version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 434
start: 6 3 116 14 24 27
data:
$ID,512
$MISSION,7
$DIVE,434
$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,-131213.27
$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
$GPS1,030616,141632,3359.624,-15757.519,25,0.7,33,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-74.2
$GPS2,030616,142346,3359.724,-15757.501,8,0.7,8,11.2
$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,154.3,171631,-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,-97.3,159,2262,994,1087,0.0,0.0,0,87,0.00,0.00,-69.55,0.000,16386,0.000,0.000,158,2263,2788,2768,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.67,-97.3,157,2241,2769,2809,3.1,-3.0,8,119,9.05,0.93,-9.68,0.000,19204,0.211,0.068,2461,1604,3159,3159,3159,0,0,0,0,0,0,25.39,25.96,26.36
$GC,438,-0.67,-97.3,2460,1603,3162,3159,78.3,-19.6,42,448,0.00,1.15,0.00,0.000,3078,0.000,0.043,2456,4095,3160,3162,3159,0,0,0,0,0,0,28.83,26.17,28.83
$GC,690,-0.67,-97.3,2457,4095,3163,3159,126.3,-17.9,67,696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2457,4095,3161,3163,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,936,-0.67,-97.3,2456,4095,3163,3159,171.9,-17.8,92,939,0.00,0.12,0.00,0.000,2308,0.000,0.067,2457,2247,3161,3163,3159,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1454,-0.67,-97.3,2456,2248,3164,3159,258.9,-17.5,116,1457,0.00,0.17,0.00,0.000,3078,0.000,0.067,2456,4095,3161,3164,3159,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1711,-0.67,-97.3,2456,4095,3164,3159,309.0,-18.1,123,1715,0.05,0.15,0.00,0.000,2308,0.225,0.039,2467,2253,3161,3164,3159,0,0,0,0,0,0,26.62,26.48,28.83
$GC,2216,-0.67,-97.3,2467,2253,3163,3159,387.4,-15.9,135,2219,0.00,0.15,0.00,0.000,3078,0.000,0.072,2467,4095,3161,3163,3159,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2473,-0.67,-97.3,2467,4095,3163,3158,430.3,-15.6,142,2476,0.00,0.12,0.00,0.000,2308,0.000,0.068,2467,2259,3161,3163,3159,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2977,-0.67,-97.3,2467,2259,3161,3158,504.9,-15.5,154,2980,0.00,0.17,0.00,0.000,3078,0.000,0.070,2467,4095,3159,3161,3158,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3234,-0.67,-97.3,2467,4095,3160,3158,548.6,-15.5,161,3238,0.00,0.17,0.00,0.000,2308,0.000,0.057,2468,2245,3159,3160,3158,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3738,-0.67,-97.3,2468,2245,3159,3157,617.9,-13.8,173,3742,0.00,0.20,0.00,0.000,3078,0.000,0.064,2467,4095,3158,3159,3157,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3995,-0.67,-97.3,2467,4095,3158,3156,655.4,-13.4,180,3999,0.00,0.17,0.00,0.000,2308,0.000,0.058,2467,2247,3157,3158,3156,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4500,-0.67,-97.3,2467,2247,3158,3154,720.0,-13.7,192,4503,0.00,0.17,0.00,0.000,3078,0.000,0.067,2467,4095,3155,3157,3154,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4756,-0.67,-97.3,2467,4095,3157,3153,757.0,-12.9,199,4760,0.00,0.15,0.00,0.000,2308,0.000,0.064,2467,2251,3155,3157,3154,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5260,-0.67,-97.3,2467,2251,3155,3152,815.9,-12.3,211,5263,0.00,0.17,0.00,0.000,3078,0.000,0.070,2467,4095,3154,3156,3152,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5517,-0.67,-97.3,2467,4095,3155,3151,850.6,-12.4,218,5521,0.00,0.15,0.00,0.000,2308,0.000,0.063,2467,2251,3153,3155,3151,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5576,-0.67,-97.3,2466,2250,3155,3151,855.8,-12.5,219,5580,0.00,0.17,0.00,0.000,3078,0.000,0.070,2467,4095,3152,3154,3151,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5838,-0.67,-97.3,2466,4095,3154,3150,891.5,-12.6,226,5842,0.00,1.15,0.00,0.000,2564,0.000,0.043,2468,1617,3151,3153,3150,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,5917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5917,begin apogee
$GC,5923,-0.17,0.0,2464,4095,3153,3150,901.5,-12.6,228,6010,0.52,0.17,83.12,1.087,10246,0.120,0.057,2630,2262,2762,2776,2748,0,0,0,0,0,0,25.86,25.22,24.30
$STATE,6011,end apogee,CONTROL_FINISHED_OK
$STATE,6012,begin climb
$GC,6014,0.67,97.3,2630,2258,2775,2748,904.1,0.0,230,6111,0.75,0.22,90.43,1.035,10500,0.056,0.070,2905,4095,2365,2378,2353,0,0,0,0,0,0,25.29,24.82,24.00
