version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 429
start: 6 2 116 19 32 42
data:
$ID,512
$MISSION,7
$DIVE,429
$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,350
$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,100
$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,420
$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,-131160.89
$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,15
$R_STBD_OVSHOOT,15
$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
$GPS1,020616,192256,3353.392,-15757.235,16,1.7,16,11.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-68.5
$GPS2,020616,193201,3353.476,-15757.205,9,1.7,9,11.2
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,EDDY2
$TGT_LATLONG,3230.000,-15730.000
$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,153.4,160330,-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,-0.67,-97.3,120,4094,441,553,0.0,0.0,0,105,0.00,0.00,-86.88,0.000,16386,0.000,0.000,118,4095,2790,2771,2810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.67,-97.3,118,4095,2771,2810,3.1,-2.6,10,137,9.05,0.20,-9.38,0.000,18692,0.211,0.186,2462,2234,3158,3159,3158,0,0,0,0,0,0,25.70,26.06,25.26
$GC,739,-0.67,-97.3,1620,2232,3144,3155,130.0,-18.1,70,750,0.00,0.22,0.00,0.000,3078,0.000,0.057,2462,4095,3159,3161,3158,0,0,0,0,0,0,28.83,26.53,28.83
$GC,987,-0.67,-97.3,2462,4095,3161,3158,176.9,-18.2,95,991,0.00,0.15,0.00,0.000,2308,0.000,0.061,2462,2249,3159,3161,3158,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1502,-0.67,-97.3,2462,2249,3161,3158,265.1,-18.2,116,1505,0.00,0.20,0.00,0.000,3078,0.000,0.061,2462,4095,3159,3161,3158,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1759,-0.67,-97.3,2462,4095,3161,3158,314.5,-17.5,123,1763,0.00,0.17,0.00,0.000,2308,0.000,0.056,2462,2237,3159,3161,3158,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2263,-0.67,-97.3,2462,2237,3159,3157,396.1,-17.7,135,2267,0.00,0.20,0.00,0.000,3078,0.000,0.063,2461,4095,3158,3159,3157,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2520,-0.67,-97.3,2462,4095,3158,3156,443.1,-16.6,142,2523,0.00,0.15,0.00,0.000,2308,0.000,0.063,2462,2247,3157,3159,3156,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3024,-0.67,-97.3,2462,2247,3158,3154,520.2,-16.2,154,3028,0.00,0.17,0.00,0.000,3078,0.000,0.065,2462,4095,3156,3158,3154,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3281,-0.67,-97.3,2462,4095,3158,3153,567.4,-17.0,161,3284,0.00,0.15,0.00,0.000,2308,0.000,0.063,2462,2250,3155,3158,3153,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3324,-0.67,-97.3,1624,2248,3140,3150,574.1,-16.7,162,3328,0.00,0.17,0.00,0.000,3078,0.000,0.068,2462,4095,3155,3157,3153,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3602,-0.67,-97.3,2461,4095,3157,3152,615.5,-14.1,169,3606,0.00,0.15,0.00,0.000,2308,0.000,0.063,2462,2260,3154,3157,3152,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3651,-0.67,-97.3,2461,2260,3156,3152,621.1,-13.9,170,3654,0.00,0.17,0.00,0.000,3078,0.000,0.069,2462,4095,3154,3156,3152,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3923,-0.67,-97.3,2461,4095,3156,3152,661.4,-14.7,177,3926,0.00,0.15,0.00,0.000,2308,0.000,0.063,2462,2251,3153,3155,3152,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4428,-0.67,-97.3,2461,2251,3154,3149,737.2,-15.5,189,4431,0.00,0.15,0.00,0.000,3078,0.000,0.073,2462,4095,3151,3154,3149,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4684,-0.67,-97.3,2462,4095,3154,3148,776.7,-13.8,196,4687,0.00,1.12,0.00,0.000,2564,0.000,0.038,2464,1603,3150,3153,3148,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5188,-0.67,-97.3,2464,1604,3151,3146,841.8,-13.9,208,5191,0.00,1.15,0.00,0.000,3078,0.000,0.045,2460,4095,3148,3151,3146,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5445,-0.67,-97.3,2460,4095,3150,3145,882.3,-14.6,215,5449,0.00,1.12,0.00,0.000,2564,0.000,0.039,2460,1604,3147,3150,3145,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5486,-0.67,-97.3,2460,1604,3150,3145,888.4,-14.8,216,5489,0.00,1.15,0.00,0.000,3078,0.000,0.047,2456,4095,3147,3150,3145,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,5606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5606,begin apogee
$GC,5612,-0.17,0.0,2456,2255,3150,3144,905.8,-14.4,219,5698,0.55,0.17,81.62,1.097,10246,0.119,0.071,2632,4095,2762,2778,2746,0,0,0,0,0,0,26.06,25.30,24.44
$STATE,5699,end apogee,CONTROL_FINISHED_OK
$STATE,5699,begin climb
$GC,5701,0.67,97.3,2632,4095,2777,2746,909.6,0.0,221,5794,0.75,0.00,89.55,1.050,10758,0.060,0.000,2905,4095,2365,2379,2351,0,0,0,0,0,0,25.37,28.83,24.20
