version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 194
start: 5 20 116 13 9 31
data:
$ID,512
$MISSION,7
$DIVE,194
$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,-130194.98
$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,83
$R_STBD_OVSHOOT,42
$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
$GPS1,200516,130247,3422.703,-15739.365,14,2.2,35,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-72.0
$GPS2,200516,130850,3422.749,-15739.310,6,0.9,7,11.3
$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,170.3,1292713,-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,-136.3,178,2329,1113,1214,0.0,0.0,0,87,0.00,0.00,-70.00,0.000,16386,0.000,0.000,176,4095,2903,2881,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,177,2331,2881,2926,3.1,-2.2,8,118,9.02,2.17,-10.45,0.000,18948,0.226,0.054,2447,946,3318,3316,3320,0,0,0,0,0,0,25.75,26.06,26.41
$GC,209,-0.72,-136.3,2447,946,3317,3320,33.3,-26.0,23,221,0.03,2.08,0.00,0.000,3078,0.202,0.042,2448,2297,3318,3317,3320,0,0,0,0,0,0,26.03,26.18,28.83
$GC,459,-0.72,-136.3,2447,2296,3318,3320,93.8,-23.6,48,463,0.00,0.10,0.00,0.000,2308,0.000,0.095,2448,4095,3319,3318,3321,0,0,0,0,0,0,28.83,26.38,28.83
$GC,882,-0.72,-136.3,2448,4095,3320,3320,182.1,-19.5,86,884,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2247,3320,3320,3320,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1135,-0.72,-136.3,2447,2247,3321,3320,231.5,-19.2,99,1139,0.00,0.20,0.00,0.000,2308,0.000,0.062,2447,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1519,-0.72,-136.3,2447,4095,3321,3320,301.4,-19.6,108,1522,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2253,3320,3321,3320,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1776,-0.72,-136.3,2447,2253,3321,3320,357.0,-19.6,115,1779,0.00,0.17,0.00,0.000,2308,0.000,0.067,2448,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2259,-0.72,-136.3,1616,4070,3310,3318,453.3,-20.5,127,2263,0.00,0.20,0.00,0.000,3078,0.000,0.054,2447,2244,3320,3321,3320,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2536,-0.72,-136.3,2447,2245,3320,3320,511.9,-20.8,134,2540,0.00,0.20,0.00,0.000,2308,0.000,0.062,2448,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2915,-0.72,-136.3,2447,4095,3319,3319,580.3,-18.4,143,2919,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2253,3319,3319,3320,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3177,-0.72,-136.3,2447,2253,3318,3319,630.4,-17.9,150,3181,0.00,0.17,0.00,0.000,2308,0.000,0.069,2448,4095,3318,3318,3319,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3321,-0.72,-136.3,2447,4095,3318,3319,651.9,-18.0,153,3324,0.00,0.17,0.00,0.000,3078,0.000,0.059,2448,2246,3318,3318,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3578,-0.72,-136.3,2447,2246,3318,3318,699.6,-17.0,160,3581,0.00,0.20,0.00,0.000,2308,0.000,0.063,2447,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4081,-0.72,-136.3,2447,4095,3317,3316,777.0,-16.3,172,4085,0.00,0.20,0.00,0.000,3078,0.000,0.056,2447,2253,3316,3317,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4338,-0.72,-136.3,2447,2253,3316,3315,820.3,-15.2,179,4341,0.00,0.17,0.00,0.000,2308,0.000,0.070,2447,4095,3315,3315,3316,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4841,-0.72,-136.3,2447,4095,3314,3313,893.5,-16.2,191,4845,0.00,0.20,0.00,0.000,3078,0.000,0.056,2447,2246,3313,3314,3313,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4857,begin apogee
