version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 165
start: 5 16 116 22 3 21
data:
$ID,512
$MISSION,7
$DIVE,165
$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,-130015.38
$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,78
$R_STBD_OVSHOOT,35
$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
$GPS1,160516,215620,3442.970,-15807.517,13,1.4,13,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-74.6
$GPS2,160516,220242,3442.986,-15807.436,6,1.4,6,11.3
$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,168.2,1329771,-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,-136.3,180,2328,1105,1221,0.0,0.0,0,80,0.00,0.00,-61.95,0.000,16386,0.000,0.000,180,2305,2678,2654,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-136.3,180,2310,2655,2702,3.1,-1.5,7,119,8.88,0.10,-20.92,0.000,18692,0.220,0.379,2453,4095,3317,3316,3319,0,0,0,0,0,0,25.77,25.85,26.36
$GC,726,-0.72,-136.3,2452,4095,3319,3319,133.8,-20.0,70,730,0.00,0.15,0.00,0.000,1030,0.000,0.066,2453,2258,3319,3319,3319,0,0,0,0,0,0,28.83,26.46,28.83
$GC,976,-0.72,-136.3,2453,2258,3320,3319,183.9,-18.7,95,980,0.00,0.17,0.00,0.000,260,0.000,0.063,2453,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1488,-0.72,-136.3,2453,4095,3321,3319,281.8,-20.8,113,1492,0.00,0.22,0.00,0.000,1030,0.000,0.053,2453,2239,3320,3321,3319,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1745,-0.72,-136.3,2453,2239,3321,3319,341.3,-21.0,120,1748,0.00,0.20,0.00,0.000,260,0.000,0.059,2453,4095,3320,3321,3319,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2248,-0.72,-136.3,2453,4095,3321,3319,439.5,-20.4,132,2252,0.00,0.20,0.00,0.000,1030,0.000,0.057,2453,2248,3320,3321,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2505,-0.72,-136.3,2453,2248,3321,3319,494.7,-19.6,139,2509,0.00,0.17,0.00,0.000,260,0.000,0.065,2453,4095,3320,3322,3319,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2705,-0.72,-136.3,2453,4094,3321,3319,531.3,-18.1,144,2709,0.00,0.17,0.00,0.000,1030,0.000,0.059,2453,2244,3320,3321,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2986,-0.72,-136.3,2453,2244,3321,3319,578.4,-16.5,151,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2244,3320,3321,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3226,-0.72,-136.3,2453,2244,3321,3319,621.1,-18.2,157,3229,0.00,0.20,0.00,0.000,260,0.000,0.060,2453,4095,3320,3321,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3489,-0.72,-136.3,2452,4095,3320,3319,664.3,-17.6,163,3493,0.00,0.20,0.00,0.000,1030,0.000,0.056,2453,2253,3320,3321,3319,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3746,-0.72,-136.3,2453,2253,3320,3319,709.2,-15.6,170,3750,0.00,0.17,0.00,0.000,260,0.000,0.065,2453,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3870,-0.72,-136.3,2453,4095,3319,3318,727.9,-15.7,173,3874,0.00,0.20,0.00,0.000,1030,0.000,0.054,2453,2251,3319,3319,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4147,-0.72,-136.3,2453,2251,3319,3318,771.1,-15.0,180,4150,0.00,0.17,0.00,0.000,260,0.000,0.067,2453,4095,3318,3319,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4640,-0.72,-136.3,2453,4095,3318,3316,844.7,-15.4,192,4644,0.00,0.20,0.00,0.000,1030,0.000,0.056,2453,2243,3316,3317,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4907,-0.72,-136.3,2453,2242,3317,3315,886.8,-14.9,199,4911,0.00,2.00,0.00,0.000,2564,0.000,0.048,2461,944,3316,3317,3316,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4941,-0.72,-136.3,2461,945,3317,3315,886.8,-14.9,199,4948,0.00,2.10,0.00,0.000,1030,0.000,0.047,2453,2310,3315,3316,3315,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,5026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5026,begin apogee
$GC,5030,-0.17,0.0,2452,2309,3317,3315,904.9,-14.9,202,5150,0.55,0.00,116.47,1.108,10246,0.117,0.000,2632,2311,2762,2775,2749,0,0,0,0,0,0,26.53,28.83,24.35
