version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 187
start: 5 19 116 16 47 3
data:
$ID,512
$MISSION,7
$DIVE,187
$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,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130119.4
$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,81
$R_STBD_OVSHOOT,29
$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
$GPS1,190516,163432,3424.127,-15747.587,26,0.9,26,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-72.1
$GPS2,190516,164623,3424.214,-15747.404,7,0.8,7,11.3
$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,169.7,1295123,-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,-136.3,163,2335,1118,1207,0.0,0.0,0,87,0.00,0.00,-69.60,0.000,16386,0.000,0.000,161,4095,2897,2874,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,160,2336,2874,2920,3.3,-2.8,8,118,9.02,2.20,-10.60,0.000,18948,0.223,0.053,2451,938,3317,3316,3319,0,0,0,0,0,0,25.75,26.07,26.40
$GC,224,-0.72,-136.3,2451,938,3317,3319,35.8,-24.3,24,234,0.00,2.17,0.00,0.000,3078,0.000,0.042,2442,2306,3318,3317,3319,0,0,0,0,0,0,28.83,26.20,28.83
$GC,474,-0.72,-136.3,2442,2305,3318,3319,95.6,-23.8,49,478,0.00,0.10,0.00,0.000,2308,0.000,0.090,2441,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1025,-0.72,-136.3,2441,4095,3320,3319,208.1,-20.6,95,1029,0.05,0.22,0.00,0.000,3078,0.211,0.050,2453,2183,3319,3320,3319,0,0,1,0,0,0,26.42,26.57,28.83
$GC,1282,-0.72,-136.3,2453,2183,3321,3319,261.9,-19.1,102,1285,0.00,0.30,0.00,0.000,2308,0.000,0.053,2453,4095,3320,3321,3319,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1785,-0.72,-136.3,2452,4095,3320,3319,354.9,-19.4,114,1788,0.00,0.20,0.00,0.000,3078,0.000,0.054,2453,2250,3319,3320,3319,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2042,-0.72,-136.3,2452,2249,3320,3319,407.3,-18.6,121,2046,0.00,0.17,0.00,0.000,2308,0.000,0.067,2451,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2546,-0.72,-136.3,2451,4095,3319,3319,492.3,-17.0,133,2549,0.00,0.20,0.00,0.000,3078,0.000,0.054,2452,2242,3319,3319,3319,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2803,-0.72,-136.3,2451,2242,3318,3319,539.2,-16.8,140,2806,0.00,0.20,0.00,0.000,2308,0.000,0.062,2451,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3306,-0.72,-136.3,2451,4095,3318,3317,624.5,-17.9,152,3310,0.00,0.20,0.00,0.000,3078,0.000,0.055,2451,2251,3317,3318,3317,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3563,-0.72,-136.3,2451,2251,3317,3316,673.9,-17.8,159,3567,0.00,0.17,0.00,0.000,2308,0.000,0.070,2451,4095,3316,3317,3316,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4067,-0.72,-136.3,2451,4095,3316,3314,753.6,-15.7,171,4071,0.00,0.20,0.00,0.000,3078,0.000,0.055,2451,2242,3315,3316,3314,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4324,-0.72,-136.3,2451,2242,3315,3313,796.5,-15.2,178,4328,0.00,0.20,0.00,0.000,2308,0.000,0.064,2451,4095,3314,3315,3313,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4828,-0.72,-136.3,2450,4095,3314,3312,867.3,-14.3,190,4832,0.00,0.20,0.00,0.000,3078,0.000,0.055,2450,2246,3312,3313,3312,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,5043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5044,begin apogee
$GC,5048,-0.17,0.0,2450,2303,3313,3310,902.4,-14.7,196,5167,0.55,0.00,115.72,1.104,10246,0.118,0.000,2629,2302,2762,2777,2747,0,0,0,0,0,0,26.50,28.83,24.39
$STATE,5168,end apogee,CONTROL_FINISHED_OK
$STATE,5168,begin climb
$GC,5169,0.72,136.3,2629,2302,2776,2747,908.1,0.0,199,5299,0.77,0.10,122.35,1.050,11012,0.047,0.070,2921,4095,2206,2243,2170,0,0,0,0,0,0,25.19,24.77,24.15
