version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 86
start: 5 7 116 1 16 41
data:
$ID,512
$MISSION,7
$DIVE,86
$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,-129643.82
$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,65
$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
$GPS1,070516,010659,3600.553,-15803.196,15,2.2,36,11.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-72.1
$GPS2,070516,011528,3600.561,-15803.230,6,1.0,6,11.4
$SPEED_LIMITS,0.330,0.340
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.290,-0.175
$KALMAN_X,45784.3,-93.9,-10.0,-49935.4,-4365.8
$KALMAN_Y,158313.0,-853.0,-454.2,-219312.4,7016.2
$MHEAD_RNG_PITCHd_Wd,109.7,1473388,-16.8,-12.000,-19.50,2933
$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,-0.73,-136.3,191,2329,1102,1223,0.0,0.0,0,87,0.00,0.00,-70.22,0.000,16386,0.000,0.000,190,2329,2870,2843,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.73,-136.3,190,2302,2843,2897,3.1,-2.1,8,118,8.70,2.17,-12.18,0.000,19204,0.222,0.059,2423,922,3317,3313,3322,0,0,0,0,0,0,25.89,26.09,26.40
$GC,336,-0.73,-136.3,2423,921,3315,3323,64.1,-24.4,34,347,0.00,2.22,0.00,0.000,3078,0.000,0.045,2414,2312,3319,3315,3323,0,0,0,0,0,0,28.83,26.30,28.83
$GC,587,-0.73,-136.3,2414,2312,3316,3323,126.7,-24.7,59,593,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2312,3319,3315,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,834,-0.73,-136.3,2414,2312,3316,3323,187.7,-24.0,84,838,0.00,2.17,0.00,0.000,2308,0.000,0.060,2404,3711,3319,3316,3323,0,0,0,0,0,0,28.83,26.44,28.83
$GC,875,-0.73,-136.3,1600,3710,3304,3320,197.1,-24.5,87,886,0.00,2.15,0.00,0.000,3078,0.000,0.037,2408,2308,3319,3316,3323,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1132,-0.73,-136.3,2408,2303,3317,3322,259.4,-24.0,95,1136,0.00,2.12,0.00,0.000,2564,0.000,0.044,2411,911,3320,3317,3323,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1156,-0.73,-136.3,2411,911,3317,3323,259.4,-24.0,95,1161,0.05,2.20,0.00,0.000,3078,0.228,0.045,2412,2336,3320,3317,3323,0,0,0,0,0,0,26.44,26.54,28.83
$GC,1408,-0.73,-136.3,2412,2335,3317,3323,321.6,-22.5,102,1409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2412,2334,3320,3317,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1648,-0.73,-136.3,2411,2334,3317,3322,374.9,-22.1,108,1652,0.00,2.12,0.00,0.000,2308,0.000,0.060,2403,3712,3320,3317,3323,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1672,-0.73,-136.3,2403,3712,3317,3322,374.9,-22.1,108,1676,0.00,2.17,0.00,0.000,3078,0.000,0.037,2408,2312,3319,3317,3322,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1924,-0.73,-136.3,2407,2282,3317,3322,435.8,-22.1,115,1925,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2282,3319,3317,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-0.73,-136.3,2408,2282,3317,3322,486.8,-21.3,121,2168,0.00,2.20,0.00,0.000,2308,0.000,0.058,2399,3705,3319,3317,3322,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2188,-0.73,-136.3,2398,3705,3317,3322,486.8,-21.3,121,2193,0.05,2.17,0.00,0.000,3078,0.150,0.038,2425,2305,3319,3317,3321,0,0,0,0,0,0,26.55,26.67,28.83
$GC,2440,-0.73,-136.3,2424,2278,3317,3321,542.8,-19.8,128,2444,0.00,2.12,0.00,0.000,4612,0.000,0.047,2424,887,3319,3317,3321,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2483,-0.73,-136.3,2425,887,3317,3321,550.1,-19.8,129,2488,0.00,2.17,0.00,0.000,3078,0.000,0.046,2416,2301,3319,3317,3321,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2756,-0.73,-136.3,2416,2300,3317,3320,608.9,-21.2,136,2760,0.00,2.17,0.00,0.000,2308,0.000,0.060,2406,3708,3318,3317,3320,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2849,-0.73,-136.3,2405,3708,3317,3320,626.1,-22.2,138,2853,0.00,2.15,0.00,0.000,3078,0.000,0.037,2408,2287,3317,3316,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3111,-0.73,-136.3,2408,2260,3316,3319,688.2,-22.5,145,3115,0.00,2.25,0.00,0.000,2308,0.000,0.060,2399,3708,3317,3316,3319,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3149,-0.73,-136.3,1616,3707,3304,3316,696.3,-22.7,146,3155,0.05,2.20,0.00,0.000,3078,0.150,0.038,2416,2287,3317,3316,3319,0,0,0,0,0,0,26.61,26.73,28.83
