version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 58
start: 5 3 116 21 2 51
data:
$ID,512
$MISSION,7
$DIVE,58
$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,-129564.37
$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,74
$R_STBD_OVSHOOT,21
$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
$GPS1,030516,205526,3624.035,-15752.691,14,2.0,14,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-71.5
$GPS2,030516,210154,3624.087,-15752.691,6,2.1,27,11.5
$SPEED_LIMITS,0.139,0.234
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,-0.046
$KALMAN_X,49675.2,-1556.9,-91.8,-36584.0,5314.8
$KALMAN_Y,117313.8,-1023.9,-942.4,-134068.0,20883.8
$MHEAD_RNG_PITCHd_Wd,247.2,1516999,-15.5,-8.000,-18.84,2612
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.79,-136.3,179,2286,1105,1225,0.0,0.0,0,79,0.00,0.00,-62.12,0.000,16386,0.000,0.000,179,2261,2674,2648,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.79,-136.3,179,2286,2650,2701,3.0,-1.8,7,118,8.75,2.08,-20.98,0.000,18948,0.226,0.057,2399,930,3317,3312,3323,0,0,0,0,0,0,25.88,26.10,26.39
$GC,204,-0.79,-136.3,2398,930,3313,3323,27.9,-25.4,23,213,0.00,2.22,0.00,0.000,3078,0.000,0.049,2390,2309,3318,3313,3323,0,0,0,0,0,0,28.83,26.19,28.83
$GC,450,-0.79,-136.3,2389,2307,3314,3323,98.8,-27.7,48,454,0.00,2.20,0.00,0.000,2308,0.000,0.060,2379,3710,3318,3314,3323,0,0,0,0,0,0,28.83,26.32,28.83
$GC,493,-0.79,-136.3,2379,3709,3314,3323,108.8,-25.8,51,502,0.05,2.15,0.00,0.000,3078,0.157,0.037,2396,2325,3318,3314,3323,0,0,0,0,0,0,26.25,26.36,28.83
$GC,746,-0.79,-136.3,2396,2302,3315,3323,172.3,-24.7,76,754,0.00,2.12,0.00,0.000,2564,0.000,0.044,2398,908,3319,3315,3323,0,0,0,0,0,0,28.83,26.44,28.83
$GC,813,-0.79,-136.3,2398,908,3315,3323,188.8,-24.0,82,821,0.00,2.22,0.00,0.000,3078,0.000,0.045,2389,2308,3318,3314,3323,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1061,-0.79,-136.3,2389,2307,3316,3323,252.1,-25.0,92,1062,0.00,0.00,0.00,0.000,2054,0.000,0.000,2389,2307,3319,3315,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1301,-0.79,-136.3,2389,2307,3316,3323,309.5,-23.7,98,1302,0.00,0.00,0.00,0.000,2054,0.000,0.000,2389,2307,3319,3316,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1541,-0.79,-136.3,2389,2306,3317,3323,367.0,-23.8,104,1542,0.00,0.00,0.00,0.000,2054,0.000,0.000,2389,2306,3320,3317,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1781,-0.79,-136.3,2389,2306,3317,3323,423.8,-23.5,110,1785,0.00,2.17,0.00,0.000,2564,0.000,0.046,2392,900,3320,3317,3323,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1819,-0.79,-136.3,1600,899,3306,3321,432.1,-23.4,111,1824,0.05,2.22,0.00,0.000,3078,0.166,0.047,2398,2306,3320,3317,3323,0,0,0,0,0,0,26.53,26.64,28.83
$GC,2096,-0.79,-136.3,2398,2305,3317,3323,492.2,-21.1,118,2097,0.00,0.00,0.00,0.000,2054,0.000,0.000,2398,2305,3320,3317,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.79,-136.3,2398,2305,3317,3323,543.5,-21.7,124,2337,0.00,0.00,0.00,0.000,2054,0.000,0.000,2398,2305,3320,3317,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2576,-0.79,-136.3,2398,2304,3317,3322,592.6,-20.4,130,2577,0.00,0.00,0.00,0.000,2054,0.000,0.000,2398,2305,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2816,-0.79,-136.3,2398,2304,3317,3321,642.1,-20.5,136,2820,0.00,2.15,0.00,0.000,2564,0.000,0.047,2398,905,3318,3316,3321,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2854,-0.79,-136.3,1604,905,3306,3319,649.7,-20.8,137,2859,0.00,2.22,0.00,0.000,3078,0.000,0.050,2389,2306,3319,3317,3321,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3132,-0.79,-136.3,2389,2305,3317,3320,711.8,-22.5,144,3136,0.00,2.17,0.00,0.000,2308,0.000,0.063,2379,3711,3318,3316,3320,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3156,-0.79,-136.3,2378,3711,3317,3320,711.8,-22.5,144,3161,0.05,2.17,0.00,0.000,3078,0.152,0.038,2396,2302,3318,3316,3320,0,0,0,0,0,0,26.63,26.74,28.83
