version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 69
start: 5 5 116 3 33 45
data:
$ID,512
$MISSION,7
$DIVE,69
$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,-129578.23
$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,67
$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
$GPS1,050516,032138,3615.488,-15754.440,13,1.3,13,11.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-70.5
$GPS2,050516,033248,3615.531,-15754.204,7,1.3,7,11.5
$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,54490.8,6.0,-428.2,-44876.4,5487.9
$KALMAN_Y,129359.8,-1433.7,-808.2,-161679.1,16957.9
$MHEAD_RNG_PITCHd_Wd,169.0,1501135,-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,-136.3,168,2300,1110,1211,0.0,0.0,0,88,0.00,0.00,-70.68,0.000,16386,0.000,0.000,164,2326,2869,2841,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.74,-136.3,164,2301,2842,2898,3.1,-2.2,8,118,9.02,2.25,-11.77,0.000,19204,0.233,0.069,2397,3723,3319,3314,3324,0,0,0,0,0,0,25.86,26.10,26.41
$GC,182,-0.74,-136.3,2398,3722,3314,3324,27.8,-28.6,20,192,0.00,2.20,0.00,0.000,3078,0.000,0.037,2399,2320,3319,3314,3324,0,0,0,0,0,0,28.83,26.20,28.83
$GC,432,-0.74,-136.3,2398,2298,3315,3324,98.6,-24.4,45,440,0.00,2.20,0.00,0.000,2308,0.000,0.057,2389,3717,3319,3315,3324,0,0,0,0,0,0,28.83,26.32,28.83
$GC,444,-0.74,-136.3,2389,3716,3315,3324,101.0,-24.4,46,456,0.05,2.20,0.00,0.000,3078,0.158,0.034,2411,2297,3319,3315,3324,0,0,0,0,0,0,26.23,26.36,28.83
$GC,693,-0.74,-136.3,2411,2275,3316,3324,162.9,-24.1,71,702,0.00,2.25,0.00,0.000,2308,0.000,0.057,2402,3717,3319,3315,3324,0,0,0,0,0,0,28.83,26.41,28.83
$GC,784,-0.74,-136.3,2402,3717,3316,3324,184.7,-24.9,79,792,0.00,2.20,0.00,0.000,3078,0.000,0.035,2408,2301,3320,3316,3324,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1041,-0.74,-136.3,2408,2269,3317,3324,248.9,-24.4,90,1042,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2269,3320,3316,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1282,-0.74,-136.3,2408,2269,3317,3324,308.0,-24.2,96,1283,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2269,3320,3317,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-0.74,-136.3,2408,2269,3317,3324,364.8,-23.6,102,1522,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2269,3320,3317,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1761,-0.74,-136.3,2408,2269,3317,3324,418.3,-22.2,108,1762,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2269,3320,3317,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2001,-0.74,-136.3,2408,2269,3317,3324,472.3,-22.5,114,2002,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2269,3320,3317,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2242,-0.74,-136.3,2408,2269,3317,3323,527.1,-22.7,120,2243,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2269,3320,3317,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2481,-0.74,-136.3,2408,2269,3317,3323,579.9,-22.0,126,2485,0.00,2.25,0.00,0.000,2308,0.000,0.060,2399,3718,3320,3317,3323,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2520,-0.74,-136.3,1600,3717,3305,3320,587.7,-21.9,127,2524,0.00,2.20,0.00,0.000,3078,0.000,0.037,2399,2295,3320,3317,3323,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2797,-0.74,-136.3,2398,2267,3316,3322,650.3,-22.0,134,2802,0.05,2.25,0.00,0.000,2308,0.221,0.057,2400,3718,3319,3317,3322,0,0,0,0,0,0,26.74,26.70,28.83
