version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 217
start: 5 23 116 8 18 8
data:
$ID,512
$MISSION,7
$DIVE,217
$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,-130297.87
$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
$GPS1,230516,081125,3414.066,-15705.064,40,0.8,40,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-74.3
$GPS2,230516,081728,3414.042,-15705.011,7,0.8,7,11.4
$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,172.8,1279555,-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,-136.3,172,2264,1114,1214,0.0,0.0,0,88,0.00,0.00,-70.28,0.000,16386,0.000,0.000,171,2242,2935,2916,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.72,-136.3,171,2240,2916,2954,3.4,-2.5,8,120,8.90,1.95,-8.95,0.000,18948,0.218,0.051,2452,980,3318,3314,3322,0,0,0,0,0,0,25.72,26.08,26.41
$GC,129,-0.72,-136.3,2452,980,3314,3322,16.5,-31.8,12,139,0.00,2.17,0.00,0.000,3078,0.000,0.042,2443,4095,3318,3314,3322,0,0,0,0,0,0,28.83,26.11,28.83
$GC,394,-0.72,-136.3,2442,4095,3316,3322,84.7,-23.9,40,395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,4095,3319,3316,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,635,-0.72,-136.3,2443,4095,3317,3322,140.5,-22.1,64,646,0.00,2.05,0.00,0.000,2564,0.000,0.039,2447,990,3319,3317,3322,0,0,0,0,0,0,28.83,26.34,28.83
$GC,671,-0.72,-136.3,2447,989,3317,3322,148.4,-22.4,67,676,0.08,2.10,0.00,0.000,3078,0.197,0.041,2454,4095,3319,3317,3322,0,0,0,0,0,0,26.24,26.39,28.83
$GC,924,-0.72,-136.3,2454,4095,3318,3322,202.0,-21.8,92,927,0.00,0.15,0.00,0.000,2308,0.000,0.062,2454,2242,3320,3318,3322,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1427,-0.72,-136.3,2454,2242,3319,3322,302.5,-20.4,104,1431,0.00,0.20,0.00,0.000,3078,0.000,0.063,2454,4095,3320,3319,3321,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1684,-0.72,-136.3,2454,4095,3320,3322,357.5,-19.4,111,1688,0.00,0.15,0.00,0.000,2308,0.000,0.064,2454,2249,3320,3318,3322,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2188,-0.72,-136.3,2454,2249,3318,3321,447.3,-18.4,123,2192,0.00,0.17,0.00,0.000,3078,0.000,0.069,2454,4095,3320,3318,3322,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2445,-0.72,-136.3,2453,4095,3318,3321,499.9,-18.6,130,2448,0.00,0.15,0.00,0.000,2308,0.000,0.064,2454,2241,3319,3318,3321,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2948,-0.72,-136.3,2453,2240,3318,3320,585.1,-17.0,142,2952,0.00,0.17,0.00,0.000,3078,0.000,0.069,2453,4095,3319,3318,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3205,-0.72,-136.3,2453,4095,3317,3319,633.2,-17.1,149,3209,0.00,0.15,0.00,0.000,2308,0.000,0.064,2453,2246,3318,3317,3319,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3709,-0.72,-136.3,2452,2246,3316,3318,714.6,-16.7,161,3712,0.00,0.20,0.00,0.000,3078,0.000,0.066,2452,4095,3316,3316,3317,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3966,-0.72,-136.3,2452,4095,3315,3317,757.5,-14.9,168,3969,0.00,0.15,0.00,0.000,2308,0.000,0.065,2452,2253,3316,3315,3317,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4470,-0.72,-136.3,2452,2253,3314,3315,832.9,-15.6,180,4473,0.00,0.17,0.00,0.000,3078,0.000,0.073,2451,4095,3314,3314,3315,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4727,-0.72,-136.3,2451,4095,3314,3313,875.3,-15.0,187,4730,0.00,0.12,0.00,0.000,2308,0.000,0.070,2451,2257,3313,3313,3313,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4750,-0.72,-136.3,2451,2257,3314,3313,875.3,-15.0,187,4754,0.00,0.17,0.00,0.000,3078,0.000,0.073,2450,4095,3313,3314,3313,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,4926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4926,begin apogee
