version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 181
start: 5 18 116 21 34 6
data:
$ID,512
$MISSION,7
$DIVE,181
$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,554.85956
$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,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130111.74
$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,78
$R_STBD_OVSHOOT,28
$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
$GPS1,180516,211002,3426.146,-15755.716,14,1.6,14,11.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-73.4
$GPS2,180516,213325,3426.304,-15755.422,7,1.5,7,11.3
$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,169.0,1298838,-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,-136.3,156,2276,1106,1222,0.0,0.0,0,88,0.00,0.00,-70.10,0.000,16386,0.000,0.000,154,2253,2921,2905,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,154,2252,2904,2938,3.2,-2.4,8,118,9.15,2.08,-10.18,0.000,18948,0.228,0.055,2448,935,3317,3317,3318,0,0,0,0,0,0,25.84,26.15,26.49
$GC,212,-0.72,-136.3,2447,935,3318,3319,31.3,-24.5,24,223,0.05,2.17,0.00,0.000,3078,0.169,0.043,2455,2301,3318,3318,3318,0,0,0,0,0,0,26.08,26.25,28.83
$GC,464,-0.72,-136.3,2454,2300,3318,3319,86.3,-20.2,49,467,0.00,0.10,0.00,0.000,2308,0.000,0.090,2455,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1020,-0.72,-136.3,2454,4095,3320,3319,198.2,-18.7,99,1030,0.00,0.22,0.00,0.000,3078,0.000,0.050,2455,2235,3319,3320,3319,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1277,-0.72,-136.3,2454,2235,3320,3319,249.0,-19.6,107,1280,0.00,0.20,0.00,0.000,2308,0.000,0.063,2455,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1780,-0.72,-136.3,2454,4095,3320,3318,341.3,-19.0,119,1784,0.00,0.20,0.00,0.000,3078,0.000,0.054,2455,2242,3319,3320,3318,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2037,-0.72,-136.3,2454,2242,3319,3318,395.1,-19.2,126,2040,0.00,0.20,0.00,0.000,2308,0.000,0.063,2455,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2425,-0.72,-136.3,2455,4095,3318,3318,462.2,-18.4,135,2429,0.00,0.20,0.00,0.000,3078,0.000,0.055,2455,2251,3318,3318,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2677,-0.72,-136.3,2454,2251,3317,3317,513.4,-18.3,142,2681,0.00,0.17,0.00,0.000,2308,0.000,0.068,2454,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3181,-0.72,-136.3,2454,4095,3316,3315,596.0,-17.2,154,3184,0.00,0.20,0.00,0.000,3078,0.000,0.055,2454,2242,3315,3316,3315,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3438,-0.72,-136.3,2453,2241,3315,3314,642.7,-16.4,161,3442,0.00,0.20,0.00,0.000,2308,0.000,0.064,2454,4095,3314,3315,3314,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3941,-0.72,-136.3,2454,4095,3314,3312,720.9,-16.0,173,3945,0.00,0.20,0.00,0.000,3078,0.000,0.056,2454,2250,3313,3314,3312,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4199,-0.72,-136.3,2454,2250,3312,3312,767.4,-16.7,180,4202,0.00,0.17,0.00,0.000,2308,0.000,0.070,2454,4095,3312,3313,3312,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4702,-0.72,-136.3,2454,4095,3312,3309,844.9,-15.6,192,4706,0.00,0.20,0.00,0.000,3078,0.000,0.057,2454,2243,3310,3311,3309,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4960,-0.72,-136.3,2454,2243,3311,3308,887.0,-14.8,199,4963,0.00,0.20,0.00,0.000,2308,0.000,0.066,2454,4095,3309,3310,3308,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5079,begin apogee
$GC,5084,-0.17,0.0,2454,2247,3310,3307,904.9,-14.8,202,5203,0.55,0.08,114.97,1.108,10246,0.119,0.109,2632,2295,2762,2776,2749,0,0,0,0,0,0,26.52,25.03,24.39
$STATE,5204,end apogee,CONTROL_FINISHED_OK
$STATE,5204,begin climb
$GC,5206,0.72,136.3,2631,2295,2774,2749,909.2,0.0,205,5336,0.77,2.28,122.22,1.055,10756,0.044,0.045,2936,929,2207,2243,2171,0,0,0,0,0,0,25.21,24.83,24.15
