version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 216
start: 5 23 116 5 23 31
data:
$ID,512
$MISSION,7
$DIVE,216
$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,-130251.47
$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
$GPS1,230516,051732,3413.945,-15706.077,12,1.4,12,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-75.1
$GPS2,230516,052251,3413.906,-15706.010,9,1.4,9,11.4
$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,172.7,1279182,-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,-136.3,180,2241,1111,1217,0.0,0.0,0,87,0.00,0.00,-69.50,0.000,16386,0.000,0.000,178,2249,2913,2896,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,178,2242,2896,2932,3.3,-2.4,8,119,8.95,1.95,-9.55,0.000,18948,0.221,0.051,2451,981,3317,3313,3321,0,0,0,0,0,0,25.70,26.08,26.40
$GC,196,-0.72,-136.3,2451,981,3314,3320,34.5,-27.3,21,207,0.00,2.12,0.00,0.000,3078,0.000,0.041,2442,4095,3317,3315,3320,0,0,0,0,0,0,28.83,26.17,28.83
$GC,444,-0.72,-136.3,2441,4095,3316,3320,94.5,-24.2,46,445,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,4095,3318,3316,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,685,-0.72,-136.3,2442,4095,3317,3320,150.4,-22.6,70,693,0.00,2.10,0.00,0.000,2564,0.000,0.037,2447,983,3319,3317,3321,0,0,0,0,0,0,28.83,26.38,28.83
$GC,722,-0.72,-136.3,2447,983,3317,3320,157.2,-21.8,73,729,0.08,2.12,0.00,0.000,3078,0.194,0.041,2454,4095,3318,3317,3320,0,0,0,0,0,0,26.25,26.41,28.83
$GC,979,-0.72,-136.3,2454,4095,3319,3321,209.4,-19.3,96,982,0.00,0.12,0.00,0.000,2308,0.000,0.069,2454,2251,3319,3318,3320,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1483,-0.72,-136.3,2454,2251,3319,3320,298.8,-18.5,108,1486,0.00,0.17,0.00,0.000,3078,0.000,0.068,2454,4095,3319,3318,3321,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1739,-0.72,-136.3,2454,4095,3319,3320,351.9,-19.0,115,1743,0.00,0.15,0.00,0.000,2308,0.000,0.061,2454,2243,3320,3319,3321,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2243,-0.72,-136.3,2454,2243,3319,3320,440.1,-18.4,127,2246,0.00,0.20,0.00,0.000,3078,0.000,0.064,2453,4095,3319,3318,3320,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2499,-0.72,-136.3,2453,4095,3318,3320,491.6,-18.3,134,2503,0.00,0.15,0.00,0.000,2308,0.000,0.064,2454,2251,3319,3318,3320,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3003,-0.72,-136.3,2453,2251,3317,3319,577.2,-17.7,146,3007,0.00,0.17,0.00,0.000,3078,0.000,0.070,2453,4095,3318,3317,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3260,-0.72,-136.3,2452,4095,3317,3319,625.2,-16.6,153,3264,0.00,0.15,0.00,0.000,2308,0.000,0.063,2453,2242,3318,3317,3319,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3449,-0.72,-136.3,2452,2242,3316,3318,652.0,-16.7,157,3453,0.00,0.20,0.00,0.000,3078,0.000,0.065,2452,4095,3317,3316,3318,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3701,-0.72,-136.3,2451,4095,3316,3317,697.9,-16.3,164,3705,0.00,0.15,0.00,0.000,2308,0.000,0.065,2452,2248,3316,3316,3317,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3770,-0.72,-136.3,2452,2248,3316,3317,704.7,-16.4,165,3774,0.00,0.17,0.00,0.000,3078,0.000,0.070,2451,4095,3316,3315,3317,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4022,-0.72,-136.3,2450,4095,3315,3316,752.0,-16.7,172,4025,0.00,0.15,0.00,0.000,2308,0.000,0.064,2451,2243,3315,3315,3316,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4491,-0.72,-136.3,2450,2243,3314,3314,821.3,-15.3,183,4494,0.00,0.20,0.00,0.000,3078,0.000,0.066,2449,4095,3314,3314,3314,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4742,-0.72,-136.3,2449,4095,3313,3313,863.2,-14.8,190,4746,0.00,0.15,0.00,0.000,2308,0.000,0.064,2450,2248,3313,3313,3313,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4846,-0.72,-136.3,2449,2248,3313,3312,874.7,-14.5,192,4850,0.00,0.20,0.00,0.000,3078,0.000,0.067,2448,4095,3312,3313,3312,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,5021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5021,begin apogee
