version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 230
start: 5 24 116 22 18 22
data:
$ID,512
$MISSION,7
$DIVE,230
$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,-130348.12
$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
$GPS1,240516,215902,3403.237,-15656.333,15,0.9,33,11.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-73.8
$GPS2,240516,221740,3403.194,-15656.241,7,0.7,8,11.4
$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,173.6,1260726,-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,-136.3,138,2273,1126,1200,0.0,0.0,0,87,0.00,0.00,-70.00,0.000,16386,0.000,0.000,136,2274,2932,2912,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,136,2263,2913,2952,3.3,-2.1,8,119,8.90,0.20,-9.35,0.000,18692,0.212,0.197,2449,4095,3319,3317,3321,0,0,0,0,0,0,25.74,26.10,26.46
$GC,714,-0.72,-136.3,2449,4095,3319,3321,150.7,-22.4,66,724,0.00,0.22,0.00,0.000,3078,0.000,0.047,2449,2234,3320,3319,3321,0,0,0,0,0,0,28.83,26.53,28.83
$GC,981,-0.72,-136.3,2449,2234,3319,3321,210.2,-21.4,90,985,0.00,0.20,0.00,0.000,2308,0.000,0.062,2449,4095,3320,3319,3321,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1485,-0.72,-136.3,2449,4095,3319,3321,310.6,-20.3,102,1489,0.00,0.20,0.00,0.000,3078,0.000,0.052,2449,2237,3320,3319,3321,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1742,-0.72,-136.3,2449,2238,3319,3321,365.7,-19.7,109,1745,0.00,0.20,0.00,0.000,2308,0.000,0.061,2449,4095,3320,3319,3321,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2246,-0.72,-136.3,2448,4095,3319,3319,460.0,-19.0,121,2249,0.00,0.17,0.00,0.000,3078,0.000,0.057,2449,2251,3319,3319,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2502,-0.72,-136.3,2448,2251,3318,3319,513.7,-19.2,128,2506,0.00,0.17,0.00,0.000,2308,0.000,0.067,2448,4095,3318,3318,3318,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3006,-0.72,-136.3,2448,4095,3317,3317,603.3,-18.0,140,3009,0.00,0.20,0.00,0.000,3078,0.000,0.054,2448,2241,3317,3317,3317,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3263,-0.72,-136.3,2448,2241,3316,3317,654.7,-18.3,147,3266,0.00,0.20,0.00,0.000,2308,0.000,0.063,2447,4095,3316,3316,3316,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3766,-0.72,-136.3,2447,4095,3315,3314,739.9,-17.1,159,3770,0.00,0.20,0.00,0.000,3078,0.000,0.056,2447,2251,3314,3315,3314,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4023,-0.72,-136.3,2447,2251,3314,3313,785.5,-16.2,166,4027,0.00,0.17,0.00,0.000,2308,0.000,0.070,2446,4095,3313,3314,3313,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4527,-0.72,-136.3,2445,4095,3313,3311,861.2,-15.5,178,4531,0.00,0.20,0.00,0.000,3078,0.000,0.056,2445,2244,3312,3313,3311,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4783,begin apogee
$GC,4787,-0.17,0.0,2445,4095,3311,3309,905.7,-16.2,185,4907,0.57,0.20,115.62,1.098,10246,0.116,0.056,2630,2257,2762,2779,2745,0,0,0,0,0,0,26.40,25.13,24.39
$STATE,4908,end apogee,CONTROL_FINISHED_OK
$STATE,4908,begin climb
$GC,4910,0.72,136.3,2631,2247,2778,2745,911.9,0.0,188,5043,0.77,2.15,123.18,1.037,10756,0.047,0.047,2931,988,2205,2241,2170,0,0,0,0,0,0,25.22,24.83,24.14
