version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 65
start: 5 4 116 16 5 8
data:
$ID,512
$MISSION,7
$DIVE,65
$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,-129573.18
$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,27
$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,64
$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
$GPS1,040516,155544,3618.984,-15754.789,15,1.2,15,11.5
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-70.0
$GPS2,040516,160412,3619.050,-15754.703,7,1.7,7,11.5
$SPEED_LIMITS,0.139,0.234
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,-0.234
$KALMAN_X,52798.2,-745.2,-352.7,-43244.5,5946.3
$KALMAN_Y,123897.2,-1062.8,-712.0,-150174.1,16940.5
$MHEAD_RNG_PITCHd_Wd,169.0,1507647,-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,-0.74,-136.3,156,2330,1111,1209,0.0,0.0,0,88,0.00,0.00,-70.78,0.000,16386,0.000,0.000,147,2330,2892,2866,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.74,-136.3,147,2305,2866,2918,3.1,-2.4,8,119,9.02,2.17,-11.10,0.000,18948,0.231,0.060,2408,928,3318,3314,3322,0,0,0,0,0,0,25.89,26.08,26.39
$GC,222,-0.74,-136.3,2408,928,3314,3322,37.4,-26.2,24,233,0.00,2.15,0.00,0.000,3078,0.000,0.047,2399,2305,3318,3314,3323,0,0,0,0,0,0,28.83,26.23,28.83
$GC,474,-0.74,-136.3,2399,2304,3314,3323,108.9,-28.4,49,482,0.00,2.17,0.00,0.000,2308,0.000,0.060,2389,3710,3319,3315,3323,0,0,0,0,0,0,28.83,26.32,28.83
$GC,555,-0.74,-136.3,2389,3710,3314,3323,132.2,-28.2,56,565,0.05,2.17,0.00,0.000,3078,0.161,0.036,2410,2303,3318,3314,3323,0,0,0,0,0,0,26.26,26.39,28.83
$GC,803,-0.74,-136.3,2409,2286,3316,3323,196.1,-24.6,81,815,0.00,2.22,0.00,0.000,2308,0.000,0.057,2401,3710,3318,3315,3322,0,0,0,0,0,0,28.83,26.43,28.83
$GC,826,-0.74,-136.3,2400,3710,3315,3323,202.5,-26.1,83,831,0.00,2.15,0.00,0.000,3078,0.000,0.037,2408,2306,3319,3315,3323,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1082,-0.74,-136.3,2407,2277,3316,3323,267.3,-25.4,90,1083,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2276,3319,3316,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1323,-0.74,-136.3,2407,2276,3316,3323,326.5,-24.2,96,1324,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2276,3319,3316,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1562,-0.74,-136.3,2408,2276,3316,3323,381.2,-22.5,102,1563,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2276,3319,3316,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1803,-0.74,-136.3,2407,2276,3316,3322,432.9,-21.5,108,1804,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2276,3319,3316,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2042,-0.74,-136.3,2407,2276,3316,3322,484.5,-21.8,114,2046,0.00,2.22,0.00,0.000,2308,0.000,0.060,2398,3709,3319,3316,3322,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2091,-0.74,-136.3,2398,3709,3316,3322,492.7,-22.2,115,2096,0.05,2.20,0.00,0.000,3078,0.203,0.037,2411,2295,3319,3316,3322,0,0,0,0,0,0,26.60,26.68,28.83
$GC,2358,-0.74,-136.3,2410,2265,3316,3322,555.9,-22.8,122,2359,0.00,0.00,0.00,0.000,2054,0.000,0.000,2410,2265,3318,3316,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2598,-0.74,-136.3,2410,2265,3316,3321,611.6,-23.2,128,2599,0.00,0.00,0.00,0.000,2054,0.000,0.000,2411,2265,3318,3316,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2838,-0.74,-136.3,2410,2265,3316,3321,667.6,-23.4,134,2842,0.00,2.25,0.00,0.000,2308,0.000,0.061,2402,3711,3318,3316,3320,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2867,-0.74,-136.3,2401,3711,3316,3320,667.6,-23.4,134,2874,0.00,2.20,0.00,0.000,3078,0.000,0.039,2406,2289,3317,3316,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