$GC,5026,-0.17,0.0,2449,2240,3312,3312,903.3,-14.4,197,5145,0.57,0.20,115.82,1.082,10246,0.119,0.069,2633,4095,2763,2777,2749,0,0,0,0,0,0,26.41,25.11,24.41
$STATE,5146,end apogee,CONTROL_FINISHED_OK
$STATE,5147,begin climb
$GC,5148,0.72,136.3,2633,4095,2774,2748,907.4,0.0,200,5277,0.77,0.12,122.28,1.036,10500,0.044,0.046,2929,2257,2207,2245,2170,0,0,0,0,0,0,25.22,24.81,24.13
$GC,5777,0.72,136.3,2929,2252,2231,2163,796.1,21.1,215,5784,0.00,0.17,0.00,0.000,5126,0.000,0.080,2929,4095,2197,2232,2163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6024,0.72,136.3,2929,4095,2230,2163,733.9,22.1,222,6028,0.00,0.12,0.00,0.000,4356,0.000,0.069,2929,2250,2196,2230,2162,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6528,0.72,136.3,2930,2250,2227,2162,627.3,20.7,234,6531,0.00,0.17,0.00,0.000,5126,0.000,0.081,2930,4095,2194,2226,2162,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6785,0.72,136.3,2930,4095,2225,2162,572.4,19.7,241,6789,0.00,0.12,0.00,0.000,4356,0.000,0.068,2929,2250,2193,2225,2162,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6946,0.72,136.3,2929,2250,2224,2162,540.5,19.9,245,6949,0.00,0.15,0.00,0.000,5126,0.000,0.084,2930,4095,2193,2224,2162,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7226,0.72,136.3,2930,4095,2224,2162,480.6,21.4,252,7230,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2247,2193,2224,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7690,0.72,136.3,2930,2247,2223,2162,386.1,20.4,263,7694,0.00,0.20,0.00,0.000,5126,0.000,0.076,2930,4095,2192,2223,2162,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7947,0.72,136.3,2930,4095,2223,2162,331.7,19.2,270,7951,0.00,0.12,0.00,0.000,4356,0.000,0.066,2930,2251,2192,2223,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8451,0.72,136.3,2930,2251,2223,2162,250.2,16.5,282,8454,0.00,0.17,0.00,0.000,5126,0.000,0.080,2930,4095,2192,2222,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8708,0.72,136.3,2930,4095,2223,2162,200.9,18.1,289,8711,0.00,0.12,0.00,0.000,4356,0.000,0.065,2931,2248,2192,2222,2162,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9259,0.72,136.3,2048,2245,2188,2156,98.3,18.0,336,9269,0.00,0.20,0.00,0.000,5126,0.000,0.073,2931,4095,2192,2223,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9509,0.72,136.3,2931,4095,2223,2162,54.2,17.0,361,9512,0.00,0.12,0.00,0.000,4356,0.000,0.064,2931,2253,2192,2222,2162,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9844,end climb,SURFACE_DEPTH_REACHED
$STATE,9844,begin surface coast
$FINISH,1.1,2.190517
$STATE,9873,end surface coast,CONTROL_FINISHED_OK
$STATE,9873,begin surface
$SM_CCo,9887,118.45,0.639,0,0,1171,390.02
$SM_GC,2.36,6.90,0.17,118.45,0.026,0.080,0.639,182,4095,1171,-7.72,-0.54,390.02,0,0,0,0,0,0,26.65,26.65,24.94
$IRIDIUM_FIX,3401.68,-15711.37,190309,151551
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.18
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.80
$XPDR_PINGS,346
$24V_AH,24.1,28.139
$10V_AH,10.3,15.939
$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,17.275,13.350,238.100,118.450,0.000,28.727,46.900,147.008,86.500,0.000,10.289,1307.767,5894.732,404.305,2623.739,111.522,0.000,1375.056,0.000,2012.661,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,84.150,1081.710,638.775,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,289.933,174.816,346.067,311.635,646.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353056
$DATA_FILE_SIZE,33956,404
$CAP_FILE_SIZE,102554,0
$CFSIZE,259248128,247861248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230516,081125,3414.066,-15705.064,40,0.8,40,11.4