$GC,6008,0.67,97.3,2904,4095,2370,2345,869.8,16.8,229,6012,0.00,0.12,0.00,0.000,4356,0.000,0.069,2905,2258,2357,2370,2345,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6117,0.67,97.3,2905,2258,2369,2345,855.8,16.9,231,6121,0.00,0.15,0.00,0.000,5126,0.000,0.083,2905,4095,2357,2369,2345,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6369,0.67,97.3,2905,4095,2367,2343,809.2,16.5,238,6373,0.00,1.12,0.00,0.000,4612,0.000,0.045,2910,1618,2355,2367,2343,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6580,0.67,97.3,2910,1618,2365,2343,778.0,15.4,243,6583,0.00,1.15,0.00,0.000,5126,0.000,0.054,2907,4095,2354,2365,2343,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6850,0.67,97.3,2906,4095,2364,2342,733.9,16.1,250,6852,0.00,0.00,0.00,0.000,4102,0.000,0.000,2907,4095,2352,2363,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7091,0.67,97.3,2906,4095,2362,2341,700.2,14.1,256,7094,0.00,0.10,0.00,0.000,4356,0.000,0.075,2906,2256,2351,2362,2341,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7595,0.67,97.3,2906,2256,2360,2340,635.2,13.6,268,7599,0.00,0.17,0.00,0.000,5126,0.000,0.082,2907,4095,2350,2361,2340,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7852,0.67,97.3,2907,4095,2360,2340,595.5,14.3,275,7855,0.00,0.10,0.00,0.000,4356,0.000,0.076,2907,2268,2350,2360,2340,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8356,0.67,97.3,2906,2268,2359,2339,528.1,13.4,287,8360,0.00,0.12,0.00,0.000,5126,0.000,0.093,2906,4095,2349,2359,2339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8613,0.67,97.3,2906,4095,2359,2339,492.5,12.4,294,8616,0.00,0.12,0.00,0.000,4356,0.000,0.065,2907,2248,2349,2359,2339,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9057,0.67,97.3,2906,2248,2358,2339,438.3,12.4,305,9060,0.00,0.20,0.00,0.000,5126,0.000,0.075,2906,4095,2348,2358,2339,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9334,0.67,97.3,2906,4095,2358,2339,400.4,13.6,312,9337,0.00,0.12,0.00,0.000,4356,0.000,0.064,2907,2250,2348,2358,2339,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9390,0.67,97.3,2906,2249,2358,2339,395.4,13.2,313,9393,0.00,0.17,0.00,0.000,5126,0.000,0.076,2907,4095,2348,2358,2339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9655,0.67,97.3,2906,4095,2358,2339,358.2,13.2,320,9659,0.00,0.12,0.00,0.000,4356,0.000,0.067,2906,2251,2348,2358,2339,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9744,0.67,97.3,2906,2250,2357,2339,347.3,13.2,322,9748,0.00,0.17,0.00,0.000,5126,0.000,0.074,2906,4095,2348,2358,2339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10016,0.67,97.3,2906,4095,2358,2339,309.6,13.7,329,10019,0.00,0.12,0.00,0.000,4356,0.000,0.064,2907,2251,2348,2358,2339,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10290,0.67,97.3,2906,2251,2358,2339,275.8,14.2,335,10297,0.00,0.17,0.00,0.000,5126,0.000,0.076,2906,4095,2348,2358,2339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10537,0.67,97.3,2906,4095,2358,2339,236.7,14.0,342,10540,0.00,0.12,0.00,0.000,4356,0.000,0.065,2906,2252,2348,2358,2339,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10884,0.67,97.3,2906,2252,2358,2339,192.6,12.3,352,10890,0.00,0.15,0.00,0.000,5126,0.000,0.083,2907,4095,2348,2358,2339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11133,0.67,97.3,2907,4095,2358,2339,164.6,10.3,377,11137,0.00,0.10,0.00,0.000,4356,0.000,0.073,2907,2262,2348,2358,2339,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11693,0.67,97.3,2906,2262,2358,2339,105.6,11.0,427,11700,0.00,0.17,0.00,0.000,5126,0.000,0.077,2907,4095,2349,2358,2340,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11947,0.67,97.3,2907,4095,2358,2339,76.8,11.4,452,11951,0.00,1.12,0.00,0.000,4612,0.000,0.039,2911,1606,2348,2358,2339,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11961,0.67,97.3,2910,1606,2358,2339,74.8,11.6,453,11964,0.00,1.15,0.00,0.000,5126,0.000,0.048,2908,4095,2348,2357,2339,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12216,0.71,130.6,2907,4095,2358,2340,50.1,8.7,478,12249,0.00,0.12,26.95,0.663,10500,0.000,0.043,2908,2251,2228,2242,2214,0,0,0,0,0,0,28.83,26.26,25.41
$STATE,12617,end climb,SURFACE_DEPTH_REACHED
$STATE,12618,begin surface coast
$FINISH,0.5,1.016017
$STATE,12647,end surface coast,CONTROL_FINISHED_OK
$STATE,12648,begin surface
$SM_CCo,12664,138.73,0.611,0,0,1048,420.19
$SM_GC,1.79,7.03,0.17,138.73,0.032,0.075,0.611,189,4095,1048,-7.74,-0.59,420.19,0,0,0,0,0,0,26.30,26.44,24.75
$IRIDIUM_FIX,3340.91,-15759.38,300309,070705
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.58
$INTERNAL_PRESSURE,8.3304
$TCM_TEMP,19.50
$XPDR_PINGS,15
$24V_AH,24.2,44.902
$10V_AH,10.3,27.280
$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,17.375,14.900,198.125,138.725,0.000,23.894,54.821,358.772,3.750,0.000,10.284,1677.106,7679.662,394.454,3421.455,195.457,0.000,1578.759,0.000,2481.671,0.000,0.543,0.000
$DEVICE_MAMPS,211.140,185.895,1097.010,611.235,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,377.569,237.132,466.180,418.874,868.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352984
$DATA_FILE_SIZE,47231,529
$CAP_FILE_SIZE,129435,0
$CFSIZE,259248128,241213440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020616,230701,3355.173,-15757.271,27,0.9,27,11.2