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,75
$R_STBD_OVSHOOT,27
$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
$GPS1,160516,190201,3443.415,-15807.855,37,0.9,37,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-75.3
$GPS2,160516,190750,3443.425,-15807.810,6,0.9,6,11.2
$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,168.2,1330589,-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,-136.3,181,4095,1104,1226,0.0,0.0,0,87,0.00,0.00,-69.93,0.000,16386,0.000,0.000,180,2330,2857,2835,2879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,181,2330,2835,2880,3.1,-2.1,8,118,8.82,0.05,-12.98,0.000,18692,0.220,0.705,2437,4095,3317,3315,3320,0,0,0,0,0,0,25.76,25.40,26.35
$GC,718,-0.72,-136.3,2437,4095,3318,3319,149.5,-22.6,68,728,0.05,0.17,0.00,0.000,3078,0.207,0.058,2449,2246,3318,3318,3319,0,0,0,0,0,0,26.32,26.46,28.83
$GC,967,-0.72,-136.3,2448,2246,3319,3320,201.3,-19.2,93,971,0.00,0.20,0.00,0.000,2308,0.000,0.064,2449,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1471,-0.72,-136.3,2449,4095,3320,3320,297.9,-20.6,105,1474,0.00,0.20,0.00,0.000,3078,0.000,0.055,2449,2246,3319,3320,3319,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1727,-0.72,-136.3,2449,2246,3320,3319,355.4,-20.5,112,1731,0.00,0.17,0.00,0.000,2308,0.000,0.067,2449,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2231,-0.72,-136.3,2449,4095,3320,3319,448.6,-19.0,124,2235,0.00,0.20,0.00,0.000,3078,0.000,0.055,2449,2239,3319,3320,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2488,-0.72,-136.3,2448,2239,3320,3319,499.0,-17.8,131,2491,0.00,0.20,0.00,0.000,2308,0.000,0.065,2449,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2991,-0.72,-136.3,2449,4095,3320,3320,582.1,-17.2,143,2995,0.00,0.20,0.00,0.000,3078,0.000,0.056,2449,2248,3319,3320,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3248,-0.72,-136.3,2448,2248,3320,3319,632.5,-17.9,150,3252,0.00,0.17,0.00,0.000,2308,0.000,0.070,2449,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3752,-0.72,-136.3,2448,4095,3319,3319,716.8,-17.1,162,3756,0.00,0.20,0.00,0.000,3078,0.000,0.056,2449,2242,3319,3319,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4009,-0.72,-136.3,2449,2242,3318,3318,761.2,-15.4,169,4012,0.00,0.20,0.00,0.000,2308,0.000,0.064,2449,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4512,-0.72,-136.3,2449,4095,3317,3317,833.1,-15.0,181,4516,0.00,0.20,0.00,0.000,3078,0.000,0.057,2449,2250,3316,3317,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4769,-0.72,-136.3,2448,2249,3316,3316,876.4,-15.6,188,4773,0.00,0.17,0.00,0.000,2308,0.000,0.071,2448,4095,3316,3316,3316,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4928,begin apogee
$GC,4932,-0.17,0.0,2448,2240,3316,3315,901.7,-15.8,192,5053,0.55,0.10,116.43,1.112,10246,0.115,0.096,2628,2305,2762,2775,2750,0,0,0,0,0,0,26.54,25.00,24.34
$STATE,5054,end apogee,CONTROL_FINISHED_OK
$STATE,5054,begin climb
$GC,5055,0.72,136.3,2628,2306,2773,2749,907.9,0.0,195,5184,0.77,0.15,122.53,1.055,11012,0.046,0.082,2920,4095,2206,2243,2170,0,0,0,0,0,0,25.15,24.72,24.08
