version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 180
start: 5 18 116 18 24 48
data:
$ID,512
$MISSION,7
$DIVE,180
$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,-130110.48
$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,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,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,39
$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
$GPS1,180516,181801,3426.938,-15756.719,22,0.9,22,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-72.6
$GPS2,180516,182408,3426.987,-15756.635,7,0.9,7,11.2
$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,169.1,1300092,-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,-136.3,193,2339,1106,1220,0.0,0.0,0,79,0.00,0.00,-61.53,0.000,16386,0.000,0.000,192,2328,2683,2661,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-136.3,192,2315,2662,2705,3.0,-1.5,7,118,8.98,2.12,-19.35,0.000,18948,0.226,0.055,2448,939,3318,3317,3319,0,0,0,0,0,0,25.74,26.07,26.41
$GC,220,-0.72,-136.3,2448,939,3317,3319,30.3,-23.2,25,230,0.03,2.15,0.00,0.000,3078,0.200,0.043,2448,2292,3319,3318,3320,0,0,0,0,0,0,26.07,26.20,28.83
$GC,468,-0.72,-136.3,2447,2292,3319,3320,88.5,-22.0,50,471,0.00,0.10,0.00,0.000,2308,0.000,0.095,2447,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1021,-0.72,-136.3,2447,4095,3321,3320,201.1,-20.9,98,1025,0.00,0.20,0.00,0.000,3078,0.000,0.054,2447,2241,3320,3321,3320,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1279,-0.72,-136.3,2447,2240,3322,3319,258.9,-20.7,105,1282,0.00,0.20,0.00,0.000,2308,0.000,0.062,2447,4095,3321,3323,3320,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1782,-0.72,-136.3,2447,4095,3323,3319,355.0,-19.1,117,1786,0.00,0.20,0.00,0.000,3078,0.000,0.055,2447,2249,3321,3323,3320,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2039,-0.72,-136.3,2447,2249,3323,3320,410.3,-20.1,124,2042,0.00,0.17,0.00,0.000,2308,0.000,0.067,2447,4095,3321,3323,3320,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2519,-0.72,-136.3,2447,4095,3322,3319,507.6,-20.1,136,2523,0.00,0.17,0.00,0.000,3078,0.000,0.060,2447,2244,3321,3323,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2800,-0.72,-136.3,2447,2244,3321,3319,561.6,-19.1,143,2803,0.00,0.20,0.00,0.000,2308,0.000,0.063,2447,4095,3320,3321,3319,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3303,-0.72,-136.3,2447,4095,3319,3319,647.7,-17.3,155,3307,0.00,0.20,0.00,0.000,3078,0.000,0.056,2447,2252,3319,3319,3319,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3560,-0.72,-136.3,2447,2252,3319,3318,694.3,-16.3,162,3563,0.00,0.17,0.00,0.000,2308,0.000,0.069,2447,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4064,-0.72,-136.3,2447,4095,3317,3316,771.6,-15.6,174,4067,0.00,0.17,0.00,0.000,3078,0.000,0.060,2447,2247,3316,3317,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4320,-0.72,-136.3,2447,2247,3317,3315,814.1,-15.2,181,4324,0.00,0.17,0.00,0.000,2308,0.000,0.069,2447,4095,3316,3317,3315,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4824,-0.72,-136.3,2446,4095,3315,3313,888.7,-15.7,193,4827,0.00,0.20,0.00,0.000,3078,0.000,0.057,2447,2242,3314,3315,3313,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4879,begin apogee
$GC,4884,-0.17,0.0,2446,2301,3315,3313,901.3,-15.7,195,5004,0.57,0.00,116.55,1.110,10246,0.122,0.000,2632,2301,2762,2775,2749,0,0,0,0,0,0,26.51,28.83,24.38
$STATE,5005,end apogee,CONTROL_FINISHED_OK
$STATE,5005,begin climb
$GC,5006,0.72,136.3,2631,2301,2774,2749,907.5,0.0,198,5140,0.80,2.35,122.95,1.052,10756,0.052,0.048,2933,936,2206,2243,2169,0,0,0,0,0,0,25.16,24.81,24.13
