version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 49
start: 5 2 116 22 50 46
data:
$ID,512
$MISSION,7
$DIVE,49
$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,760
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52650
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-129512.95
$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,2657
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2300
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,21
$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
$GPS1,020516,224355,3627.875,-15752.046,41,0.8,41,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-74.1
$GPS2,020516,224951,3627.923,-15751.980,8,1.0,9,11.5
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,-0.252
$KALMAN_X,46598.5,-410.3,-414.0,-33268.6,5103.3
$KALMAN_Y,102712.0,-1171.5,-519.9,-112646.7,10640.7
$MHEAD_RNG_PITCHd_Wd,169.1,1524115,-18.9,-10.000,-21.63,2088
$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,-0.92,-136.3,180,2309,1102,1229,0.0,0.0,0,88,0.00,0.00,-70.68,0.000,16386,0.000,0.000,180,2285,2906,2879,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.92,-136.3,180,2287,2881,2932,3.3,-2.3,8,119,8.50,2.33,-10.93,0.000,18692,0.223,0.072,2342,3716,3316,3309,3324,0,0,0,0,0,0,25.87,26.07,26.37
$GC,259,-0.92,-136.3,2342,3716,3310,3325,59.2,-36.3,26,271,0.03,2.12,0.00,0.000,3078,0.187,0.039,2351,2315,3317,3311,3324,0,0,0,0,0,0,26.13,26.22,28.83
$GC,511,-0.92,-136.3,2350,2300,3311,3325,144.4,-32.7,51,517,0.00,0.00,0.00,0.000,2054,0.000,0.000,2351,2299,3318,3311,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,758,-0.92,-136.3,2350,2299,3312,3324,225.8,-31.8,70,759,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2299,3318,3312,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,997,-0.92,-136.3,2350,2299,3313,3324,300.3,-31.0,76,1001,0.00,2.20,0.00,0.000,2308,0.000,0.057,2342,3716,3319,3313,3325,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1016,-0.92,-136.3,2341,3716,3313,3324,300.3,-31.0,76,1021,0.03,2.17,0.00,0.000,3078,0.190,0.037,2352,2306,3318,3313,3324,0,0,0,0,0,0,26.42,26.51,28.83
$GC,1273,-0.92,-136.3,2351,2282,3313,3324,384.3,-30.2,83,1277,0.00,2.22,0.00,0.000,2308,0.000,0.057,2342,3717,3318,3313,3324,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1292,-0.92,-136.3,2342,3717,3314,3324,384.3,-30.2,83,1296,0.00,2.20,0.00,0.000,3078,0.000,0.037,2343,2301,3318,3313,3324,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1549,-0.92,-136.3,2342,2272,3313,3324,467.5,-30.3,90,1553,0.05,2.12,0.00,0.000,2564,0.226,0.046,2356,889,3318,3313,3324,0,0,0,0,0,0,26.63,26.60,28.83
$GC,1585,-0.92,-136.3,2357,889,3313,3324,478.3,-30.1,91,1589,0.00,2.20,0.00,0.000,3078,0.000,0.046,2347,2317,3318,3313,3324,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1861,-0.92,-136.3,2347,2315,3314,3324,561.4,-30.0,98,1865,0.00,2.15,0.00,0.000,2308,0.000,0.058,2337,3715,3319,3314,3324,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1885,-0.92,-136.3,2336,3715,3314,3324,561.4,-30.0,98,1889,0.05,2.20,0.00,0.000,3078,0.175,0.038,2355,2291,3319,3314,3324,0,0,0,0,0,0,26.53,26.66,28.83
$GC,2137,-0.92,-136.3,2355,2266,3313,3324,639.1,-27.6,105,2138,0.00,0.00,0.00,0.000,2054,0.000,0.000,2355,2266,3318,3313,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2377,-0.92,-136.3,2355,2266,3313,3323,704.4,-27.2,111,2378,0.00,0.00,0.00,0.000,2054,0.000,0.000,2355,2266,3318,3313,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2617,-0.92,-136.3,2355,2266,3313,3322,766.7,-25.8,117,2618,0.00,0.00,0.00,0.000,2054,0.000,0.000,2355,2266,3317,3313,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2856,-0.92,-136.3,2355,2266,3314,3321,826.9,-25.3,123,2858,0.00,0.00,0.00,0.000,2054,0.000,0.000,2355,2266,3317,3313,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3097,-0.92,-136.3,2355,2266,3314,3319,885.3,-24.3,129,3101,0.00,2.25,0.00,0.000,2308,0.000,0.063,2346,3707,3316,3313,3319,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3155,-0.92,-136.3,2346,3707,3313,3320,894.5,-24.6,130,3160,0.00,2.17,0.00,0.000,3078,0.000,0.041,2354,2307,3316,3313,3319,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3171,begin apogee
$GC,3175,-0.20,0.0,2353,2382,3313,3319,904.7,-25.1,131,3295,0.75,0.00,116.20,1.113,10246,0.142,0.000,2586,2381,2762,2770,2754,0,0,0,0,0,0,26.63,28.83,24.24
$STATE,3296,end apogee,CONTROL_FINISHED_OK
$STATE,3296,begin climb
$GC,3297,0.92,136.3,2586,2381,2769,2754,911.8,0.0,134,3430,1.10,2.45,124.30,1.069,10500,0.076,0.070,2954,3745,2205,2235,2176,0,0,0,0,0,0,25.02,24.75,24.04
$GC,3440,0.92,136.3,2954,3745,2233,2176,899.8,12.8,137,3445,0.00,2.35,0.00,0.000,5126,0.000,0.047,2965,2365,2204,2233,2176,0,0,0,0,0,0,28.83,25.03,28.83