$GC,5188,0.72,136.3,2931,988,2233,2165,873.1,20.7,195,5192,0.00,2.20,0.00,0.000,5126,0.000,0.049,2930,4095,2199,2233,2165,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5460,0.72,136.3,2930,4095,2231,2163,813.6,21.9,202,5463,0.00,0.10,0.00,0.000,4356,0.000,0.075,2931,2258,2196,2230,2163,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5963,0.72,136.3,2930,2258,2226,2162,708.0,21.8,214,5967,0.00,0.17,0.00,0.000,5126,0.000,0.080,2931,4095,2194,2226,2162,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6221,0.72,136.3,2930,4095,2225,2161,645.7,21.7,221,6224,0.00,0.12,0.00,0.000,4356,0.000,0.066,2930,2255,2193,2225,2162,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6724,0.72,136.3,2930,2255,2223,2160,547.4,19.9,233,6728,0.00,0.17,0.00,0.000,5126,0.000,0.079,2930,4095,2191,2223,2160,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6981,0.72,136.3,2930,4095,2223,2160,493.0,19.4,240,6984,0.00,0.12,0.00,0.000,4356,0.000,0.067,2930,2252,2191,2223,2160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7430,0.72,136.3,2930,2252,2222,2160,410.8,19.4,251,7433,0.00,0.17,0.00,0.000,5126,0.000,0.079,2930,4095,2191,2222,2160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7701,0.72,136.3,2930,4095,2220,2160,354.1,20.3,258,7703,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,4095,2190,2220,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,0.72,136.3,2930,4095,2220,2160,305.2,20.2,264,7945,0.00,2.08,0.00,0.000,4612,0.000,0.042,2939,992,2190,2220,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7972,0.72,136.3,2939,992,2219,2160,305.2,20.2,264,7979,0.08,2.10,0.00,0.000,5126,0.174,0.046,2923,4095,2190,2220,2161,0,0,0,0,0,0,26.47,26.57,28.83
$GC,8218,0.72,136.3,2923,4095,2219,2160,253.5,18.5,271,8219,0.00,0.00,0.00,0.000,4102,0.000,0.000,2923,4095,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8457,0.72,136.3,2923,4095,2219,2161,210.7,17.5,277,8461,0.00,2.08,0.00,0.000,4612,0.000,0.044,2932,986,2190,2219,2161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8511,0.72,136.3,2932,986,2219,2160,204.4,17.3,278,8515,0.00,2.10,0.00,0.000,5126,0.000,0.046,2931,4095,2190,2220,2160,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8765,0.72,136.3,2930,4095,2219,2161,155.9,18.0,302,8774,0.00,2.08,0.00,0.000,4612,0.000,0.044,2939,981,2189,2219,2160,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8798,0.72,136.3,2938,981,2219,2161,149.7,18.2,305,8803,0.10,2.12,0.00,0.000,5126,0.161,0.045,2915,4095,2190,2219,2161,0,0,0,0,0,0,26.44,26.58,28.83
$GC,9046,0.72,136.3,2915,4095,2219,2161,108.7,16.0,329,9049,0.00,0.12,0.00,0.000,260,0.000,0.070,2915,2247,2190,2219,2161,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9667,0.72,136.3,2915,2247,2219,2160,16.0,14.7,387,9677,0.00,0.15,0.00,0.000,1030,0.000,0.079,2916,4095,2190,2220,2161,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9760,end climb,SURFACE_DEPTH_REACHED
$STATE,9760,begin surface coast
$FINISH,1.0,1.023093
$STATE,9790,end surface coast,CONTROL_FINISHED_OK
$STATE,9790,begin surface
$SM_CCo,9804,115.88,0.627,0,0,1171,390.02
$SM_GC,2.13,6.90,0.17,115.88,0.031,0.059,0.627,185,2256,1171,-7.72,-0.59,390.02,0,0,0,0,0,0,26.67,26.76,24.98
$IRIDIUM_FIX,3348.69,-15701.40,210309,111158
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.41
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,18.90
$XPDR_PINGS,7
$24V_AH,24.1,29.808
$10V_AH,10.2,16.949
$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,17.325,21.175,238.800,115.875,0.000,132.643,252.578,258.950,1.750,0.000,10.080,1298.641,6092.804,402.721,3142.950,119.596,0.000,1351.883,0.000,1980.827,0.000,0.541,0.000
$DEVICE_MAMPS,211.905,196.605,1097.775,626.535,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,290.702,177.802,351.704,318.032,659.392,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352948
$DATA_FILE_SIZE,34199,404
$CAP_FILE_SIZE,105366,0
$CFSIZE,259248128,247148544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250516,010432,3402.363,-15656.349,23,1.6,23,11.4