$GC,5255,0.72,136.3,2933,936,2235,2164,878.5,17.9,204,5259,0.00,2.17,0.00,0.000,5126,0.000,0.048,2930,2275,2199,2235,2164,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5517,0.72,136.3,2930,2274,2232,2162,819.7,21.4,211,5521,0.00,2.12,0.00,0.000,4612,0.000,0.046,2939,923,2196,2231,2162,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5581,0.72,136.3,2938,923,2230,2162,810.7,21.4,212,5585,0.00,2.17,0.00,0.000,5126,0.000,0.047,2931,2296,2196,2230,2162,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5833,0.72,136.3,2930,2295,2228,2162,748.9,22.8,219,5836,0.00,0.10,0.00,0.000,4356,0.000,0.092,2931,4095,2195,2229,2162,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6081,0.72,136.3,2930,4095,2226,2161,697.5,21.4,225,6085,0.00,0.20,0.00,0.000,5126,0.000,0.059,2931,2258,2194,2227,2162,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6353,0.72,136.3,2930,2258,2225,2160,638.2,20.6,232,6356,0.00,0.15,0.00,0.000,4356,0.000,0.074,2930,4095,2193,2225,2161,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6857,0.72,136.3,2930,4095,2223,2160,540.9,20.1,244,6860,0.00,0.17,0.00,0.000,5126,0.000,0.063,2930,2248,2192,2224,2160,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7114,0.72,136.3,2930,2248,2223,2160,488.3,18.6,251,7117,0.00,0.17,0.00,0.000,4356,0.000,0.070,2931,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7527,0.72,136.3,2930,4095,2223,2160,413.9,19.0,261,7530,0.00,0.20,0.00,0.000,5126,0.000,0.058,2931,2246,2191,2223,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7794,0.72,136.3,2930,2246,2223,2160,356.3,20.6,268,7798,0.00,2.00,0.00,0.000,4612,0.000,0.045,2940,925,2191,2223,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7823,0.72,136.3,2939,925,2222,2160,356.3,20.6,268,7830,0.00,2.12,0.00,0.000,5126,0.000,0.047,2932,2294,2191,2222,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8070,0.72,136.3,2932,2294,2221,2160,298.7,20.4,275,8074,0.00,2.10,0.00,0.000,4612,0.000,0.044,2940,912,2190,2221,2160,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8094,0.72,136.3,2940,912,2221,2160,298.7,20.4,275,8098,0.03,2.15,0.00,0.000,5126,0.259,0.045,2924,2300,2190,2221,2160,0,0,0,0,0,0,26.55,26.60,28.83
$GC,8346,0.72,136.3,2923,2298,2221,2159,244.4,19.5,282,8350,0.00,0.08,0.00,0.000,4356,0.000,0.109,2923,4095,2190,2221,2160,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8873,0.72,136.3,2923,4095,2221,2160,145.3,18.3,314,8883,0.00,0.20,0.00,0.000,5126,0.000,0.057,2923,2242,2190,2221,2160,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9124,0.72,136.3,2923,2241,2221,2160,101.0,17.8,339,9127,0.00,0.17,0.00,0.000,4356,0.000,0.069,2923,4095,2190,2221,2160,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,9713,end climb,SURFACE_DEPTH_REACHED
$STATE,9713,begin surface coast
$FINISH,0.9,2.350566
$STATE,9735,end surface coast,CONTROL_FINISHED_OK
$STATE,9735,begin surface
$SM_CCo,9749,114.05,0.656,0,0,1171,390.02
$SM_GC,2.36,6.80,0.17,114.05,0.019,0.060,0.656,180,2253,1171,-7.74,1.02,390.02,0,0,0,0,0,0,26.69,26.74,24.92
$IRIDIUM_FIX,3412.10,-15756.38,150309,040405
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.77
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,18.30
$XPDR_PINGS,341
$24V_AH,24.1,23.436
$10V_AH,10.3,13.256
$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,17.200,25.350,239.500,114.050,0.000,31.246,48.724,193.421,85.250,0.000,8.658,1310.629,5769.213,398.953,2661.954,115.746,0.000,1361.790,0.000,2001.997,0.000,0.541,0.000
$DEVICE_MAMPS,259.335,108.630,1110.015,655.605,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,285.090,176.396,347.493,313.748,650.403,0.000,0.000,0.000,0.000,0.000
$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,34021,401
$CAP_FILE_SIZE,102304,0
$CFSIZE,259248128,249663488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180516,211002,3426.146,-15755.716,14,1.6,14,11.3