$GC,3427,-0.73,-136.3,2416,2264,3316,3318,754.8,-20.4,153,3431,0.00,2.25,0.00,0.000,2308,0.000,0.062,2407,3705,3317,3316,3318,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3491,-0.73,-136.3,2406,3704,3315,3318,762.2,-20.3,154,3495,0.00,2.17,0.00,0.000,3078,0.000,0.041,2408,2309,3316,3315,3318,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3743,-0.73,-136.3,2408,2283,3314,3317,817.1,-19.4,161,3747,0.00,2.12,0.00,0.000,2564,0.000,0.049,2409,900,3316,3315,3317,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3782,-0.73,-136.3,2408,900,3315,3317,824.0,-19.3,162,3787,0.08,2.17,0.00,0.000,3078,0.194,0.047,2413,2308,3316,3315,3317,0,0,0,0,0,0,26.63,26.73,28.83
$GC,4059,-0.73,-136.3,2413,2306,3314,3316,873.3,-17.1,169,4060,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2306,3315,3314,3316,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4218,begin apogee
$GC,4221,-0.17,0.0,2413,2306,3314,3315,900.8,-17.2,173,4340,0.57,0.00,116.25,1.092,10246,0.131,0.000,2596,2306,2762,2771,2753,0,0,0,0,0,0,26.64,28.83,24.30
$STATE,4341,end apogee,CONTROL_FINISHED_OK
$STATE,4341,begin climb
$GC,4343,0.73,136.3,2596,2306,2770,2753,905.4,0.0,176,4470,0.82,0.00,122.65,1.044,10758,0.076,0.000,2881,2306,2206,2241,2171,0,0,0,0,0,0,25.09,28.83,24.10
$GC,4699,0.73,136.3,2881,2306,2234,2163,849.2,19.6,185,4703,0.00,2.22,0.00,0.000,2564,0.000,0.054,2891,935,2199,2234,2164,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4775,0.73,136.3,2891,935,2232,2164,834.5,19.3,187,4779,0.00,2.28,0.00,0.000,5126,0.000,0.054,2891,2340,2197,2232,2163,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5051,0.73,136.3,2891,2339,2230,2162,782.1,18.9,194,5055,0.00,2.22,0.00,0.000,516,0.000,0.051,2900,941,2196,2230,2162,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5109,0.73,136.3,2900,941,2229,2162,775.4,18.7,195,5114,0.00,2.30,0.00,0.000,5126,0.000,0.053,2900,2348,2195,2229,2162,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5366,0.73,136.3,2899,2347,2228,2162,722.5,18.9,202,5368,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2347,2195,2228,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5606,0.73,136.3,2900,2347,2226,2161,677.1,18.9,208,5607,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2347,2193,2226,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5846,0.73,136.3,2900,2346,2225,2161,634.5,17.6,214,5847,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2346,2193,2225,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6086,0.73,136.3,2900,2346,2224,2161,591.9,17.6,220,6088,0.00,0.00,0.00,0.000,4102,0.000,0.000,2900,2346,2192,2224,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6326,0.73,136.3,2900,2346,2223,2161,551.3,16.8,226,6331,0.00,2.22,0.00,0.000,4356,0.000,0.072,2900,3747,2192,2224,2161,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6435,0.73,136.3,2900,3746,2223,2161,535.8,18.6,228,6443,0.05,2.25,0.00,0.000,5126,0.159,0.047,2886,2342,2192,2223,2161,0,0,0,0,0,0,26.49,26.62,28.83
