version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 191
start: 5 20 116 4 23 44
data:
$ID,512
$MISSION,7
$DIVE,191
$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,-130191.18
$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,52
$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
$GPS1,200516,041555,3423.199,-15743.398,35,1.1,35,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-73.5
$GPS2,200516,042303,3423.278,-15743.282,6,1.1,6,11.3
$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,170.0,1293524,-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,-136.3,161,4095,1114,1213,0.0,0.0,0,87,0.00,0.00,-69.62,0.000,16386,0.000,0.000,156,4095,2893,2874,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,156,4095,2874,2913,3.1,-2.4,8,119,9.00,2.17,-11.12,0.000,18948,0.221,0.054,2448,940,3317,3316,3319,0,0,0,0,0,0,25.77,26.07,26.41
$GC,156,-0.72,-136.3,2447,939,3317,3319,18.3,-23.8,16,166,0.05,2.12,0.00,0.000,3078,0.164,0.042,2455,2275,3318,3317,3319,0,0,0,0,0,0,25.98,26.14,28.83
$GC,421,-0.72,-136.3,2455,2275,3318,3319,80.9,-23.7,44,424,0.00,0.15,0.00,0.000,2308,0.000,0.073,2455,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.36,28.83
$GC,978,-0.72,-136.3,2455,4095,3320,3319,200.5,-20.8,94,982,0.00,0.22,0.00,0.000,3078,0.000,0.052,2455,2182,3319,3320,3319,0,0,1,0,0,0,28.83,26.54,28.83
$GC,1236,-0.72,-136.3,2455,2182,3321,3319,249.4,-18.1,101,1240,0.00,0.30,0.00,0.000,2308,0.000,0.054,2455,4095,3320,3321,3319,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1740,-0.72,-136.3,2456,4095,3322,3319,334.5,-18.0,113,1743,0.00,0.20,0.00,0.000,3078,0.000,0.054,2455,2246,3321,3322,3320,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1996,-0.72,-136.3,2455,2246,3322,3319,384.6,-17.9,120,2000,0.00,0.17,0.00,0.000,2308,0.000,0.067,2455,4095,3320,3322,3319,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2500,-0.72,-136.3,2455,4095,3321,3319,474.3,-18.5,132,2504,0.00,0.20,0.00,0.000,3078,0.000,0.054,2455,2238,3320,3321,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2757,-0.72,-136.3,2455,2238,3321,3319,523.9,-17.4,139,2761,0.00,0.20,0.00,0.000,2308,0.000,0.063,2455,4095,3320,3321,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3261,-0.72,-136.3,2455,4095,3319,3319,604.1,-16.5,151,3265,0.00,0.20,0.00,0.000,3078,0.000,0.055,2455,2247,3319,3319,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3518,-0.72,-136.3,2455,2247,3318,3318,649.1,-16.0,158,3522,0.00,0.17,0.00,0.000,2308,0.000,0.069,2455,4095,3318,3319,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4022,-0.72,-136.3,2454,4095,3318,3316,725.7,-15.9,170,4026,0.00,0.20,0.00,0.000,3078,0.000,0.054,2455,2241,3316,3317,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4279,-0.72,-136.3,2454,2240,3317,3316,770.6,-15.9,177,4282,0.00,0.20,0.00,0.000,2308,0.000,0.066,2454,4095,3316,3317,3316,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4782,-0.72,-136.3,2454,4095,3315,3313,845.2,-15.3,189,4786,0.00,0.20,0.00,0.000,3078,0.000,0.055,2454,2246,3314,3315,3313,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5040,-0.72,-136.3,2454,2245,3314,3312,887.7,-14.8,196,5043,0.00,0.17,0.00,0.000,2308,0.000,0.070,2454,4095,3313,3314,3312,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5159,begin apogee
$GC,5164,-0.17,0.0,2453,2251,3314,3312,905.0,-14.5,199,5284,0.55,0.08,115.85,1.104,10246,0.116,0.110,2633,2298,2762,2777,2747,0,0,0,0,0,0,26.49,25.03,24.39
$STATE,5285,end apogee,CONTROL_FINISHED_OK
$STATE,5285,begin climb
$GC,5287,0.72,136.3,2633,2298,2776,2747,909.4,0.0,202,5415,0.77,0.15,122.03,1.050,10500,0.046,0.086,2922,4095,2206,2243,2169,0,0,0,0,0,0,25.20,24.77,24.14
