version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 76
start: 5 5 116 20 48 14
data:
$ID,512
$MISSION,7
$DIVE,76
$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,250
$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,-129587.21
$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,2654
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,71
$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
$GPS1,050516,203932,3609.996,-15756.927,31,1.0,31,11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-73.3
$GPS2,050516,204719,3610.011,-15757.010,6,0.8,6,11.5
$SPEED_LIMITS,0.208,0.267
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.090,-0.252
$KALMAN_X,56490.3,-545.8,177.3,-51113.3,1356.9
$KALMAN_Y,135342.8,-876.4,-818.5,-178452.0,8354.3
$MHEAD_RNG_PITCHd_Wd,188.1,1490888,-21.9,-12.000,-24.20,1748
$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,-0.90,-136.3,177,2329,1099,1231,0.0,0.0,0,88,0.00,0.00,-70.12,0.000,16386,0.000,0.000,175,2329,2852,2826,2879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.90,-136.3,175,2348,2826,2879,3.1,-2.5,8,119,8.62,2.10,-12.77,0.000,18692,0.225,0.069,2351,3668,3319,3314,3324,0,0,0,0,0,0,25.90,26.10,26.41
$GC,284,-0.90,-136.3,2351,3667,3313,3325,65.9,-31.6,28,295,0.00,2.08,0.00,0.000,3078,0.000,0.035,2353,2331,3319,3313,3325,0,0,0,0,0,0,28.83,26.27,28.83
$GC,535,-0.90,-136.3,2352,2306,3314,3324,149.5,-30.8,53,543,0.00,2.15,0.00,0.000,2564,0.000,0.044,2353,898,3319,3314,3325,0,0,0,0,0,0,28.83,26.37,28.83
$GC,623,-0.90,-136.3,2352,898,3314,3325,177.1,-30.5,61,632,0.05,2.10,0.00,0.000,3078,0.180,0.044,2360,2265,3319,3314,3325,0,0,0,0,0,0,26.28,26.42,28.83
$GC,900,-0.90,-136.3,2359,2264,3315,3325,259.8,-29.5,74,904,0.00,2.22,0.00,0.000,2308,0.000,0.057,2349,3707,3320,3315,3325,0,0,0,0,0,0,28.83,26.48,28.83
$GC,979,-0.90,-136.3,2349,3706,3315,3325,284.0,-30.9,76,983,0.00,2.17,0.00,0.000,3078,0.000,0.036,2350,2302,3320,3315,3325,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1256,-0.90,-136.3,2350,2271,3316,3325,368.7,-30.0,83,1257,0.00,0.00,0.00,0.000,2054,0.000,0.000,2351,2271,3320,3315,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1496,-0.90,-136.3,2350,2271,3316,3325,437.7,-28.7,89,1500,0.00,2.10,0.00,0.000,2564,0.000,0.046,2351,898,3320,3316,3325,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1554,-0.90,-136.3,2351,898,3315,3325,448.0,-28.5,90,1559,0.05,2.22,0.00,0.000,3078,0.175,0.045,2358,2308,3320,3315,3325,0,0,0,0,0,0,26.49,26.62,28.83
$GC,1811,-0.90,-136.3,2358,2308,3316,3325,524.1,-26.4,97,1815,0.00,2.17,0.00,0.000,2308,0.000,0.059,2349,3718,3320,3316,3325,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1847,-0.90,-136.3,2348,3717,3316,3324,533.9,-26.4,98,1851,0.00,2.15,0.00,0.000,3078,0.000,0.037,2352,2298,3319,3315,3324,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2123,-0.90,-136.3,2352,2265,3316,3324,607.5,-26.5,105,2127,0.00,2.25,0.00,0.000,2308,0.000,0.059,2343,3715,3320,3316,3324,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2181,-0.90,-136.3,2342,3715,3315,3323,617.8,-26.9,106,2186,0.05,2.20,0.00,0.000,3078,0.155,0.037,2360,2291,3319,3315,3324,0,0,0,0,0,0,26.56,26.69,28.83
