version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 431
start: 6 3 116 2 59 57
data:
$ID,512
$MISSION,7
$DIVE,431
$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,-131163.39
$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
$GPS1,030616,025125,3356.508,-15757.066,38,0.8,38,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-73.7
$GPS2,030616,025916,3356.527,-15757.063,7,1.2,7,11.2
$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,154.0,165731,-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,-0.67,-97.3,173,4095,1002,1080,0.0,0.0,0,96,0.00,0.00,-78.20,0.000,16386,0.000,0.000,168,4095,3037,3016,3058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.67,-97.3,168,4095,3017,3058,3.7,-4.1,9,119,9.02,0.20,-2.65,0.000,18692,0.212,0.185,2466,2244,3158,3150,3167,0,0,0,0,0,0,25.44,25.87,26.31
$GC,356,-0.67,-97.3,2466,2244,3154,3167,65.3,-18.2,34,366,0.00,0.20,0.00,0.000,3078,0.000,0.062,2466,4095,3160,3153,3167,0,0,0,0,0,0,28.83,26.27,28.83
$GC,607,-0.67,-97.3,2466,4095,3155,3167,112.6,-17.7,59,610,0.00,0.15,0.00,0.000,2308,0.000,0.060,2466,2247,3161,3155,3167,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1159,-0.67,-97.3,2466,2247,3157,3167,201.1,-15.0,107,1162,0.00,0.20,0.00,0.000,3078,0.000,0.061,2466,4095,3162,3157,3167,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1416,-0.67,-97.3,2466,4095,3157,3167,246.5,-16.6,114,1420,0.00,1.12,0.00,0.000,2564,0.000,0.036,2470,1615,3162,3157,3167,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1740,-0.67,-97.3,2470,1615,3157,3166,302.9,-17.7,122,1744,0.00,1.12,0.00,0.000,3078,0.000,0.043,2466,4095,3162,3157,3167,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2017,-0.67,-97.3,2466,4095,3157,3166,354.0,-18.4,129,2018,0.00,0.00,0.00,0.000,2054,0.000,0.000,2466,4095,3161,3157,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2257,-0.67,-97.3,2466,4095,3157,3165,396.5,-17.9,135,2261,0.00,0.12,0.00,0.000,2308,0.000,0.067,2466,2253,3161,3157,3165,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2316,-0.67,-97.3,2466,2253,3157,3165,403.6,-17.9,136,2320,0.00,0.15,0.00,0.000,3078,0.000,0.072,2466,4095,3161,3157,3165,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2578,-0.67,-97.3,2465,4095,3157,3164,450.2,-16.6,143,2581,0.00,0.12,0.00,0.000,2308,0.000,0.070,2465,2263,3160,3157,3164,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3082,-0.67,-97.3,2465,2263,3157,3163,531.0,-16.6,155,3085,0.00,0.17,0.00,0.000,3078,0.000,0.070,2465,4095,3159,3157,3162,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3339,-0.67,-97.3,2464,4095,3157,3161,574.0,-15.1,162,3343,0.00,0.17,0.00,0.000,2308,0.000,0.057,2464,2250,3158,3156,3161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3843,-0.67,-97.3,2464,2251,3157,3159,637.4,-11.9,174,3846,0.00,0.17,0.00,0.000,3078,0.000,0.068,2463,4095,3158,3157,3159,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4100,-0.67,-97.3,2463,4095,3157,3158,672.5,-12.8,181,4104,0.00,0.15,0.00,0.000,2308,0.000,0.064,2463,2253,3157,3157,3158,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4605,-0.67,-97.3,2463,2253,3155,3157,741.7,-15.2,193,4608,0.00,0.15,0.00,0.000,3078,0.000,0.076,2463,4095,3156,3155,3157,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4861,-0.67,-97.3,2462,4095,3155,3156,783.3,-14.8,200,4865,0.00,0.12,0.00,0.000,2308,0.000,0.070,2462,2261,3154,3154,3155,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5366,-0.67,-97.3,2462,2261,3152,3153,849.1,-13.5,212,5369,0.00,0.17,0.00,0.000,3078,0.000,0.072,2462,4095,3153,3153,3153,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5623,-0.67,-97.3,2461,4095,3152,3153,887.8,-13.9,219,5627,0.00,0.17,0.00,0.000,2308,0.000,0.058,2462,2245,3153,3152,3154,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,5742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5742,begin apogee
$GC,5748,-0.17,0.0,2461,4095,3152,3153,904.9,-14.1,222,5836,0.52,0.20,83.20,1.086,10246,0.119,0.054,2627,2260,2762,2777,2747,0,0,0,0,0,0,25.91,25.25,24.34
$STATE,5837,end apogee,CONTROL_FINISHED_OK
$STATE,5837,begin climb
$GC,5839,0.67,97.3,2627,2250,2776,2747,909.1,0.0,224,5937,0.75,1.02,90.50,1.034,10756,0.056,0.048,2908,1612,2365,2378,2352,0,0,0,0,0,0,25.30,24.87,24.05
