version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 56
start: 5 3 116 15 44 38
data:
$ID,512
$MISSION,7
$DIVE,56
$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,-129561.76
$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,59
$R_STBD_OVSHOOT,32
$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
$GPS1,030516,153432,3625.209,-15752.396,10,1.4,10,11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-72.7
$GPS2,030516,154341,3625.254,-15752.359,6,1.4,6,11.5
$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,51170.4,237.3,-814.5,-38650.7,9029.0
$KALMAN_Y,113987.6,-2211.1,-628.8,-127708.5,18621.0
$MHEAD_RNG_PITCHd_Wd,169.3,1519166,-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,-136.3,178,2318,1104,1225,0.0,0.0,0,87,0.00,0.00,-69.95,0.000,16386,0.000,0.000,178,2318,2863,2836,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.79,-136.3,178,2342,2837,2890,3.1,-2.2,8,118,8.80,2.22,-12.75,0.000,18692,0.229,0.073,2385,3713,3315,3310,3321,0,0,0,0,0,0,25.88,26.07,26.38
$GC,148,-0.79,-136.3,2385,3712,3311,3321,16.1,-25.5,15,158,0.00,2.20,0.00,0.000,3078,0.000,0.037,2389,2306,3316,3312,3321,0,0,0,0,0,0,28.83,26.14,28.83
$GC,415,-0.79,-136.3,2389,2288,3312,3321,95.9,-27.8,43,424,0.00,2.22,0.00,0.000,2308,0.000,0.060,2380,3708,3316,3312,3321,0,0,0,0,0,0,28.83,26.29,28.83
$GC,450,-0.79,-136.3,1600,3707,3301,3318,106.2,-28.7,46,462,0.05,2.20,0.00,0.000,3078,0.165,0.036,2398,2285,3316,3312,3321,0,0,0,0,0,0,26.22,26.34,28.83
$GC,699,-0.79,-136.3,2398,2277,3313,3321,172.8,-25.8,71,703,0.00,2.10,0.00,0.000,2564,0.000,0.044,2398,910,3317,3313,3321,0,0,0,0,0,0,28.83,26.41,28.83
$GC,747,-0.79,-136.3,2397,910,3313,3321,185.7,-27.0,75,751,0.00,2.17,0.00,0.000,3078,0.000,0.046,2389,2310,3317,3313,3321,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1012,-0.79,-136.3,2388,2309,3314,3321,257.5,-27.5,86,1016,0.00,2.15,0.00,0.000,2564,0.000,0.044,2389,917,3317,3314,3321,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1041,-0.79,-136.3,2389,917,3314,3321,257.5,-27.5,86,1049,0.10,2.17,0.00,0.000,3078,0.189,0.054,2400,2307,3317,3314,3321,0,0,0,0,0,0,26.39,26.51,28.83
$GC,1288,-0.79,-136.3,2400,2307,3314,3321,327.1,-24.6,93,1289,0.00,0.00,0.00,0.000,2054,0.000,0.000,2400,2307,3317,3314,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1528,-0.79,-136.3,2400,2307,3315,3321,384.4,-23.9,99,1529,0.00,0.00,0.00,0.000,2054,0.000,0.000,2400,2307,3318,3315,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1768,-0.79,-136.3,2400,2307,3314,3321,439.9,-23.3,105,1769,0.00,0.00,0.00,0.000,2054,0.000,0.000,2400,2307,3317,3314,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2008,-0.79,-136.3,2400,2307,3315,3321,495.3,-22.9,111,2012,0.00,2.15,0.00,0.000,2564,0.000,0.047,2408,912,3317,3314,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2037,-0.79,-136.3,2407,911,3315,3321,495.3,-22.9,111,2044,0.00,2.20,0.00,0.000,3078,0.000,0.049,2399,2296,3317,3314,3321,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2284,-0.79,-136.3,2399,2295,3314,3321,559.5,-23.3,118,2285,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2295,3318,3315,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2524,-0.79,-136.3,2398,2295,3314,3319,612.2,-21.8,124,2525,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2295,3317,3314,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2764,-0.79,-136.3,2399,2295,3314,3319,663.5,-21.2,130,2765,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2295,3317,3315,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3004,-0.79,-136.3,2399,2295,3314,3318,713.4,-20.7,136,3005,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2295,3317,3315,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3244,-0.79,-136.3,2399,2295,3315,3318,761.5,-19.7,142,3245,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,2295,3316,3315,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3484,-0.79,-136.3,2399,2294,3314,3316,807.6,-19.2,148,3488,0.00,2.20,0.00,0.000,2308,0.000,0.063,2388,3712,3315,3314,3316,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3513,-0.79,-136.3,2388,3712,3314,3316,807.6,-19.2,148,3520,0.00,2.17,0.00,0.000,3078,0.000,0.041,2388,2307,3315,3314,3316,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3759,-0.79,-136.3,2388,2285,3313,3316,862.5,-20.0,155,3761,0.00,0.00,0.00,0.000,2054,0.000,0.000,2388,2285,3314,3313,3316,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3958,begin apogee
$GC,3962,-0.20,0.0,2387,2369,3312,3315,904.7,-21.1,160,4081,0.65,0.00,115.43,1.107,10246,0.136,0.000,2591,2369,2762,2771,2754,0,0,0,0,0,0,26.65,28.83,24.27
$STATE,4082,end apogee,CONTROL_FINISHED_OK
$STATE,4082,begin climb
$GC,4083,0.79,136.3,2591,2369,2771,2753,911.9,0.0,163,4212,0.93,0.00,122.97,1.054,10502,0.077,0.000,2907,2369,2204,2238,2171,0,0,0,0,0,0,25.06,28.83,24.07
