version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 55
start: 5 3 116 12 59 29
data:
$ID,512
$MISSION,7
$DIVE,55
$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,-129560.5
$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,26
$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
$GPS1,030516,125219,3626.127,-15752.698,37,0.9,37,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-73.3
$GPS2,030516,125833,3626.142,-15752.655,6,0.9,6,11.5
$SPEED_LIMITS,0.139,0.234
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,-0.234
$KALMAN_X,51324.2,123.1,-93.8,-39873.0,10061.6
$KALMAN_Y,113040.4,-2211.9,-1163.2,-124571.4,19286.6
$MHEAD_RNG_PITCHd_Wd,169.3,1520806,-15.5,-8.000,-18.87,2602
$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,-136.3,182,2276,1107,1225,0.0,0.0,0,88,0.00,0.00,-69.93,0.000,16386,0.000,0.000,182,2279,2865,2841,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.79,-136.3,181,2306,2841,2891,3.2,-2.4,8,118,8.73,0.00,-12.48,0.000,18950,0.226,0.000,2393,2276,3319,3313,3325,0,0,0,0,0,0,25.87,28.83,26.38
$GC,387,-0.79,-136.3,2393,2276,3314,3325,83.2,-26.7,41,395,0.00,2.22,0.00,0.000,2308,0.000,0.057,2384,3707,3319,3314,3324,0,0,0,0,0,0,28.83,26.29,28.83
$GC,434,-0.79,-136.3,2383,3707,3314,3325,95.9,-27.4,45,443,0.05,2.22,0.00,0.000,3078,0.160,0.036,2399,2274,3320,3315,3325,0,0,0,0,0,0,26.21,26.34,28.83
$GC,685,-0.79,-136.3,2399,2253,3315,3325,158.6,-24.1,70,694,0.00,2.05,0.00,0.000,2564,0.000,0.043,2408,911,3320,3315,3325,0,0,0,0,0,0,28.83,26.41,28.83
$GC,728,-0.79,-136.3,2408,911,3315,3325,169.5,-23.8,74,732,0.00,2.17,0.00,0.000,3078,0.000,0.046,2399,2312,3320,3315,3325,0,0,0,0,0,0,28.83,26.43,28.83
$GC,983,-0.79,-136.3,2399,2310,3316,3325,228.9,-23.1,90,987,0.00,2.17,0.00,0.000,2308,0.000,0.060,2389,3709,3320,3316,3325,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1006,-0.79,-136.3,2388,3709,3316,3325,228.9,-23.1,90,1010,0.00,2.17,0.00,0.000,3078,0.000,0.037,2392,2307,3321,3317,3325,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1258,-0.79,-136.3,2392,2280,3316,3325,294.6,-23.7,97,1262,0.00,2.12,0.00,0.000,2564,0.000,0.044,2393,886,3320,3316,3325,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1312,-0.79,-136.3,2392,886,3317,3325,303.4,-23.9,98,1317,0.03,2.22,0.00,0.000,3078,0.192,0.045,2392,2300,3321,3317,3325,0,0,0,0,0,0,26.46,26.57,28.83
$GC,1574,-0.79,-136.3,2392,2300,3317,3325,367.0,-22.8,105,1575,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2300,3321,3317,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1814,-0.79,-136.3,2392,2300,3317,3325,419.9,-22.2,111,1815,0.00,0.00,0.00,0.000,2054,0.000,0.000,2391,2300,3321,3317,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2054,-0.79,-136.3,2392,2299,3317,3324,475.0,-23.2,117,2055,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2299,3321,3318,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2294,-0.79,-136.3,2392,2299,3317,3324,529.5,-22.4,123,2298,0.00,2.15,0.00,0.000,2564,0.000,0.045,2394,900,3320,3317,3324,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2337,-0.79,-136.3,2395,900,3317,3324,537.5,-22.4,124,2342,0.03,2.22,0.00,0.000,3078,0.191,0.047,2394,2308,3320,3317,3324,0,0,0,0,0,0,26.59,26.69,28.83
$GC,2610,-0.79,-136.3,2393,2306,3317,3323,598.0,-21.4,131,2614,0.00,2.17,0.00,0.000,2308,0.000,0.062,2385,3713,3320,3317,3323,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2638,-0.79,-136.3,2384,3712,3317,3323,598.0,-21.4,131,2646,0.03,2.20,0.00,0.000,3078,0.174,0.037,2394,2286,3320,3317,3323,0,0,0,0,0,0,26.63,26.72,28.83
