version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 79
start: 5 6 116 4 56 43
data:
$ID,512
$MISSION,7
$DIVE,79
$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,20
$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,-129590.98
$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,43
$R_STBD_OVSHOOT,19
$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
$GPS1,060516,044826,3607.346,-15759.260,36,0.8,36,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-72.5
$GPS2,060516,045529,3607.365,-15759.271,6,0.8,6,11.4
$SPEED_LIMITS,0.330,0.340
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.173,-0.294
$KALMAN_X,57675.4,-284.2,-531.6,-55215.0,2594.3
$KALMAN_Y,141140.1,-562.9,-255.7,-190032.4,6281.0
$MHEAD_RNG_PITCHd_Wd,199.0,1485981,-16.7,-12.000,-19.38,2977
$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,-0.72,-136.3,184,2281,1100,1226,0.0,0.0,0,96,0.00,0.00,-78.55,0.000,16386,0.000,0.000,183,2272,3103,3076,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.72,-136.3,183,2273,3076,3130,3.9,-3.3,9,118,8.82,2.38,-4.80,0.000,18692,0.229,0.067,2400,3719,3318,3307,3330,0,0,0,0,0,0,25.90,26.10,26.39
$GC,238,-0.72,-136.3,2400,3719,3308,3330,49.4,-27.3,24,250,0.00,2.15,0.00,0.000,3078,0.000,0.036,2409,2307,3319,3308,3330,0,0,0,0,0,0,28.83,26.24,28.83
$GC,490,-0.72,-136.3,2408,2276,3310,3330,115.2,-26.0,49,496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2409,2276,3319,3310,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,736,-0.72,-136.3,2409,2276,3311,3330,179.4,-25.3,74,738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2409,2276,3320,3310,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,986,-0.72,-136.3,2409,2275,3312,3330,242.6,-25.3,87,987,0.00,0.00,0.00,0.000,2054,0.000,0.000,2409,2276,3320,3311,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1226,-0.72,-136.3,2409,2276,3312,3330,303.8,-25.4,93,1230,0.00,2.12,0.00,0.000,2564,0.000,0.044,2411,893,3321,3313,3330,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1285,-0.72,-136.3,2411,893,3312,3329,314.4,-25.4,94,1290,0.03,2.25,0.00,0.000,3078,0.201,0.045,2411,2317,3321,3312,3330,0,0,0,0,0,0,26.46,26.56,28.83
$GC,1547,-0.72,-136.3,2410,2315,3313,3329,384.9,-25.2,101,1548,0.00,0.00,0.00,0.000,2054,0.000,0.000,2410,2316,3321,3313,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1787,-0.72,-136.3,2410,2316,3313,3329,443.6,-24.2,107,1791,0.00,2.15,0.00,0.000,2308,0.000,0.058,2401,3715,3321,3313,3329,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1811,-0.72,-136.3,2401,3715,3313,3329,443.6,-24.2,107,1815,0.00,2.20,0.00,0.000,3078,0.000,0.036,2409,2296,3321,3313,3329,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2063,-0.72,-136.3,2409,2264,3313,3329,510.1,-23.9,114,2064,0.00,0.00,0.00,0.000,2054,0.000,0.000,2410,2264,3321,3313,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2303,-0.72,-136.3,2409,2265,3313,3329,565.8,-22.9,120,2307,0.00,2.25,0.00,0.000,2308,0.000,0.059,2400,3715,3321,3313,3329,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2357,-0.72,-136.3,2400,3715,3313,3329,574.0,-22.8,121,2361,0.00,2.20,0.00,0.000,3078,0.000,0.037,2407,2296,3321,3314,3329,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2619,-0.72,-136.3,2407,2265,3314,3328,633.6,-20.7,128,2623,0.00,2.10,0.00,0.000,2564,0.000,0.046,2408,889,3321,3314,3328,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2658,-0.72,-136.3,2408,888,3314,3329,640.8,-20.5,129,2662,0.10,2.22,0.00,0.000,3078,0.180,0.046,2421,2331,3321,3314,3328,0,0,0,0,0,0,26.59,26.70,28.83
