version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 437
start: 6 4 116 1 54 25
data:
$ID,512
$MISSION,7
$DIVE,437
$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,-131217.11
$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
$GPS1,040616,014617,3403.870,-15755.902,14,2.7,35,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-70.9
$GPS2,040616,015344,3403.885,-15755.912,8,0.8,8,11.2
$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,155.7,178524,-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,-97.3,182,2271,990,1093,0.0,0.0,0,96,0.00,0.00,-77.38,0.000,16386,0.000,0.000,181,2270,2989,2974,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.67,-97.3,181,2249,2975,3005,3.0,-2.1,9,119,9.02,0.88,-3.90,0.000,18948,0.213,0.068,2464,1609,3159,3154,3164,0,0,0,0,0,0,25.38,25.97,26.32
$GC,498,-0.67,-97.3,2464,1607,3157,3164,90.8,-18.7,46,507,0.00,1.15,0.00,0.000,3078,0.000,0.044,2460,4095,3160,3157,3164,0,0,0,0,0,0,28.83,26.19,28.83
$GC,750,-0.67,-97.3,2460,4095,3158,3163,137.7,-18.5,71,755,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,4095,3160,3158,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,995,-0.67,-97.3,2460,4095,3159,3163,183.5,-18.2,96,998,0.00,0.12,0.00,0.000,2308,0.000,0.067,2460,2255,3161,3158,3164,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1506,-0.67,-97.3,2460,2255,3159,3163,269.3,-17.2,115,1510,0.00,0.15,0.00,0.000,3078,0.000,0.073,2459,4094,3161,3159,3164,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1763,-0.67,-97.3,2459,4095,3159,3163,317.4,-17.3,122,1767,0.00,0.12,0.00,0.000,2308,0.000,0.069,2460,2262,3161,3159,3164,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2267,-0.67,-97.3,2459,2262,3158,3163,401.0,-17.4,134,2271,0.00,0.15,0.00,0.000,3078,0.000,0.073,2459,4095,3160,3158,3163,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2524,-0.67,-97.3,2459,4095,3158,3163,447.5,-16.3,141,2528,0.00,0.15,0.00,0.000,2308,0.000,0.062,2459,2250,3160,3158,3163,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3028,-0.67,-97.3,2459,2249,3158,3161,521.7,-14.7,153,3032,0.00,0.15,0.00,0.000,3078,0.000,0.073,2459,4095,3159,3158,3161,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3285,-0.67,-97.3,2459,4095,3158,3161,562.1,-14.3,160,3289,0.00,0.12,0.00,0.000,2308,0.000,0.070,2459,2257,3159,3158,3161,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3789,-0.67,-97.3,2459,2257,3157,3159,634.4,-15.2,172,3793,0.00,0.15,0.00,0.000,3078,0.000,0.074,2459,4095,3158,3157,3159,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4046,-0.67,-97.3,2459,4095,3156,3158,675.9,-14.8,179,4050,0.00,0.12,0.00,0.000,2308,0.000,0.070,2459,2265,3157,3157,3158,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4511,-0.67,-97.3,2459,2265,3155,3157,739.3,-14.8,190,4514,0.00,0.15,0.00,0.000,3078,0.000,0.073,2459,4095,3156,3156,3157,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4767,-0.67,-97.3,2458,4095,3155,3156,781.5,-15.0,197,4771,0.00,1.15,0.00,0.000,2564,0.000,0.041,2459,1606,3155,3155,3156,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5221,-0.67,-97.3,2460,1606,3153,3154,844.0,-13.8,208,5225,0.00,1.15,0.00,0.000,3078,0.000,0.047,2456,4095,3153,3153,3154,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5489,-0.67,-97.3,2456,4095,3152,3153,882.8,-13.8,215,5490,0.05,0.00,0.00,0.000,2054,0.222,0.000,2466,4095,3152,3152,3153,0,0,0,0,0,0,26.72,28.83,28.83
$STATE,5646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5646,begin apogee
$GC,5652,-0.17,0.0,2467,2241,3152,3152,903.9,-13.2,219,5738,0.50,0.20,82.40,1.085,10246,0.116,0.067,2628,4095,2762,2775,2749,0,0,0,0,0,0,25.91,25.22,24.31
$STATE,5739,end apogee,CONTROL_FINISHED_OK
$STATE,5739,begin climb
$GC,5741,0.67,97.3,2628,4095,2773,2749,907.2,0.0,221,5837,0.75,1.23,90.12,1.031,10756,0.060,0.044,2906,1624,2365,2375,2355,0,0,0,0,0,0,25.32,24.85,24.01