$GC,3408,-0.79,-136.3,2396,2278,3316,3319,770.8,-20.9,151,3412,0.00,2.10,0.00,0.000,2564,0.000,0.047,2398,901,3317,3316,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3446,-0.79,-136.3,2398,901,3316,3319,778.3,-20.9,152,3451,0.03,2.22,0.00,0.000,3078,0.197,0.047,2397,2314,3317,3316,3319,0,0,0,0,0,0,26.64,26.74,28.83
$GC,3723,-0.79,-136.3,2396,2313,3315,3318,835.5,-20.2,159,3727,0.00,2.17,0.00,0.000,2308,0.000,0.063,2388,3716,3316,3315,3318,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3777,-0.79,-136.3,2387,3717,3315,3318,842.8,-20.4,160,3781,0.00,2.20,0.00,0.000,3078,0.000,0.039,2387,2296,3316,3315,3318,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4038,begin apogee
$GC,4042,-0.20,0.0,2386,2373,3315,3317,902.2,-21.6,167,4161,0.65,0.00,115.85,1.106,10246,0.134,0.000,2591,2373,2762,2771,2754,0,0,0,0,0,0,26.65,28.83,24.27
$STATE,4162,end apogee,CONTROL_FINISHED_OK
$STATE,4162,begin climb
$GC,4163,0.79,136.3,2591,2373,2770,2754,910.3,0.0,170,4294,0.95,2.38,123.55,1.051,10756,0.074,0.052,2920,971,2204,2238,2171,0,0,0,0,0,0,25.06,24.78,24.07
$GC,4319,0.79,136.3,2920,971,2235,2169,895.4,11.8,174,4323,0.00,2.30,0.00,0.000,5126,0.000,0.053,2917,2339,2201,2234,2169,0,0,0,0,0,0,28.83,25.14,28.83
$GC,4596,0.79,136.3,2916,2338,2229,2164,835.3,21.9,181,4600,0.00,2.35,0.00,0.000,4356,0.000,0.070,2916,3771,2197,2230,2165,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4635,0.79,136.3,2917,3771,2227,2164,826.9,22.2,182,4640,0.05,2.25,0.00,0.000,5126,0.221,0.047,2917,2363,2195,2227,2164,0,0,0,0,0,0,25.94,26.03,28.83
$GC,4912,0.79,136.3,2917,2342,2226,2164,767.4,20.6,189,4916,0.00,2.17,0.00,0.000,4612,0.000,0.054,2926,958,2195,2226,2164,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4947,0.79,136.3,2926,958,2225,2164,760.1,20.5,190,4952,0.00,2.28,0.00,0.000,5126,0.000,0.055,2917,2373,2194,2225,2164,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5223,0.79,136.3,2917,2372,2224,2163,702.1,21.1,197,5227,0.00,2.22,0.00,0.000,4612,0.000,0.052,2926,958,2193,2224,2163,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5307,0.79,136.3,2926,957,2223,2163,686.5,21.1,199,5311,0.00,2.25,0.00,0.000,5126,0.000,0.054,2918,2364,2193,2223,2163,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5579,0.79,136.3,2917,2363,2223,2162,628.6,20.6,206,5585,0.00,2.20,0.00,0.000,4612,0.000,0.050,2927,951,2192,2222,2163,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5619,0.79,136.3,2926,952,2222,2162,620.4,20.3,207,5623,0.00,2.25,0.00,0.000,5126,0.000,0.054,2918,2364,2192,2223,2162,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5895,0.79,136.3,2918,2362,2222,2162,565.9,19.2,214,5899,0.00,2.20,0.00,0.000,4612,0.000,0.051,2927,951,2192,2222,2162,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5939,0.79,136.3,2927,951,2222,2162,558.9,19.2,215,5943,0.00,2.28,0.00,0.000,5126,0.000,0.054,2918,2355,2192,2222,2162,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6211,0.79,136.3,2918,2354,2221,2162,505.6,18.5,222,6212,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2353,2192,2222,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6451,0.79,136.3,2918,2353,2221,2161,462.0,18.1,228,6455,0.00,2.17,0.00,0.000,4612,0.000,0.050,2927,950,2191,2221