$GC,5437,0.72,136.3,2922,4095,2241,2165,893.6,13.2,206,5440,0.00,0.17,0.00,0.000,5126,0.000,0.061,2923,2255,2203,2241,2165,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5717,0.72,136.3,2923,2255,2233,2162,826.1,24.3,213,5721,0.00,0.17,0.00,0.000,4356,0.000,0.072,2923,4094,2197,2233,2162,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6221,0.72,136.3,2923,4095,2229,2161,718.8,22.6,225,6225,0.00,0.20,0.00,0.000,5126,0.000,0.058,2923,2249,2195,2229,2161,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6478,0.72,136.3,2923,2249,2228,2161,659.3,20.9,232,6481,0.00,0.17,0.00,0.000,4356,0.000,0.075,2924,4095,2194,2228,2160,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6981,0.72,136.3,2923,4095,2226,2159,563.0,20.2,244,6985,0.00,0.17,0.00,0.000,5126,0.000,0.063,2923,2259,2193,2226,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7238,0.72,136.3,2923,2259,2225,2159,507.0,20.3,251,7241,0.00,0.15,0.00,0.000,4356,0.000,0.078,2924,4095,2192,2224,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7741,0.72,136.3,2923,4095,2224,2159,412.4,19.2,263,7746,0.00,0.17,0.00,0.000,5126,0.000,0.062,2924,2254,2191,2224,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7999,0.72,136.3,2923,2254,2224,2159,360.9,18.1,270,8002,0.00,0.15,0.00,0.000,4356,0.000,0.076,2924,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8502,0.72,136.3,2924,4095,2223,2159,272.3,18.5,282,8506,0.00,0.17,0.00,0.000,5126,0.000,0.060,2924,2248,2191,2224,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8759,0.72,136.3,2924,2248,2223,2159,220.8,18.1,289,8763,0.00,0.17,0.00,0.000,4356,0.000,0.071,2924,4094,2191,2223,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8987,0.72,136.3,2924,4095,2223,2159,178.7,18.4,302,8991,0.00,0.15,0.00,0.000,5126,0.000,0.067,2924,2261,2191,2223,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9244,0.72,136.3,2924,2261,2223,2159,132.7,18.6,327,9252,0.00,2.00,0.00,0.000,4612,0.000,0.043,2934,920,2191,2223,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9312,0.72,136.3,2934,920,2222,2159,119.8,18.9,333,9316,0.00,2.10,0.00,0.000,5126,0.000,0.044,2930,2291,2190,2222,2159,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9567,0.72,136.3,2930,2290,2222,2159,72.8,17.7,358,9570,0.00,0.12,0.00,0.000,4356,0.000,0.093,2930,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,10007,end climb,SURFACE_DEPTH_REACHED
$STATE,10008,begin surface coast
$FINISH,1.0,2.626879
$STATE,10031,end surface coast,CONTROL_FINISHED_OK
$STATE,10031,begin surface
$SM_CCo,10045,114.65,0.653,0,0,1171,390.02
$SM_GC,2.09,6.88,0.20,114.65,0.027,0.053,0.653,193,2246,1171,-7.71,0.90,390.02,0,0,0,0,0,0,26.65,26.74,24.93
$IRIDIUM_FIX,3406.89,-15746.71,160309,141453
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.82
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.60
$XPDR_PINGS,348
$24V_AH,24.1,25.134
$10V_AH,10.3,14.114
$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,17.250,13.725,237.875,114.650,0.000,28.093,51.787,247.722,87.000,0.000,7.288,1348.276,5916.784,389.221,2846.739,111.851,0.000,1402.238,0.000,2125.559,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,110.160,1103.895,652.545,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,293.840,175.942,347.596,311.629,646.053,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353076
$DATA_FILE_SIZE,33939,407
$CAP_FILE_SIZE,105657,0
$CFSIZE,259248128,249098240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,200516,071402,3423.641,-15741.945,22,1.7,22,11.3