version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 433
start: 6 3 116 10 35 1
data:
$ID,512
$MISSION,7
$DIVE,433
$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,-131212.02
$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
$GPS1,030616,102731,3358.391,-15757.561,36,0.8,36,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-72.1
$GPS2,030616,103420,3358.436,-15757.614,6,0.8,6,11.2
$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,154.0,169368,-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,16,-0.67,-97.3,133,4095,1000,1081,0.0,0.0,0,96,0.00,0.00,-77.78,0.000,16386,0.000,0.000,124,4095,3014,2994,3034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.67,-97.3,125,4095,2994,3034,3.4,-3.5,9,119,9.18,0.17,-3.33,0.000,18692,0.210,0.209,2461,2249,3159,3153,3166,0,0,0,0,0,0,25.40,25.76,26.32
$GC,216,-0.67,-97.3,2461,2249,3155,3166,37.9,-21.9,23,219,0.00,0.17,0.00,0.000,3078,0.000,0.065,2461,4095,3161,3155,3167,0,0,0,0,0,0,28.83,26.15,28.83
$GC,467,-0.67,-97.3,2461,4095,3157,3166,87.0,-17.9,48,470,0.00,1.15,0.00,0.000,2564,0.000,0.037,2461,1604,3161,3157,3166,0,0,0,0,0,0,28.83,26.17,28.83
$GC,895,-0.67,-97.3,2461,1604,3158,3166,160.9,-16.8,86,898,0.00,1.15,0.00,0.000,3078,0.000,0.042,2456,4095,3162,3158,3166,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1156,-0.67,-97.3,2456,4095,3158,3166,207.8,-18.3,109,1158,0.05,0.00,0.00,0.000,2054,0.230,0.000,2466,4095,3162,3158,3166,0,0,0,0,0,0,26.55,28.83,28.83
$GC,1396,-0.67,-97.3,2467,4095,3158,3166,247.6,-16.4,115,1397,0.00,0.00,0.00,0.000,2054,0.000,0.000,2466,4095,3162,3158,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1636,-0.67,-97.3,2466,4095,3158,3167,287.5,-16.6,121,1637,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,4095,3162,3158,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1876,-0.67,-97.3,2466,4095,3158,3166,328.3,-17.0,127,1879,0.00,0.12,0.00,0.000,2308,0.000,0.068,2467,2258,3162,3158,3166,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2380,-0.67,-97.3,2467,2258,3158,3164,407.7,-15.9,139,2383,0.00,0.15,0.00,0.000,3078,0.000,0.073,2468,4095,3161,3158,3165,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2637,-0.67,-97.3,2467,4095,3158,3164,451.7,-15.5,146,2640,0.00,0.15,0.00,0.000,2308,0.000,0.064,2467,2245,3161,3158,3164,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3141,-0.67,-97.3,2467,2245,3158,3162,528.3,-16.2,158,3144,0.00,0.17,0.00,0.000,3078,0.000,0.068,2467,4095,3160,3158,3162,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3398,-0.67,-97.3,2467,4095,3158,3161,572.0,-15.5,165,3402,0.00,0.15,0.00,0.000,2308,0.000,0.063,2467,2249,3159,3158,3161,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3902,-0.67,-97.3,2467,2248,3158,3160,643.2,-15.0,177,3906,0.00,0.17,0.00,0.000,3078,0.000,0.067,2467,4095,3158,3157,3160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4159,-0.67,-97.3,2467,4095,3157,3159,683.3,-14.1,184,4162,0.00,0.15,0.00,0.000,2308,0.000,0.064,2467,2252,3158,3157,3159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4663,-0.67,-97.3,2467,2252,3156,3157,749.5,-13.2,196,4667,0.00,0.15,0.00,0.000,3078,0.000,0.074,2467,4095,3156,3156,3157,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4920,-0.67,-97.3,2467,4094,3156,3156,788.3,-14.0,203,4923,0.00,0.12,0.00,0.000,2308,0.000,0.070,2467,2258,3156,3156,3156,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5424,-0.67,-97.3,2467,2258,3154,3154,851.3,-12.7,215,5428,0.00,0.17,0.00,0.000,3078,0.000,0.073,2467,4094,3153,3153,3154,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5681,-0.67,-97.3,2467,4095,3153,3154,885.5,-12.2,222,5685,0.00,0.15,0.00,0.000,2308,0.000,0.064,2467,2258,3153,3153,3153,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,5800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5800,begin apogee
$GC,5806,-0.17,0.0,2467,4095,3153,3153,900.8,-12.5,225,5894,0.52,0.17,83.25,1.084,10246,0.119,0.057,2633,2263,2762,2776,2749,0,0,0,0,0,0,25.89,25.23,24.32
$STATE,5895,end apogee,CONTROL_FINISHED_OK
$STATE,5895,begin climb
$GC,5897,0.67,97.3,2633,2260,2775,2748,904.0,0.0,227,5995,0.73,1.02,90.40,1.031,10756,0.054,0.045,2908,1616,2364,2376,2353,0,0,0,0,0,0,25.30,24.86,24.01