$GC,2935,-0.72,-136.3,2421,2330,3314,3327,692.4,-18.2,136,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2330,3320,3313,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,-0.72,-136.3,2421,2330,3314,3326,736.7,-18.5,142,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2330,3320,3314,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3415,-0.72,-136.3,2421,2330,3313,3324,780.1,-17.9,148,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2330,3318,3313,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3655,-0.72,-136.3,2421,2330,3313,3323,822.2,-17.6,154,3659,0.00,2.15,0.00,0.000,260,0.000,0.063,2412,3715,3318,3313,3323,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3690,-0.72,-136.3,2412,3715,3313,3322,828.5,-17.6,155,3694,0.00,2.17,0.00,0.000,3078,0.000,0.041,2412,2283,3318,3314,3322,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3966,-0.72,-136.3,2412,2259,3313,3320,879.9,-18.8,162,3970,0.00,2.08,0.00,0.000,2564,0.000,0.047,2412,901,3317,3314,3320,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3995,-0.72,-136.3,2412,901,3313,3320,879.9,-18.8,162,4003,0.08,2.22,0.00,0.000,3078,0.193,0.048,2417,2335,3316,3313,3320,0,0,0,0,0,0,26.65,26.74,28.83
$STATE,4080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4080,begin apogee
$GC,4084,-0.17,0.0,2417,2334,3313,3319,902.2,-19.2,165,4203,0.55,0.00,115.47,1.102,10246,0.126,0.000,2593,2334,2762,2770,2754,0,0,0,0,0,0,26.65,28.83,24.29
$STATE,4204,end apogee,CONTROL_FINISHED_OK
$STATE,4204,begin climb
$GC,4205,0.72,136.3,2593,2334,2770,2754,909.1,0.0,168,4332,0.88,0.00,123.62,1.050,10246,0.073,0.000,2889,2333,2206,2241,2171,0,0,0,0,0,0,25.09,28.83,24.09
$GC,4562,0.72,136.3,2889,2334,2233,2164,856.0,18.9,177,4566,0.00,2.25,0.00,0.000,516,0.000,0.054,2900,949,2198,2233,2164,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4646,0.72,136.3,2900,948,2230,2164,841.9,18.8,179,4650,0.00,2.30,0.00,0.000,5126,0.000,0.054,2900,2360,2197,2230,2164,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4918,0.72,136.3,2900,2358,2229,2163,787.6,19.3,186,4920,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2358,2195,2228,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5158,0.72,136.3,2899,2358,2226,2163,742.2,18.6,192,5162,0.00,2.22,0.00,0.000,4612,0.000,0.052,2910,943,2194,2226,2163,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5181,0.72,136.3,2909,943,2226,2163,742.2,18.6,192,5186,0.05,2.28,0.00,0.000,5126,0.205,0.054,2892,2360,2194,2226,2163,0,0,0,0,0,0,26.29,26.35,28.83
$GC,5434,0.72,136.3,2892,2359,2226,2162,692.3,17.9,199,5438,0.00,2.22,0.00,0.000,4612,0.000,0.052,2901,940,2193,2225,2162,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5473,0.72,136.3,2900,940,2225,2162,685.6,18.2,200,5477,0.00,2.22,0.00,0.000,5126,0.000,0.054,2900,2342,2193,2225,2162,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5749,0.72,136.3,2900,2341,2224,2162,632.7,18.8,207,5750,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2341,2192,2224,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5989,0.72,136.3,2900,2340,2224,2161,589.4,18.0,213,5993,0.00,2.22,0.00,0.000,4612,0.000,0.054,2910,940,2192,2223,2162,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6083,0.72,136.3,2909,940,2223,2161,575.4,18.0,215,6088,0.08,2.22,0.00,0.000,5126,0.180,0.056,2890,2340,2192,2223,2161,0,0,0,0,0,0,26.49,26.55,28.83
