version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 53
start: 5 3 116 7 40 49
data:
$ID,512
$MISSION,7
$DIVE,53
$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,375
$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,-129557.9
$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,60
$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
$GPS1,030516,073455,3625.851,-15750.866,37,1.0,37,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-75.0
$GPS2,030516,073953,3625.916,-15750.852,6,0.9,6,11.5
$SPEED_LIMITS,0.139,0.234
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.190,-0.137
$KALMAN_X,45915.2,-513.9,-453.0,-30769.0,4463.0
$KALMAN_Y,111718.6,-741.5,-936.4,-125378.7,22974.4
$MHEAD_RNG_PITCHd_Wd,222.8,1520416,-15.5,-8.000,-18.85,2609
$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,-0.79,-136.3,179,2352,1102,1227,0.0,0.0,0,79,0.00,0.00,-61.53,0.000,16386,0.000,0.000,179,2356,2658,2635,2681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.79,-136.3,179,2330,2635,2684,3.1,-1.9,7,119,8.80,2.30,-21.90,0.000,18948,0.228,0.060,2398,912,3319,3314,3325,0,0,0,0,0,0,25.86,26.08,26.37
$GC,135,-0.79,-136.3,2397,912,3313,3326,9.7,-15.7,13,144,0.00,2.25,0.00,0.000,3078,0.000,0.048,2389,2305,3319,3314,3325,0,0,0,0,0,0,28.83,26.10,28.83
$GC,409,-0.79,-136.3,2389,2304,3315,3325,89.8,-28.9,43,417,0.00,2.12,0.00,0.000,2564,0.000,0.044,2394,925,3320,3315,3325,0,0,0,0,0,0,28.83,26.30,28.83
$GC,432,-0.79,-136.3,2394,925,3315,3325,96.5,-28.7,45,441,0.03,2.15,0.00,0.000,3078,0.209,0.047,2392,2308,3320,3315,3325,0,0,0,0,0,0,26.21,26.32,28.83
$GC,683,-0.79,-136.3,2392,2307,3315,3325,167.6,-28.4,70,689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2307,3320,3316,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,959,-0.79,-136.3,2392,2307,3317,3326,245.2,-27.4,86,963,0.00,2.15,0.00,0.000,2564,0.000,0.045,2393,919,3321,3317,3325,0,0,0,0,0,0,28.83,26.48,28.83
$GC,988,-0.79,-136.3,2393,919,3317,3325,245.2,-27.4,86,996,0.03,2.20,0.00,0.000,3078,0.201,0.047,2392,2296,3320,3316,3325,0,0,0,0,0,0,26.40,26.50,28.83
$GC,1235,-0.79,-136.3,2392,2295,3318,3325,320.8,-27.3,93,1238,0.00,2.15,0.00,0.000,2564,0.000,0.044,2392,908,3321,3317,3325,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1263,-0.79,-136.3,2392,908,3317,3325,320.8,-27.3,93,1268,0.05,2.22,0.00,0.000,3078,0.177,0.047,2398,2306,3321,3317,3325,0,0,0,0,0,0,26.44,26.55,28.83
$GC,1515,-0.79,-136.3,2398,2305,3318,3325,397.0,-26.8,100,1519,0.00,2.15,0.00,0.000,2564,0.000,0.044,2401,910,3321,3318,3325,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1539,-0.79,-136.3,2401,910,3317,3325,397.0,-26.8,100,1543,0.00,2.22,0.00,0.000,3078,0.000,0.047,2392,2311,3321,3317,3325,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1791,-0.79,-136.3,2392,2310,3318,3325,469.8,-26.2,107,1792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2309,3321,3317,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2031,-0.79,-136.3,2392,2309,3317,3325,531.6,-25.5,113,2032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2310,3321,3318,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2271,-0.79,-136.3,2392,2309,3318,3325,588.5,-23.2,119,2272,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,2310,3321,3318,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2511,-0.79,-136.3,2392,2309,3318,3324,641.1,-21.6,125,2512,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2310,3321,3318,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,-0.79,-136.3,2392,2309,3318,3323,691.7,-20.9,131,2755,0.00,2.15,0.00,0.000,2564,0.000,0.048,2392,919,3321,3318,3324,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2775,-0.79,-136.3,2392,919,3317,3324,691.7,-20.9,131,2779,0.05,2.20,0.00,0.000,3078,0.174,0.050,2406,2303,3320,3317,3323,0,0,0,0,0,0,26.60,26.72,28.83