$GC,2822,-0.74,-136.3,2400,3717,3317,3322,650.3,-22.0,134,2826,0.00,2.20,0.00,0.000,3078,0.000,0.038,2403,2291,3319,3317,3321,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3074,-0.74,-136.3,2403,2264,3317,3321,708.1,-20.6,141,3078,0.00,2.10,0.00,0.000,2564,0.000,0.047,2408,892,3319,3317,3321,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3103,-0.74,-136.3,2408,892,3317,3321,708.1,-20.6,141,3110,0.00,2.20,0.00,0.000,3078,0.000,0.048,2399,2314,3318,3317,3320,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3350,-0.74,-136.3,2399,2313,3317,3320,765.5,-20.9,148,3353,0.00,2.15,0.00,0.000,2308,0.000,0.062,2388,3706,3318,3317,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3383,-0.74,-136.3,2388,3706,3317,3319,765.5,-20.9,148,3391,0.05,2.17,0.00,0.000,3078,0.155,0.039,2408,2300,3318,3317,3319,0,0,0,0,0,0,26.63,26.74,28.83
$GC,3630,-0.74,-136.3,2407,2275,3315,3319,822.6,-19.9,155,3631,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2275,3317,3316,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,-0.74,-136.3,2408,2275,3316,3318,869.3,-19.2,161,3871,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2275,3316,3315,3318,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4069,begin apogee
$GC,4073,-0.19,0.0,2408,2358,3315,3317,906.6,-18.5,166,4192,0.57,0.00,116.07,1.098,10246,0.134,0.000,2589,2357,2762,2771,2754,0,0,0,0,0,0,26.65,28.83,24.30
$STATE,4193,end apogee,CONTROL_FINISHED_OK
$STATE,4193,begin climb
$GC,4195,0.74,136.3,2589,2358,2770,2754,912.9,0.0,169,4326,0.88,2.38,122.93,1.050,10500,0.080,0.070,2888,3730,2205,2240,2171,0,0,0,0,0,0,25.08,24.79,24.10
$GC,4356,0.74,136.3,2888,3729,2235,2169,896.2,12.8,173,4360,0.00,2.33,0.00,0.000,5126,0.000,0.046,2898,2346,2202,2235,2169,0,0,0,0,0,0,28.83,25.24,28.83
$GC,4628,0.74,136.3,2898,2323,2230,2164,837.9,20.8,180,4632,0.00,2.20,0.00,0.000,4612,0.000,0.050,2909,931,2197,2230,2164,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4717,0.74,136.3,2909,931,2228,2164,821.8,20.8,182,4721,0.00,2.30,0.00,0.000,5126,0.000,0.051,2904,2331,2196,2228,2164,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4984,0.74,136.3,2904,2330,2226,2164,763.5,20.5,189,4988,0.00,2.20,0.00,0.000,4612,0.000,0.051,2913,934,2194,2226,2163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5020,0.74,136.3,2912,934,2225,2163,756.1,20.6,190,5024,0.00,2.25,0.00,0.000,5126,0.000,0.051,2904,2346,2194,2225,2163,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5296,0.74,136.3,2904,2344,2224,2163,701.9,19.3,197,5297,0.00,0.00,0.00,0.000,4102,0.000,0.000,2904,2344,2193,2224,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5536,0.74,136.3,2904,2344,2223,2162,657.2,18.5,203,5540,0.00,2.20,0.00,0.000,4612,0.000,0.050,2913,934,2192,2223,2162,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5605,0.74,136.3,2913,934,2223,2162,650.7,18.4,204,5612,0.00,2.22,0.00,0.000,5126,0.000,0.052,2905,2342,2192,2223,2162,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5852,0.74,136.3,2905,2342,2222,2162,599.2,18.2,211,5856,0.00,2.22,0.00,0.000,4356,0.000,0.067,2905,3748,2192,2223,2162,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5895,0.74,136.3,2905,3748,2221,2162,592.2,18.4,212,5900,0.05,2.25,0.00,0.000,5126,0.168,0.044,2891,2338,2191,2221,2162,0,0,0,0,0,0,26.44,26.58,28.83
$GC,6167,0.74,136.3,2890,2308,2221,2161,545.1,16.2,219,6171,0.00,2.12,0.00,0.000,516,0.000,0.050,2900,930,2191,2221,2162,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6205,0.74,136.3,2048,930,2185,2156,539.1,16.3,220,6210,0.00,2.25,0.00,0.000,5126,0.000,0.050,2900,2337,2190,2220,2161,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6483,0.74,136.3,2900,2336,2220,2161,490.9,17.5,227,6484,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2336,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6723,0.74,136.3,2899,2335,2220,2161,449.5,17.4,233,6727,0.00,2.17,0.00,0.000,4612,0.000,0.048,2910,930,2190,2220,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6742,0.74,136.3,2909,930,2220,2161,449.5,17.4,233,6746,0.00,2.25,0.00,0.000,5126,0.000,0.049,2905,2340,2190,2220,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7004,0.74,136.3,2905,2339,2220,2161,400.5,17.4,240,7008,0.00,2.17,0.00,0.000,4612,0.000,0.048,2914,928,2190,2220,2161,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7068,0.74,136.3,2914,928,2220,2161,393.8,17.7,241,7072,0.10,2.22,0.00,0.000,5126,0.172,0.050,2892,2350,2190,2220,2161,0,0,0,0,0,0,26.57,26.66,28.83
