version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 440
start: 6 4 116 13 14 3
data:
$ID,512
$MISSION,7
$DIVE,440
$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,-131221.05
$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
$GPS1,040616,130649,3408.146,-15754.333,39,1.0,39,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-72.5
$GPS2,040616,131321,3408.210,-15754.286,8,0.7,8,11.2
$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,157.0,185799,-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,-97.3,138,2264,991,1091,0.0,0.0,0,96,0.00,0.00,-77.70,0.000,16386,0.000,0.000,130,2262,3014,2996,3032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.67,-97.3,130,2263,2996,3033,3.5,-3.6,9,119,9.27,0.90,-3.25,0.000,19204,0.216,0.065,2461,1598,3159,3154,3165,0,0,0,0,0,0,25.38,25.98,26.32
$GC,129,-0.67,-97.3,2461,1597,3155,3165,15.5,-30.0,12,139,0.00,1.15,0.00,0.000,3078,0.000,0.044,2457,4095,3160,3155,3165,0,0,0,0,0,0,28.83,25.96,28.83
$GC,401,-0.67,-97.3,2457,4095,3157,3164,78.6,-20.7,41,404,0.00,1.10,0.00,0.000,2564,0.000,0.037,2457,1618,3161,3157,3165,0,0,0,0,0,0,28.83,26.12,28.83
$GC,719,-0.67,-97.3,2457,1617,3158,3164,139.4,-19.0,69,723,0.05,1.12,0.00,0.000,3078,0.157,0.044,2469,4095,3161,3158,3164,0,0,0,0,0,0,26.01,26.24,28.83
$GC,977,-0.67,-97.3,2469,4095,3158,3164,183.2,-17.0,94,980,0.00,0.12,0.00,0.000,2308,0.000,0.068,2470,2249,3162,3159,3165,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1488,-0.67,-97.3,2470,2249,3159,3164,263.9,-16.0,113,1491,0.00,0.15,0.00,0.000,3078,0.000,0.073,2470,4095,3162,3159,3165,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1745,-0.67,-97.3,2470,4095,3159,3164,306.2,-14.9,120,1749,0.00,0.12,0.00,0.000,2308,0.000,0.070,2470,2259,3161,3159,3164,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2249,-0.67,-97.3,2470,2259,3159,3164,376.7,-14.9,132,2253,0.00,0.17,0.00,0.000,3078,0.000,0.069,2470,4095,3161,3159,3164,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2506,-0.67,-97.3,2470,4095,3158,3164,419.8,-15.5,139,2509,0.00,0.17,0.00,0.000,2308,0.000,0.057,2469,2242,3161,3158,3164,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3010,-0.67,-97.3,2470,2242,3158,3163,492.6,-15.0,151,3014,0.00,0.17,0.00,0.000,3078,0.000,0.067,2470,4094,3160,3158,3163,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3267,-0.67,-97.3,2470,4095,3158,3161,533.4,-14.4,158,3271,0.00,1.12,0.00,0.000,2564,0.000,0.039,2473,1612,3159,3158,3161,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3771,-0.67,-97.3,2473,1612,3158,3161,599.0,-13.4,170,3775,0.00,1.12,0.00,0.000,3078,0.000,0.047,2470,4095,3159,3158,3161,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4029,-0.67,-97.3,2469,4095,3157,3160,638.1,-14.0,177,4032,0.00,1.10,0.00,0.000,2564,0.000,0.040,2470,1610,3158,3157,3160,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4137,-0.67,-97.3,2470,1609,3157,3159,649.0,-13.6,179,4141,0.00,1.15,0.00,0.000,3078,0.000,0.047,2466,4095,3158,3157,3159,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4390,-0.67,-97.3,2466,4095,3157,3158,686.7,-13.5,186,4394,0.00,1.10,0.00,0.000,2564,0.000,0.039,2467,1617,3157,3157,3158,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4434,-0.67,-97.3,2466,1617,3157,3158,692.3,-13.5,187,4438,0.00,1.12,0.00,0.000,3078,0.000,0.047,2461,4095,3157,3157,3158,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4711,-0.67,-97.3,2461,4095,3156,3157,732.3,-14.5,194,4712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,4095,3157,3157,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4951,-0.67,-97.3,2461,4095,3155,3157,766.5,-14.6,200,4955,0.00,0.12,0.00,0.000,2308,0.000,0.069,2461,2251,3156,3155,3157,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5456,-0.67,-97.3,2461,2251,3154,3154,836.4,-14.8,212,5459,0.00,0.17,0.00,0.000,3078,0.000,0.069,2460,4095,3153,3153,3154,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5713,-0.67,-97.3,2460,4095,3153,3154,877.0,-14.6,219,5716,0.00,0.15,0.00,0.000,2308,0.000,0.063,2461,2252,3153,3153,3154,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,5912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5912,begin apogee
$GC,5917,-0.17,0.0,2460,4095,3152,3153,904.4,-13.5,224,6005,0.55,0.20,83.85,1.079,10246,0.119,0.053,2634,2249,2762,2775,2749,0,0,0,0,0,0,25.82,25.23,24.30
$STATE,6006,end apogee,CONTROL_FINISHED_OK