$GC,3026,-0.79,-136.3,2406,2301,3317,3322,747.1,-20.1,138,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2301,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3266,-0.79,-136.3,2406,2301,3318,3321,794.9,-19.9,144,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2301,3319,3318,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3506,-0.79,-136.3,2406,2301,3317,3320,844.1,-20.5,150,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2301,3318,3318,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3747,-0.79,-136.3,2406,2301,3317,3319,895.0,-20.9,156,3751,0.00,2.15,0.00,0.000,516,0.000,0.050,2408,920,3318,3317,3319,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3775,-0.79,-136.3,2408,920,3316,3319,895.0,-20.9,156,3782,0.00,2.20,0.00,0.000,3078,0.000,0.052,2399,2297,3317,3316,3319,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,3821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3821,begin apogee
$GC,3825,-0.20,0.0,2398,2374,3316,3319,910.8,-20.6,158,3945,0.60,0.00,116.53,1.115,10246,0.133,0.000,2587,2374,2762,2771,2754,0,0,0,0,0,0,26.65,28.83,24.25
$STATE,3946,end apogee,CONTROL_FINISHED_OK
$STATE,3946,begin climb
$GC,3947,0.79,136.3,2587,2374,2770,2754,918.0,0.0,161,4080,0.98,2.47,124.43,1.063,10500,0.077,0.072,2904,3750,2204,2237,2172,0,0,0,0,0,0,25.04,24.75,24.06
$GC,4090,0.79,136.3,2904,3749,2235,2171,908.6,10.2,164,4095,0.00,2.33,0.00,0.000,5126,0.000,0.049,2913,2389,2203,2235,2171,0,0,0,0,0,0,28.83,25.03,28.83
$GC,4342,0.79,136.3,2913,2368,2230,2165,849.6,21.0,171,4347,0.00,2.25,0.00,0.000,4612,0.000,0.053,2924,958,2198,2231,2165,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4381,0.79,136.3,2924,957,2229,2165,841.9,20.8,172,4386,0.00,2.30,0.00,0.000,5126,0.000,0.056,2917,2336,2197,2229,2165,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4658,0.79,136.3,2916,2335,2227,2165,783.9,20.4,179,4659,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2335,2195,2226,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4898,0.79,136.3,2917,2335,2225,2164,733.7,21.1,185,4902,0.00,2.17,0.00,0.000,4612,0.000,0.053,2926,957,2194,2225,2164,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4922,0.79,136.3,2925,957,2224,2164,733.7,21.1,185,4926,0.00,2.30,0.00,0.000,5126,0.000,0.056,2917,2381,2194,2224,2164,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5174,0.79,136.3,2917,2380,2224,2164,676.0,21.1,192,5178,0.00,2.25,0.00,0.000,4612,0.000,0.052,2926,952,2194,2224,2164,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5210,0.79,136.3,2926,952,2224,2163,668.3,21.2,193,5214,0.00,2.28,0.00,0.000,5126,0.000,0.057,2917,2367,2194,2224,2164,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5485,0.79,136.3,2917,2366,2223,2163,611.7,20.6,200,5486,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2366,2193,2223,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5725,0.79,136.3,2917,2365,2223,2163,560.6,21.2,206,5726,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2365,2193,2223,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5965,0.79,136.3,2917,2365,2222,2162,513.4,19.5,212,5966,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2365,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6205,0.79,136.3,2917,2365,2222,2162,468.9,18.3,218,6207,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2365,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