$GC,5536,0.72,136.3,2936,929,2234,2165,856.6,23.3,213,5540,0.00,2.20,0.00,0.000,5126,0.000,0.047,2930,2293,2199,2234,2165,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5798,0.72,136.3,2930,2292,2231,2164,792.1,23.3,220,5802,0.00,0.10,0.00,0.000,4356,0.000,0.091,2930,4095,2198,2232,2164,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5982,0.72,136.3,2930,4095,2230,2163,757.5,21.5,224,5986,0.00,0.20,0.00,0.000,5126,0.000,0.057,2930,2256,2197,2230,2164,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6239,0.72,136.3,2930,2255,2229,2162,700.0,20.5,231,6242,0.00,0.17,0.00,0.000,4356,0.000,0.067,2930,4095,2196,2229,2163,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6697,0.72,136.3,2930,4095,2226,2162,612.1,19.6,242,6701,0.00,0.20,0.00,0.000,5126,0.000,0.058,2930,2252,2194,2226,2162,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6959,0.72,136.3,2930,2252,2224,2162,555.1,20.0,249,6960,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,2252,2193,2225,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7199,0.72,136.3,2930,2252,2224,2162,505.3,20.6,255,7202,0.00,0.17,0.00,0.000,4356,0.000,0.069,2930,4095,2193,2224,2162,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7528,0.72,136.3,2930,4095,2223,2162,439.9,20.4,263,7531,0.00,0.20,0.00,0.000,5126,0.000,0.058,2930,2248,2192,2223,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7799,0.72,136.3,2930,2248,2223,2162,385.2,19.9,270,7803,0.00,2.00,0.00,0.000,4612,0.000,0.045,2939,926,2192,2223,2162,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7843,0.72,136.3,2939,926,2222,2162,378.4,19.4,271,7847,0.00,2.12,0.00,0.000,5126,0.000,0.047,2931,2296,2192,2223,2162,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8115,0.72,136.3,2931,2295,2222,2162,324.3,19.2,278,8119,0.00,0.10,0.00,0.000,4356,0.000,0.090,2931,4094,2192,2222,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8298,0.72,136.3,2931,4095,2222,2162,292.9,19.6,282,8302,0.00,0.22,0.00,0.000,5126,0.000,0.055,2931,2184,2192,2223,2162,0,0,1,0,0,0,28.83,26.70,28.83
$GC,8556,0.72,136.3,2931,2183,2222,2162,240.4,18.7,289,8559,0.00,0.28,0.00,0.000,4356,0.000,0.060,2931,4095,2192,2222,2162,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9082,0.72,136.3,2931,4095,2222,2162,143.9,18.5,321,9089,0.00,0.20,0.00,0.000,5126,0.000,0.056,2931,2238,2192,2222,2162,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9330,0.72,136.3,2931,2238,2222,2162,98.6,18.2,346,9334,0.00,0.20,0.00,0.000,4356,0.000,0.063,2931,4095,2192,2222,2162,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,9914,end climb,SURFACE_DEPTH_REACHED
$STATE,9914,begin surface coast
$FINISH,1.3,2.762283
$STATE,9936,end surface coast,CONTROL_FINISHED_OK
$STATE,9936,begin surface
$SM_CCo,9950,228.93,0.640,0,0,500,554.86
$SM_GC,2.33,6.78,0.20,228.93,0.019,0.051,0.640,181,2241,500,-7.71,0.82,554.86,0,0,0,0,0,0,26.72,26.76,24.68
$IRIDIUM_FIX,3412.10,-15754.95,150309,101017
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.03
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,18.60
$XPDR_PINGS,349
$24V_AH,24.2,23.613
$10V_AH,10.3,13.337
$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,17.300,17.850,237.200,228.925,0.000,136.292,245.948,656.181,87.250,0.000,8.268,1324.821,6197.609,511.333,3430.722,144.535,0.000,1474.643,0.000,2009.061,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,109.395,1108.485,639.540,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,284.424,177.304,351.678,318.012,659.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353160
$DATA_FILE_SIZE,37291,408
$CAP_FILE_SIZE,111627,0
$CFSIZE,259248128,249561088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,190516,002455,3425.382,-15754.523,34,1.1,34,11.3