version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 439
start: 6 4 116 9 24 41
data:
$ID,512
$MISSION,7
$DIVE,439
$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,-131219.7
$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
$GPS1,040616,091531,3406.259,-15754.846,27,0.9,28,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-72.0
$GPS2,040616,092400,3406.315,-15754.847,8,0.9,8,11.2
$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,156.5,182548,-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,-97.3,160,2233,990,1091,0.0,0.0,0,96,0.00,0.00,-77.55,0.000,16386,0.000,0.000,158,2253,3010,2993,3028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.67,-97.3,158,2234,2993,3029,3.5,-3.1,9,119,9.12,0.22,-3.38,0.000,18692,0.212,0.176,2466,4095,3159,3154,3165,0,0,0,0,0,0,25.39,25.84,26.33
$GC,279,-0.67,-97.3,2465,4095,3156,3165,49.7,-19.1,28,282,0.00,0.17,0.00,0.000,3078,0.000,0.056,2466,2250,3160,3156,3165,0,0,0,0,0,0,28.83,26.24,28.83
$GC,533,-0.67,-97.3,2466,2250,3157,3165,99.5,-17.8,53,536,0.00,0.90,0.00,0.000,2564,0.000,0.039,2466,1620,3161,3157,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,804,-0.67,-97.3,2466,1620,3158,3165,145.9,-17.5,77,807,0.00,1.12,0.00,0.000,3078,0.000,0.044,2461,4095,3161,3158,3165,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1056,-0.67,-97.3,2461,4095,3158,3165,191.3,-18.1,102,1059,0.00,0.15,0.00,0.000,2308,0.000,0.062,2461,2241,3161,3158,3165,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1566,-0.67,-97.3,2461,2241,3159,3165,278.9,-17.9,118,1569,0.00,0.17,0.00,0.000,3078,0.000,0.066,2460,4095,3162,3159,3165,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1822,-0.67,-97.3,2460,4095,3159,3165,327.5,-17.5,125,1826,0.00,0.15,0.00,0.000,2308,0.000,0.063,2460,2245,3162,3159,3165,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2326,-0.67,-97.3,2460,2245,3158,3165,403.8,-15.1,137,2330,0.03,0.17,0.00,0.000,3078,0.187,0.066,2467,4095,3161,3158,3165,0,0,0,0,0,0,26.42,26.60,28.83
$GC,2583,-0.67,-97.3,2467,4095,3158,3165,443.8,-14.2,144,2587,0.00,0.15,0.00,0.000,2308,0.000,0.063,2468,2249,3161,3159,3164,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3087,-0.67,-97.3,2468,2249,3158,3163,518.6,-15.9,156,3091,0.00,0.17,0.00,0.000,3078,0.000,0.068,2468,4095,3160,3158,3163,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3344,-0.67,-97.3,2468,4095,3158,3163,561.3,-15.2,163,3348,0.00,0.15,0.00,0.000,2308,0.000,0.063,2468,2248,3160,3158,3163,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3849,-0.67,-97.3,2468,2248,3158,3161,632.3,-14.4,175,3852,0.00,0.17,0.00,0.000,3078,0.000,0.067,2468,4095,3159,3158,3161,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4105,-0.67,-97.3,2468,4095,3158,3160,672.6,-14.4,182,4109,0.00,0.15,0.00,0.000,2308,0.000,0.063,2468,2249,3159,3158,3160,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4609,-0.67,-97.3,2468,2249,3156,3158,738.2,-13.5,194,4613,0.00,0.15,0.00,0.000,3078,0.000,0.075,2468,4095,3157,3156,3158,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4867,-0.67,-97.3,2468,4095,3156,3157,775.7,-13.4,201,4870,0.00,0.12,0.00,0.000,2308,0.000,0.070,2468,2257,3156,3156,3157,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5371,-0.67,-97.3,2468,2257,3154,3154,833.8,-11.8,213,5374,0.00,0.15,0.00,0.000,3078,0.000,0.077,2468,4095,3154,3154,3155,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5628,-0.67,-97.3,2467,4095,3153,3154,868.7,-12.6,220,5631,0.00,0.12,0.00,0.000,2308,0.000,0.070,2468,2259,3153,3153,3153,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5861,-0.67,-97.3,2467,2259,3153,3153,894.5,-12.8,225,5868,0.00,0.17,0.00,0.000,3078,0.000,0.073,2467,4095,3153,3153,3153,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,5906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5906,begin apogee
$GC,5912,-0.17,0.0,2467,2250,3152,3153,904.7,-12.8,227,5999,0.52,0.20,83.55,1.088,10246,0.116,0.066,2635,4095,2762,2775,2749,0,0,0,0,0,0,25.87,25.21,24.29
$STATE,6000,end apogee,CONTROL_FINISHED_OK
$STATE,6000,begin climb
$GC,6002,0.67,97.3,2635,4095,2774,2749,907.9,0.0,229,6100,0.73,0.17,91.18,1.032,10500,0.052,0.061,2903,2265,2365,2376,2354,0,0,0,0,0,0,25.29,24.82,23.98
