version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 54
start: 5 3 116 10 19 5
data:
$ID,512
$MISSION,7
$DIVE,54
$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,-129559.24
$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,55
$R_STBD_OVSHOOT,27
$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
$GPS1,030516,101056,3625.873,-15751.743,14,1.5,15,11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-74.8
$GPS2,030516,101809,3625.956,-15751.694,6,1.5,6,11.5
$SPEED_LIMITS,0.139,0.234
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,-0.042
$KALMAN_X,47660.4,-100.6,249.0,-34899.4,5354.1
$KALMAN_Y,113932.1,-1819.0,-1037.3,-126340.7,22821.7
$MHEAD_RNG_PITCHd_Wd,248.1,1520475,-15.6,-8.000,-18.88,2597
$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,16,-0.79,-136.0,183,2315,1106,1224,0.0,0.0,0,80,0.00,0.00,-62.15,0.000,16386,0.000,0.000,183,2333,2676,2650,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.79,-136.3,183,2315,2651,2701,3.1,-1.8,7,119,8.75,2.20,-21.52,0.000,18948,0.227,0.057,2395,910,3317,3312,3323,0,0,0,0,0,0,25.87,26.09,26.39
$GC,156,-0.79,-136.3,2394,910,3313,3324,15.1,-26.1,16,166,0.00,2.25,0.00,0.000,3078,0.000,0.047,2386,2306,3318,3312,3324,0,0,0,0,0,0,28.83,26.13,28.83
$GC,417,-0.79,-136.3,2385,2305,3314,3324,91.5,-28.8,44,429,0.05,2.17,0.00,0.000,2564,0.233,0.044,2395,912,3319,3314,3324,0,0,0,0,0,0,26.33,26.30,28.83
$GC,502,-0.79,-136.3,2394,912,3314,3324,114.0,-27.6,51,510,0.05,2.20,0.00,0.000,3078,0.229,0.047,2396,2308,3319,3314,3324,0,0,0,0,0,0,26.25,26.35,28.83
$GC,754,-0.79,-136.3,2395,2307,3315,3324,179.8,-26.7,76,759,0.00,0.00,0.00,0.000,2054,0.000,0.000,2396,2307,3319,3315,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1028,-0.79,-136.3,2395,2306,3315,3324,249.6,-24.7,89,1030,0.00,0.00,0.00,0.000,2054,0.000,0.000,2396,2307,3319,3315,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1269,-0.79,-136.3,2395,2307,3316,3324,306.3,-23.3,95,1273,0.00,2.17,0.00,0.000,2564,0.000,0.047,2398,905,3320,3316,3324,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1307,-0.79,-136.3,1608,905,3304,3321,314.6,-23.1,96,1311,0.00,2.22,0.00,0.000,3078,0.000,0.047,2389,2307,3319,3315,3324,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1584,-0.79,-136.3,2389,2305,3316,3324,380.8,-23.4,103,1585,0.00,0.00,0.00,0.000,2054,0.000,0.000,2389,2305,3319,3315,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1824,-0.79,-136.3,2389,2305,3316,3324,438.8,-24.4,109,1828,0.00,2.15,0.00,0.000,2564,0.000,0.046,2392,918,3320,3316,3324,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1874,-0.79,-136.3,2392,919,3316,3324,448.5,-24.4,110,1879,0.08,2.15,0.00,0.000,3078,0.200,0.048,2396,2302,3320,3316,3324,0,0,0,0,0,0,26.54,26.65,28.83
$GC,2140,-0.79,-136.3,2396,2301,3316,3323,513.1,-23.7,117,2141,0.00,0.00,0.00,0.000,2054,0.000,0.000,2397,2301,3320,3316,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,-0.79,-136.3,2396,2301,3316,3324,568.4,-22.9,123,2384,0.00,2.17,0.00,0.000,2308,0.000,0.060,2387,3711,3319,3316,3323,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2416,-0.79,-136.3,2387,3711,3316,3323,576.9,-23.1,124,2420,0.00,2.12,0.00,0.000,3078,0.000,0.038,2389,2314,3320,3316,3324,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2692,-0.79,-136.3,2389,2285,3316,3323,641.3,-23.6,131,2695,0.00,2.15,0.00,0.000,2564,0.000,0.048,2394,889,3319,3316,3323,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2732,-0.79,-136.3,2394,889,3316,3323,651.0,-23.6,132,2737,0.08,2.17,0.00,0.000,3078,0.200,0.048,2398,2301,3319,3316,3323,0,0,0,0,0,0,26.60,26.71,28.83