$GC,6613,0.67,97.3,2905,4094,2366,2345,820.6,14.7,245,6616,0.00,0.17,0.00,0.000,5126,0.000,0.062,2905,2264,2355,2366,2345,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6880,0.67,97.3,2905,2264,2364,2345,781.1,13.9,252,6883,0.00,0.17,0.00,0.000,260,0.000,0.075,2905,4095,2354,2364,2344,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7384,0.67,97.3,2905,4095,2362,2342,710.1,15.5,264,7387,0.00,0.17,0.00,0.000,5126,0.000,0.061,2905,2258,2352,2362,2342,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7641,0.67,97.3,2905,2257,2362,2342,666.5,15.5,271,7644,0.00,0.17,0.00,0.000,4356,0.000,0.071,2905,4095,2352,2362,2342,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8145,0.67,97.3,2905,4095,2360,2341,595.2,13.2,283,8148,0.00,0.15,0.00,0.000,5126,0.000,0.064,2906,2266,2350,2360,2341,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8402,0.67,97.3,2905,2267,2359,2341,562.3,11.3,290,8405,0.00,0.15,0.00,0.000,4356,0.000,0.076,2905,4095,2350,2359,2341,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8906,0.67,97.3,2905,4095,2359,2340,502.7,12.9,302,8910,0.00,0.17,0.00,0.000,5126,0.000,0.061,2905,2260,2349,2359,2340,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9163,0.67,97.3,2905,2260,2358,2340,468.0,12.3,309,9167,0.00,0.15,0.00,0.000,4356,0.000,0.076,2905,4095,2349,2358,2340,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9667,0.67,97.3,2905,4095,2359,2340,408.6,12.6,321,9671,0.00,0.15,0.00,0.000,5126,0.000,0.066,2905,2258,2349,2358,2340,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9924,0.67,97.3,2905,2257,2356,2340,373.1,12.6,328,9928,0.00,0.17,0.00,0.000,4356,0.000,0.072,2905,4095,2348,2356,2340,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10429,0.67,97.3,2905,4095,2356,2340,310.8,12.7,340,10432,0.00,0.17,0.00,0.000,5126,0.000,0.059,2905,2251,2348,2356,2341,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10686,0.67,97.3,2905,2251,2356,2340,276.7,12.2,347,10690,0.00,0.17,0.00,0.000,4356,0.000,0.070,2905,4095,2348,2356,2340,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11190,0.67,97.3,2905,4095,2356,2340,216.2,12.4,359,11194,0.00,0.17,0.00,0.000,5126,0.000,0.058,2906,2248,2348,2356,2340,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11438,0.67,97.3,2905,2248,2356,2341,183.3,12.0,374,11441,0.00,0.17,0.00,0.000,4356,0.000,0.070,2906,4095,2348,2356,2340,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11993,0.67,97.3,2905,4094,2356,2341,122.9,11.4,424,12003,0.00,0.17,0.00,0.000,5126,0.000,0.058,2906,2253,2348,2356,2341,0,0,0,0,0,0,28.83,26.70,28.83
$GC,12245,0.67,98.4,2906,2253,2356,2341,95.4,10.0,449,12249,0.00,0.17,0.00,0.000,260,0.000,0.073,2906,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,12855,0.70,120.4,2905,4095,2356,2340,37.9,9.2,499,12877,0.00,0.17,18.67,0.638,11270,0.000,0.057,2906,2250,2269,2280,2259,0,0,0,0,0,0,28.83,26.70,25.41
$GC,13173,0.70,120.4,2906,2251,2277,2256,10.4,10.3,539,13182,0.00,0.17,0.00,0.000,2308,0.000,0.071,2906,4095,2267,2278,2256,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,13238,end climb,SURFACE_DEPTH_REACHED
$STATE,13239,begin surface coast
$FINISH,0.8,1.017141
$STATE,13274,end surface coast,CONTROL_FINISHED_OK
$STATE,13275,begin surface
$SM_CCo,13290,140.20,0.607,0,0,1049,420.19
$SM_GC,1.75,6.90,0.17,140.20,0.024,0.064,0.607,189,2275,1049,-7.72,-0.25,420.19,0,0,0,0,0,0,26.34,26.53,24.68
$IRIDIUM_FIX,3346.09,-15801.78,300309,232332
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.78
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,19.50
$XPDR_PINGS,19
$24V_AH,24.0,45.409
$10V_AH,10.2,27.756
$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,17.275,10.500,192.225,140.200,0.000,30.268,48.878,242.280,4.750,0.000,9.108,1786.758,7771.084,374.094,3740.801,204.051,0.000,1713.310,0.000,2889.534,0.000,0.544,0.000
$DEVICE_MAMPS,224.910,76.500,1087.065,606.645,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,391.067,250.216,485.917,438.245,908.553,0.000,0.000,0.000,0.000,0.000
$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,47252,553
$CAP_FILE_SIZE,136811,0
$CFSIZE,259248128,240881664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030616,180926,3401.211,-15757.114,38,0.9,38,11.2