$GC,6482,0.67,97.3,2903,2265,2365,2346,844.7,15.7,241,6486,0.00,0.15,0.00,0.000,1030,0.000,0.079,2903,4095,2356,2366,2346,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6750,0.67,97.3,2903,4095,2364,2345,801.1,15.5,248,6753,0.00,0.12,0.00,0.000,260,0.000,0.073,2903,2265,2354,2363,2345,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7253,0.67,97.3,2903,2265,2361,2344,728.5,14.4,260,7257,0.00,0.17,0.00,0.000,1030,0.000,0.076,2903,4095,2352,2361,2344,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7510,0.67,97.3,2903,4095,2358,2344,688.5,14.1,267,7514,0.00,0.15,0.00,0.000,260,0.000,0.067,2904,2257,2351,2358,2344,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8015,0.67,97.3,2903,2256,2356,2344,624.2,13.1,279,8018,0.00,0.15,0.00,0.000,5126,0.000,0.081,2904,4095,2349,2356,2343,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8272,0.67,97.3,2903,4095,2356,2343,585.3,13.9,286,8275,0.00,0.12,0.00,0.000,260,0.000,0.073,2904,2259,2349,2356,2343,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8776,0.67,97.3,2904,2259,2355,2342,519.1,13.2,298,8779,0.00,0.17,0.00,0.000,1030,0.000,0.078,2904,4095,2348,2355,2342,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9033,0.67,97.3,2904,4095,2355,2342,482.4,13.0,305,9037,0.00,0.12,0.00,0.000,260,0.000,0.073,2904,2262,2348,2355,2342,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9538,0.67,97.3,2904,2262,2355,2342,419.3,13.5,317,9541,0.00,0.17,0.00,0.000,1030,0.000,0.077,2904,4095,2348,2355,2342,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9795,0.67,97.3,2904,4095,2355,2342,380.6,14.0,324,9798,0.00,0.15,0.00,0.000,260,0.000,0.064,2904,2260,2348,2355,2342,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10299,0.67,97.3,2904,2260,2355,2342,316.3,12.4,336,10302,0.00,0.15,0.00,0.000,5126,0.000,0.080,2904,4095,2348,2355,2342,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10555,0.67,97.3,2904,4095,2354,2342,283.0,11.8,343,10559,0.00,0.12,0.00,0.000,260,0.000,0.071,2904,2259,2348,2355,2342,0,0,0,0,0,0,28.83,26.71,28.83
$GC,11060,0.67,97.3,2904,2259,2354,2342,225.6,12.0,355,11064,0.00,0.17,0.00,0.000,5126,0.000,0.076,2904,4095,2348,2355,2342,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11310,0.67,97.3,2903,4095,2355,2342,193.8,11.6,364,11314,0.00,0.15,0.00,0.000,260,0.000,0.065,2904,2256,2349,2355,2343,0,0,0,0,0,0,28.83,26.68,28.83
$GC,11859,0.67,97.3,2048,2254,2317,2336,129.5,12.3,414,11869,0.00,0.17,0.00,0.000,1030,0.000,0.076,2904,4095,2348,2355,2342,0,0,0,0,0,0,28.83,26.60,28.83
$GC,12113,0.67,97.3,2904,4095,2355,2342,99.9,11.3,439,12116,0.00,0.12,0.00,0.000,260,0.000,0.072,2905,2258,2349,2355,2343,0,0,0,0,0,0,28.83,26.72,28.83
$GC,12716,0.73,147.0,2904,2258,2355,2343,44.2,8.1,489,12761,0.00,0.17,40.25,0.653,11270,0.000,0.075,2905,4095,2161,2180,2142,0,0,0,0,0,0,28.83,26.61,25.29
$GC,13068,0.73,147.0,2904,4095,2176,2135,3.5,14.5,533,13077,0.00,0.12,0.00,0.000,2308,0.000,0.070,2905,2260,2155,2176,2135,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,13085,end climb,SURFACE_DEPTH_REACHED
$STATE,13085,begin surface coast
$FINISH,0.9,1.024940
$STATE,13114,end surface coast,CONTROL_FINISHED_OK
$STATE,13114,begin surface
$SM_CCo,13130,130.25,0.604,0,0,1049,420.19
$SM_GC,1.81,6.90,0.17,130.25,0.021,0.071,0.604,190,4095,1049,-7.73,-0.34,420.19,0,0,0,0,0,0,26.20,26.34,24.65
$IRIDIUM_FIX,3351.28,-15759.84,310309,181831
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.14
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,19.00
$XPDR_PINGS,17
$24V_AH,24.0,45.932
$10V_AH,10.2,28.233
$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,17.300,8.250,214.975,130.250,0.000,29.985,49.693,310.017,4.250,0.000,9.096,1757.149,7668.320,370.029,3789.043,195.600,0.000,1719.559,0.000,2885.838,0.000,0.541,0.000
$DEVICE_MAMPS,211.905,175.950,1087.830,603.585,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,382.549,238.677,468.983,414.616,859.576,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352944
$DATA_FILE_SIZE,47240,539
$CAP_FILE_SIZE,136931,0
$CFSIZE,259248128,240553984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040616,130649,3408.146,-15754.333,39,1.0,39,11.2