version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 186
start: 5 19 116 13 50 13
data:
$ID,512
$MISSION,7
$DIVE,186
$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,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130118.14
$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,84
$R_STBD_OVSHOOT,23
$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
$GPS1,190516,132453,3424.166,-15749.013,15,2.8,36,11.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-73.0
$GPS2,190516,134932,3424.423,-15748.601,6,0.8,6,11.3
$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,169.6,1295477,-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,15,-0.72,-136.3,155,2360,1118,1207,0.0,0.0,0,96,0.00,0.00,-78.10,0.000,16386,0.000,0.000,153,2338,3140,3124,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.72,-136.3,153,2335,3123,3157,3.6,-2.7,9,118,9.12,0.00,-4.00,0.000,18438,0.226,0.000,2447,2332,3318,3312,3325,0,0,0,0,0,0,25.75,28.83,26.36
$GC,383,-0.72,-136.3,2447,2332,3314,3325,77.4,-23.5,40,386,0.00,0.08,0.00,0.000,2308,0.000,0.108,2447,4095,3319,3314,3324,0,0,0,0,0,0,28.83,26.39,28.83
$GC,938,-0.72,-136.3,2446,4095,3315,3325,201.2,-21.5,89,942,0.00,0.20,0.00,0.000,3078,0.000,0.054,2447,2237,3319,3315,3324,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1195,-0.72,-136.3,2447,2237,3315,3325,258.7,-21.2,96,1198,0.00,0.20,0.00,0.000,2308,0.000,0.063,2447,4095,3320,3316,3325,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1698,-0.72,-136.3,2447,4095,3316,3325,355.8,-19.8,108,1702,0.00,0.20,0.00,0.000,3078,0.000,0.053,2447,2242,3320,3316,3324,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1955,-0.72,-136.3,2447,2242,3316,3324,409.3,-19.0,115,1959,0.00,0.20,0.00,0.000,2308,0.000,0.061,2447,4095,3320,3316,3324,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2459,-0.72,-136.3,2446,4095,3316,3322,497.6,-17.9,127,2462,0.00,0.20,0.00,0.000,3078,0.000,0.054,2447,2250,3318,3315,3322,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2716,-0.72,-136.3,2447,2250,3316,3320,542.1,-15.6,134,2719,0.00,0.17,0.00,0.000,2308,0.000,0.067,2447,4095,3317,3315,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3219,-0.72,-136.3,2446,4095,3315,3318,619.2,-16.7,146,3223,0.00,0.20,0.00,0.000,3078,0.000,0.054,2446,2243,3316,3315,3318,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3476,-0.72,-136.3,2446,2243,3315,3317,669.7,-18.4,153,3480,0.00,0.20,0.00,0.000,2308,0.000,0.063,2446,4095,3316,3315,3317,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3980,-0.72,-136.3,2446,4095,3314,3315,753.8,-16.8,165,3984,0.00,0.17,0.00,0.000,3078,0.000,0.058,2446,2251,3314,3314,3315,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4237,-0.72,-136.3,2446,2251,3312,3314,798.8,-16.0,172,4240,0.00,0.17,0.00,0.000,2308,0.000,0.070,2446,4095,3313,3313,3314,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4740,-0.72,-136.3,2446,4095,3311,3312,868.6,-13.9,184,4744,0.00,0.20,0.00,0.000,3078,0.000,0.056,2446,2243,3311,3311,3312,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4956,begin apogee
$GC,4960,-0.17,0.0,2446,2316,3310,3311,904.5,-15.4,190,5079,0.57,0.00,115.47,1.100,10246,0.118,0.000,2633,2316,2762,2777,2748,0,0,0,0,0,0,26.51,28.83,24.41
$STATE,5080,end apogee,CONTROL_FINISHED_OK
$STATE,5080,begin climb
$GC,5081,0.72,136.3,2633,2316,2775,2747,909.9,0.0,193,5212,0.75,2.30,122.30,1.050,10756,0.037,0.049,2936,938,2205,2241,2169,0,0,0,0,0,0,25.22,24.84,24.18
