version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 52
start: 5 3 116 5 28 26
data:
$ID,512
$MISSION,7
$DIVE,52
$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,-129556.64
$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,72
$R_STBD_OVSHOOT,22
$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
$GPS1,030516,052227,3626.237,-15750.841,15,1.2,15,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-73.9
$GPS2,030516,052731,3626.273,-15750.823,5,1.2,6,11.5
$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,47334.6,-987.0,-681.8,-31443.5,5972.8
$KALMAN_Y,108925.4,-403.0,-863.1,-122333.7,16033.9
$MHEAD_RNG_PITCHd_Wd,169.2,1521077,-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,-136.3,191,2265,1102,1229,0.0,0.0,0,79,0.00,0.00,-61.40,0.000,16386,0.000,0.000,191,2290,2657,2635,2679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.92,-136.3,191,2267,2635,2680,3.0,-2.1,7,119,8.50,2.40,-22.70,0.000,18692,0.224,0.073,2342,3719,3319,3311,3328,0,0,0,0,0,0,25.86,26.06,26.36
$GC,317,-0.92,-136.3,2342,3719,3313,3328,71.9,-34.8,32,328,0.00,2.20,0.00,0.000,3078,0.000,0.037,2343,2328,3320,3313,3328,0,0,0,0,0,0,28.83,26.26,28.83
$GC,565,-0.92,-136.3,2342,2299,3314,3328,158.3,-33.9,57,567,0.05,0.00,0.00,0.000,2054,0.226,0.000,2353,2299,3321,3314,3328,0,0,0,0,0,0,26.39,28.83,28.83
$GC,824,-0.92,-136.3,2352,2299,3314,3328,241.8,-32.1,74,826,0.00,0.00,0.00,0.000,2054,0.000,0.000,2353,2299,3321,3315,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1064,-0.92,-136.3,2352,2298,3315,3328,317.6,-31.6,80,1068,0.00,2.17,0.00,0.000,2564,0.000,0.047,2356,894,3321,3315,3328,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1093,-0.92,-136.3,2355,894,3315,3328,317.6,-31.6,80,1100,0.00,2.25,0.00,0.000,3078,0.000,0.047,2346,2315,3321,3315,3328,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1340,-0.92,-136.3,2345,2314,3315,3328,403.5,-30.6,87,1344,0.00,2.20,0.00,0.000,2564,0.000,0.045,2351,888,3321,3315,3328,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1363,-0.92,-136.3,2350,888,3315,3328,403.5,-30.6,87,1368,0.03,2.22,0.00,0.000,3078,0.207,0.047,2350,2298,3321,3315,3328,0,0,0,0,0,0,26.48,26.58,28.83
$GC,1616,-0.92,-136.3,2349,2296,3316,3327,484.3,-28.6,94,1620,0.00,2.17,0.00,0.000,2308,0.000,0.058,2340,3707,3322,3316,3328,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1639,-0.92,-136.3,2340,3707,3316,3327,484.3,-28.6,94,1645,0.03,2.20,0.00,0.000,3078,0.181,0.039,2351,2286,3322,3316,3328,0,0,0,0,0,0,26.53,26.63,28.83
$GC,1891,-0.92,-136.3,2351,2264,3316,3327,562.2,-27.8,101,1896,0.00,2.25,0.00,0.000,2308,0.000,0.059,2342,3712,3322,3316,3328,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1927,-0.92,-136.3,2342,3712,3316,3327,572.5,-27.8,102,1932,0.05,2.15,0.00,0.000,3078,0.208,0.040,2353,2300,3322,3316,3328,0,0,0,0,0,0,26.57,26.65,28.83
$GC,2204,-0.92,-136.3,2353,2270,3316,3327,645.4,-26.4,109,2205,0.00,0.00,0.00,0.000,2054,0.000,0.000,2353,2270,3322,3316,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2444,-0.92,-136.3,2353,2270,3316,3326,705.0,-24.6,115,2448,0.00,2.12,0.00,0.000,2564,0.000,0.048,2361,886,3321,3316,3326,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2472,-0.92,-136.3,2361,886,3316,3326,705.0,-24.6,115,2479,0.00,2.22,0.00,0.000,3078,0.000,0.050,2352,2296,3321,3316,3326,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2719,-0.92,-136.3,2352,2295,3316,3326,775.1,-25.7,122,2723,0.00,2.17,0.00,0.000,2308,0.000,0.060,2341,3706,3320,3316,3325,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2748,-0.92,-136.3,2341,3705,3316,3325,775.1,-25.7,122,2756,0.03,2.20,0.00,0.000,3078,0.184,0.040,2351,2286,3320,3315,3325,0,0,0,0,0,0,26.62,26.72,28.83
$GC,2995,-0.92,-136.3,2351,2264,3316,3323,848.7,-26.6,129,2999,0.00,2.10,0.00,0.000,2564,0.000,0.050,2361,899,3319,3316,3323,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3023,-0.92,-136.3,2361,899,3315,3323,848.7,-26.6,129,3031,0.00,2.17,0.00,0.000,3078,0.000,0.050,2352,2298,3319,3316,3323,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,3189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3189,begin apogee
$GC,3193,-0.20,0.0,2351,2375,3316,3322,900.3,-26.4,134,3313,0.77,0.00,116.57,1.108,10246,0.143,0.000,2591,2375,2762,2770,2754,0,0,0,0,0,0,26.61,28.83,24.25
$STATE,3314,end apogee,CONTROL_FINISHED_OK
$STATE,3314,begin climb
$GC,3315,0.92,136.3,2591,2375,2769,2754,909.0,0.0,137,3443,1.08,0.00,123.72,1.061,10758,0.075,0.000,2951,2375,2206,2236,2177,0,0,0,0,0,0,25.03,28.83,24.05
