version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 68
start: 5 5 116 0 39 24
data:
$ID,512
$MISSION,7
$DIVE,68
$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,-129576.97
$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,32
$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
$GPS1,050516,002819,3616.725,-15754.874,45,0.8,45,11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-68.4
$GPS2,050516,003827,3616.785,-15754.723,6,0.8,6,11.5
$SPEED_LIMITS,0.139,0.234
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,-0.234
$KALMAN_X,54487.4,-117.1,-362.9,-45589.4,6345.3
$KALMAN_Y,128332.9,-1456.1,-703.8,-158417.1,17470.1
$MHEAD_RNG_PITCHd_Wd,169.0,1503451,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.74,-136.3,134,2294,1106,1220,0.0,0.0,0,88,0.00,0.00,-70.45,0.000,16386,0.000,0.000,133,2296,2870,2842,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.74,-136.3,132,2296,2842,2898,3.1,-2.3,8,118,9.00,2.25,-11.98,0.000,18692,0.228,0.069,2394,3721,3317,3314,3321,0,0,0,0,0,0,25.86,26.09,26.39
$GC,162,-0.74,-136.3,2394,3721,3313,3322,22.7,-34.9,17,172,0.05,2.25,0.00,0.000,3078,0.171,0.037,2411,2276,3317,3313,3322,0,0,0,0,0,0,26.03,26.17,28.83
$GC,419,-0.74,-136.3,2411,2262,3315,3322,94.2,-23.2,43,428,0.00,2.25,0.00,0.000,2308,0.000,0.058,2401,3709,3318,3315,3322,0,0,0,0,0,0,28.83,26.31,28.83
$GC,519,-0.74,-136.3,2401,3708,3315,3322,118.4,-25.2,52,523,0.00,2.12,0.00,0.000,3078,0.000,0.036,2407,2311,3318,3315,3322,0,0,0,0,0,0,28.83,26.37,28.83
$GC,768,-0.74,-136.3,2407,2282,3316,3322,178.3,-24.9,76,774,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2282,3318,3315,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1014,-0.74,-136.3,2407,2282,3317,3322,237.8,-23.5,89,1018,0.00,2.22,0.00,0.000,2308,0.000,0.057,2398,3713,3319,3316,3322,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1043,-0.74,-136.3,2398,3713,3316,3322,237.8,-23.5,89,1051,0.03,2.20,0.00,0.000,3078,0.174,0.037,2407,2293,3319,3316,3322,0,0,0,0,0,0,26.44,26.53,28.83
$GC,1290,-0.74,-136.3,2407,2268,3316,3322,303.1,-23.2,96,1291,0.00,0.00,0.00,0.000,2054,0.000,0.000,2407,2268,3319,3316,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1530,-0.74,-136.3,2407,2268,3317,3321,359.7,-23.7,102,1534,0.00,2.25,0.00,0.000,2308,0.000,0.058,2398,3717,3319,3316,3322,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1549,-0.74,-136.3,2398,3717,3316,3322,359.7,-23.7,102,1553,0.00,2.17,0.00,0.000,3078,0.000,0.037,2398,2305,3319,3316,3322,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1806,-0.74,-136.3,2397,2278,3316,3322,424.6,-23.0,109,1810,0.05,2.12,0.00,0.000,2564,0.220,0.043,2411,888,3319,3317,3321,0,0,0,0,0,0,26.67,26.63,28.83
$GC,1830,-0.74,-136.3,2411,888,3316,3322,424.6,-23.0,109,1835,0.00,2.25,0.00,0.000,3078,0.000,0.046,2402,2313,3319,3316,3322,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2082,-0.74,-136.3,2402,2313,3316,3321,487.1,-22.7,116,2086,0.00,2.15,0.00,0.000,2308,0.000,0.060,2391,3712,3318,3316,3321,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2106,-0.74,-136.3,2391,3711,3316,3321,487.1,-22.7,116,2111,0.05,2.17,0.00,0.000,3078,0.160,0.037,2407,2301,3318,3316,3321,0,0,0,0,0,0,26.55,26.67,28.83
$GC,2358,-0.74,-136.3,2407,2277,3316,3321,546.7,-21.1,123,2359,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2277,3318,3316,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2598,-0.74,-136.3,2407,2276,3316,3320,594.6,-19.6,129,2602,0.00,2.22,0.00,0.000,2308,0.000,0.060,2398,3706,3318,3316,3320,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2642,-0.74,-136.3,2398,3706,3316,3320,602.0,-19.8,130,2646,0.00,2.17,0.00,0.000,3078,0.000,0.038,2398,2298,3318,3316,3320,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2914,-0.74,-136.3,2397,2271,3316,3319,659.8,-20.3,137,2916,0.05,0.00,0.00,0.000,2054,0.224,0.000,2408,2271,3317,3316,3319,0,0,0,0,0,0,26.73,28.83,28.83