$GC,3008,-0.79,-136.3,2399,2299,3316,3321,714.7,-23.0,139,3009,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2299,3319,3316,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3248,-0.79,-136.3,2398,2299,3316,3320,768.7,-22.1,145,3249,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2299,3318,3316,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3488,-0.79,-136.3,2398,2299,3316,3319,818.0,-20.5,151,3489,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2299,3317,3316,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3728,-0.79,-136.3,2398,2299,3316,3318,866.5,-20.1,157,3732,0.00,2.17,0.00,0.000,2564,0.000,0.050,2407,894,3317,3316,3319,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3767,-0.79,-136.3,2407,894,3315,3318,873.4,-19.9,158,3771,0.00,2.22,0.00,0.000,3078,0.000,0.051,2399,2295,3317,3315,3319,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,3922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3923,begin apogee
$GC,3926,-0.20,0.0,2398,2375,3316,3318,904.7,-19.6,162,4046,0.60,0.00,115.85,1.098,10246,0.133,0.000,2586,2375,2762,2771,2754,0,0,0,0,0,0,26.65,28.83,24.28
$STATE,4046,end apogee,CONTROL_FINISHED_OK
$STATE,4047,begin climb
$GC,4048,0.79,136.3,2586,2374,2770,2753,910.7,0.0,165,4179,0.98,2.38,123.57,1.049,10500,0.078,0.070,2904,3743,2204,2237,2171,0,0,0,0,0,0,25.06,24.75,24.06
$GC,4194,0.79,136.3,2903,3743,2235,2171,900.1,11.0,168,4201,0.00,2.35,0.00,0.000,5126,0.000,0.047,2913,2356,2202,2235,2170,0,0,0,0,0,0,28.83,25.08,28.83
$GC,4441,0.79,136.3,2913,2338,2230,2165,843.6,20.0,175,4445,0.00,2.20,0.00,0.000,4612,0.000,0.055,2924,965,2197,2230,2165,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4517,0.79,136.3,2923,965,2228,2165,828.9,19.5,177,4521,0.00,2.22,0.00,0.000,5126,0.000,0.055,2917,2339,2196,2228,2164,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4793,0.79,136.3,2917,2338,2226,2164,774.8,19.4,184,4794,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2338,2195,2226,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,0.79,136.3,2917,2338,2224,2163,728.5,19.0,190,5037,0.00,2.30,0.00,0.000,4356,0.000,0.070,2916,3766,2194,2224,2164,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5048,0.79,136.3,2917,3766,2224,2164,728.5,19.0,190,5053,0.05,2.22,0.00,0.000,5126,0.223,0.047,2917,2358,2194,2224,2164,0,0,0,0,0,0,26.28,26.38,28.83
$GC,5305,0.79,136.3,2916,2335,2224,2162,675.3,19.9,197,5306,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2335,2193,2224,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5544,0.79,136.3,2916,2335,2223,2162,628.3,20.0,203,5549,0.00,2.33,0.00,0.000,4356,0.000,0.071,2916,3772,2192,2223,2162,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5573,0.79,136.3,2916,3772,2222,2162,628.3,20.0,203,5581,0.03,2.28,0.00,0.000,5126,0.210,0.047,2918,2358,2192,2222,2162,0,0,0,0,0,0,26.43,26.53,28.83
$GC,5820,0.79,136.3,2918,2332,2222,2162,571.9,20.4,210,5824,0.00,2.12,0.00,0.000,4612,0.000,0.054,2928,957,2192,2222,2162,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5869,0.79,136.3,2928,957,2221,2162,564.7,20.3,211,5873,0.00,2.28,0.00,0.000,5126,0.000,0.054,2919,2362,2191,2221,2162,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6136,0.79,136.3,2919,2360,2221,2162,510.5,19.2,218,6140,0.00,2.28,0.00,0.000,4356,0.000,0.070,2917,3773,2191,2221,2162,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6175,0.79,136.3,2917,3773,2220,2162,503.2,19.5,219,6180,0.05,2.22,0.00,0.000,5126,0.233,0.045,2916,2349,2191,2220,2162,0,0,0,0,0,0,26.51,26.62,28.83