$GC,6345,0.72,136.3,2890,2339,2223,2161,527.9,17.0,222,6349,0.00,2.17,0.00,0.000,4612,0.000,0.054,2899,946,2192,2223,2161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6364,0.72,136.3,2897,945,2223,2161,527.9,17.0,222,6368,0.00,2.22,0.00,0.000,5126,0.000,0.053,2898,2350,2192,2223,2161,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6621,0.72,136.3,2898,2349,2223,2161,479.0,17.7,229,6622,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,2349,2192,2224,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6861,0.72,136.3,2898,2349,2223,2161,438.3,16.9,235,6862,0.00,0.00,0.00,0.000,4102,0.000,0.000,2899,2349,2192,2223,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7101,0.72,136.3,2898,2348,2222,2160,397.3,17.0,241,7105,0.00,2.20,0.00,0.000,4356,0.000,0.070,2899,3744,2191,2222,2161,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7120,0.72,136.3,2898,3744,2221,2161,397.3,17.0,241,7125,0.10,2.22,0.00,0.000,5126,0.171,0.046,2886,2308,2191,2221,2161,0,0,0,0,0,0,26.57,26.68,28.83
$GC,7377,0.72,136.3,2885,2293,2221,2161,353.0,15.9,248,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2293,2191,2221,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7617,0.72,136.3,2886,2282,2221,2161,314.4,16.0,254,7621,0.00,2.08,0.00,0.000,516,0.000,0.050,2895,933,2191,2221,2161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7670,0.72,136.3,2895,933,2220,2160,308.8,16.0,255,7675,0.00,2.22,0.00,0.000,5126,0.000,0.050,2895,2351,2191,2221,2161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7932,0.72,136.3,2894,2349,2220,2161,265.2,15.3,262,7936,0.00,2.17,0.00,0.000,4612,0.000,0.050,2903,940,2190,2220,2161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7971,0.72,136.3,2903,940,2221,2161,259.6,15.4,263,7976,0.05,2.20,0.00,0.000,5126,0.204,0.051,2891,2348,2190,2220,2161,0,0,0,0,0,0,26.63,26.70,28.83
$GC,8248,0.72,136.3,2891,2346,2220,2161,216.2,15.4,270,8252,0.00,2.17,0.00,0.000,4612,0.000,0.050,2900,938,2190,2220,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8277,0.72,136.3,2900,938,2220,2161,216.2,15.4,270,8284,0.00,2.22,0.00,0.000,5126,0.000,0.051,2900,2334,2190,2220,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8528,0.72,136.3,2900,2333,2220,2161,170.5,16.5,289,8534,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2333,2190,2220,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,0.72,136.3,2900,2333,2220,2161,127.6,17.6,314,8775,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2333,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9014,0.72,136.3,2900,2333,2220,2161,89.2,16.4,338,9015,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2333,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9257,0.72,136.3,2900,2333,2220,2161,51.1,15.4,362,9268,0.00,2.17,0.00,0.000,4356,0.000,0.067,2900,3741,2190,2220,2161,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9333,0.72,136.3,2900,3740,2220,2161,38.4,16.3,368,9345,0.05,2.12,0.00,0.000,5126,0.152,0.041,2895,2317,2190,2220,2161,0,0,0,0,0,0,26.60,26.74,28.83
$STATE,9582,end climb,SURFACE_DEPTH_REACHED
$STATE,9582,begin surface coast
$FINISH,0.9,3.025375
$STATE,9604,end surface coast,CONTROL_FINISHED_OK
$STATE,9605,begin surface
$SM_CCo,9617,114.93,0.659,0,0,1170,390.02
$SM_GC,2.30,6.85,0.00,114.93,0.034,0.000,0.659,200,2304,1170,-7.60,0.11,390.02,0,0,0,0,0,0,26.72,28.83,24.91
$IRIDIUM_FIX,3554.86,-15804.48,020309,151524
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.11
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,17.60
$XPDR_PINGS,338
$24V_AH,24.1,10.647
$10V_AH,10.3,6.956
$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,17.625,74.925,239.100,114.925,0.000,28.970,55.940,250.941,84.500,0.000,7.298,1159.618,6802.774,470.577,1678.861,74.197,33.252,1009.903,0.000,984.716,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,74.970,1102.365,659.430,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,293.480,174.338,351.492,318.025,658.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353096
$DATA_FILE_SIZE,33869,404
$CAP_FILE_SIZE,85898,0
$CFSIZE,259248128,254652416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060516,073944,3606.450,-15800.664,13,1.7,13,11.4