$GC,2885,-0.79,-136.3,2394,2263,3317,3322,657.9,-21.7,138,2889,0.00,2.10,0.00,0.000,2564,0.000,0.047,2395,896,3319,3317,3322,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2944,-0.79,-136.3,2394,896,3317,3322,666.9,-21.7,139,2949,0.05,2.20,0.00,0.000,3078,0.223,0.047,2396,2318,3319,3317,3322,0,0,0,0,0,0,26.63,26.72,28.83
$GC,3206,-0.79,-136.3,2396,2316,3317,3321,727.8,-21.8,146,3208,0.00,0.00,0.00,0.000,2054,0.000,0.000,2396,2317,3319,3317,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3446,-0.79,-136.3,2396,2317,3317,3320,778.2,-21.0,152,3447,0.00,0.00,0.00,0.000,2054,0.000,0.000,2396,2316,3318,3317,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3686,-0.79,-136.3,2396,2317,3317,3319,825.7,-19.4,158,3687,0.00,0.00,0.00,0.000,2054,0.000,0.000,2396,2317,3318,3317,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3926,-0.79,-136.3,2396,2317,3315,3318,870.5,-18.4,164,3927,0.00,0.00,0.00,0.000,2054,0.000,0.000,2396,2316,3317,3316,3318,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4125,begin apogee
$GC,4129,-0.20,0.0,2396,2370,3315,3317,907.0,-18.3,169,4248,0.60,0.00,116.28,1.102,10246,0.132,0.000,2586,2370,2762,2771,2754,0,0,0,0,0,0,26.67,28.83,24.27
$STATE,4249,end apogee,CONTROL_FINISHED_OK
$STATE,4249,begin climb
$GC,4250,0.79,136.3,2586,2370,2770,2754,912.3,0.0,172,4381,0.95,2.40,122.38,1.050,10500,0.079,0.068,2903,3753,2207,2241,2174,0,0,0,0,0,0,25.06,24.76,24.07
$GC,4416,0.79,136.3,2904,3753,2235,2171,893.7,14.0,176,4420,0.00,2.33,0.00,0.000,5126,0.000,0.046,2913,2373,2203,2235,2171,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4683,0.79,136.3,2914,2351,2232,2167,833.4,21.2,183,4687,0.00,2.22,0.00,0.000,4612,0.000,0.051,2924,957,2199,2232,2167,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4782,0.79,136.3,2924,957,2229,2167,817.9,20.8,185,4786,0.00,2.30,0.00,0.000,5126,0.000,0.054,2917,2377,2198,2230,2167,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5039,0.79,136.3,2917,2375,2228,2166,762.9,19.4,192,5040,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2376,2197,2228,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,0.79,136.3,2917,2375,2226,2165,716.3,19.8,198,5280,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2375,2195,2226,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5519,0.79,136.3,2917,2375,2226,2165,667.6,20.4,204,5523,0.00,2.22,0.00,0.000,4612,0.000,0.053,2926,959,2195,2225,2165,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5562,0.79,136.3,2926,959,2225,2165,659.8,21.1,205,5566,0.00,2.28,0.00,0.000,5126,0.000,0.054,2917,2362,2195,2225,2165,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5834,0.79,136.3,2917,2361,2225,2164,598.1,22.3,212,5838,0.00,2.20,0.00,0.000,4612,0.000,0.051,2926,951,2194,2224,2164,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5893,0.79,136.3,2926,950,2224,2164,590.4,22.3,213,5898,0.00,2.30,0.00,0.000,5126,0.000,0.054,2917,2366,2194,2223,2165,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6150,0.79,136.3,2917,2365,2223,2164,531.3,20.6,220,6151,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2365,2193,2223,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6390,0.79,136.3,2917,2365,2223,2164,486.1,18.6,226,6391,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2364,2193,2223,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6630,0.79,136.3,2917,2364,2223,2164,441.5,18.8,232,6634,0.00,2.17,0.00,0.000,4612,0.000,0.050,2927,958,2193,2223,2164,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6684,0.79