$STATE,5151,end apogee,CONTROL_FINISHED_OK
$STATE,5151,begin climb
$GC,5152,0.72,136.3,2631,2310,2773,2749,910.1,0.0,205,5283,0.77,2.33,122.68,1.051,10756,0.045,0.047,2933,929,2205,2242,2169,0,0,0,0,0,0,25.15,24.77,24.08
$GC,5333,0.72,136.3,2933,929,2237,2165,895.9,12.3,209,5338,0.05,2.25,0.00,0.000,5126,0.207,0.049,2919,2286,2201,2237,2165,0,0,0,0,0,0,25.19,25.26,28.83
$GC,5585,0.72,136.3,2919,2285,2233,2162,831.8,22.8,216,5589,0.00,2.15,0.00,0.000,4612,0.000,0.047,2928,929,2197,2233,2162,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5639,0.72,136.3,2928,929,2232,2162,823.6,22.6,217,5643,0.00,2.20,0.00,0.000,5126,0.000,0.049,2927,2301,2197,2232,2162,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5902,0.72,136.3,2927,2299,2230,2161,759.5,22.5,224,5905,0.00,0.08,0.00,0.000,4356,0.000,0.109,2927,4095,2195,2230,2161,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6150,0.72,136.3,2927,4095,2229,2161,707.2,21.7,230,6154,0.00,0.20,0.00,0.000,5126,0.000,0.059,2927,2247,2194,2228,2161,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6422,0.72,136.3,2927,2247,2227,2161,649.0,20.6,237,6426,0.00,0.17,0.00,0.000,4356,0.000,0.070,2927,4095,2194,2227,2161,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6926,0.72,136.3,2927,4095,2226,2159,555.0,19.8,249,6930,0.00,0.20,0.00,0.000,5126,0.000,0.059,2927,2243,2192,2226,2159,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7183,0.72,136.3,2927,2243,2225,2159,500.5,19.3,256,7187,0.00,0.17,0.00,0.000,4356,0.000,0.070,2927,4095,2192,2225,2160,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7687,0.72,136.3,2926,4095,2224,2160,408.7,18.8,268,7691,0.00,0.20,0.00,0.000,5126,0.000,0.059,2927,2243,2192,2224,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7944,0.72,136.3,2927,2243,2224,2160,354.7,19.2,275,7948,0.00,0.17,0.00,0.000,4356,0.000,0.069,2927,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8448,0.72,136.3,2927,4095,2223,2159,265.0,19.0,287,8451,0.00,0.20,0.00,0.000,5126,0.000,0.058,2927,2242,2191,2223,2160,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8704,0.72,136.3,2927,2242,2224,2160,212.0,18.7,294,8708,0.00,0.17,0.00,0.000,4356,0.000,0.067,2927,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9023,0.72,136.3,2927,4095,2223,2160,154.4,17.5,318,9027,0.00,0.17,0.00,0.000,5126,0.000,0.060,2927,2242,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9278,0.72,136.3,2927,2242,2223,2159,108.1,18.3,343,9281,0.00,0.17,0.00,0.000,4356,0.000,0.067,2927,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,9856,end climb,SURFACE_DEPTH_REACHED
$STATE,9856,begin surface coast
$FINISH,1.1,2.146684
$STATE,9864,end surface coast,CONTROL_FINISHED_OK
$STATE,9864,begin surface
$SM_CCo,9879,120.62,0.660,0,0,1172,390.02
$SM_GC,2.34,6.97,0.17,120.62,0.033,0.058,0.660,191,2256,1172,-7.71,0.82,390.02,0,0,0,0,0,0,26.68,26.74,24.86
$IRIDIUM_FIX,3427.77,-15812.40,130309,080838
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.53
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.30
$XPDR_PINGS,340
$24V_AH,24.1,21.571
$10V_AH,10.3,12.218
$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,17.225,17.675,239.150,120.625,0.000,30.251,50.406,211.313,85.000,0.000,7.074,1308.864,5974.314,399.776,2624.240,100.280,0.000,1340.671,0.000,1959.578,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,379.440,1107.720,660.195,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,292.617,174.264,346.283,305.005,632.245,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353088
$DATA_FILE_SIZE,33988,402
$CAP_FILE_SIZE,101339,0
$CFSIZE,259248128,250433536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170516,005101,3441.559,-15806.581,24,1.2,24,11.2