$GC,4931,-0.17,0.0,2450,2247,3313,3313,904.5,-14.6,192,5051,0.57,0.20,116.10,1.092,10246,0.119,0.067,2635,4095,2762,2776,2749,0,0,0,0,0,0,26.40,25.10,24.39
$STATE,5052,end apogee,CONTROL_FINISHED_OK
$STATE,5052,begin climb
$GC,5053,0.72,136.3,2635,4095,2775,2748,909.2,0.0,195,5183,0.75,0.17,122.97,1.039,10500,0.036,0.060,2932,2264,2206,2243,2169,0,0,0,0,0,0,25.23,24.81,24.13
$GC,5369,0.72,136.3,2932,2260,2234,2164,856.6,24.1,203,5373,0.03,0.15,0.00,0.000,5126,0.181,0.081,2925,4095,2199,2234,2164,0,0,0,0,0,0,25.68,25.78,28.83
$GC,5646,0.72,136.3,2925,4095,2231,2162,794.1,22.0,210,5651,0.00,2.12,0.00,0.000,4612,0.000,0.046,2934,994,2196,2231,2162,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5908,0.72,136.3,2933,994,2227,2162,743.1,21.5,216,5912,0.00,2.12,0.00,0.000,5126,0.000,0.049,2930,4095,2195,2227,2163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6165,0.72,136.3,2930,4095,2226,2162,685.0,20.9,223,6169,0.00,0.10,0.00,0.000,4356,0.000,0.075,2930,2257,2194,2226,2162,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6669,0.72,136.3,2929,2257,2223,2161,587.3,20.6,235,6672,0.00,0.17,0.00,0.000,5126,0.000,0.080,2930,4095,2192,2224,2161,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6926,0.72,136.3,2929,4095,2223,2160,526.6,22.4,242,6930,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2254,2191,2223,2160,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7429,0.72,136.3,2930,2254,2222,2161,430.1,20.0,254,7433,0.00,0.17,0.00,0.000,5126,0.000,0.079,2930,4095,2192,2223,2161,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7687,0.72,136.3,2930,4095,2222,2160,379.7,17.7,261,7690,0.00,0.12,0.00,0.000,4356,0.000,0.066,2930,2251,2191,2222,2160,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8190,0.72,136.3,2930,2251,2222,2161,294.9,17.6,273,8194,0.00,0.17,0.00,0.000,5126,0.000,0.077,2930,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8447,0.72,136.3,2930,4095,2222,2160,241.8,18.9,280,8451,0.00,0.12,0.00,0.000,4356,0.000,0.066,2931,2248,2191,2222,2161,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8974,0.72,136.3,2048,2246,2187,2155,144.3,18.8,312,8984,0.00,0.17,0.00,0.000,5126,0.000,0.076,2931,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9225,0.72,136.3,2930,4095,2222,2161,97.2,18.9,337,9229,0.00,0.12,0.00,0.000,4356,0.000,0.065,2931,2249,2191,2222,2161,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9786,end climb,SURFACE_DEPTH_REACHED
$STATE,9786,begin surface coast
$FINISH,1.1,2.012866
$STATE,9815,end surface coast,CONTROL_FINISHED_OK
$STATE,9815,begin surface
$SM_CCo,9829,120.62,0.641,0,0,1171,390.02
$SM_GC,2.39,6.88,0.17,120.62,0.023,0.074,0.641,190,4095,1171,-7.72,-0.62,390.02,0,0,0,0,0,0,26.65,26.67,24.92
$IRIDIUM_FIX,3359.08,-15704.17,190309,181816
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.25
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.60
$XPDR_PINGS,344
$24V_AH,24.1,28.257
$10V_AH,10.3,16.011
$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,17.200,16.850,239.075,120.625,0.000,31.698,46.467,188.561,86.000,0.000,8.312,1305.982,5801.132,400.941,2691.613,129.453,0.000,1390.946,0.000,2056.333,0.000,0.542,0.000
$DEVICE_MAMPS,218.025,81.090,1091.655,641.070,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,285.125,173.022,339.168,298.697,619.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352984
$DATA_FILE_SIZE,33882,398
$CAP_FILE_SIZE,102981,0
$CFSIZE,259248128,247812096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230516,110439,3413.286,-15703.972,13,1.4,13,11.4