$GC,6682,0.73,136.3,2886,2315,2223,2161,487.3,16.2,235,6686,0.00,2.15,0.00,0.000,516,0.000,0.053,2895,931,2191,2222,2161,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6798,0.73,136.3,2895,931,2222,2161,468.3,16.5,238,6802,0.00,2.22,0.00,0.000,5126,0.000,0.051,2893,2349,2191,2222,2161,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7074,0.73,136.3,2892,2348,2222,2161,421.8,16.6,245,7078,0.00,2.20,0.00,0.000,4356,0.000,0.068,2893,3746,2191,2222,2161,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7118,0.73,136.3,2893,3745,2221,2161,415.2,16.7,246,7122,0.00,2.22,0.00,0.000,5126,0.000,0.046,2902,2344,2190,2221,2160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7390,0.73,136.3,2902,2314,2220,2160,368.8,16.3,253,7394,0.00,2.12,0.00,0.000,4612,0.000,0.051,2913,930,2191,2221,2161,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7409,0.73,136.3,2912,930,2220,2161,368.8,16.3,253,7413,0.08,2.22,0.00,0.000,5126,0.177,0.050,2893,2348,2190,2220,2160,0,0,0,0,0,0,26.58,26.66,28.83
$GC,7666,0.73,136.3,2893,2346,2221,2160,325.5,15.7,260,7667,0.00,0.00,0.00,0.000,4102,0.000,0.000,2893,2347,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7906,0.73,136.3,2892,2346,2220,2161,288.7,15.1,266,7910,0.00,2.20,0.00,0.000,4612,0.000,0.050,2903,926,2190,2220,2161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7950,0.73,136.3,2902,926,2220,2161,283.5,15.0,267,7954,0.00,2.22,0.00,0.000,5126,0.000,0.050,2902,2349,2190,2220,2161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8222,0.73,136.3,2902,2348,2220,2161,238.9,15.9,274,8223,0.00,0.00,0.00,0.000,4102,0.000,0.000,2902,2348,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8462,0.73,136.3,2902,2347,2220,2161,200.1,16.1,280,8463,0.00,0.00,0.00,0.000,4102,0.000,0.000,2902,2347,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8707,0.73,136.3,2902,2347,2220,2161,159.7,17.5,301,8713,0.00,0.00,0.00,0.000,4102,0.000,0.000,2902,2347,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8952,0.73,136.3,2902,2347,2220,2161,116.2,17.0,326,8964,0.00,2.20,0.00,0.000,4612,0.000,0.048,2912,919,2190,2220,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9023,0.73,136.3,2056,918,2186,2155,104.2,17.8,332,9034,0.05,2.28,0.00,0.000,5126,0.149,0.051,2895,2340,2190,2220,2161,0,0,0,0,0,0,26.61,26.70,28.83
$GC,9274,0.73,136.3,2895,2339,2220,2161,64.4,14.4,357,9283,0.00,0.00,0.00,0.000,4102,0.000,0.000,2895,2339,2190,2220,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9524,0.73,136.3,2895,2339,2220,2161,29.7,12.3,382,9534,0.00,2.22,0.00,0.000,4612,0.000,0.050,2904,925,2190,2220,2161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9682,0.73,136.3,2903,925,2219,2162,4.9,13.8,404,9692,0.03,2.25,0.00,0.000,5126,0.161,0.048,2893,2345,2191,2220,2162,0,0,0,0,0,0,26.63,26.71,28.83
$STATE,9700,end climb,SURFACE_DEPTH_REACHED
$STATE,9700,begin surface coast
$FINISH,1.2,3.101879
$STATE,9729,end surface coast,CONTROL_FINISHED_OK
$STATE,9729,begin surface
$SM_CCo,9742,115.30,0.658,0,0,1172,390.02
$SM_GC,2.06,6.82,0.15,115.30,0.031,0.068,0.658,198,2243,1172,-7.60,0.57,390.02,0,0,0,0,0,0,26.73,26.77,24.89
$IRIDIUM_FIX,3544.22,-15801.53,030309,111119
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.15
$INTERNAL_PRESSURE,8.2425
$TCM_TEMP,17.30
$XPDR_PINGS,337
$24V_AH,24.1,11.526
$10V_AH,10.3,7.370
$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,17.350,83.700,238.900,115.300,0.000,29.876,59.436,333.490,84.250,0.000,7.301,1183.709,6789.096,454.506,1886.760,82.007,33.249,1072.665,0.000,1089.703,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,71.910,1091.655,657.900,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,62.380,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,292.559,179.273,358.452,330.854,685.859,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353092
$DATA_FILE_SIZE,37276,410
$CAP_FILE_SIZE,91175,0
$CFSIZE,259248128,254300160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070516,040151,3559.982,-15802.840,17,1.7,17,11.4