version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 242
start: 5 26 116 9 21 55
data:
$ID,512
$MISSION,7
$DIVE,242
$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,-130395.75
$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
$GPS1,260516,091319,3352.832,-15658.899,40,1.0,40,11.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-74.9
$GPS2,260516,092114,3352.790,-15658.925,8,1.0,8,11.3
$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,212.8,136225,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-136.3,152,2278,1115,1214,0.0,0.0,0,87,0.00,0.00,-69.57,0.000,16386,0.000,0.000,148,2277,2906,2882,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,148,2274,2883,2931,3.2,-2.6,8,119,8.88,0.82,-10.10,0.000,18948,0.212,0.072,2450,1680,3317,3315,3320,0,0,0,0,0,0,25.67,26.10,26.44
$GC,446,-0.72,-136.3,2450,1679,3318,3320,89.3,-21.3,42,455,0.00,1.02,0.00,0.000,3078,0.000,0.044,2447,4095,3319,3318,3320,0,0,0,0,0,0,28.83,26.34,28.83
$GC,695,-0.72,-136.3,2447,4095,3318,3320,144.8,-22.2,67,698,0.00,1.00,0.00,0.000,2564,0.000,0.035,2448,1679,3319,3319,3320,0,0,0,0,0,0,28.83,26.43,28.83
$GC,748,-0.72,-136.3,2447,1679,3319,3320,157.1,-22.3,72,751,0.00,1.02,0.00,0.000,3078,0.000,0.044,2444,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1028,-0.72,-136.3,2444,4095,3320,3320,217.4,-21.7,94,1029,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,4095,3319,3319,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-0.72,-136.3,2444,4095,3321,3320,270.0,-22.0,100,1272,0.00,1.00,0.00,0.000,2564,0.000,0.035,2446,1676,3320,3321,3320,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1311,-0.72,-136.3,1616,1675,3309,3318,278.7,-21.9,101,1315,0.00,1.02,0.00,0.000,3078,0.000,0.043,2442,4095,3321,3321,3321,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1589,-0.72,-136.3,2442,4095,3321,3320,340.3,-21.9,108,1593,0.00,1.00,0.00,0.000,2564,0.000,0.035,2443,1674,3320,3320,3320,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1629,-0.72,-136.3,2443,1674,3320,3320,348.9,-21.6,109,1633,0.03,1.02,0.00,0.000,3078,0.182,0.044,2449,4095,3320,3320,3320,0,0,0,0,0,0,26.44,26.58,28.83
$GC,1911,-0.72,-136.3,2448,4095,3320,3320,406.4,-20.5,116,1914,0.00,0.12,0.00,0.000,2308,0.000,0.068,2449,2245,3320,3320,3320,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2414,-0.72,-136.3,2449,2245,3319,3320,501.2,-19.3,128,2418,0.00,0.20,0.00,0.000,3078,0.000,0.063,2449,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2671,-0.72,-136.3,2449,4095,3318,3319,555.4,-19.2,135,2675,0.00,0.15,0.00,0.000,2308,0.000,0.062,2449,2251,3319,3319,3320,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3175,-0.72,-136.3,2449,2251,3317,3318,636.6,-16.6,147,3178,0.00,0.17,0.00,0.000,3078,0.000,0.070,2449,4095,3318,3317,3319,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3432,-0.72,-136.3,2448,4095,3317,3318,681.9,-15.8,154,3435,0.00,0.15,0.00,0.000,2308,0.000,0.064,2449,2243,3317,3317,3318,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3935,-0.72,-136.3,2448,2243,3316,3316,763.9,-17.1,166,3939,0.00,0.20,0.00,0.000,3078,0.000,0.066,2448,4095,3316,3316,3316,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4192,-0.72,-136.3,2448,4095,3315,3315,809.9,-16.2,173,4196,0.00,0.15,0.00,0.000,2308,0.000,0.063,2448,2248,3315,3315,3315,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4696,-0.72,-136.3,2448,2248,3314,3312,880.7,-14.6,185,4699,0.00,0.17,0.00,0.000,3078,0.000,0.071,2448,4095,3313,3314,3312,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,4831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4831,begin apogee