$GC,6496,0.67,97.3,2908,1616,2365,2346,819.2,15.8,242,6500,0.00,1.17,0.00,0.000,5126,0.000,0.056,2904,4095,2355,2365,2346,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6764,0.67,97.3,2904,4095,2363,2345,777.3,14.9,249,6767,0.00,0.10,0.00,0.000,4356,0.000,0.075,2905,2259,2354,2363,2345,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7267,0.67,97.3,2904,2259,2361,2343,711.0,13.0,261,7271,0.00,0.17,0.00,0.000,5126,0.000,0.082,2905,4095,2352,2361,2344,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7525,0.67,97.3,2904,4095,2361,2343,675.6,12.4,268,7528,0.00,0.10,0.00,0.000,4356,0.000,0.075,2904,2269,2352,2361,2343,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8029,0.67,97.3,2904,2269,2359,2341,610.6,14.0,280,8032,0.00,0.12,0.00,0.000,5126,0.000,0.093,2905,4095,2350,2359,2342,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8285,0.67,97.3,2904,4095,2359,2341,571.1,13.9,287,8289,0.00,0.10,0.00,0.000,4356,0.000,0.074,2904,2266,2350,2359,2341,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8790,0.67,97.3,2904,2267,2358,2341,509.4,12.2,299,8793,0.00,0.15,0.00,0.000,5126,0.000,0.082,2904,4095,2349,2358,2341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9047,0.67,97.3,2904,4095,2357,2341,477.1,11.7,306,9050,0.00,1.12,0.00,0.000,4612,0.000,0.044,2908,1623,2349,2357,2341,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9076,0.67,97.3,2908,1623,2357,2341,477.1,11.7,306,9079,0.00,1.15,0.00,0.000,5126,0.000,0.054,2905,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9328,0.67,97.3,2905,4095,2357,2341,443.2,12.2,313,9332,0.00,1.10,0.00,0.000,4612,0.000,0.041,2909,1618,2349,2357,2341,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9832,0.67,97.3,2908,1617,2357,2341,375.5,14.7,325,9836,0.00,1.15,0.00,0.000,5126,0.000,0.054,2904,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10089,0.67,97.3,2905,4095,2357,2341,334.2,14.7,332,10092,0.00,1.10,0.00,0.000,4612,0.000,0.042,2909,1611,2349,2357,2341,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10439,0.67,97.3,2908,1611,2357,2341,291.2,13.1,340,10443,0.00,1.15,0.00,0.000,5126,0.000,0.051,2905,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10690,0.67,97.3,2905,4095,2357,2341,257.3,12.0,347,10691,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,4095,2349,2357,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10930,0.67,97.3,2905,4095,2357,2341,229.5,11.5,353,10931,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,4095,2349,2357,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11170,0.67,97.3,2905,4095,2357,2341,202.4,11.2,359,11171,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,4095,2349,2357,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11410,0.67,97.3,2905,4095,2357,2341,175.2,11.2,380,11413,0.00,1.08,0.00,0.000,4612,0.000,0.041,2909,1624,2349,2357,2341,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11468,0.67,97.3,2908,1624,2357,2341,169.3,11.1,385,11471,0.00,1.12,0.00,0.000,5126,0.000,0.051,2905,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11720,0.67,97.3,2905,4095,2357,2341,141.4,10.7,410,11721,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,4095,2349,2357,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11959,0.67,97.3,2905,4095,2357,2341,113.4,11.5,434,11960,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,4095,2349,2357,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12199,0.69,115.2,2904,4095,2357,2341,87.4,9.3,458,12220,0.00,1.08,14.02,0.643,10756,0.000,0.037,2909,1604,2292,2302,2283,0,0,0,0,0,0,28.83,26.43,25.42
$GC,12370,0.69,115.2,2909,1604,2300,2282,70.0,11.1,472,12373,0.00,1.15,0.00,0.000,3078,0.000,0.048,2906,4095,2291,2300,2282,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12625,0.69,115.2,2905,4095,2300,2281,40.4,12.1,497,12629,0.00,0.10,0.00,0.000,2308,0.000,0.079,2905,2258,2290,2299,2282,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12676,0.69,115.2,2905,2258,2299,2281,34.8,10.7,501,12679,0.00,0.15,0.00,0.000,3078,0.000,0.078,2905,4095,2290,2299,2282,0,0,0,0,0,0,28.83,26.51,28.83
$GC,13002,0.72,143.7,2905,4095,2300,2281,4.3,8.9,545,13020,0.00,0.15,12.25,0.571,10500,0.000,0.040,2905,2246,2175,2191,2159,0,0,0,0,0,0,28.83,26.39,25.54
$STATE,13028,end climb,SURFACE_DEPTH_REACHED
$STATE,13028,begin surface coast
$FINISH,0.7,1.024248
$STATE,13078,end surface coast,CONTROL_FINISHED_OK
$STATE,13079,begin surface
$SM_CCo,13095,133.68,0.604,0,0,1048,420.19
$SM_GC,1.95,6.97,0.17,133.68,0.029,0.072,0.604,187,4095,1048,-7.73,-0.59,420.19,0,0,0,0,0,0,26.33,26.44,24.70
$IRIDIUM_FIX,3340.91,-15756.97,300309,202049
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.62
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,19.40
$XPDR_PINGS,20
$24V_AH,24.0,45.312
$10V_AH,10.2,27.657
$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,17.450,19.575,199.925,133.675,0.000,27.557,51.237,218.659,5.000,0.000,7.589,1743.837,7974.961,365.406,3368.634,195.300,0.000,1556.151,0.000,2541.000,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,208.845,1084.005,603.585,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,394.485,250.133,492.942,446.844,926.425,0.000,0.000,0.000,0.000,0.000
$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,47286,555
$CAP_FILE_SIZE,130693,0
$CFSIZE,259248128,240951296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030616,141632,3359.624,-15757.519,25,0.7,33,11.2