$GC,2439,-0.90,-136.3,2360,2266,3315,3323,689.6,-25.4,113,2440,0.00,0.00,0.00,0.000,2054,0.000,0.000,2360,2266,3319,3316,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2678,-0.90,-136.3,2360,2266,3315,3322,748.9,-24.9,119,2683,0.00,2.25,0.00,0.000,2308,0.000,0.061,2351,3712,3318,3315,3322,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2707,-0.90,-136.3,2350,3712,3315,3321,748.9,-24.9,119,2714,0.00,2.17,0.00,0.000,3078,0.000,0.039,2352,2307,3318,3315,3322,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2954,-0.90,-136.3,2352,2278,3315,3321,819.5,-25.7,126,2956,0.00,0.00,0.00,0.000,2054,0.000,0.000,2352,2279,3318,3315,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.90,-136.3,2352,2278,3315,3320,881.3,-25.4,132,3198,0.00,2.22,0.00,0.000,2308,0.000,0.061,2343,3708,3317,3314,3320,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3238,-0.90,-136.3,2342,3707,3314,3320,890.7,-25.4,133,3243,0.05,2.20,0.00,0.000,3078,0.154,0.039,2360,2286,3317,3314,3320,0,0,0,0,0,0,26.63,26.74,28.83
$STATE,3269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3269,begin apogee
$GC,3273,-0.17,0.0,2360,2348,3314,3320,901.1,-25.6,134,3393,0.75,0.00,116.57,1.091,10246,0.140,0.000,2594,2348,2762,2770,2754,0,0,0,0,0,0,26.62,28.83,24.29
$STATE,3394,end apogee,CONTROL_FINISHED_OK
$STATE,3394,begin climb
$GC,3395,0.90,136.3,2594,2348,2770,2754,909.6,0.0,137,3523,1.02,0.00,124.65,1.041,10246,0.073,0.000,2939,2348,2206,2237,2176,0,0,0,0,0,0,25.08,28.83,24.09
$GC,3750,0.90,136.3,2939,2348,2230,2169,846.3,23.0,146,3754,0.00,2.25,0.00,0.000,516,0.000,0.052,2949,948,2199,2230,2169,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3788,0.90,136.3,2120,948,2195,2163,838.4,22.9,147,3793,0.00,2.28,0.00,0.000,5126,0.000,0.052,2945,2325,2198,2228,2169,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4066,0.90,136.3,2945,2324,2225,2168,773.8,23.5,154,4070,0.00,2.20,0.00,0.000,4612,0.000,0.054,2954,941,2196,2225,2168,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4175,0.90,136.3,2953,941,2223,2168,756.2,23.3,156,4182,0.00,2.25,0.00,0.000,5126,0.000,0.054,2954,2340,2195,2223,2168,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4422,0.90,136.3,2953,2339,2223,2167,690.1,23.3,163,4426,0.00,2.20,0.00,0.000,4612,0.000,0.054,2964,947,2195,2223,2167,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4475,0.90,136.3,2964,946,2222,2167,681.7,23.3,164,4480,0.03,2.28,0.00,0.000,5126,0.179,0.053,2948,2344,2195,2223,2167,0,0,0,0,0,0,26.32,26.39,28.83
$GC,4737,0.90,136.3,2948,2342,2222,2165,619.0,22.2,171,4742,0.00,2.20,0.00,0.000,4612,0.000,0.052,2957,938,2194,2223,2166,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4796,0.90,136.3,2957,939,2222,2165,611.2,22.1,172,4800,0.00,2.28,0.00,0.000,5126,0.000,0.053,2956,2343,2194,2222,2166,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5053,0.90,136.3,2956,2342,2221,2165,548.4,22.8,179,5057,0.00,2.22,0.00,0.000,4356,0.000,0.069,2956,3746,2193,2221,2165,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5092,0.90,136.3,2956,3745,2219,2165,540.0,22.9,180,5097,0.10,2.20,0.00,0.000,5126,0.191,0.047,2944,2341,2192,2220,2165,0,0,0,0,0,0,26.44,26.55,28.83