,2161,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6514,0.79,136.3,2927,951,2220,2161,455.4,18.0,229,6519,0.00,2.25,0.00,0.000,5126,0.000,0.053,2918,2373,2191,2221,2161,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6766,0.79,136.3,2918,2372,2220,2161,405.4,17.8,236,6767,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2372,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7006,0.79,136.3,2918,2371,2221,2161,363.5,17.4,242,7007,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,2371,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7246,0.79,136.3,2918,2371,2220,2161,323.2,16.7,248,7250,0.00,2.20,0.00,0.000,4612,0.000,0.049,2927,948,2190,2220,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7315,0.79,136.3,2927,948,2220,2161,317.2,16.9,249,7322,0.00,2.28,0.00,0.000,5126,0.000,0.058,2919,2366,2190,2220,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7562,0.79,136.3,2918,2365,2220,2162,267.6,17.7,256,7566,0.00,2.17,0.00,0.000,4612,0.000,0.047,2928,949,2190,2220,2161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7621,0.79,136.3,2928,949,2220,2161,261.3,17.6,257,7625,0.00,2.28,0.00,0.000,5126,0.000,0.051,2919,2367,2190,2220,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7878,0.79,136.3,2919,2366,2220,2161,212.6,17.4,264,7882,0.00,2.15,0.00,0.000,4612,0.000,0.047,2928,960,2191,2220,2162,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7932,0.79,136.3,2928,960,2220,2161,206.3,17.2,265,7936,0.00,2.25,0.00,0.000,5126,0.000,0.052,2919,2365,2190,2220,2161,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8189,0.79,136.3,2919,2363,2220,2161,158.2,18.2,289,8195,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2363,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8434,0.79,136.3,2920,2363,2220,2162,113.2,17.8,314,8435,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2363,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8677,0.79,136.3,2919,2363,2220,2161,71.6,16.9,338,8686,0.00,0.00,0.00,0.000,4102,0.000,0.000,2919,2363,2191,2220,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8927,0.79,136.3,2919,2362,2220,2161,29.9,17.2,363,8937,0.00,2.20,0.00,0.000,4612,0.000,0.047,2929,954,2191,2220,2162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9029,0.79,136.3,2928,953,2220,2162,13.1,16.2,377,9039,0.05,2.25,0.00,0.000,5126,0.156,0.051,2912,2366,2190,2219,2162,0,0,0,0,0,0,26.62,26.70,28.83
$STATE,9088,end climb,SURFACE_DEPTH_REACHED
$STATE,9088,begin surface coast
$FINISH,1.1,3.150396
$STATE,9110,end surface coast,CONTROL_FINISHED_OK
$STATE,9110,begin surface
$SM_CCo,9124,111.85,0.666,0,0,1171,390.02
$SM_GC,2.31,6.82,0.15,111.85,0.026,0.067,0.666,191,2283,1171,-7.64,1.13,390.02,0,0,0,0,0,0,26.72,26.77,24.92
$IRIDIUM_FIX,3608.19,-15826.82,280209,070743
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.03
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.30
$XPDR_PINGS,324
$24V_AH,24.1,8.114
$10V_AH,10.3,5.829
$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,17.450,84.450,239.400,111.850,0.000,30.348,51.125,201.234,81.000,0.000,28.872,1110.673,6333.411,465.937,1660.759,66.486,33.246,1029.280,0.000,1005.362,0.000,0.540,0.000
$DEVICE_MAMPS,226.440,78.795,1106.190,665.550,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,277.677,171.233,341.726,309.386,641.312,0.000,0.000,0.000,0.000,0.000
$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,33905,388
$CAP_FILE_SIZE,86343,0
$CFSIZE,259248128,255623168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030516,233802,3624.199,-15753.899,40,0.9,40,11.5