$GC,3154,-0.74,-136.3,2408,2271,3315,3319,707.5,-20.1,143,3155,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2271,3317,3316,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3394,-0.74,-136.3,2408,2270,3316,3318,757.8,-21.3,149,3395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2271,3317,3316,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3634,-0.74,-136.3,2408,2270,3315,3317,807.4,-20.8,155,3635,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2271,3316,3315,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3874,-0.74,-136.3,2408,2270,3314,3316,855.2,-19.9,161,3878,0.00,2.25,0.00,0.000,2308,0.000,0.064,2399,3709,3315,3314,3316,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3903,-0.74,-136.3,2399,3709,3314,3316,855.2,-19.9,161,3910,0.00,2.15,0.00,0.000,3078,0.000,0.041,2399,2298,3315,3314,3316,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4108,begin apogee
$GC,4112,-0.19,0.0,2399,2358,3314,3315,903.3,-20.3,167,4231,0.60,0.00,115.95,1.095,10246,0.135,0.000,2586,2358,2762,2771,2754,0,0,0,0,0,0,26.65,28.83,24.30
$STATE,4232,end apogee,CONTROL_FINISHED_OK
$STATE,4232,begin climb
$GC,4234,0.74,136.3,2586,2358,2770,2754,910.3,0.0,170,4364,0.93,2.40,123.55,1.041,10756,0.080,0.050,2904,936,2204,2238,2170,0,0,0,0,0,0,25.08,24.82,24.08
$GC,4395,0.74,136.3,2904,936,2235,2168,894.6,12.1,174,4399,0.00,2.33,0.00,0.000,5126,0.000,0.050,2904,2325,2201,2235,2168,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4661,0.74,136.3,2904,2324,2230,2164,838.9,20.2,181,4665,0.00,2.20,0.00,0.000,4612,0.000,0.050,2913,943,2197,2230,2164,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4690,0.74,136.3,2912,943,2229,2164,838.9,20.2,181,4697,0.00,2.28,0.00,0.000,5126,0.000,0.053,2905,2347,2196,2229,2164,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4937,0.74,136.3,2905,2346,2228,2164,782.3,20.5,188,4941,0.00,2.25,0.00,0.000,4612,0.000,0.050,2914,937,2195,2227,2163,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4986,0.74,136.3,2913,937,2227,2163,775.6,20.3,189,4991,0.10,2.25,0.00,0.000,5126,0.170,0.051,2892,2342,2194,2226,2163,0,0,0,0,0,0,26.17,26.25,28.83
$GC,5248,0.74,136.3,2891,2341,2226,2162,724.8,17.6,196,5252,0.00,2.22,0.00,0.000,516,0.000,0.050,2900,939,2194,2226,2162,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5284,0.74,136.3,2901,938,2225,2162,718.2,17.7,197,5288,0.00,2.22,0.00,0.000,5126,0.000,0.051,2900,2340,2193,2225,2162,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5559,0.74,136.3,2900,2339,2224,2162,669.0,17.6,204,5563,0.00,2.17,0.00,0.000,4612,0.000,0.048,2909,942,2193,2224,2162,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5618,0.74,136.3,2909,941,2223,2162,662.6,17.5,205,5623,0.03,2.28,0.00,0.000,5126,0.177,0.051,2898,2347,2192,2223,2162,0,0,0,0,0,0,26.41,26.48,28.83