$GC,5634,0.72,136.3,2921,4095,2232,2163,840.2,19.0,210,5638,0.00,0.17,0.00,0.000,5126,0.000,0.063,2922,2256,2197,2232,2162,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5886,0.72,136.3,2922,2257,2230,2162,781.3,21.2,217,5890,0.00,2.08,0.00,0.000,4612,0.000,0.049,2932,923,2196,2230,2162,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6105,0.72,136.3,2931,923,2226,2162,738.3,21.9,222,6109,0.00,2.17,0.00,0.000,5126,0.000,0.049,2930,2273,2194,2226,2162,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6362,0.72,136.3,2930,2272,2225,2162,678.3,21.4,229,6365,0.00,0.12,0.00,0.000,4356,0.000,0.081,2930,4095,2193,2225,2162,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6675,0.72,136.3,2930,4095,2224,2161,616.4,22.5,236,6682,0.00,0.20,0.00,0.000,5126,0.000,0.059,2931,2253,2192,2224,2161,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6922,0.72,136.3,2930,2254,2223,2161,558.9,20.1,243,6926,0.00,0.17,0.00,0.000,4356,0.000,0.070,2930,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7426,0.72,136.3,2930,4095,2222,2161,465.7,19.4,255,7429,0.00,0.20,0.00,0.000,5126,0.000,0.058,2930,2249,2191,2222,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7683,0.72,136.3,2930,2249,2222,2161,412.3,19.1,262,7686,0.00,2.03,0.00,0.000,4612,0.000,0.047,2940,917,2191,2222,2160,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7713,0.72,136.3,2940,917,2220,2161,412.3,19.1,262,7720,0.00,2.15,0.00,0.000,5126,0.000,0.048,2932,2299,2190,2220,2161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7959,0.72,136.3,2932,2298,2220,2161,359.2,18.8,269,7962,0.00,0.08,0.00,0.000,4356,0.000,0.109,2932,4094,2190,2220,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8122,0.72,136.3,2932,4095,2221,2161,326.6,20.3,273,8126,0.00,0.20,0.00,0.000,5126,0.000,0.058,2932,2245,2190,2220,2161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8399,0.72,136.3,2932,2245,2220,2161,269.5,20.6,280,8401,0.00,0.00,0.00,0.000,4102,0.000,0.000,2932,2245,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8639,0.72,136.3,2932,2245,2220,2161,220.3,20.6,286,8643,0.00,0.17,0.00,0.000,4356,0.000,0.070,2932,4095,2190,2220,2161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9184,0.72,136.3,2932,4095,2220,2161,112.1,19.6,327,9192,0.03,0.15,0.00,0.000,5126,0.167,0.067,2924,2257,2190,2220,2160,0,0,0,0,0,0,26.56,26.73,28.83
$GC,9433,0.72,136.3,2923,2257,2220,2161,67.9,17.2,352,9437,0.00,0.15,0.00,0.000,4356,0.000,0.070,2924,4095,2190,2220,2161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9572,0.72,136.3,2923,4095,2221,2161,45.5,16.9,363,9582,0.00,0.20,0.00,0.000,5126,0.000,0.054,2923,2242,2190,2220,2161,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9855,end climb,SURFACE_DEPTH_REACHED
$STATE,9855,begin surface coast
$FINISH,1.2,2.406644
$STATE,9878,end surface coast,CONTROL_FINISHED_OK
$STATE,9878,begin surface
$SM_CCo,9892,113.03,0.649,0,0,1171,390.02
$SM_GC,2.23,6.82,0.12,113.03,0.024,0.093,0.649,194,2336,1171,-7.71,-0.42,390.02,0,0,0,0,0,0,26.67,26.70,24.95
$IRIDIUM_FIX,3409.50,-15751.54,160309,020257
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.02
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.50
$XPDR_PINGS,341
$24V_AH,24.2,24.662
$10V_AH,10.3,13.823
$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,17.250,17.400,238.075,113.025,0.000,24.247,46.384,538.456,85.250,0.000,8.298,1311.570,5921.873,400.049,2991.402,118.511,0.000,1359.213,0.000,1995.741,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,109.395,1103.895,649.485,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,281.503,173.894,343.351,313.762,650.483,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353080
$DATA_FILE_SIZE,33991,402
$CAP_FILE_SIZE,107340,0
$CFSIZE,259248128,249294848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,190516,193439,3423.885,-15746.471,14,1.6,14,11.3