$GC,5889,0.67,97.3,2906,1624,2370,2351,894.8,9.9,225,5893,0.00,1.20,0.00,0.000,5126,0.000,0.053,2904,4095,2360,2369,2351,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6167,0.67,97.3,2904,4095,2365,2348,849.6,15.8,232,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,4095,2356,2365,2348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6407,0.67,97.3,2904,4095,2364,2346,811.0,16.2,238,6410,0.00,1.12,0.00,0.000,516,0.000,0.045,2908,1626,2354,2363,2346,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6547,0.67,97.3,2907,1626,2362,2346,791.3,16.4,241,6551,0.00,1.15,0.00,0.000,5126,0.000,0.055,2904,4095,2354,2362,2346,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6808,0.67,97.3,2904,4095,2359,2346,750.0,14.7,248,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,4095,2352,2359,2346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7048,0.67,97.3,2904,4095,2358,2345,715.3,14.5,254,7052,0.00,1.10,0.00,0.000,516,0.000,0.044,2908,1625,2351,2358,2345,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7132,0.67,97.3,2908,1625,2357,2345,703.9,14.1,256,7136,0.00,1.15,0.00,0.000,5126,0.000,0.054,2904,4095,2351,2357,2345,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7410,0.67,97.3,2904,4095,2357,2345,666.7,13.4,263,7413,0.00,0.10,0.00,0.000,4356,0.000,0.076,2905,2254,2350,2356,2345,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7914,0.67,97.3,2904,2254,2356,2344,606.5,12.4,275,7917,0.00,0.17,0.00,0.000,5126,0.000,0.078,2904,4095,2350,2356,2344,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8171,0.67,97.3,2904,4095,2355,2344,571.5,12.7,282,8174,0.00,0.12,0.00,0.000,260,0.000,0.071,2904,2258,2349,2355,2344,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8675,0.67,97.3,2904,2258,2355,2343,511.1,12.7,294,8678,0.00,0.15,0.00,0.000,5126,0.000,0.082,2904,4095,2349,2355,2343,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8932,0.67,97.3,2904,4095,2355,2343,474.8,13.0,301,8935,0.00,0.12,0.00,0.000,260,0.000,0.072,2904,2258,2348,2354,2343,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9436,0.67,97.3,2904,2257,2354,2343,408.0,13.8,313,9439,0.00,0.17,0.00,0.000,5126,0.000,0.079,2904,4095,2348,2354,2343,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9693,0.67,97.3,2904,4095,2354,2343,371.4,12.9,320,9696,0.00,0.12,0.00,0.000,4356,0.000,0.065,2904,2262,2348,2354,2343,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10197,0.67,97.3,2904,2262,2354,2343,315.8,11.5,332,10200,0.00,0.17,0.00,0.000,1030,0.000,0.078,2904,4095,2348,2354,2343,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10454,0.67,97.3,2904,4095,2354,2343,280.1,13.2,339,10457,0.00,0.15,0.00,0.000,260,0.000,0.063,2904,2257,2348,2354,2343,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10959,0.67,97.3,2904,2257,2354,2343,209.8,14.3,351,10962,0.00,0.15,0.00,0.000,5126,0.000,0.080,2904,4095,2348,2354,2343,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11205,0.67,97.3,2904,4095,2354,2343,176.6,11.9,372,11209,0.00,0.12,0.00,0.000,260,0.000,0.071,2904,2256,2348,2354,2343,0,0,0,0,0,0,28.83,26.71,28.83
$GC,11766,0.67,97.3,2000,2254,2316,2337,116.4,10.4,422,11775,0.00,0.17,0.00,0.000,1030,0.000,0.077,2904,4095,2348,2354,2343,0,0,0,0,0,0,28.83,26.60,28.83
$GC,12019,0.67,97.3,2904,4095,2354,2343,87.8,11.1,447,12022,0.00,0.12,0.00,0.000,260,0.000,0.070,2904,2261,2349,2354,2344,0,0,0,0,0,0,28.83,26.72,28.83
$GC,12578,0.80,202.5,2904,2261,2354,2344,33.8,6.0,492,12674,0.08,0.15,84.70,0.644,11270,0.046,0.083,2963,4095,1935,1974,1896,0,0,0,0,0,0,26.47,26.61,24.93
$STATE,12765,end climb,SURFACE_DEPTH_REACHED
$STATE,12766,begin surface coast
$FINISH,1.4,1.024903
$STATE,12781,end surface coast,CONTROL_FINISHED_OK
$STATE,12781,begin surface
$SM_CCo,12797,106.38,0.596,0,0,1048,420.19
$SM_GC,2.03,7.22,0.17,106.38,0.028,0.057,0.596,192,2256,1048,-7.71,0.42,420.19,0,0,0,0,0,0,25.89,26.02,24.63
$IRIDIUM_FIX,3348.69,-15755.01,310309,111149
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.49
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,19.00
$XPDR_PINGS,17
$24V_AH,24.0,45.732
$10V_AH,10.2,28.041
$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,17.625,15.425,257.225,106.375,0.000,28.930,62.200,242.964,4.250,0.000,9.105,1648.465,7757.035,369.556,3389.260,197.966,0.000,1624.340,0.000,2599.985,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,83.385,1084.770,595.935,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,370.401,229.749,444.938,378.118,783.891,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352908
$DATA_FILE_SIZE,43985,517
$CAP_FILE_SIZE,128215,0
$CFSIZE,259248128,240697344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040616,053032,3404.802,-15755.122,33,1.0,34,11.2