$STATE,6006,begin climb
$GC,6008,0.67,97.3,2633,2244,2774,2748,907.3,0.0,226,6106,0.73,0.98,90.97,1.030,10756,0.052,0.046,2906,1637,2364,2375,2354,0,0,0,0,0,0,25.29,24.83,23.97
$GC,6476,0.67,97.3,2906,1637,2365,2349,841.4,16.1,238,6480,0.00,1.15,0.00,0.000,1030,0.000,0.057,2904,4095,2356,2365,2348,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6757,0.67,97.3,2904,4095,2363,2346,800.2,14.1,245,6761,0.00,0.12,0.00,0.000,260,0.000,0.073,2904,2251,2354,2363,2346,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7262,0.67,97.3,2904,2251,2360,2345,736.0,13.2,257,7265,0.00,0.17,0.00,0.000,5126,0.000,0.077,2904,4095,2352,2360,2345,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7518,0.67,97.3,2904,4095,2360,2344,697.2,14.1,264,7522,0.00,0.12,0.00,0.000,260,0.000,0.073,2904,2262,2352,2360,2344,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8023,0.67,97.3,2903,2262,2357,2345,630.5,13.2,276,8026,0.00,0.17,0.00,0.000,5126,0.000,0.081,2904,4095,2350,2356,2345,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8280,0.67,97.3,2903,4095,2356,2344,591.0,14.0,283,8283,0.00,0.12,0.00,0.000,260,0.000,0.074,2904,2266,2349,2355,2344,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8784,0.67,97.3,2904,2266,2355,2345,527.0,13.3,295,8788,0.00,0.17,0.00,0.000,5126,0.000,0.080,2904,4095,2349,2355,2344,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9041,0.67,97.3,2904,4095,2355,2344,489.9,13.0,302,9044,0.00,0.15,0.00,0.000,260,0.000,0.065,2904,2256,2349,2355,2344,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9545,0.67,97.3,2903,2255,2354,2344,429.1,12.8,314,9548,0.00,0.15,0.00,0.000,1030,0.000,0.083,2904,4095,2349,2354,2344,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9802,0.67,97.3,2903,4095,2354,2344,394.3,12.2,321,9806,0.00,0.12,0.00,0.000,260,0.000,0.072,2904,2257,2349,2354,2344,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10306,0.67,97.3,2904,2257,2354,2344,339.8,10.9,333,10310,0.00,0.17,0.00,0.000,1030,0.000,0.079,2904,4095,2349,2354,2344,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10564,0.67,97.3,2904,4095,2354,2344,308.2,11.5,340,10567,0.00,0.15,0.00,0.000,260,0.000,0.064,2904,2252,2349,2354,2344,0,0,0,0,0,0,28.83,26.68,28.83
$GC,11068,0.67,97.3,2903,2252,2354,2344,252.1,11.8,352,11071,0.00,0.17,0.00,0.000,5126,0.000,0.077,2904,4095,2349,2354,2344,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11325,0.67,97.3,2904,4095,2354,2344,219.7,11.4,359,11329,0.00,0.12,0.00,0.000,260,0.000,0.070,2904,2259,2349,2354,2345,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11854,0.67,97.3,2904,2259,2354,2345,158.1,11.7,394,11861,0.00,0.17,0.00,0.000,1030,0.000,0.077,2904,4095,2349,2354,2345,0,0,0,0,0,0,28.83,26.60,28.83
$GC,12108,0.67,97.3,2903,4095,2354,2345,130.0,10.5,419,12112,0.00,0.15,0.00,0.000,260,0.000,0.063,2904,2247,2349,2354,2344,0,0,0,0,0,0,28.83,26.70,28.83
$GC,12674,0.69,117.1,2903,2247,2354,2345,78.4,9.3,469,12695,0.00,0.17,15.77,0.643,11270,0.000,0.074,2904,4095,2284,2292,2276,0,0,0,0,0,0,28.83,26.58,25.39
$GC,12936,0.69,117.1,2903,4095,2290,2274,48.3,11.5,495,12940,0.00,0.12,0.00,0.000,2308,0.000,0.068,2904,2258,2282,2290,2274,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,13424,end climb,SURFACE_DEPTH_REACHED
$STATE,13424,begin surface coast
$FINISH,0.8,1.025037
$STATE,13467,end surface coast,CONTROL_FINISHED_OK
$STATE,13467,begin surface
$SM_CCo,13483,138.70,0.601,0,0,1049,420.19
$SM_GC,2.12,6.95,0.17,138.70,0.028,0.071,0.601,200,4095,1049,-7.73,-0.40,420.19,0,0,0,0,0,0,26.26,26.54,24.69
$IRIDIUM_FIX,3353.88,-15756.45,310309,222235
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.55
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,19.40
$XPDR_PINGS,21
$24V_AH,24.0,46.026
$10V_AH,10.2,28.333
$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,17.550,17.825,190.600,138.700,0.000,27.796,54.303,195.089,5.250,0.000,9.207,1802.873,7964.488,367.776,3668.018,223.063,0.000,1694.469,0.000,2861.068,0.000,0.543,0.000
$DEVICE_MAMPS,215.730,83.385,1079.415,600.525,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,411.207,248.981,487.373,438.220,908.437,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352956
$DATA_FILE_SIZE,47227,558
$CAP_FILE_SIZE,137727,0
$CFSIZE,259248128,240488448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040616,170202,3408.962,-15752.795,27,1.2,28,11.2