$GC,5264,0.72,136.3,2919,4095,2237,2164,886.3,14.2,200,5268,0.00,0.20,0.00,0.000,5126,0.000,0.058,2920,2260,2200,2237,2164,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5526,0.72,136.3,2920,2260,2232,2162,824.8,21.7,207,5530,0.00,0.15,0.00,0.000,4356,0.000,0.074,2920,4095,2197,2232,2163,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5545,0.72,136.3,2920,4095,2233,2163,824.8,21.7,207,5548,0.00,0.17,0.00,0.000,5126,0.000,0.063,2921,2260,2198,2233,2163,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5806,0.72,136.3,2920,2261,2230,2162,766.0,20.6,214,5810,0.00,0.15,0.00,0.000,4356,0.000,0.076,2920,4095,2196,2230,2162,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6310,0.72,136.3,2920,4095,2227,2161,666.3,20.5,226,6313,0.00,0.17,0.00,0.000,5126,0.000,0.064,2920,2257,2194,2227,2161,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6567,0.72,136.3,2921,2257,2226,2161,609.3,20.1,233,6570,0.00,0.15,0.00,0.000,4356,0.000,0.078,2921,4095,2193,2226,2161,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7070,0.72,136.3,2920,4095,2225,2160,516.6,19.2,245,7074,0.00,0.17,0.00,0.000,5126,0.000,0.062,2921,2254,2192,2225,2160,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7327,0.72,136.3,2920,2254,2224,2160,467.4,17.6,252,7331,0.00,0.15,0.00,0.000,4356,0.000,0.079,2921,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7831,0.72,136.3,2920,4095,2224,2160,377.5,19.4,264,7834,0.00,0.17,0.00,0.000,5126,0.000,0.062,2920,2249,2192,2224,2160,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8088,0.72,136.3,2921,2249,2224,2160,323.5,19.4,271,8091,0.00,0.17,0.00,0.000,4356,0.000,0.075,2921,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8591,0.72,136.3,2920,4095,2224,2160,230.8,18.9,283,8595,0.00,0.20,0.00,0.000,5126,0.000,0.057,2921,2241,2192,2224,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8841,0.72,136.3,2921,2240,2223,2160,181.3,17.9,295,8845,0.00,0.17,0.00,0.000,4356,0.000,0.072,2921,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9107,0.72,136.3,2921,4095,2223,2160,134.0,17.3,319,9109,0.00,0.17,0.00,0.000,5126,0.000,0.061,2921,2250,2191,2223,2160,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9354,0.72,136.3,2921,2249,2223,2160,92.5,16.5,343,9360,0.00,0.00,0.00,0.000,4102,0.000,0.000,2921,2249,2191,2223,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9603,0.72,136.3,2921,2249,2223,2160,48.7,17.8,368,9612,0.00,0.00,0.00,0.000,4102,0.000,0.000,2921,2249,2191,2223,2160,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9864,end climb,SURFACE_DEPTH_REACHED
$STATE,9864,begin surface coast
$FINISH,1.1,2.189259
$STATE,9886,end surface coast,CONTROL_FINISHED_OK
$STATE,9887,begin surface
$SM_CCo,9900,120.97,0.658,0,0,1171,390.02
$SM_GC,2.38,6.95,0.08,120.97,0.031,0.119,0.658,188,2300,1171,-7.72,-1.07,390.02,0,0,0,0,0,0,26.67,26.77,24.86
$IRIDIUM_FIX,3430.39,-15805.58,130309,050500
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.78
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.20
$XPDR_PINGS,339
$24V_AH,24.1,21.450
$10V_AH,10.3,12.148
$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,17.150,5.200,238.950,120.975,0.000,26.126,47.193,187.259,84.750,0.000,7.090,1329.563,5838.905,399.404,2730.470,100.400,0.000,1391.570,0.000,2085.704,0.000,0.540,0.000
$DEVICE_MAMPS,220.320,705.330,1112.310,657.900,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,298.840,174.943,346.097,311.442,645.598,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353092
$DATA_FILE_SIZE,33805,404
$CAP_FILE_SIZE,103055,0
$CFSIZE,259248128,250478592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160516,215620,3442.970,-15807.517,13,1.4,13,11.2