3114,-0.74,-136.3,2406,2262,3317,3319,731.4,-22.8,141,3115,0.00,0.00,0.00,0.000,2054,0.000,0.000,2406,2262,3317,3316,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3354,-0.74,-136.3,2406,2262,3316,3319,782.7,-21.3,147,3355,0.00,0.00,0.00,0.000,2054,0.000,0.000,2406,2262,3317,3316,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3594,-0.74,-136.3,2406,2262,3315,3318,832.2,-20.4,153,3598,0.00,2.28,0.00,0.000,2308,0.000,0.062,2396,3718,3316,3315,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3663,-0.74,-136.3,2396,3717,3315,3318,839.8,-20.5,154,3671,0.05,2.17,0.00,0.000,3078,0.206,0.040,2411,2288,3316,3315,3318,0,0,0,0,0,0,26.67,26.76,28.83
$GC,3910,-0.74,-136.3,2411,2262,3315,3316,893.6,-18.7,161,3914,0.00,2.25,0.00,0.000,2308,0.000,0.062,2401,3707,3315,3314,3316,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3945,begin apogee
$GC,3950,-0.19,0.0,2405,2329,3314,3316,900.5,-18.8,162,4070,0.57,0.08,116.05,1.102,10246,0.129,0.109,2589,2346,2762,2771,2754,0,0,0,0,0,0,26.65,24.95,24.27
$STATE,4071,end apogee,CONTROL_FINISHED_OK
$STATE,4071,begin climb
$GC,4073,0.74,136.3,2588,2346,2769,2753,906.8,0.0,165,4204,0.90,2.42,123.57,1.051,10756,0.079,0.052,2899,950,2205,2239,2171,0,0,0,0,0,0,25.07,24.79,24.08
$GC,4214,0.74,136.3,2899,950,2236,2170,896.9,10.5,168,4219,0.00,2.38,0.00,0.000,5126,0.000,0.052,2899,2329,2202,2236,2169,0,0,0,0,0,0,28.83,25.02,28.83
$GC,4466,0.74,136.3,2899,2328,2231,2164,840.0,20.7,175,4467,0.00,0.00,0.00,0.000,4102,0.000,0.000,2899,2328,2198,2231,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4706,0.74,136.3,2899,2328,2229,2164,792.2,19.6,181,4708,0.00,0.00,0.00,0.000,4102,0.000,0.000,2899,2328,2196,2229,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4947,0.74,136.3,2898,2328,2227,2163,747.6,18.4,187,4948,0.00,0.00,0.00,0.000,4102,0.000,0.000,2899,2328,2195,2227,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,0.74,136.3,2899,2327,2226,2163,703.3,18.3,193,5190,0.00,2.20,0.00,0.000,4612,0.000,0.054,2909,935,2194,2225,2163,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5235,0.74,136.3,2909,935,2225,2163,696.8,18.1,194,5239,0.00,2.28,0.00,0.000,5126,0.000,0.055,2904,2353,2194,2225,2163,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5502,0.74,136.3,2904,2352,2224,2162,644.5,18.5,201,5506,0.00,2.22,0.00,0.000,4356,0.000,0.071,2904,3745,2193,2224,2162,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5526,0.74,136.3,2904,3745,2223,2162,644.5,18.5,201,5531,0.10,2.20,0.00,0.000,5126,0.179,0.048,2891,2341,2192,2223,2162,0,0,0,0,0,0,26.40,26.51,28.83
$GC,5773,0.74,136.3,2891,2318,2223,2162,594.9,17.8,207,5777,0.00,2.15,0.00,0.000,516,0.000,0.053,2901,939,2192,2223,2162,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5826,0.74,136.3,2901,939,2223,2162,588.5,17.7,208,5831,0.00,2.28,0.00,0.000,5126,0.000,0.053,2901,2343,2192,2223,2161,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6089,0.74,136.3,2900,2342,2223,2162,537.4,18.1,215,6093,0.00,2.17,0.00,0.000,4612,0.000,0.050,2910,940,2192,2223,2162,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6142,0.74,136.3,2909,941,2222,2162,531.3,17.9,216,6146,0.00,2.28,0.00,0.000,5126,0.000,0.053,2906,2346,2191,2222,2161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6404,0.74,136.3,2905,2345,2222,2161,480.8,17.9,223,6405,0.00,0.00,0.00,0.000,4102,0.000,0.000,2906,2345,2191,2222,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6644,0.74,136.3,2905,2345,2222,2161,436.4,18.7,229,6646,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,2345,2191,2222,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6884,0.74,136.3,2905,2345,2222,2161,391.4,18.9,235,6888,0.00,2.20,0.00,0.000,4612,0.000,0.049,2915,934,2191,2222,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6903,0.74,136.3,2914,934,2221,2161,391.4,18.9,235,6908,0.10,2.28,0.00,0.000,5126,0.175,0.052,2892,2347,2191,2221,2161,0,0,0,0,0,0,26.56,26.65,28.83