$GC,7320,0.74,136.3,2891,2349,2220,2161,347.1,16.2,248,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2349,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7560,0.74,136.3,2891,2349,2220,2161,307.9,16.4,254,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2349,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7800,0.74,136.3,2892,2348,2220,2161,268.8,16.6,260,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2349,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8040,0.74,136.3,2892,2349,2219,2161,229.0,16.6,266,8044,0.00,2.20,0.00,0.000,516,0.000,0.047,2901,931,2190,2219,2161,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8108,0.74,136.3,2900,930,2219,2161,222.9,17.0,267,8116,0.00,2.25,0.00,0.000,5126,0.000,0.053,2901,2344,2190,2219,2161,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8360,0.74,136.3,2900,2342,2219,2161,174.1,18.2,283,8366,0.00,0.00,0.00,0.000,4102,0.000,0.000,2901,2342,2189,2218,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8606,0.74,136.3,2901,2342,2220,2161,131.1,16.5,308,8610,0.00,2.15,0.00,0.000,4612,0.000,0.045,2910,930,2190,2219,2162,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8649,0.74,136.3,2910,929,2219,2161,124.6,16.9,311,8658,0.05,2.17,0.00,0.000,5126,0.152,0.049,2894,2346,2190,2219,2161,0,0,0,0,0,0,26.62,26.72,28.83
$GC,8895,0.74,136.3,2893,2345,2219,2161,82.8,15.8,336,8899,0.00,2.20,0.00,0.000,260,0.000,0.064,2894,3752,2190,2219,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9037,0.74,136.3,2893,3752,2219,2161,57.9,17.8,347,9048,0.00,2.22,0.00,0.000,5126,0.000,0.040,2903,2314,2190,2219,2161,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9313,0.74,136.3,2903,2300,2220,2161,18.9,12.2,378,9322,0.00,2.30,0.00,0.000,4356,0.000,0.063,2903,3742,2190,2219,2161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9345,0.74,136.3,2903,3742,2219,2162,13.1,17.3,382,9356,0.05,2.15,0.00,0.000,5126,0.160,0.041,2898,2324,2190,2219,2161,0,0,0,0,0,0,26.61,26.74,28.83
$STATE,9405,end climb,SURFACE_DEPTH_REACHED
$STATE,9405,begin surface coast
$FINISH,1.2,3.261450
$STATE,9427,end surface coast,CONTROL_FINISHED_OK
$STATE,9427,begin surface
$SM_CCo,9440,112.10,0.649,0,0,1171,390.02
$SM_GC,2.10,6.85,0.00,112.10,0.031,0.000,0.649,195,2323,1171,-7.60,0.65,390.02,0,0,0,0,0,0,26.74,28.83,24.95
$IRIDIUM_FIX,3600.19,-15757.53,010309,161613
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.99
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,17.50
$XPDR_PINGS,320
$24V_AH,24.1,9.455
$10V_AH,10.3,6.437
$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,17.725,84.350,239.000,112.100,0.000,92.103,103.286,264.727,80.000,0.000,8.271,1107.684,6785.289,458.872,1800.825,82.192,33.245,1036.229,0.000,990.584,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,87.975,1097.775,648.720,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,277.228,170.173,341.599,305.393,633.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353036
$DATA_FILE_SIZE,33874,393
$CAP_FILE_SIZE,88727,0
$CFSIZE,259248128,255115264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050516,061431,3614.585,-15754.322,59,0.7,59,11.5