$GC,4836,-0.17,0.0,2448,2240,3313,3312,905.3,-15.4,189,4955,0.57,0.20,115.50,1.105,10246,0.116,0.068,2634,4095,2762,2778,2746,0,0,0,0,0,0,26.35,25.10,24.36
$STATE,4956,end apogee,CONTROL_FINISHED_OK
$STATE,4957,begin climb
$GC,4958,0.72,136.3,2634,4095,2776,2746,911.1,0.0,192,5088,0.75,0.17,123.05,1.046,10500,0.044,0.062,2921,2262,2206,2244,2168,0,0,0,0,0,0,25.21,24.79,24.10
$GC,5590,0.72,136.3,2921,2258,2231,2161,797.4,21.1,208,5593,0.00,0.15,0.00,0.000,5126,0.000,0.081,2921,4095,2196,2231,2161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5870,0.72,136.3,2921,4095,2230,2160,736.0,21.8,215,5873,0.00,0.12,0.00,0.000,4356,0.000,0.069,2923,2253,2194,2229,2160,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6374,0.72,136.3,2922,2253,2226,2159,625.9,22.9,227,6377,0.00,0.17,0.00,0.000,5126,0.000,0.082,2922,4095,2192,2226,2159,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6631,0.72,136.3,2922,4095,2226,2159,564.8,21.7,234,6634,0.00,0.10,0.00,0.000,4356,0.000,0.079,2922,2267,2192,2226,2159,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7134,0.72,136.3,2922,2267,2225,2158,475.0,18.3,246,7138,0.00,0.15,0.00,0.000,5126,0.000,0.085,2922,4095,2191,2225,2158,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7391,0.72,136.3,2922,4095,2224,2158,425.2,17.9,253,7395,0.00,0.12,0.00,0.000,4356,0.000,0.068,2922,2251,2191,2224,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7895,0.72,136.3,2922,2251,2224,2158,338.9,17.8,265,7899,0.00,0.17,0.00,0.000,5126,0.000,0.081,2923,4095,2191,2224,2158,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8152,0.72,136.3,2922,4095,2224,2158,288.6,18.3,272,8156,0.00,0.10,0.00,0.000,4356,0.000,0.076,2922,2264,2191,2224,2159,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8658,0.72,136.3,2922,2264,2224,2159,194.0,19.5,286,8664,0.00,0.15,0.00,0.000,5126,0.000,0.083,2923,4095,2191,2225,2158,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8910,0.72,136.3,2922,4095,2224,2158,147.6,17.6,311,8913,0.00,0.12,0.00,0.000,4356,0.000,0.065,2923,2248,2191,2224,2158,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9490,0.72,136.3,2922,2248,2224,2159,48.5,16.7,361,9500,0.00,0.17,0.00,0.000,5126,0.000,0.078,2923,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9787,end climb,SURFACE_DEPTH_REACHED
$STATE,9787,begin surface coast
$FINISH,0.9,1.002779
$STATE,9817,end surface coast,CONTROL_FINISHED_OK
$STATE,9817,begin surface
$SM_CCo,9831,118.03,0.636,0,0,1171,390.02
$SM_GC,2.35,6.97,0.15,118.03,0.031,0.063,0.636,181,2253,1171,-7.73,-0.25,390.02,0,0,0,0,0,0,26.67,26.77,24.95
$IRIDIUM_FIX,3340.91,-15703.43,220309,191913
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.77
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.70
$XPDR_PINGS,3
$24V_AH,24.1,31.118
$10V_AH,10.3,17.789
$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,17.200,11.675,238.550,118.025,0.000,61.668,61.932,192.755,0.750,0.000,9.098,1311.381,5857.040,396.407,2762.834,116.274,0.000,1378.690,0.000,2062.837,0.000,0.541,0.000
$DEVICE_MAMPS,211.905,84.915,1105.425,635.715,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,295.362,177.625,347.538,311.524,645.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352992
$DATA_FILE_SIZE,33867,403
$CAP_FILE_SIZE,103181,0
$CFSIZE,259248128,246546432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260516,120826,3351.893,-15659.031,13,1.9,13,11.3