version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 50
start: 5 3 116 1 2 39
data:
$ID,512
$MISSION,7
$DIVE,50
$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,-129514.2
$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,71
$R_STBD_OVSHOOT,23
$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
$GPS1,030516,005532,3627.408,-15751.433,13,1.5,13,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-73.8
$GPS2,030516,010143,3627.446,-15751.374,5,1.9,5,11.5
$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,47288.2,-1007.2,-55.9,-32821.6,5869.4
$KALMAN_Y,105460.8,-910.5,-709.3,-116350.4,14835.9
$MHEAD_RNG_PITCHd_Wd,169.2,1523239,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.92,-136.3,184,2296,1103,1228,0.0,0.0,0,79,0.00,0.00,-62.12,0.000,16386,0.000,0.000,184,2296,2677,2654,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.92,-136.3,184,2269,2654,2702,3.1,-1.8,7,118,8.52,2.30,-20.90,0.000,18692,0.224,0.071,2345,3712,3318,3312,3325,0,0,0,0,0,0,25.86,26.06,26.37
$GC,271,-0.92,-136.3,2345,3712,3313,3326,59.8,-36.5,28,283,0.00,2.10,0.00,0.000,3078,0.000,0.038,2353,2336,3319,3313,3326,0,0,0,0,0,0,28.83,26.24,28.83
$GC,523,-0.92,-136.3,2353,2309,3313,3325,145.1,-35.1,53,531,0.00,2.17,0.00,0.000,2564,0.000,0.046,2357,898,3319,3314,3325,0,0,0,0,0,0,28.83,26.36,28.83
$GC,547,-0.92,-136.3,2356,898,3314,3325,153.4,-35.8,55,556,0.00,2.20,0.00,0.000,3078,0.000,0.045,2347,2314,3319,3314,3325,0,0,0,0,0,0,28.83,26.36,28.83
$GC,803,-0.92,-136.3,2347,2314,3315,3325,240.9,-32.4,72,804,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2314,3320,3315,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1043,-0.92,-136.3,2347,2314,3315,3326,319.3,-32.4,78,1044,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2314,3320,3315,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1283,-0.92,-136.3,2347,2313,3316,3325,395.1,-31.0,84,1284,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2314,3321,3316,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1523,-0.92,-136.3,2347,2313,3316,3325,467.5,-30.0,90,1527,0.00,2.20,0.00,0.000,2564,0.000,0.044,2350,883,3321,3316,3326,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1541,-0.92,-136.3,2350,883,3316,3326,467.5,-30.0,90,1546,0.05,2.25,0.00,0.000,3078,0.177,0.046,2355,2307,3320,3316,3325,0,0,0,0,0,0,26.49,26.61,28.83
$GC,1798,-0.92,-136.3,2355,2305,3316,3325,545.6,-27.4,97,1800,0.00,0.00,0.00,0.000,2054,0.000,0.000,2356,2305,3320,3316,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2038,-0.92,-136.3,2355,2305,3315,3325,610.1,-26.8,103,2042,0.00,2.17,0.00,0.000,2564,0.000,0.046,2356,893,3320,3316,3325,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2077,-0.92,-136.3,1568,892,3304,3322,619.3,-26.4,104,2081,0.00,2.22,0.00,0.000,3078,0.000,0.047,2347,2298,3320,3316,3325,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2354,-0.92,-136.3,2346,2297,3316,3324,694.8,-27.1,111,2355,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2297,3319,3315,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2594,-0.92,-136.3,2346,2297,3315,3323,759.3,-26.9,117,2598,0.00,2.17,0.00,0.000,2308,0.000,0.060,2336,3708,3319,3315,3323,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2623,-0.92,-136.3,2336,3708,3315,3323,759.3,-26.9,117,2631,0.05,2.20,0.00,0.000,3078,0.169,0.039,2355,2282,3319,3316,3323,0,0,0,0,0,0,26.60,26.72,28.83
$GC,2870,-0.92,-136.3,2355,2260,3316,3322,830.2,-25.6,124,2874,0.00,2.25,0.00,0.000,2308,0.000,0.060,2345,3708,3318,3315,3322,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2913,-0.92,-136.3,2345,3708,3314,3321,839.3,-25.4,125,2918,0.00,2.17,0.00,0.000,3078,0.000,0.040,2353,2306,3318,3315,3321,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3184,begin apogee
$GC,3188,-0.20,0.0,2352,2381,3315,3320,909.3,-24.5,132,3308,0.77,0.00,116.45,1.115,10246,0.145,0.000,2592,2381,2762,2770,2754,0,0,0,0,0,0,26.62,28.83,24.24
$STATE,3309,end apogee,CONTROL_FINISHED_OK
$STATE,3309,begin climb
$GC,3310,0.92,136.3,2591,2381,2769,2754,917.0,0.0,135,3444,1.05,2.45,122.95,1.069,10500,0.075,0.071,2944,3744,2205,2235,2176,0,0,0,0,0,0,25.03,24.75,24.05