$GC,3670,0.92,136.3,2951,2374,2230,2169,842.6,24.0,146,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2374,2199,2229,2170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3910,0.92,136.3,2951,2374,2226,2169,787.3,22.9,152,3914,0.00,2.25,0.00,0.000,516,0.000,0.056,2962,969,2197,2226,2169,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3929,0.92,136.3,2961,969,2225,2169,787.3,22.9,152,3934,0.00,2.28,0.00,0.000,5126,0.000,0.057,2959,2341,2197,2225,2169,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4186,0.92,136.3,2959,2340,2224,2168,720.8,24.1,159,4187,0.00,0.00,0.00,0.000,4102,0.000,0.000,2959,2340,2196,2224,2168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4426,0.92,136.3,2959,2340,2224,2168,663.7,24.0,165,4427,0.00,0.00,0.00,0.000,4102,0.000,0.000,2959,2340,2195,2223,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4666,0.92,136.3,2959,2340,2223,2167,608.7,22.8,171,4667,0.00,0.00,0.00,0.000,4102,0.000,0.000,2959,2339,2194,2222,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4906,0.92,136.3,2959,2339,2221,2166,554.9,22.2,177,4910,0.00,2.30,0.00,0.000,4356,0.000,0.074,2959,3770,2194,2222,2166,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4945,0.92,136.3,2959,3770,2220,2167,546.4,22.5,178,4950,0.03,2.25,0.00,0.000,5126,0.213,0.049,2962,2375,2193,2220,2167,0,0,0,0,0,0,26.44,26.55,28.83
$GC,5222,0.92,136.3,2961,2348,2220,2166,484.7,21.4,185,5226,0.00,2.17,0.00,0.000,4612,0.000,0.053,2972,945,2193,2220,2166,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5240,0.92,136.3,2971,945,2220,2166,484.7,21.4,185,5245,0.08,2.25,0.00,0.000,5126,0.195,0.054,2957,2364,2193,2220,2166,0,0,0,0,0,0,26.48,26.57,28.83
$GC,5497,0.92,136.3,2957,2362,2220,2166,427.5,20.7,192,5501,0.00,2.25,0.00,0.000,4356,0.000,0.070,2956,3774,2193,2220,2166,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5526,0.92,136.3,2956,3773,2219,2166,427.5,20.7,192,5533,0.00,2.28,0.00,0.000,5126,0.000,0.047,2965,2348,2192,2219,2166,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5773,0.92,136.3,2965,2325,2219,2166,364.8,22.8,199,5774,0.00,0.00,0.00,0.000,4102,0.000,0.000,2966,2325,2192,2219,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6013,0.92,136.3,2965,2325,2219,2166,307.8,23.9,205,6014,0.00,0.00,0.00,0.000,4102,0.000,0.000,2966,2325,2192,2219,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,0.92,136.3,2965,2325,2219,2166,251.6,23.4,211,6254,0.00,0.00,0.00,0.000,4102,0.000,0.000,2966,2325,2193,2220,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6493,0.92,136.3,2965,2325,2219,2166,195.9,23.4,217,6494,0.00,0.00,0.00,0.000,4102,0.000,0.000,2965,2325,2192,2219,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6736,0.92,136.3,2965,2325,2219,2166,140.5,23.0,241,6742,0.00,0.00,0.00,0.000,4102,0.000,0.000,2966,2325,2192,2219,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6983,0.92,136.3,2965,2325,2219,2166,86.4,21.9,266,6984,0.00,0.00,0.00,0.000,4102,0.000,0.000,2965,2325,2192,2219,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7227,0.92,136.3,2965,2325,2219,2166,33.8,21.7,290,7238,0.00,2.28,0.00,0.000,4356,0.000,0.067,2966,3770,2192,2219,2166,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7343,0.92,136.3,2965,3770,2219,2166,6.9,21.9,305,7353,0.05,2.22,0.00,0.000,5126,0.184,0.044,2961,2333,2192,2219,2166,0,0,0,0,0,0,26.58,26.73,28.83
$STATE,7368,end climb,SURFACE_DEPTH_REACHED
$STATE,7368,begin surface coast
$FINISH,1.2,2.098143
$STATE,7390,end surface coast,CONTROL_FINISHED_OK
$STATE,7390,begin surface
$SM_CCo,7403,114.53,0.675,0,0,1171,390.02
$SM_GC,2.49,6.97,0.00,114.53,0.028,0.000,0.675,183,2332,1171,-7.64,0.88,390.02,0,0,0,0,0,0,26.73,28.83,24.89
$IRIDIUM_FIX,3613.54,-15750.02,270209,161637
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.51
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.00
$XPDR_PINGS,248
$24V_AH,24.0,7.400
$10V_AH,10.3,5.507
$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,17.650,57.850,240.300,114.525,0.000,28.897,46.655,148.059,62.000,0.000,7.077,870.544,5249.479,458.977,1204.746,51.944,33.239,874.607,0.000,704.390,0.000,0.540,0.000
$DEVICE_MAMPS,226.440,98.685,1107.720,675.495,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,221.483,137.372,270.433,244.881,507.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353096
$DATA_FILE_SIZE,27341,311
$CAP_FILE_SIZE,67709,0
$CFSIZE,259248128,255926272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030516,073455,3625.851,-15750.866,37,1.0,37,11.5