version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 213
start: 5 22 116 20 54 53
data:
$ID,512
$MISSION,7
$DIVE,213
$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,-130247.69
$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
$GPS1,220516,204755,3417.126,-15709.694,37,0.8,37,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-74.0
$GPS2,220516,205412,3417.163,-15709.607,7,0.8,7,11.4
$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,172.4,1284772,-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,-136.3,178,2269,1114,1214,0.0,0.0,0,80,0.00,0.00,-62.10,0.000,16386,0.000,0.000,178,2245,2716,2695,2737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-136.3,178,2269,2696,2737,3.2,-2.4,7,119,8.95,0.00,-17.30,0.000,18438,0.222,0.000,2447,2243,3318,3318,3319,0,0,0,0,0,0,25.72,28.83,26.41
$GC,389,-0.72,-136.3,2447,2242,3320,3319,71.6,-23.7,42,392,0.00,0.20,0.00,0.000,2308,0.000,0.062,2447,4095,3319,3320,3319,0,0,0,0,0,0,28.83,26.34,28.83
$GC,730,-0.72,-136.3,2446,4095,3322,3319,143.5,-20.8,72,740,0.00,0.22,0.00,0.000,3078,0.000,0.050,2447,2235,3321,3323,3319,0,0,0,0,0,0,28.83,26.48,28.83
$GC,982,-0.72,-136.3,2447,2235,3323,3319,193.6,-19.5,97,988,0.00,0.00,0.00,0.000,2054,0.000,0.000,2447,2235,3321,3323,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1257,-0.72,-136.3,2446,2235,3324,3319,251.5,-21.1,107,1260,0.00,0.20,0.00,0.000,2308,0.000,0.064,2446,4095,3321,3324,3319,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1630,-0.72,-136.3,2446,4095,3325,3319,329.2,-21.7,116,1634,0.00,0.20,0.00,0.000,3078,0.000,0.054,2447,2241,3322,3325,3319,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1897,-0.72,-136.3,2446,2241,3324,3319,386.0,-19.9,123,1898,0.00,0.00,0.00,0.000,2054,0.000,0.000,2447,2241,3322,3325,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2137,-0.72,-136.3,2446,2241,3325,3319,431.5,-18.9,129,2141,0.00,0.20,0.00,0.000,2308,0.000,0.063,2446,4095,3322,3325,3319,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2566,-0.72,-136.3,2446,4095,3324,3319,509.7,-19.7,139,2569,0.00,0.22,0.00,0.000,3078,0.000,0.051,2447,2237,3321,3324,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2818,-0.72,-136.3,2446,2237,3323,3319,563.9,-19.1,146,2822,0.00,0.20,0.00,0.000,2308,0.000,0.065,2446,4095,3321,3323,3319,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3322,-0.72,-136.3,2446,4095,3321,3319,648.6,-17.6,158,3325,0.00,0.20,0.00,0.000,3078,0.000,0.054,2446,2242,3320,3321,3319,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3579,-0.72,-136.3,2446,2243,3320,3319,697.1,-17.2,165,3582,0.00,0.20,0.00,0.000,2308,0.000,0.063,2446,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4082,-0.72,-136.3,2446,4095,3318,3317,778.8,-16.8,177,4086,0.00,0.20,0.00,0.000,3078,0.000,0.056,2446,2253,3317,3318,3317,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4340,-0.72,-136.3,2446,2253,3318,3316,824.6,-16.4,184,4343,0.00,0.17,0.00,0.000,2308,0.000,0.070,2446,4095,3316,3317,3316,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,4819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4819,begin apogee
$GC,4823,-0.17,0.0,2446,2244,3316,3313,903.0,-16.5,196,4944,0.57,0.20,117.20,1.090,10246,0.119,0.067,2633,4095,2762,2776,2748,0,0,0,0,0,0,26.42,25.09,24.39
$STATE,4945,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4947,0.72,136.3,2633,4095,2775,2747,908.9,0.0,199,5079,0.75,2.30,123.40,1.038,10756,0.041,0.046,2934,988,2206,2243,2169,0,0,0,0,0,0,25.22,24.82,24.13
$GC,5194,0.72,136.3,2934,988,2236,2164,877.3,19.6,205,5199,0.00,2.22,0.00,0.000,5126,0.000,0.050,2930,4095,2200,2236,2164,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5456,0.72,136.3,2930,4095,2232,2162,814.3,22.6,212,5460,0.00,0.10,0.00,0.000,4356,0.000,0.076,2930,2265,2197,2232,2162,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5875,0.72,136.3,2929,2264,2229,2161,723.8,22.0,222,5879,0.00,0.17,0.00,0.000,5126,0.000,0.080,2930,4095,2195,2229,2161,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6137,0.72,136.3,2930,4095,2227,2161,664.0,20.9,229,6141,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2262,2194,2227,2161,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6641,0.72,136.3,2930,2262,2226,2159,563.0,20.3,241,6644,0.00,0.17,0.00,0.000,5126,0.000,0.079,2930,4095,2192,2225,2160,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6898,0.72,136.3,2930,4095,2224,2160,508.4,19.8,248,6901,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2261,2191,2224,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7401,0.72,136.3,2930,2260,2224,2160,411.1,21.7,260,7405,0.00,0.17,0.00,0.000,5126,0.000,0.079,2930,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7658,0.72,136.3,2930,4095,2223,2159,352.9,20.3,267,7662,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2260,2191,2223,2160,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8162,0.72,136.3,2930,2260,2223,2160,261.2,19.1,279,8165,0.00,0.17,0.00,0.000,5126,0.000,0.079,2930,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8419,0.72,136.3,2930,4095,2223,2160,206.6,19.6,286,8422,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2260,2191,2223,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8970,0.72,136.3,2930,2260,2223,2159,104.8,17.6,333,8977,0.00,0.17,0.00,0.000,5126,0.000,0.078,2930,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9222,0.72,136.3,2930,4095,2223,2159,61.5,16.1,358,9226,0.00,0.12,0.00,0.000,4356,0.000,0.066,2930,2260,2191,2223,2160,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9574,end climb,SURFACE_DEPTH_REACHED
$STATE,9574,begin surface coast
$FINISH,1.2,2.024502
$STATE,9603,end surface coast,CONTROL_FINISHED_OK
$STATE,9603,begin surface
$SM_CCo,9618,118.35,0.628,0,0,1171,390.02
$SM_GC,2.26,6.95,0.17,118.35,0.031,0.080,0.628,190,4094,1171,-7.71,-0.42,390.02,0,0,0,0,0,0,26.65,26.65,24.96
$IRIDIUM_FIX,3406.89,-15711.37,190309,070749
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.33
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.60
$XPDR_PINGS,346
$24V_AH,24.1,27.792
$10V_AH,10.3,15.726
$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,17.225,9.125,240.600,118.350,0.000,27.586,49.148,205.596,86.500,0.000,8.311,1288.123,5652.592,399.044,2682.016,110.184,0.000,1351.205,0.000,2009.657,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,80.325,1090.125,628.065,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,293.359,177.758,351.710,318.032,659.334,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353020
$DATA_FILE_SIZE,33847,401
$CAP_FILE_SIZE,98146,0
$CFSIZE,259248128,248012800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220516,233750,3416.134,-15707.865,14,1.5,14,11.4