$GC,3498,0.92,136.3,2943,3744,2231,2174,897.7,14.7,139,3506,0.00,2.33,0.00,0.000,1030,0.000,0.050,2953,2368,2202,2231,2173,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3746,0.92,136.3,2952,2338,2228,2170,829.5,23.5,146,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2338,2199,2228,2170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3985,0.92,136.3,2953,2338,2225,2169,772.8,23.5,152,3990,0.00,2.30,0.00,0.000,260,0.000,0.071,2952,3744,2197,2225,2169,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4021,0.92,136.3,2952,3744,2224,2169,763.5,24.2,153,4025,0.00,2.22,0.00,0.000,5126,0.000,0.048,2961,2344,2196,2224,2169,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4297,0.92,136.3,2962,2316,2223,2169,696.0,24.5,160,4301,0.00,2.33,0.00,0.000,4356,0.000,0.071,2959,3749,2196,2223,2169,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4316,0.92,136.3,2959,3749,2223,2169,696.0,24.5,160,4320,0.00,2.22,0.00,0.000,5126,0.000,0.048,2968,2353,2196,2223,2169,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4573,0.92,136.3,2968,2324,2223,2168,624.0,26.0,167,4574,0.00,0.00,0.00,0.000,4102,0.000,0.000,2968,2324,2194,2222,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4813,0.92,136.3,2968,2324,2221,2167,562.1,25.9,173,4814,0.00,0.00,0.00,0.000,4102,0.000,0.000,2968,2324,2194,2221,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5053,0.92,136.3,2969,2323,2221,2167,501.7,25.3,179,5057,0.00,2.12,0.00,0.000,4612,0.000,0.052,2978,948,2194,2221,2167,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5111,0.92,136.3,2978,948,2219,2167,492.9,25.1,180,5116,0.03,2.22,0.00,0.000,5126,0.196,0.053,2963,2334,2193,2220,2167,0,0,0,0,0,0,26.47,26.55,28.83
$GC,5369,0.92,136.3,2963,2332,2220,2167,426.4,23.4,187,5373,0.00,2.28,0.00,0.000,4356,0.000,0.070,2959,3765,2193,2219,2167,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5408,0.92,136.3,2959,3765,2219,2167,417.9,23.3,188,5412,0.00,2.22,0.00,0.000,5126,0.000,0.045,2968,2349,2193,2219,2167,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5684,0.92,136.3,2968,2331,2219,2167,356.7,21.2,195,5685,0.00,0.00,0.00,0.000,4102,0.000,0.000,2968,2332,2193,2219,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5925,0.92,136.3,2969,2319,2219,2167,306.9,20.7,201,5928,0.00,2.10,0.00,0.000,4612,0.000,0.050,2979,945,2193,2219,2167,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5950,0.92,136.3,2978,945,2218,2167,306.9,20.7,201,5954,0.08,2.22,0.00,0.000,5126,0.200,0.051,2958,2364,2192,2218,2167,0,0,0,0,0,0,26.55,26.65,28.83
$GC,6195,0.92,136.3,2957,2363,2218,2166,252.9,19.8,207,6196,0.00,0.00,0.00,0.000,4102,0.000,0.000,2957,2362,2192,2218,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6435,0.92,136.3,2957,2362,2218,2166,205.9,19.3,213,6439,0.00,2.20,0.00,0.000,4356,0.000,0.067,2956,3766,2192,2218,2167,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6484,0.92,136.3,2956,3766,2217,2167,196.0,20.2,215,6491,0.00,2.25,0.00,0.000,5126,0.000,0.048,2966,2349,2193,2218,2168,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6731,0.92,136.3,2966,2334,2218,2167,144.8,20.7,240,6743,0.00,2.30,0.00,0.000,4356,0.000,0.067,2966,3772,2192,2218,2167,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6769,0.92,136.3,2966,3772,2217,2167,137.1,22.5,243,6778,0.05,2.25,0.00,0.000,5126,0.184,0.042,2962,2351,2192,2218,2167,0,0,0,0,0,0,26.57,26.71,28.83
$GC,7017,0.92,136.3,2961,2324,2218,2167,83.7,21.8,268,7030,0.00,2.28,0.00,0.000,4356,0.000,0.066,2956,3765,2192,2218,2167,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7104,0.92,136.3,2956,3765,2218,2166,63.7,24.2,275,7116,0.03,2.15,0.00,0.000,5126,0.201,0.043,2959,2353,2192,2218,2167,0,0,0,0,0,0,26.60,26.72,28.83
$GC,7387,0.92,136.3,2958,2335,2217,2167,6.8,19.0,308,7397,0.00,2.12,0.00,0.000,4612,0.000,0.047,2968,965,2192,2217,2167,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7406,0.92,136.3,2967,964,2218,2167,3.3,18.4,310,7415,0.00,2.22,0.00,0.000,5126,0.000,0.050,2968,2366,2191,2217,2165,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,7423,end climb,SURFACE_DEPTH_REACHED
$STATE,7423,begin surface coast
$FINISH,1.1,2.119606
$STATE,7446,end surface coast,CONTROL_FINISHED_OK
$STATE,7446,begin surface
$SM_CCo,7460,113.18,0.678,0,0,1171,390.02
$SM_GC,2.54,7.03,0.15,113.18,0.031,0.066,0.678,192,2261,1171,-7.62,1.13,390.02,0,0,0,0,0,0,26.71,26.76,24.89
$IRIDIUM_FIX,3613.54,-15751.03,270209,121232
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.07
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.10
$XPDR_PINGS,248
$24V_AH,24.0,7.168
$10V_AH,10.3,5.419
$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,17.650,71.525,239.400,113.175,0.000,29.833,48.096,211.267,62.000,0.000,6.272,893.298,5192.132,447.499,1369.887,56.372,33.246,935.416,0.000,790.279,0.000,0.540,0.000
$DEVICE_MAMPS,224.145,78.030,1114.605,677.790,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,223.282,138.454,277.256,253.492,525.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353060
$DATA_FILE_SIZE,27310,315
$CAP_FILE_SIZE,72879,0
$CFSIZE,259248128,256004096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030516,031001,3626.846,-15750.997,34,0.7,35,11.5