$GC,5875,0.74,136.3,2898,2345,2223,2161,613.4,17.6,212,5876,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,2345,2192,2223,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,0.74,136.3,2898,2345,2223,2161,570.2,17.9,218,6116,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,2345,2192,2223,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6355,0.74,136.3,2898,2345,2223,2161,526.3,18.0,224,6356,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,2345,2192,2223,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6595,0.74,136.3,2897,2345,2222,2160,485.0,16.9,230,6599,0.00,2.17,0.00,0.000,4612,0.000,0.049,2907,940,2191,2222,2161,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6658,0.74,136.3,2906,940,2222,2160,479.5,16.6,231,6663,0.00,2.25,0.00,0.000,5126,0.000,0.051,2907,2339,2191,2222,2161,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6911,0.74,136.3,2906,2338,2221,2161,434.4,15.9,238,6915,0.00,2.17,0.00,0.000,4612,0.000,0.049,2916,933,2191,2221,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6949,0.74,136.3,2064,932,2187,2155,428.9,15.8,239,6954,0.05,2.25,0.00,0.000,5126,0.163,0.050,2899,2340,2190,2221,2160,0,0,0,0,0,0,26.55,26.65,28.83
$GC,7226,0.74,136.3,2899,2339,2221,2160,386.2,15.3,246,7230,0.00,2.17,0.00,0.000,4612,0.000,0.048,2908,931,2190,2221,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7302,0.74,136.3,2908,930,2220,2160,374.2,15.8,248,7307,0.05,2.22,0.00,0.000,5126,0.205,0.050,2898,2346,2190,2220,2160,0,0,0,0,0,0,26.60,26.67,28.83
$GC,7578,0.74,136.3,2898,2345,2220,2160,333.0,14.8,255,7580,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,2345,2190,2220,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7819,0.74,136.3,2898,2345,2220,2160,296.5,15.7,261,7823,0.00,2.17,0.00,0.000,4612,0.000,0.047,2907,930,2190,2220,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7907,0.74,136.3,2906,930,2220,2160,283.9,16.2,263,7912,0.00,2.25,0.00,0.000,5126,0.000,0.049,2906,2338,2190,2220,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8174,0.74,136.3,2906,2337,2220,2161,236.3,17.4,270,8175,0.00,0.00,0.00,0.000,4102,0.000,0.000,2906,2337,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8414,0.74,136.3,2906,2337,2220,2161,193.6,17.7,276,8415,0.00,0.00,0.00,0.000,4102,0.000,0.000,2907,2337,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8656,0.74,136.3,2906,2337,2220,2161,151.0,17.8,300,8657,0.00,0.00,0.00,0.000,4102,0.000,0.000,2906,2337,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8895,0.74,136.3,2906,2337,2220,2161,109.8,17.3,324,8899,0.00,2.20,0.00,0.000,4356,0.000,0.065,2906,3747,2190,2220,2160,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9048,0.74,136.3,2906,3747,2219,2161,79.6,20.6,337,9060,0.05,2.15,0.00,0.000,5126,0.164,0.040,2901,2304,2190,2219,2161,0,0,0,0,0,0,26.61,26.72,28.83
$GC,9300,0.74,136.3,2901,2304,2220,2161,40.7,16.0,362,9309,0.00,0.00,0.00,0.000,4102,0.000,0.000,2901,2304,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9542,end climb,SURFACE_DEPTH_REACHED
$STATE,9542,begin surface coast
$FINISH,1.3,3.120332
$STATE,9565,end surface coast,CONTROL_FINISHED_OK
$STATE,9565,begin surface
$SM_CCo,9577,108.38,0.643,0,0,1172,390.02
$SM_GC,2.06,6.82,0.00,108.38,0.029,0.000,0.643,197,2301,1172,-7.62,0.03,390.02,0,0,0,0,0,0,26.73,28.83,24.98
$IRIDIUM_FIX,3602.85,-15753.05,010309,131357
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.07
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,17.60
$XPDR_PINGS,333
$24V_AH,24.1,9.329
$10V_AH,10.3,6.380
$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,17.850,79.975,239.500,108.375,0.000,53.810,104.022,278.552,83.250,0.000,7.303,1129.539,6840.504,456.809,1808.575,71.927,33.245,1011.994,0.000,992.071,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,88.740,1094.715,643.365,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,284.467,171.644,341.831,313.913,650.668,0.000,0.000,0.000,0.000,0.000
$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,33946,397
$CAP_FILE_SIZE,90523,0
$CFSIZE,259248128,255160320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050516,032138,3615.488,-15754.440,13,1.3,13,11.5