version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 51
start: 5 3 116 3 16 41
data:
$ID,512
$MISSION,7
$DIVE,51
$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,-129555.38
$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,74
$R_STBD_OVSHOOT,39
$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
$GPS1,030516,031001,3626.846,-15750.997,34,0.7,35,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-74.7
$GPS2,030516,031546,3626.873,-15750.986,5,0.8,5,11.5
$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,47748.5,-1238.9,-362.4,-32167.9,6436.0
$KALMAN_Y,107141.4,-517.1,-830.3,-119354.4,15650.7
$MHEAD_RNG_PITCHd_Wd,169.2,1522186,-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,-136.3,187,2323,1104,1226,0.0,0.0,0,88,0.00,0.00,-70.60,0.000,16386,0.000,0.000,187,2325,2886,2861,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.92,-136.3,187,2324,2861,2912,3.1,-1.8,8,119,8.52,2.20,-11.90,0.000,18692,0.226,0.072,2341,3706,3319,3312,3326,0,0,0,0,0,0,25.86,26.06,26.36
$GC,273,-0.92,-136.3,2341,3706,3313,3326,63.3,-35.7,27,284,0.00,2.17,0.00,0.000,3078,0.000,0.037,2343,2329,3320,3314,3326,0,0,0,0,0,0,28.83,26.24,28.83
$GC,521,-0.92,-136.3,2342,2299,3314,3326,148.2,-32.7,52,523,0.05,0.00,0.00,0.000,2054,0.226,0.000,2353,2298,3320,3314,3326,0,0,0,0,0,0,26.37,28.83,28.83
$GC,770,-0.92,-136.3,2352,2297,3315,3327,226.5,-30.3,71,772,0.00,0.00,0.00,0.000,2054,0.000,0.000,2352,2298,3320,3315,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1010,-0.92,-136.3,2352,2298,3315,3326,299.9,-30.2,77,1011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2353,2298,3320,3315,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1250,-0.92,-136.3,2352,2298,3316,3326,372.5,-30.5,83,1254,0.00,2.17,0.00,0.000,2564,0.000,0.047,2356,884,3321,3316,3326,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1288,-0.92,-136.3,1576,883,3304,3324,383.3,-30.6,84,1293,0.00,2.22,0.00,0.000,3078,0.000,0.045,2346,2294,3321,3316,3326,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1566,-0.92,-136.3,2346,2292,3316,3326,470.3,-31.0,91,1567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2292,3321,3316,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1806,-0.92,-136.3,2346,2292,3316,3326,542.5,-29.9,97,1810,0.00,2.20,0.00,0.000,2308,0.000,0.059,2335,3715,3321,3316,3326,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1842,-0.92,-136.3,2335,3715,3316,3326,553.3,-29.9,98,1847,0.08,2.17,0.00,0.000,3078,0.194,0.038,2354,2281,3321,3316,3326,0,0,0,0,0,0,26.55,26.65,28.83
$GC,2118,-0.92,-136.3,2354,2257,3316,3326,632.3,-28.4,105,2122,0.00,2.08,0.00,0.000,2564,0.000,0.047,2356,899,3321,3316,3326,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2142,-0.92,-136.3,2356,899,3316,3325,632.3,-28.4,105,2146,0.00,2.22,0.00,0.000,3078,0.000,0.047,2347,2307,3320,3316,3325,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2394,-0.92,-136.3,2347,2305,3316,3324,709.7,-27.8,112,2395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2305,3320,3316,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2634,-0.92,-136.3,2347,2305,3316,3323,778.1,-28.2,118,2635,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2305,3320,3316,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2874,-0.92,-136.3,2347,2305,3316,3322,842.3,-26.8,124,2878,0.00,2.17,0.00,0.000,2308,0.000,0.062,2336,3712,3319,3316,3322,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2903,-0.92,-136.3,2336,3712,3316,3322,842.3,-26.8,124,2910,0.08,2.15,0.00,0.000,3078,0.194,0.041,2353,2302,3319,3316,3322,0,0,0,0,0,0,26.62,26.73,28.83
$STATE,3108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3108,begin apogee
$GC,3112,-0.20,0.0,2353,2378,3315,3321,901.5,-24.5,130,3231,0.75,0.00,116.03,1.108,10246,0.145,0.000,2585,2378,2762,2770,2754,0,0,0,0,0,0,26.62,28.83,24.24
$STATE,3232,end apogee,CONTROL_FINISHED_OK
$STATE,3232,begin climb
$GC,3234,0.92,136.3,2585,2378,2769,2754,908.4,0.0,133,3362,1.10,0.00,123.65,1.064,10502,0.076,0.000,2953,2378,2206,2236,2177,0,0,0,0,0,0,25.03,28.83,24.06