$GC,6408,0.67,97.3,2908,1612,2364,2346,831.7,16.6,238,6412,0.00,1.17,0.00,0.000,5126,0.000,0.056,2905,4095,2355,2364,2346,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6666,0.67,97.3,2904,4095,2363,2345,785.9,16.2,245,6669,0.00,0.10,0.00,0.000,4356,0.000,0.074,2905,2259,2354,2363,2345,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7170,0.67,97.3,2905,2259,2361,2344,710.2,15.6,257,7173,0.00,0.17,0.00,0.000,5126,0.000,0.082,2905,4095,2352,2361,2343,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7427,0.67,97.3,2904,4095,2360,2342,666.6,15.6,264,7430,0.00,0.10,0.00,0.000,4356,0.000,0.075,2905,2268,2351,2360,2342,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7931,0.67,97.3,2904,2268,2358,2342,597.0,13.6,276,7934,0.00,0.12,0.00,0.000,5126,0.000,0.092,2904,4095,2349,2358,2341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8187,0.67,97.3,2904,4095,2358,2341,560.1,13.2,283,8191,0.00,0.10,0.00,0.000,4356,0.000,0.073,2904,2266,2349,2358,2341,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8691,0.67,97.3,2904,2266,2357,2341,498.5,12.7,295,8695,0.00,0.17,0.00,0.000,5126,0.000,0.080,2905,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8949,0.67,97.3,2904,4095,2357,2340,461.4,13.1,302,8953,0.00,0.15,0.00,0.000,260,0.000,0.064,2904,2264,2348,2357,2340,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9453,0.67,97.3,2904,2264,2356,2340,404.5,10.9,314,9456,0.00,0.17,0.00,0.000,1030,0.000,0.080,2904,4095,2348,2356,2341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9710,0.67,97.3,2904,4095,2356,2340,370.8,12.4,321,9714,0.00,0.15,0.00,0.000,260,0.000,0.064,2905,2251,2348,2356,2340,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10185,0.67,97.3,2904,2251,2356,2340,314.8,13.1,332,10191,0.00,0.15,0.00,0.000,5126,0.000,0.083,2905,4095,2348,2356,2340,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10431,0.67,97.3,2904,4095,2357,2341,278.1,12.9,339,10435,0.00,1.10,0.00,0.000,516,0.000,0.041,2908,1626,2348,2356,2341,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10935,0.67,97.3,2908,1626,2356,2341,216.4,12.9,351,10939,0.00,1.12,0.00,0.000,5126,0.000,0.051,2905,4095,2348,2356,2341,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11182,0.67,97.3,2905,4095,2356,2341,181.0,13.3,366,11186,0.00,1.08,0.00,0.000,4612,0.000,0.040,2909,1619,2349,2357,2341,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11489,0.67,97.3,2908,1619,2356,2341,141.9,12.4,394,11493,0.00,1.15,0.00,0.000,5126,0.000,0.051,2905,4095,2348,2356,2341,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11745,0.67,97.3,2905,4095,2357,2341,113.0,11.2,419,11751,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,4095,2348,2356,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11991,0.67,97.3,2905,4095,2356,2341,86.3,10.3,444,11994,0.00,1.10,0.00,0.000,4612,0.000,0.038,2909,1607,2348,2356,2341,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12027,0.67,97.3,2909,1607,2356,2341,82.9,10.2,447,12030,0.00,1.15,0.00,0.000,5126,0.000,0.048,2905,4094,2348,2356,2341,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12282,0.70,120.4,2905,4095,2356,2341,59.8,9.1,472,12305,0.00,0.15,18.35,0.649,10500,0.000,0.063,2906,2249,2271,2282,2260,0,0,0,0,0,0,28.83,26.36,25.44
$GC,12767,0.73,146.9,2905,2249,2280,2256,10.6,9.0,523,12795,0.00,0.17,23.23,0.623,11270,0.000,0.072,2905,4095,2162,2182,2143,0,0,0,0,0,0,28.83,26.47,25.45
$STATE,12858,end climb,SURFACE_DEPTH_REACHED
$STATE,12858,begin surface coast
$FINISH,0.6,1.023097
$STATE,12895,end surface coast,CONTROL_FINISHED_OK
$STATE,12895,begin surface
$SM_CCo,12911,131.40,0.604,0,0,1048,420.19
$SM_GC,1.98,7.03,0.17,131.40,0.031,0.057,0.604,184,2266,1048,-7.73,-0.51,420.19,0,0,0,0,0,0,26.20,26.36,24.68
$IRIDIUM_FIX,3340.91,-15800.35,300309,121255
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.45
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,19.40
$XPDR_PINGS,16
$24V_AH,24.0,45.111
$10V_AH,10.2,27.466
$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,17.325,16.100,215.275,131.400,0.000,31.919,48.783,279.207,4.000,0.000,8.294,1726.234,7630.863,375.184,3590.423,203.542,0.000,1647.738,0.000,2710.459,0.000,0.545,0.000
$DEVICE_MAMPS,211.905,185.130,1085.535,603.585,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,385.337,242.350,476.037,431.741,894.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352976
$DATA_FILE_SIZE,47183,540
$CAP_FILE_SIZE,132753,0
$CFSIZE,259248128,241082368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030616,063831,3357.309,-15756.981,40,0.9,40,11.2