$GC,6447,0.79,136.3,2916,2325,2220,2162,453.6,17.8,226,6448,0.00,0.00,0.00,0.000,4102,0.000,0.000,2916,2325,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,0.79,136.3,2916,2325,2220,2162,409.7,18.6,232,6691,0.00,2.10,0.00,0.000,4612,0.000,0.050,2926,953,2191,2220,2162,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6712,0.79,136.3,2925,953,2220,2162,409.7,18.6,232,6716,0.00,2.22,0.00,0.000,5126,0.000,0.052,2917,2370,2190,2219,2162,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6957,0.79,136.3,2916,2368,2220,2162,361.1,17.6,238,6961,0.00,2.17,0.00,0.000,4612,0.000,0.050,2926,960,2190,2219,2162,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6981,0.79,136.3,2926,959,2219,2162,361.1,17.6,238,6985,0.00,2.25,0.00,0.000,5126,0.000,0.054,2917,2362,2191,2220,2162,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7233,0.79,136.3,2917,2360,2220,2162,311.6,18.2,245,7234,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2361,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7473,0.79,136.3,2917,2360,2220,2162,266.9,18.6,251,7474,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2360,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7713,0.79,136.3,2917,2360,2220,2162,220.7,19.6,257,7717,0.00,2.20,0.00,0.000,4612,0.000,0.050,2926,951,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7766,0.79,136.3,2926,952,2219,2162,214.0,19.6,258,7771,0.00,2.25,0.00,0.000,5126,0.000,0.052,2918,2359,2190,2219,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8019,0.79,136.3,2917,2357,2219,2162,163.3,18.3,279,8020,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2357,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8262,0.79,136.3,2917,2357,2219,2162,122.2,16.8,303,8270,0.00,2.12,0.00,0.000,4612,0.000,0.049,2927,962,2190,2219,2162,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8339,0.79,136.3,2926,962,2219,2162,109.1,16.4,310,8343,0.00,2.20,0.00,0.000,5126,0.000,0.052,2918,2369,2190,2219,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8587,0.79,136.3,2917,2367,2219,2162,69.5,16.5,334,8599,0.00,2.17,0.00,0.000,4356,0.000,0.067,2917,3763,2190,2219,2162,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8640,0.79,136.3,2917,3763,2219,2162,60.1,18.2,338,8652,0.05,2.22,0.00,0.000,5126,0.168,0.042,2911,2348,2190,2219,2162,0,0,0,0,0,0,26.58,26.72,28.83
$GC,8920,0.79,136.3,2911,2330,2219,2162,13.3,16.6,370,8929,0.00,2.33,0.00,0.000,260,0.000,0.066,2906,3763,2190,2219,2162,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,8985,end climb,SURFACE_DEPTH_REACHED
$STATE,8986,begin surface coast
$FINISH,1.1,3.102231
$STATE,8994,end surface coast,CONTROL_FINISHED_OK
$STATE,8994,begin surface
$SM_CCo,9010,112.12,0.670,0,0,1172,390.02
$SM_GC,2.29,6.85,2.33,112.12,0.028,0.044,0.670,187,2315,1172,-7.64,1.24,390.02,0,0,0,0,0,0,26.72,26.72,24.91
$IRIDIUM_FIX,3613.54,-15751.03,270209,212123
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.80
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.30
$XPDR_PINGS,315
$24V_AH,24.1,7.633
$10V_AH,10.3,5.612
$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,17.600,84.400,239.425,112.125,0.000,59.176,71.586,157.617,78.750,0.000,7.171,1083.535,6378.205,457.264,1584.427,67.417,33.240,1007.170,0.000,949.516,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,102.510,1097.775,670.140,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,270.126,169.641,333.302,300.794,623.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353132
$DATA_FILE_SIZE,33993,380
$CAP_FILE_SIZE,85243,0
$CFSIZE,259248128,255811584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030516,125219,3626.127,-15752.698,37,0.9,37,11.5