$GC,3589,0.92,136.3,2953,2377,2229,2170,835.2,25.5,142,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2377,2199,2229,2170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,0.92,136.3,2953,2378,2226,2169,774.1,25.3,148,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2377,2197,2225,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4069,0.92,136.3,2953,2377,2224,2169,714.1,25.2,154,4073,0.00,2.25,0.00,0.000,516,0.000,0.057,2962,966,2196,2224,2168,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4083,0.92,136.3,2963,966,2224,2169,714.1,25.2,154,4088,0.00,2.25,0.00,0.000,5126,0.000,0.056,2959,2338,2196,2223,2169,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4345,0.92,136.3,2959,2337,2223,2168,646.7,24.5,161,4349,0.00,2.17,0.00,0.000,4612,0.000,0.054,2968,956,2195,2223,2168,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4381,0.92,136.3,2968,956,2222,2168,638.4,24.1,162,4385,0.00,2.25,0.00,0.000,5126,0.000,0.057,2968,2363,2195,2222,2168,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4657,0.92,136.3,2968,2362,2221,2168,573.5,23.0,169,4661,0.00,2.25,0.00,0.000,4356,0.000,0.072,2968,3766,2194,2221,2168,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4672,0.92,136.3,2968,3765,2220,2168,573.5,23.0,169,4677,0.10,2.22,0.00,0.000,5126,0.201,0.049,2958,2356,2194,2220,2168,0,0,0,0,0,0,26.38,26.51,28.83
$GC,4929,0.92,136.3,2958,2332,2220,2166,514.6,21.1,176,4930,0.00,0.00,0.00,0.000,4102,0.000,0.000,2958,2333,2193,2220,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5169,0.92,136.3,2957,2333,2219,2166,464.5,20.8,182,5173,0.00,2.33,0.00,0.000,4356,0.000,0.072,2956,3773,2193,2220,2166,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5187,0.92,136.3,2956,3773,2219,2167,464.5,20.8,182,5192,0.00,2.28,0.00,0.000,5126,0.000,0.048,2965,2364,2193,2219,2167,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5444,0.92,136.3,2966,2335,2219,2167,403.9,22.0,189,5449,0.00,2.30,0.00,0.000,4356,0.000,0.072,2959,3766,2193,2220,2166,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5458,0.92,136.3,2958,3766,2219,2166,403.9,22.0,189,5462,0.00,2.25,0.00,0.000,5126,0.000,0.049,2968,2345,2193,2219,2167,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5720,0.92,136.3,2967,2317,2218,2167,341.7,22.5,196,5724,0.00,2.10,0.00,0.000,4612,0.000,0.052,2979,952,2193,2219,2167,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5814,0.92,136.3,2978,952,2218,2167,324.9,22.5,198,5819,0.03,2.28,0.00,0.000,5126,0.195,0.053,2963,2362,2192,2218,2166,0,0,0,0,0,0,26.55,26.64,28.83
$GC,6076,0.92,136.3,2963,2360,2218,2167,264.6,21.8,205,6080,0.00,2.25,0.00,0.000,4356,0.000,0.068,2957,3767,2192,2218,2167,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6120,0.92,136.3,2956,3767,2218,2167,256.6,22.0,206,6124,0.00,2.25,0.00,0.000,5126,0.000,0.045,2965,2360,2192,2218,2167,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6392,0.92,136.3,2965,2330,2217,2166,197.0,21.1,213,6396,0.00,2.12,0.00,0.000,4612,0.000,0.050,2976,946,2192,2218,2167,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6413,0.92,136.3,2976,946,2217,2167,193.7,21.0,214,6421,0.05,2.28,0.00,0.000,5126,0.168,0.051,2956,2367,2192,2217,2167,0,0,0,0,0,0,26.57,26.67,28.83
$GC,6663,0.92,136.3,2956,2366,2217,2167,142.8,19.7,239,6672,0.00,2.20,0.00,0.000,4356,0.000,0.068,2956,3771,2192,2217,2167,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6676,0.92,136.3,2956,3771,2217,2167,140.6,19.9,240,6687,0.00,2.25,0.00,0.000,5126,0.000,0.044,2966,2337,2192,2217,2167,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6927,0.92,136.3,2965,2322,2217,2167,89.0,19.7,265,6936,0.00,2.28,0.00,0.000,4356,0.000,0.067,2959,3764,2192,2217,2167,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6951,0.92,136.3,2959,3764,2217,2167,83.9,20.5,267,6959,0.00,2.12,0.00,0.000,5126,0.000,0.044,2968,2370,2192,2217,2167,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7202,0.92,136.3,2969,2348,2217,2167,31.6,20.7,292,7214,0.03,2.12,0.00,0.000,4612,0.293,0.047,2969,954,2192,2217,2167,0,0,0,0,0,0,26.70,26.70,28.83
$GC,7251,0.92,136.3,2968,955,2217,2167,21.5,19.9,298,7261,0.03,2.25,0.00,0.000,5126,0.189,0.050,2960,2370,2192,2217,2167,0,0,0,0,0,0,26.60,26.69,28.83
$STATE,7344,end climb,SURFACE_DEPTH_REACHED
$STATE,7344,begin surface coast
$FINISH,1.1,2.271617
$STATE,7367,end surface coast,CONTROL_FINISHED_OK
$STATE,7367,begin surface
$SM_CCo,7381,114.50,0.681,0,0,1171,390.02
$SM_GC,2.36,7.03,0.15,114.50,0.031,0.067,0.681,194,2266,1171,-7.61,1.19,390.02,0,0,0,0,0,0,26.72,26.75,24.88
$IRIDIUM_FIX,3613.54,-15751.03,270209,141404
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.70
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.10
$XPDR_PINGS,253
$24V_AH,24.1,7.285
$10V_AH,10.3,5.464
$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,17.825,71.200,239.675,114.500,0.000,28.287,49.509,185.055,63.250,0.000,7.098,896.163,5126.792,463.947,1305.620,60.477,33.243,913.153,0.000,755.122,0.000,0.540,0.000
$DEVICE_MAMPS,292.995,101.745,1108.485,680.850,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,225.127,137.230,277.344,253.479,525.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353124
$DATA_FILE_SIZE,27240,314
$CAP_FILE_SIZE,72385,0
$CFSIZE,259248128,255959040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030516,052227,3626.237,-15750.841,15,1.2,15,11.5