version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 241
start: 5 26 116 6 30 7
data:
$ID,512
$MISSION,7
$DIVE,241
$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,300
$T_MISSION,650
$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,2
$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,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130394.5
$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,2688
$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,20
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,20
$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
$GPS1,260516,062110,3354.218,-15657.815,18,1.6,18,11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-75.0
$GPS2,260516,062926,3354.159,-15657.818,15,1.6,15,11.4
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,EDDY1
$TGT_LATLONG,3300.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.001,-0.285
$KALMAN_X,-2644.9,788.8,61.0,924.2,-5790.6
$KALMAN_Y,208676.8,-776.9,-825.4,-298047.0,8369.7
$MHEAD_RNG_PITCHd_Wd,212.5,139243,-16.4,-10.000,-19.35,2731
$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,16,-0.72,-136.3,154,2263,1118,1209,0.0,0.0,0,79,0.00,0.00,-60.95,0.000,16386,0.000,0.000,151,2239,2687,2669,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-136.3,151,2263,2669,2708,3.1,-2.4,7,119,8.80,0.80,-18.12,0.000,19204,0.210,0.070,2447,1678,3316,3315,3317,0,0,0,0,0,0,25.67,26.12,26.44
$GC,484,-0.72,-136.3,2447,1678,3317,3317,98.6,-22.8,47,487,0.00,1.02,0.00,0.000,3078,0.000,0.044,2443,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.36,28.83
$GC,734,-0.72,-136.3,2443,4095,3318,3318,157.0,-22.9,72,735,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,4095,3317,3318,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,974,-0.72,-136.3,2443,4095,3319,3318,209.7,-21.8,93,978,0.00,1.00,0.00,0.000,2564,0.000,0.034,2446,1678,3318,3319,3317,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1015,-0.72,-136.3,2446,1678,3319,3318,218.4,-21.5,94,1018,0.00,1.02,0.00,0.000,3078,0.000,0.044,2443,4095,3318,3319,3318,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1295,-0.72,-136.3,2443,4095,3319,3318,280.4,-22.5,101,1299,0.00,1.00,0.00,0.000,2564,0.000,0.036,2446,1680,3318,3319,3317,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1349,-0.72,-136.3,2446,1679,3320,3317,289.3,-22.3,102,1353,0.00,1.02,0.00,0.000,3078,0.000,0.044,2442,4095,3318,3320,3317,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1616,-0.72,-136.3,2442,4095,3320,3317,350.1,-21.3,109,1617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,4095,3318,3319,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1856,-0.72,-136.3,2442,4095,3320,3317,398.3,-20.0,115,1857,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,4095,3318,3320,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2096,-0.72,-136.3,2442,4095,3320,3317,446.9,-20.5,121,2100,0.00,0.12,0.00,0.000,2308,0.000,0.069,2442,2248,3318,3319,3317,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2275,-0.72,-136.3,2442,2248,3319,3317,479.9,-20.5,125,2278,0.00,0.17,0.00,0.000,3078,0.000,0.068,2442,4095,3318,3319,3317,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2537,-0.72,-136.3,2442,4095,3319,3317,539.2,-21.2,132,2540,0.00,0.15,0.00,0.000,2308,0.000,0.063,2442,2239,3317,3318,3317,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3040,-0.72,-136.3,2441,2239,3317,3317,630.9,-18.1,144,3044,0.00,0.20,0.00,0.000,3078,0.000,0.064,2441,4095,3317,3317,3317,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3297,-0.72,-136.3,2441,4095,3317,3316,676.7,-15.9,151,3301,0.00,0.15,0.00,0.000,2308,0.000,0.063,2442,2247,3316,3316,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3801,-0.72,-136.3,2441,2247,3315,3315,761.7,-18.4,163,3806,0.05,0.20,0.00,0.000,3078,0.221,0.065,2453,4095,3314,3315,3314,0,0,0,0,0,0,26.55,26.72,28.83
$GC,4058,-0.72,-136.3,2453,4095,3315,3313,806.8,-15.6,170,4061,0.00,0.15,0.00,0.000,2308,0.000,0.066,2454,2255,3313,3314,3313,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4561,-0.72,-136.3,2453,2256,3313,3312,878.9,-14.8,182,4565,0.00,0.17,0.00,0.000,3078,0.000,0.073,2454,4095,3312,3314,3311,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,4697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4697,begin apogee
$GC,4702,-0.17,0.0,2453,2245,3313,3311,902.0,-14.4,186,4821,0.55,0.20,115.05,1.094,10246,0.113,0.067,2633,4095,2762,2779,2746,0,0,0,0,0,0,26.37,25.11,24.39