$GC,4861,-0.17,0.0,2447,2300,3314,3313,900.1,-16.4,192,4980,0.57,0.00,115.95,1.094,10246,0.119,0.000,2634,2300,2762,2777,2748,0,0,0,0,0,0,26.48,28.83,24.40
$STATE,4981,end apogee,CONTROL_FINISHED_OK
$STATE,4981,begin climb
$GC,4983,0.72,136.3,2634,2299,2775,2747,906.3,0.0,195,5114,0.77,2.28,122.30,1.043,10756,0.041,0.046,2939,931,2205,2242,2168,0,0,0,0,0,0,25.20,24.82,24.15
$GC,5379,0.72,136.3,2939,931,2233,2162,841.7,21.9,205,5384,0.05,2.20,0.00,0.000,5126,0.205,0.049,2924,2274,2197,2232,2162,0,0,0,0,0,0,25.84,25.91,28.83
$GC,5656,0.72,136.3,2924,2273,2230,2160,781.4,21.4,212,5660,0.00,0.12,0.00,0.000,4356,0.000,0.081,2923,4095,2195,2230,2160,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6160,0.72,136.3,2923,4095,2226,2160,681.6,20.5,224,6163,0.00,0.20,0.00,0.000,5126,0.000,0.057,2923,2253,2192,2226,2159,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6417,0.72,136.3,2923,2252,2225,2159,627.5,19.9,231,6421,0.00,0.17,0.00,0.000,4356,0.000,0.067,2923,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6921,0.72,136.3,2922,4095,2223,2159,534.3,19.1,243,6924,0.00,0.20,0.00,0.000,5126,0.000,0.056,2924,2248,2191,2223,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7178,0.72,136.3,2923,2248,2223,2159,481.9,18.9,250,7181,0.00,0.17,0.00,0.000,4356,0.000,0.067,2923,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7681,0.72,136.3,2923,4095,2222,2159,387.4,21.2,262,7685,0.00,0.20,0.00,0.000,5126,0.000,0.057,2923,2245,2190,2222,2159,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7938,0.72,136.3,2923,2244,2222,2159,332.6,19.2,269,7942,0.00,0.17,0.00,0.000,4356,0.000,0.066,2923,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8442,0.72,136.3,2923,4095,2221,2159,241.8,18.8,281,8445,0.00,0.20,0.00,0.000,5126,0.000,0.056,2923,2242,2190,2221,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8689,0.72,136.3,2923,2242,2221,2159,191.3,18.1,290,8693,0.00,0.17,0.00,0.000,4356,0.000,0.064,2923,4095,2190,2222,2159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9245,0.72,136.3,2056,4070,2187,2153,90.4,17.7,340,9254,0.00,0.17,0.00,0.000,5126,0.000,0.059,2923,2255,2190,2222,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9496,0.72,136.3,2922,2254,2221,2159,49.6,15.9,365,9500,0.00,0.17,0.00,0.000,4356,0.000,0.065,2923,4095,2190,2221,2159,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,9779,end climb,SURFACE_DEPTH_REACHED
$STATE,9779,begin surface coast
$FINISH,1.1,2.614131
$STATE,9801,end surface coast,CONTROL_FINISHED_OK
$STATE,9801,begin surface
$SM_CCo,9816,112.70,0.637,0,0,1171,390.02
$SM_GC,2.18,6.82,0.20,112.70,0.023,0.053,0.637,190,2266,1171,-7.71,0.99,390.02,0,0,0,0,0,0,26.68,26.74,24.97
$IRIDIUM_FIX,3409.50,-15740.88,160309,232321
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.18
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,18.40
$XPDR_PINGS,344
$24V_AH,24.1,25.485
$10V_AH,10.3,14.333
$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,17.275,13.575,238.250,112.700,0.000,27.656,48.001,190.709,86.000,0.000,8.302,1328.301,5725.821,389.744,2768.792,105.650,0.000,1395.042,0.000,2107.005,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,110.160,1093.950,637.245,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,289.144,173.546,346.156,311.645,646.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353044
$DATA_FILE_SIZE,33883,401
$CAP_FILE_SIZE,104306,0
$CFSIZE,259248128,248946688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200516,155550,3422.401,-15737.650,15,1.4,15,11.3