$GC,3692,0.92,136.3,2965,2340,2228,2171,823.8,27.7,144,3694,0.00,0.00,0.00,0.000,4102,0.000,0.000,2965,2340,2199,2228,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3932,0.92,136.3,2965,2340,2225,2170,759.6,26.5,150,3933,0.00,0.00,0.00,0.000,4102,0.000,0.000,2965,2340,2197,2225,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4172,0.92,136.3,2965,2340,2224,2169,698.2,25.7,156,4173,0.00,0.00,0.00,0.000,4102,0.000,0.000,2965,2340,2196,2224,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4412,0.92,136.3,2965,2339,2223,2169,639.4,24.3,162,4413,0.00,0.00,0.00,0.000,4102,0.000,0.000,2965,2339,2196,2223,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4652,0.92,136.3,2965,2339,2222,2168,581.1,24.2,168,4656,0.00,2.17,0.00,0.000,4612,0.000,0.054,2975,944,2195,2222,2168,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4691,0.92,136.3,2975,944,2221,2168,572.4,24.5,169,4696,0.03,2.28,0.00,0.000,5126,0.189,0.054,2963,2345,2194,2221,2168,0,0,0,0,0,0,26.39,26.48,28.83
$GC,4968,0.92,136.3,2963,2343,2220,2168,507.7,23.1,176,4972,0.00,2.17,0.00,0.000,4612,0.000,0.050,2972,943,2194,2220,2168,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5022,0.92,136.3,2972,943,2219,2168,499.5,22.9,177,5026,0.05,2.30,0.00,0.000,5126,0.170,0.054,2956,2364,2193,2219,2168,0,0,0,0,0,0,26.45,26.54,28.83
$GC,5284,0.92,136.3,2956,2363,2219,2167,438.8,21.7,184,5288,0.00,2.20,0.00,0.000,4612,0.000,0.050,2965,946,2193,2219,2167,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5307,0.92,136.3,2965,946,2219,2167,438.8,21.7,184,5312,0.00,2.28,0.00,0.000,5126,0.000,0.051,2959,2361,2193,2219,2168,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5559,0.92,136.3,2959,2359,2219,2167,378.1,22.0,191,5563,0.00,2.17,0.00,0.000,4612,0.000,0.047,2968,948,2193,2219,2167,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5583,0.92,136.3,2968,948,2219,2167,378.1,22.0,191,5587,0.00,2.28,0.00,0.000,5126,0.000,0.052,2968,2364,2192,2218,2167,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5835,0.92,136.3,2968,2362,2218,2167,314.4,23.3,198,5836,0.00,0.00,0.00,0.000,4102,0.000,0.000,2968,2362,2192,2218,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6075,0.92,136.3,2967,2362,2218,2167,258.7,23.0,204,6076,0.00,0.00,0.00,0.000,4102,0.000,0.000,2968,2362,2192,2218,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6315,0.92,136.3,2968,2362,2218,2167,204.5,22.3,210,6319,0.00,2.22,0.00,0.000,4356,0.000,0.067,2968,3775,2192,2218,2167,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6354,0.92,136.3,2968,3775,2217,2167,195.6,22.8,211,6361,0.08,2.25,0.00,0.000,5126,0.174,0.045,2956,2355,2192,2217,2168,0,0,0,0,0,0,26.56,26.71,28.83
$GC,6601,0.92,136.3,2956,2325,2218,2167,142.5,20.1,236,6605,0.00,2.10,0.00,0.000,4612,0.000,0.047,2965,941,2192,2217,2167,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6620,0.92,136.3,2965,941,2217,2168,139.0,20.5,237,6628,0.00,2.20,0.00,0.000,5126,0.000,0.050,2957,2360,2192,2217,2167,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6868,0.92,136.3,2957,2359,2217,2167,87.4,19.4,262,6879,0.00,2.20,0.00,0.000,4356,0.000,0.066,2956,3765,2192,2217,2168,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6916,0.92,136.3,2112,3765,2182,2162,77.5,21.0,266,6927,0.00,2.22,0.00,0.000,5126,0.000,0.041,2966,2348,2192,2216,2168,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7175,0.92,136.3,2966,2328,2216,2168,24.2,18.9,293,7184,0.00,2.12,0.00,0.000,4612,0.000,0.048,2976,962,2191,2216,2167,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7248,0.92,136.3,2976,962,2216,2168,9.6,19.5,303,7259,0.05,2.22,0.00,0.000,5126,0.163,0.050,2956,2361,2191,2216,2167,0,0,0,0,0,0,26.59,26.70,28.83
$STATE,7287,end climb,SURFACE_DEPTH_REACHED
$STATE,7287,begin surface coast
$FINISH,1.2,2.274201
$STATE,7310,end surface coast,CONTROL_FINISHED_OK
$STATE,7310,begin surface
$SM_CCo,7323,114.00,0.685,0,0,1171,390.02
$SM_GC,2.41,7.03,0.12,114.00,0.033,0.072,0.685,190,2269,1171,-7.63,1.24,390.02,0,0,0,0,0,0,26.72,26.77,24.87
$IRIDIUM_FIX,3616.21,-15751.49,270209,090922
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.55
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.10
$XPDR_PINGS,248
$24V_AH,24.0,7.050
$10V_AH,10.3,5.374
$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,17.725,66.825,240.500,114.000,0.000,30.260,47.260,188.743,62.000,0.000,9.689,884.380,5120.811,467.604,1276.582,54.354,33.251,901.232,0.000,722.987,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,79.560,1113.075,685.440,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,226.622,140.130,274.568,249.158,516.411,0.000,0.000,0.000,0.000,0.000
$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,27154,311
$CAP_FILE_SIZE,70949,0
$CFSIZE,259248128,256045056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030516,005532,3627.408,-15751.433,13,1.5,13,11.5