$STATE,4822,end apogee,CONTROL_FINISHED_OK
$STATE,4822,begin climb
$GC,4823,0.72,136.3,2633,4095,2778,2746,905.9,0.0,189,4954,0.77,1.12,122.62,1.041,10756,0.044,0.044,2933,1697,2206,2244,2168,0,0,0,0,0,0,25.22,24.81,24.11
$GC,5456,0.72,136.3,2933,1697,2231,2162,780.3,21.7,205,5459,0.00,1.02,0.00,0.000,5126,0.000,0.057,2931,4095,2196,2231,2162,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5736,0.72,136.3,2930,4095,2229,2161,722.5,20.3,212,5737,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,4095,2195,2230,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5976,0.72,136.3,2930,4095,2228,2160,671.4,21.7,218,5977,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,4095,2194,2228,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6216,0.72,136.3,2930,4095,2227,2159,619.4,21.7,224,6217,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,4095,2193,2227,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6456,0.72,136.3,2930,4095,2226,2159,569.9,20.4,230,6460,0.00,0.08,0.00,0.000,4356,0.000,0.090,2931,2265,2192,2226,2159,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6822,0.72,136.3,1984,2263,2187,2153,497.8,19.9,239,6825,0.00,0.12,0.00,0.000,5126,0.000,0.093,2930,4095,2192,2225,2159,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7098,0.72,136.3,2930,4095,2224,2159,443.8,19.3,246,7099,0.00,0.00,0.00,0.000,4102,0.000,0.000,2930,4095,2192,2225,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7337,0.72,136.3,2930,4095,2224,2159,399.3,18.2,252,7341,0.00,1.00,0.00,0.000,4612,0.000,0.042,2934,1678,2191,2224,2159,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7371,0.72,136.3,2934,1678,2223,2159,399.3,18.2,252,7377,0.00,1.05,0.00,0.000,5126,0.000,0.052,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7618,0.72,136.3,2931,4095,2223,2159,347.4,18.5,259,7619,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7858,0.72,136.3,2931,4095,2223,2159,302.0,19.0,265,7859,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8098,0.72,136.3,2931,4095,2223,2159,255.5,19.6,271,8099,0.00,0.00,0.00,0.000,4102,0.000,0.000,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8338,0.72,136.3,2930,4095,2223,2159,207.3,20.1,277,8341,0.00,0.98,0.00,0.000,4612,0.000,0.041,2934,1686,2191,2223,2159,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8435,0.72,136.3,2934,1686,2223,2159,189.9,18.4,283,8443,0.00,1.05,0.00,0.000,5126,0.000,0.050,2931,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8686,0.72,136.3,2931,4095,2223,2159,144.4,16.6,308,8689,0.00,0.98,0.00,0.000,4612,0.000,0.039,2934,1685,2190,2222,2159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8820,0.72,136.3,2934,1685,2223,2159,121.0,17.1,320,8824,0.03,1.02,0.00,0.000,5126,0.178,0.050,2923,4095,2191,2223,2159,0,0,0,0,0,0,26.48,26.59,28.83
$GC,9074,0.72,136.3,2923,4095,2223,2159,76.4,17.2,345,9077,0.00,0.10,0.00,0.000,4356,0.000,0.073,2923,2255,2191,2223,2160,0,0,0,0,0,0,28.83,26.78,28.83
$GC,9251,0.72,136.3,2923,2254,2222,2159,48.1,15.4,359,9261,0.00,0.17,0.00,0.000,5126,0.000,0.076,2923,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9552,0.72,136.3,2922,4095,2223,2159,4.2,14.9,397,9562,0.00,0.12,0.00,0.000,4356,0.000,0.063,2923,2253,2190,2222,2159,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,9570,end climb,SURFACE_DEPTH_REACHED
$STATE,9570,begin surface coast
$FINISH,1.0,0.998834
$STATE,9593,end surface coast,CONTROL_FINISHED_OK
$STATE,9593,begin surface
$SM_CCo,9607,117.38,0.641,0,0,1172,390.02
$SM_GC,2.17,6.93,0.17,117.38,0.027,0.075,0.641,181,4095,1172,-7.74,-0.54,390.02,0,0,0,0,0,0,26.67,26.69,24.94
$IRIDIUM_FIX,3338.31,-15656.26,220309,191952
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.69
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,18.80
$XPDR_PINGS,5
$24V_AH,24.1,31.009
$10V_AH,10.3,17.716
$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,17.125,16.750,237.675,117.375,0.000,50.616,102.361,177.010,1.250,0.000,16.325,1228.156,6213.566,400.263,2282.824,114.361,0.000,1178.423,0.000,1568.344,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,92.565,1093.950,641.070,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,294.048,182.252,353.156,322.278,668.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353016
$DATA_FILE_SIZE,33965,402
$CAP_FILE_SIZE,92454,0
$CFSIZE,259248128,246607872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260516,091319,3352.832,-15658.899,40,1.0,40,11.3