$GC,5364,0.90,136.3,2944,2314,2220,2165,482.6,20.8,187,5368,0.00,2.15,0.00,0.000,516,0.000,0.054,2953,935,2192,2219,2165,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5428,0.90,136.3,2952,935,2219,2165,474.8,21.0,188,5432,0.00,2.28,0.00,0.000,5126,0.000,0.052,2952,2345,2192,2219,2165,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5680,0.90,136.3,2952,2344,2219,2165,413.7,22.2,195,5684,0.00,2.20,0.00,0.000,4612,0.000,0.051,2961,929,2192,2219,2165,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5778,0.90,136.3,2961,929,2218,2165,396.8,22.1,197,5783,0.03,2.28,0.00,0.000,5126,0.183,0.051,2950,2350,2191,2218,2165,0,0,0,0,0,0,26.54,26.62,28.83
$GC,6036,0.90,136.3,2950,2348,2218,2165,337.8,21.2,204,6040,0.00,2.22,0.00,0.000,4612,0.000,0.052,2959,924,2191,2218,2165,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6154,0.90,136.3,2959,924,2218,2165,313.9,20.7,207,6159,0.00,2.28,0.00,0.000,5126,0.000,0.050,2956,2371,2191,2218,2165,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6431,0.90,136.3,2956,2369,2218,2165,256.4,20.4,214,6436,0.00,2.22,0.00,0.000,4612,0.000,0.051,2965,935,2191,2218,2165,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6500,0.90,136.3,2965,934,2218,2165,249.2,20.4,215,6508,0.08,2.22,0.00,0.000,5126,0.193,0.052,2947,2344,2191,2218,2165,0,0,0,0,0,0,26.58,26.67,28.83
$GC,6747,0.90,136.3,2946,2343,2217,2165,191.3,20.2,225,6751,0.00,2.20,0.00,0.000,4356,0.000,0.067,2943,3746,2191,2217,2165,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6778,0.90,136.3,2943,3746,2217,2165,185.2,21.0,227,6786,0.00,2.22,0.00,0.000,5126,0.000,0.045,2953,2336,2191,2217,2165,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7026,0.90,136.3,2953,2310,2217,2165,131.9,20.5,252,7038,0.00,2.28,0.00,0.000,4356,0.000,0.067,2953,3746,2191,2217,2166,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7064,0.90,136.3,2953,3746,2217,2165,124.3,21.6,255,7073,0.05,2.22,0.00,0.000,5126,0.174,0.045,2948,2346,2191,2217,2166,0,0,0,0,0,0,26.57,26.70,28.83
$GC,7315,0.90,136.3,2948,2317,2217,2165,75.1,19.0,280,7319,0.00,2.12,0.00,0.000,4612,0.000,0.050,2957,932,2191,2217,2165,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7416,0.90,136.3,2957,932,2217,2165,56.3,18.1,288,7428,0.00,2.17,0.00,0.000,5126,0.000,0.050,2955,2338,2191,2217,2165,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,7685,end climb,SURFACE_DEPTH_REACHED
$STATE,7685,begin surface coast
$FINISH,1.1,3.250342
$STATE,7708,end surface coast,CONTROL_FINISHED_OK
$STATE,7708,begin surface
$SM_CCo,7721,113.20,0.656,0,0,1171,390.02
$SM_GC,2.00,6.95,0.10,113.20,0.027,0.081,0.656,185,2262,1171,-7.63,0.93,390.02,0,0,0,0,0,0,26.72,26.75,24.91
$IRIDIUM_FIX,3554.86,-15756.06,020309,101008
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.39
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.20
$XPDR_PINGS,259
$24V_AH,24.1,10.279
$10V_AH,10.3,6.782
$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,17.825,88.500,241.225,113.200,0.000,53.426,106.409,159.259,64.750,0.000,8.383,963.066,5228.598,483.445,1575.429,66.821,33.238,1017.489,0.000,952.900,0.000,0.540,0.000
$DEVICE_MAMPS,224.910,93.330,1090.890,656.370,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,227.859,141.622,282.927,255.776,530.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353068
$DATA_FILE_SIZE,27268,324
$CAP_FILE_SIZE,82315,0
$CFSIZE,259248128,254803968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050516,225938,3609.333,-15757.677,14,1.4,14,11.5