$GC,4479,0.79,136.3,2907,2369,2230,2164,847.0,20.0,173,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2369,2197,2230,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4720,0.79,136.3,2907,2369,2228,2163,796.9,20.8,179,4724,0.00,2.25,0.00,0.000,516,0.000,0.056,2918,963,2196,2228,2164,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4808,0.79,136.3,2918,962,2225,2164,780.9,20.9,181,4813,0.00,2.28,0.00,0.000,5126,0.000,0.055,2917,2347,2195,2226,2164,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5076,0.79,136.3,2917,2345,2224,2164,720.7,21.7,188,5077,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2345,2194,2224,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5315,0.79,136.3,2917,2345,2223,2163,668.9,21.6,194,5320,0.00,2.20,0.00,0.000,4612,0.000,0.055,2926,958,2193,2223,2163,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5374,0.79,136.3,2925,958,2222,2163,661.1,21.6,195,5379,0.00,2.30,0.00,0.000,5126,0.000,0.057,2917,2363,2193,2223,2163,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5631,0.79,136.3,2917,2362,2222,2162,599.3,22.0,202,5632,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2362,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5871,0.79,136.3,2917,2361,2221,2162,548.0,21.4,208,5875,0.00,2.20,0.00,0.000,4612,0.000,0.054,2926,965,2191,2221,2162,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5960,0.79,136.3,2926,964,2220,2162,531.2,20.7,210,5964,0.00,2.28,0.00,0.000,5126,0.000,0.054,2917,2367,2191,2220,2162,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6232,0.79,136.3,2916,2366,2220,2161,473.5,20.7,217,6233,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2366,2191,2221,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6472,0.79,136.3,2917,2366,2220,2162,425.3,20.1,223,6476,0.00,2.20,0.00,0.000,4612,0.000,0.051,2926,961,2191,2220,2162,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6565,0.79,136.3,2926,961,2220,2162,409.4,20.1,225,6569,0.00,2.28,0.00,0.000,5126,0.000,0.056,2918,2369,2190,2219,2161,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6832,0.79,136.3,2917,2367,2220,2162,354.9,19.5,232,6836,0.00,2.17,0.00,0.000,4612,0.000,0.050,2927,961,2190,2219,2162,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6881,0.79,136.3,2927,961,2219,2162,348.0,19.5,233,6885,0.00,2.25,0.00,0.000,5126,0.000,0.056,2918,2357,2190,2219,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7148,0.79,136.3,2918,2355,2219,2162,294.3,18.9,240,7152,0.00,2.15,0.00,0.000,4612,0.000,0.050,2927,964,2191,2220,2162,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7191,0.79,136.3,2927,963,2219,2162,287.5,18.7,241,7196,0.05,2.25,0.00,0.000,5126,0.213,0.054,2915,2388,2190,2219,2161,0,0,0,0,0,0,26.60,26.66,28.83
$GC,7463,0.79,136.3,2914,2387,2220,2162,238.2,17.4,248,7464,0.00,0.00,0.00,0.000,4102,0.000,0.000,2914,2386,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7703,0.79,136.3,2914,2387,2219,2162,196.1,17.7,254,7707,0.00,2.22,0.00,0.000,4612,0.000,0.050,2924,953,2190,2219,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7777,0.79,136.3,2056,953,2184,2156,184.3,16.4,260,7784,0.00,2.28,0.00,0.000,5126,0.000,0.054,2917,2365,2190,2219,2162,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8028,0.79,136.3,2917,2364,2219,2162,142.3,17.3,285,8034,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2364,2190,2219,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8274,0.79,136.3,2917,2364,2219,2162,99.2,16.7,310,8278,0.00,2.15,0.00,0.000,4612,0.000,0.049,2926,965,2190,2219,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8362,0.79,136.3,2926,965,2219,2162,84.8,17.6,317,8370,0.00,2.22,0.00,0.000,5126,0.000,0.053,2917,2357,2190,2219,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8613,0.79,136.3,2917,2356,2219,2162,40.6,17.5,342,8625,0.00,2.20,0.00,0.000,4356,0.000,0.067,2917,3765,2190,2219,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8652,0.79,136.3,2917,3765,2219,2162,33.4,17.7,345,8664,0.03,2.15,0.00,0.000,5126,0.184,0.044,2919,2330,2190,2219,2162,0,0,0,0,0,0,26.62,26.72,28.83
$STATE,8838,end climb,SURFACE_DEPTH_REACHED
$STATE,8838,begin surface coast
$FINISH,1.2,2.383092
$STATE,8861,end surface coast,CONTROL_FINISHED_OK
$STATE,8861,begin surface
$SM_CCo,8874,112.30,0.666,0,0,1171,390.02
$SM_GC,2.37,6.97,0.00,112.30,0.038,0.000,0.666,199,2327,1171,-7.62,0.76,390.02,0,0,0,0,0,0,26.72,28.83,24.92
$IRIDIUM_FIX,3610.86,-15754.52,280209,050507
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.15
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.50
$XPDR_PINGS,304
$24V_AH,24.1,7.875
$10V_AH,10.3,5.719
$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,17.575,66.375,238.400,112.300,0.000,61.319,91.395,251.298,76.000,0.000,7.076,1042.200,6327.114,440.914,1673.853,65.506,33.235,975.041,0.000,928.225,0.000,0.540,0.000
$DEVICE_MAMPS,228.735,129.285,1106.955,665.550,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,263.104,168.390,327.654,298.567,618.759,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353080
$DATA_FILE_SIZE,34001,374
$CAP_FILE_SIZE,79578,0
$CFSIZE,259248128,255725568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030516,181531,3624.558,-15752.504,32,0.8,32,11.5