,136.3,2926,958,2223,2164,434.8,18.7,233,6688,0.00,2.28,0.00,0.000,5126,0.000,0.054,2918,2367,2193,2222,2164,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6946,0.79,136.3,2917,2366,2222,2164,383.7,18.2,240,6947,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2366,2192,2222,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7186,0.79,136.3,2918,2366,2222,2164,339.7,18.3,246,7187,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2366,2193,2222,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7426,0.79,136.3,2918,2365,2222,2164,296.4,18.2,252,7427,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2366,2193,2222,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7666,0.79,136.3,2918,2365,2222,2164,253.8,17.4,258,7670,0.00,2.17,0.00,0.000,4612,0.000,0.049,2927,953,2193,2222,2164,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7694,0.79,136.3,2927,952,2222,2164,253.8,17.4,258,7702,0.00,2.28,0.00,0.000,5126,0.000,0.058,2918,2369,2192,2221,2164,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7942,0.79,136.3,2917,2368,2222,2164,205.8,17.4,265,7943,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2368,2193,2222,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8186,0.79,136.3,2918,2367,2222,2164,162.2,18.3,286,8194,0.00,2.17,0.00,0.000,4612,0.000,0.048,2928,950,2193,2222,2164,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8233,0.79,136.3,2927,950,2222,2164,153.4,18.6,290,8240,0.00,2.22,0.00,0.000,5126,0.000,0.053,2919,2363,2192,2221,2164,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8482,0.79,136.3,2918,2362,2221,2164,109.3,17.1,315,8490,0.00,2.17,0.00,0.000,4356,0.000,0.067,2917,3763,2192,2221,2164,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8507,0.79,136.3,2917,3763,2220,2164,105.1,17.1,317,8516,0.03,2.15,0.00,0.000,5126,0.190,0.042,2919,2346,2192,2220,2164,0,0,0,0,0,0,26.63,26.73,28.83
$GC,8756,0.79,136.3,2919,2328,2221,2164,60.1,22.2,342,8767,0.00,2.05,0.00,0.000,4612,0.000,0.049,2928,969,2192,2220,2164,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8796,0.79,136.3,2928,969,2220,2164,52.8,19.0,345,8807,0.00,2.22,0.00,0.000,5126,0.000,0.050,2919,2364,2192,2220,2164,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9089,0.79,136.3,2919,2363,2220,2164,4.6,17.0,381,9099,0.00,2.25,0.00,0.000,4356,0.000,0.068,2917,3766,2192,2220,2164,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9107,end climb,SURFACE_DEPTH_REACHED
$STATE,9107,begin surface coast
$FINISH,0.9,3.080405
$STATE,9129,end surface coast,CONTROL_FINISHED_OK
$STATE,9129,begin surface
$SM_CCo,9144,111.90,0.665,0,0,1172,390.02
$SM_GC,2.31,6.85,2.30,111.90,0.027,0.039,0.665,187,2284,1172,-7.62,1.39,390.02,0,0,0,0,0,0,26.74,26.74,24.91
$IRIDIUM_FIX,3610.86,-15751.03,270209,232321
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.64
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.20
$XPDR_PINGS,314
$24V_AH,24.1,7.752
$10V_AH,10.3,5.665
$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,17.325,75.200,238.650,111.900,0.000,30.346,48.520,212.512,78.500,0.000,7.105,1080.112,6464.389,448.923,1581.258,69.398,33.229,993.095,0.000,941.735,0.000,0.540,0.000
$DEVICE_MAMPS,225.675,118.575,1102.365,664.785,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,277.155,170.547,338.800,307.221,636.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353076
$DATA_FILE_SIZE,33865,386
$CAP_FILE_SIZE,82337,0
$CFSIZE,259248128,255766528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030516,153432,3625.209,-15752.396,10,1.4,10,11.5