version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 205
start: 5 21 116 21 44 5
data:
$ID,512
$MISSION,7
$DIVE,205
$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,-130237.61
$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,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,20
$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
$GPS1,210516,213757,3421.758,-15721.572,12,1.4,12,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-73.5
$GPS2,210516,214325,3421.791,-15721.485,8,1.6,11,11.3
$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,171.6,1292131,-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,-136.3,179,2267,1110,1219,0.0,0.0,0,87,0.00,0.00,-69.50,0.000,16386,0.000,0.000,177,2265,2908,2888,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,177,2244,2888,2929,3.2,-2.1,8,118,8.90,1.95,-10.40,0.000,18948,0.220,0.054,2448,989,3318,3317,3320,0,0,0,0,0,0,25.73,26.07,26.41
$GC,176,-0.72,-136.3,2447,989,3318,3320,23.2,-22.3,19,186,0.03,2.15,0.00,0.000,3078,0.198,0.041,2447,4095,3318,3317,3320,0,0,0,0,0,0,26.02,26.15,28.83
$GC,438,-0.72,-136.3,2447,4095,3319,3320,85.5,-22.9,46,441,0.00,0.12,0.00,0.000,2308,0.000,0.067,2447,2247,3319,3319,3320,0,0,0,0,0,0,28.83,26.41,28.83
$GC,995,-0.72,-136.3,2447,2247,3322,3319,196.0,-19.5,96,1005,0.00,0.20,0.00,0.000,3078,0.000,0.062,2448,4095,3321,3323,3320,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1262,-0.72,-136.3,2447,4095,3323,3320,250.7,-20.3,105,1266,0.00,0.15,0.00,0.000,2308,0.000,0.065,2447,2251,3321,3323,3320,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1766,-0.72,-136.3,2448,2251,3324,3320,348.9,-20.5,117,1769,0.00,0.17,0.00,0.000,3078,0.000,0.068,2447,4095,3322,3324,3320,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2022,-0.72,-136.3,2447,4095,3324,3320,403.7,-19.6,124,2026,0.00,0.15,0.00,0.000,2308,0.000,0.062,2447,2245,3321,3323,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2526,-0.72,-136.3,2447,2245,3323,3319,492.6,-18.3,136,2529,0.00,0.20,0.00,0.000,3078,0.000,0.063,2448,4095,3321,3323,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2783,-0.72,-136.3,2447,4095,3323,3320,542.0,-17.5,143,2786,0.00,0.15,0.00,0.000,2308,0.000,0.063,2448,2251,3321,3322,3320,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3286,-0.72,-136.3,2447,2251,3320,3319,623.6,-16.8,155,3290,0.00,0.17,0.00,0.000,3078,0.000,0.070,2448,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3543,-0.72,-136.3,2447,4095,3319,3319,670.2,-16.4,162,3547,0.00,0.15,0.00,0.000,2308,0.000,0.065,2448,2244,3319,3319,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4047,-0.72,-136.3,2447,2244,3318,3317,750.6,-17.0,174,4051,0.00,0.20,0.00,0.000,3078,0.000,0.065,2447,4095,3317,3318,3317,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4304,-0.72,-136.3,2447,4095,3317,3316,798.7,-17.1,181,4307,0.00,0.15,0.00,0.000,2308,0.000,0.063,2448,2247,3316,3317,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4807,-0.72,-136.3,2447,2247,3316,3314,878.1,-16.5,193,4811,0.00,0.17,0.00,0.000,3078,0.000,0.071,2447,4095,3314,3315,3314,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4943,begin apogee
$GC,4947,-0.17,0.0,2447,2239,3315,3313,903.7,-16.0,197,5067,0.57,0.20,115.43,1.091,10246,0.117,0.069,2635,4095,2762,2777,2748,0,0,0,0,0,0,26.46,25.10,24.40
$STATE,5068,end apogee,CONTROL_FINISHED_OK
$STATE,5068,begin climb
$GC,5070,0.72,136.3,2635,4095,2776,2747,908.9,0.0,200,5198,0.75,0.12,121.57,1.040,10500,0.044,0.047,2921,2268,2206,2243,2169,0,0,0,0,0,0,25.22,24.82,24.16