$GC,7160,0.74,136.3,2891,2345,2221,2161,342.3,17.7,242,7164,0.00,2.20,0.00,0.000,516,0.000,0.049,2901,929,2191,2221,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7229,0.74,136.3,2901,929,2221,2161,336.2,17.5,243,7236,0.00,2.28,0.00,0.000,5126,0.000,0.052,2901,2350,2191,2221,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7476,0.74,136.3,2901,2348,2221,2161,286.1,18.0,250,7477,0.00,0.00,0.00,0.000,4102,0.000,0.000,2901,2348,2191,2221,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7716,0.74,136.3,2901,2348,2221,2161,244.4,17.1,256,7720,0.00,2.17,0.00,0.000,4612,0.000,0.047,2910,932,2191,2221,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7730,0.74,136.3,2910,932,2221,2161,244.4,17.1,256,7735,0.05,2.25,0.00,0.000,5126,0.155,0.050,2894,2343,2191,2221,2161,0,0,0,0,0,0,26.60,26.70,28.83
$GC,7992,0.74,136.3,2893,2341,2220,2161,200.2,15.8,263,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2341,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8232,0.74,136.3,2893,2341,2221,2161,162.5,15.9,284,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2341,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,0.74,136.3,2893,2341,2220,2161,125.9,15.2,308,8476,0.00,2.17,0.00,0.000,516,0.000,0.047,2902,932,2191,2220,2162,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8526,0.74,136.3,1984,931,2183,2156,118.1,15.6,312,8536,0.00,2.25,0.00,0.000,5126,0.000,0.050,2903,2346,2190,2220,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8776,0.74,136.3,2902,2344,2220,2161,77.6,16.4,337,8787,0.00,2.15,0.00,0.000,4612,0.000,0.046,2913,928,2190,2220,2161,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8852,0.74,136.3,2913,928,2220,2161,64.4,16.6,343,8864,0.05,2.17,0.00,0.000,5126,0.151,0.047,2895,2341,2190,2220,2161,0,0,0,0,0,0,26.61,26.70,28.83
$GC,9104,0.74,136.3,2895,2341,2220,2161,30.9,12.8,368,9115,0.00,2.15,0.00,0.000,4356,0.000,0.063,2895,3747,2191,2220,2162,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9249,0.74,136.3,2895,3746,2220,2162,5.7,22.5,388,9258,0.00,2.20,0.00,0.000,5126,0.000,0.041,2903,2340,2191,2220,2162,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,9266,end climb,SURFACE_DEPTH_REACHED
$STATE,9266,begin surface coast
$FINISH,1.3,3.186397
$STATE,9282,end surface coast,CONTROL_FINISHED_OK
$STATE,9282,begin surface
$SM_CCo,9294,110.32,0.660,0,0,1171,390.02
$SM_GC,1.84,6.93,0.00,110.32,0.035,0.000,0.660,198,2307,1171,-7.61,0.20,390.02,0,0,0,0,0,0,26.71,28.83,24.94
$IRIDIUM_FIX,3608.19,-15747.08,010309,050520
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.76
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.50
$XPDR_PINGS,323
$24V_AH,24.1,8.955
$10V_AH,10.3,6.209
$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,17.875,79.900,239.625,110.325,0.000,60.160,109.161,191.161,80.750,0.000,8.276,1096.217,6648.952,468.849,1635.165,76.191,33.253,1009.800,0.000,925.048,0.000,0.541,0.000
$DEVICE_MAMPS,231.030,108.630,1102.365,660.195,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,285.425,175.368,344.443,311.420,645.325,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353052
$DATA_FILE_SIZE,33939,392
$CAP_FILE_SIZE,84823,0
$CFSIZE,259248128,255303680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040516,184301,3618.010,-15754.723,33,0.9,33,11.5