$GC,5474,0.72,136.3,2936,938,2231,2164,845.3,21.7,203,5478,0.00,2.15,0.00,0.000,5126,0.000,0.049,2930,2283,2197,2230,2164,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5750,0.72,136.3,2930,2282,2229,2162,786.3,20.6,210,5754,0.00,0.12,0.00,0.000,4356,0.000,0.080,2930,4095,2195,2228,2162,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6254,0.72,136.3,2930,4095,2223,2162,685.3,21.6,222,6257,0.00,0.20,0.00,0.000,5126,0.000,0.057,2930,2261,2193,2224,2162,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6511,0.72,136.3,2930,2260,2223,2161,622.5,22.5,229,6514,0.00,0.15,0.00,0.000,4356,0.000,0.073,2930,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7014,0.72,136.3,2930,4095,2222,2160,518.6,20.5,241,7018,0.00,0.20,0.00,0.000,5126,0.000,0.057,2930,2247,2191,2221,2161,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7271,0.72,136.3,2930,2247,2221,2160,461.5,20.2,248,7275,0.00,0.17,0.00,0.000,4356,0.000,0.067,2930,4095,2190,2221,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7475,0.72,136.3,2930,4095,2221,2160,421.5,19.8,253,7479,0.00,0.20,0.00,0.000,5126,0.000,0.057,2930,2245,2190,2220,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7752,0.72,136.3,2930,2246,2220,2160,366.2,20.6,260,7756,0.00,0.17,0.00,0.000,4356,0.000,0.067,2930,4095,2190,2220,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7970,0.72,136.3,2930,4095,2220,2160,324.4,20.6,265,7974,0.00,0.20,0.00,0.000,5126,0.000,0.057,2930,2244,2190,2220,2160,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8232,0.72,136.3,2930,2244,2220,2160,268.9,19.7,272,8236,0.00,2.00,0.00,0.000,4612,0.000,0.044,2940,914,2190,2220,2161,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8256,0.72,136.3,2940,914,2219,2160,268.9,19.7,272,8261,0.00,2.12,0.00,0.000,5126,0.000,0.046,2933,2296,2190,2219,2161,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8503,0.72,136.3,2932,2295,2219,2161,215.6,19.7,278,8507,0.00,0.10,0.00,0.000,4356,0.000,0.091,2932,4095,2189,2219,2160,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8780,0.72,136.3,2932,4094,2219,2160,159.8,19.3,298,8784,0.03,0.17,0.00,0.000,5126,0.174,0.060,2924,2260,2189,2219,2160,0,0,0,0,0,0,26.58,26.73,28.83
$GC,9034,0.72,136.3,2924,2260,2219,2160,112.0,19.0,323,9038,0.00,0.15,0.00,0.000,4356,0.000,0.069,2923,4095,2190,2219,2161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9193,0.72,136.3,2923,4095,2219,2160,82.4,17.8,337,9197,0.00,0.17,0.00,0.000,5126,0.000,0.059,2922,2246,2189,2218,2161,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9448,0.72,136.3,2923,2246,2220,2161,39.6,14.4,362,9451,0.00,0.17,0.00,0.000,4356,0.000,0.067,2923,4095,2189,2219,2160,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,9655,end climb,SURFACE_DEPTH_REACHED
$STATE,9655,begin surface coast
$FINISH,0.9,2.362839
$STATE,9671,end surface coast,CONTROL_FINISHED_OK
$STATE,9671,begin surface
$SM_CCo,9685,111.38,0.636,0,0,1171,390.02
$SM_GC,2.05,6.93,0.20,111.38,0.031,0.054,0.636,191,2241,1171,-7.72,0.82,390.02,0,0,0,0,0,0,26.66,26.73,24.98
$IRIDIUM_FIX,3409.50,-15754.95,150309,232308
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.98
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.50
$XPDR_PINGS,339
$24V_AH,24.2,24.524
$10V_AH,10.4,13.748
$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,17.400,13.400,237.775,111.375,0.000,30.624,58.955,1283.290,84.750,0.000,7.308,1290.925,5783.378,382.965,3690.874,154.324,0.000,1332.409,0.000,1981.605,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,107.865,1100.070,636.480,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,276.351,167.355,330.862,294.417,610.389,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353116
$DATA_FILE_SIZE,33991,390
$CAP_FILE_SIZE,115265,0
$CFSIZE,259248128,249335808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190516,163432,3424.127,-15747.587,26,0.9,26,11.3