$GC,5203,0.72,136.3,2921,2269,2242,2167,901.9,8.7,203,5207,0.00,0.17,0.00,0.000,5126,0.000,0.075,2921,4095,2204,2242,2167,0,0,0,0,0,0,28.83,24.97,28.83
$GC,5465,0.72,136.3,2921,4095,2233,2162,838.7,22.7,210,5469,0.00,0.12,0.00,0.000,4356,0.000,0.066,2922,2256,2197,2233,2162,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5790,0.72,136.3,2922,2256,2230,2162,768.9,21.8,218,5794,0.00,0.15,0.00,0.000,5126,0.000,0.084,2922,4095,2196,2230,2162,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6066,0.72,136.3,2922,4095,2227,2161,709.2,21.6,225,6070,0.00,2.12,0.00,0.000,4612,0.000,0.047,2931,990,2194,2227,2161,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6307,0.72,136.3,2931,990,2225,2161,657.1,21.3,231,6311,0.00,2.12,0.00,0.000,5126,0.000,0.050,2931,4095,2193,2224,2162,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6583,0.72,136.3,2930,4095,2224,2160,596.3,21.7,238,6586,0.00,0.10,0.00,0.000,4356,0.000,0.073,2931,2254,2192,2224,2161,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6656,0.72,136.3,2930,2254,2224,2160,587.6,21.8,239,6663,0.00,0.17,0.00,0.000,5126,0.000,0.080,2930,4095,2192,2224,2161,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6903,0.72,136.3,2930,4095,2222,2160,526.2,21.9,246,6906,0.00,0.12,0.00,0.000,4356,0.000,0.067,2931,2251,2191,2223,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7407,0.72,136.3,2930,2251,2223,2160,425.9,20.7,258,7410,0.00,0.17,0.00,0.000,5126,0.000,0.080,2931,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7663,0.72,136.3,2930,4095,2222,2160,367.8,20.8,265,7667,0.00,0.12,0.00,0.000,4356,0.000,0.066,2931,2249,2191,2222,2160,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8167,0.72,136.3,2931,2249,2222,2160,273.6,19.0,277,8171,0.00,0.17,0.00,0.000,5126,0.000,0.079,2931,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8424,0.72,136.3,2930,4095,2222,2160,220.5,18.7,284,8428,0.00,0.12,0.00,0.000,4356,0.000,0.064,2931,2246,2191,2222,2160,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8965,0.72,136.3,2931,2246,2222,2160,123.5,17.9,325,8972,0.00,0.20,0.00,0.000,5126,0.000,0.072,2931,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9217,0.72,136.3,2931,4095,2222,2160,77.6,17.5,350,9220,0.00,0.12,0.00,0.000,4356,0.000,0.066,2932,2256,2191,2222,2160,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9669,end climb,SURFACE_DEPTH_REACHED
$STATE,9669,begin surface coast
$FINISH,1.0,1.832500
$STATE,9698,end surface coast,CONTROL_FINISHED_OK
$STATE,9698,begin surface
$SM_CCo,9713,117.25,0.644,0,0,1171,390.02
$SM_GC,2.25,6.95,0.17,117.25,0.029,0.076,0.644,179,4095,1171,-7.73,-0.48,390.02,0,0,0,0,0,0,26.67,26.67,24.94
$IRIDIUM_FIX,3409.50,-15820.64,180309,080853
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.73
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.80
$XPDR_PINGS,341
$24V_AH,24.2,26.845
$10V_AH,10.3,15.157
$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,17.200,13.000,237.000,117.250,0.000,23.988,50.165,152.564,85.250,0.000,12.074,1299.669,5714.381,397.915,2654.850,108.943,0.000,1364.650,0.000,2028.268,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,84.150,1090.890,644.130,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,282.446,176.683,350.301,315.796,654.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353036
$DATA_FILE_SIZE,33793,401
$CAP_FILE_SIZE,100835,0
$CFSIZE,259248128,248410112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220516,002901,3421.365,-15720.153,38,0.8,38,11.3