6445,0.79,136.3,2917,2365,2222,2162,425.8,18.1,224,6446,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2365,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6685,0.79,136.3,2917,2365,2221,2162,380.8,18.8,230,6689,0.00,2.20,0.00,0.000,4612,0.000,0.052,2927,954,2191,2221,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6723,0.79,136.3,2080,953,2186,2156,373.9,18.9,231,6728,0.00,2.28,0.00,0.000,5126,0.000,0.056,2918,2362,2191,2220,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7001,0.79,136.3,2917,2360,2220,2162,320.8,18.4,238,7005,0.00,2.25,0.00,0.000,4356,0.000,0.070,2917,3765,2191,2220,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7030,0.79,136.3,2917,3765,2220,2163,320.8,18.4,238,7038,0.05,2.20,0.00,0.000,5126,0.224,0.045,2916,2346,2191,2220,2162,0,0,0,0,0,0,26.60,26.70,28.83
$GC,7277,0.79,136.3,2916,2329,2220,2162,269.5,18.2,245,7278,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2329,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7517,0.79,136.3,2916,2329,2220,2163,225.5,18.2,251,7520,0.00,2.10,0.00,0.000,4612,0.000,0.052,2925,966,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7585,0.79,136.3,2925,966,2220,2162,217.9,18.3,252,7589,0.00,2.22,0.00,0.000,5126,0.000,0.051,2917,2361,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7840,0.79,136.3,2916,2359,2220,2162,169.4,17.2,271,7849,0.00,2.12,0.00,0.000,4612,0.000,0.048,2926,965,2191,2220,2162,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7863,0.79,136.3,2072,964,2185,2156,165.5,17.1,273,7873,0.00,2.25,0.00,0.000,5126,0.000,0.051,2917,2365,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8111,0.79,136.3,2917,2364,2220,2162,123.0,16.9,298,8123,0.00,2.20,0.00,0.000,4356,0.000,0.067,2917,3766,2190,2219,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8137,0.79,136.3,2064,3765,2185,2157,118.5,17.5,300,8149,0.03,2.20,0.00,0.000,5126,0.190,0.044,2919,2349,2191,2219,2163,0,0,0,0,0,0,26.62,26.73,28.83
$GC,8389,0.79,136.3,2918,2347,2220,2162,75.3,17.5,325,8400,0.00,2.08,0.00,0.000,4612,0.000,0.050,2928,976,2190,2219,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8417,0.79,136.3,2928,976,2220,2163,70.8,17.6,327,8428,0.00,2.22,0.00,0.000,5126,0.000,0.051,2919,2365,2190,2219,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8672,0.79,136.3,2919,2364,2219,2163,26.7,16.7,353,8682,0.00,2.17,0.00,0.000,4612,0.000,0.047,2928,976,2191,2219,2163,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,8813,end climb,SURFACE_DEPTH_REACHED
$STATE,8813,begin surface coast
$FINISH,1.2,2.494722
$STATE,8829,end surface coast,CONTROL_FINISHED_OK
$STATE,8829,begin surface
$SM_CCo,8844,113.53,0.662,0,0,1172,390.02
$SM_GC,2.28,6.88,2.12,113.53,0.028,0.050,0.662,189,2308,1172,-7.62,-0.71,390.02,0,0,0,0,0,0,26.74,26.71,24.92
$IRIDIUM_FIX,3613.54,-15751.03,270209,181859
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.80
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.30
$XPDR_PINGS,303
$24V_AH,24.1,7.516
$10V_AH,10.3,5.558
$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,17.475,79.700,240.950,113.525,0.000,25.317,45.553,146.827,75.750,0.000,7.144,1038.933,6278.975,492.780,1396.836,64.126,33.241,990.973,0.000,843.991,0.000,0.539,0.000
$DEVICE_MAMPS,227.970,102.510,1115.370,662.490,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,267.312,165.797,328.941,300.701,623.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353052
$DATA_FILE_SIZE,33964,375
$CAP_FILE_SIZE,79574,0
$CFSIZE,259248128,255860736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030516,101056,3625.873,-15751.743,14,1.5,15,11.5