version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 442
start: 6 4 116 21 20 27
data:
$ID,512
$MISSION,7
$DIVE,442
$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,-131261.48
$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
$GPS1,040616,205931,3409.571,-15751.582,32,1.0,32,11.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-69.2
$GPS2,040616,211946,3409.613,-15751.457,7,1.0,7,11.2
$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,158.5,187503,-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,15,-0.67,-97.3,122,4094,443,551,0.0,0.0,0,113,0.00,0.00,-94.70,0.000,16386,0.000,0.000,120,4095,2990,2977,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.67,-97.3,120,4095,2977,3004,3.2,-2.8,11,136,9.12,1.12,-4.00,0.000,18948,0.209,0.057,2461,1607,3159,3156,3162,0,0,0,0,0,0,25.46,26.06,26.41
$GC,459,-0.67,-97.3,2461,1606,3158,3162,78.0,-18.3,44,469,0.00,1.15,0.00,0.000,3078,0.000,0.041,2457,4095,3159,3157,3162,0,0,0,0,0,0,28.83,26.22,28.83
$GC,710,-0.67,-97.3,2456,4095,3158,3161,136.4,-38.6,69,714,0.05,0.15,0.00,0.000,2308,0.217,0.057,2467,2296,3160,3158,3162,0,0,0,0,0,0,26.34,26.25,28.83
$GC,1236,-0.67,-97.3,2458,2258,3156,3163,282.3,-29.9,98,1239,0.00,0.17,0.00,0.000,3078,0.000,0.067,2457,4095,3159,3156,3163,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1493,-0.67,-97.3,2452,4095,3156,3162,370.3,-29.2,105,1497,0.08,1.15,0.00,0.000,2564,0.190,0.034,2470,1618,3159,3157,3161,0,0,0,0,0,0,26.53,26.37,28.83
$GC,1998,-0.67,-97.3,2467,1593,3157,3159,499.6,-18.4,117,2001,0.00,1.12,0.00,0.000,3078,0.000,0.046,2462,4095,3158,3157,3160,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2254,-0.67,-97.3,2461,4095,3157,3157,544.7,-16.0,124,2258,0.00,1.10,0.00,0.000,2564,0.000,0.037,2462,1612,3157,3157,3158,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2575,-0.67,-97.3,2461,1612,3156,3156,594.1,-15.2,132,2579,0.00,1.12,0.00,0.000,3078,0.000,0.046,2457,4095,3156,3156,3156,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2856,-0.67,-97.3,2456,4095,3156,3154,634.4,-14.2,139,2857,0.00,0.00,0.00,0.000,2054,0.000,0.000,2457,4095,3155,3156,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3096,-0.67,-97.3,2457,4095,3155,3153,667.3,-13.8,145,3099,0.00,0.12,0.00,0.000,2308,0.000,0.069,2457,2251,3154,3155,3153,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3600,-0.67,-97.3,2456,2250,3153,3151,733.8,-13.7,157,3603,0.00,0.17,0.00,0.000,3078,0.000,0.068,2456,4095,3152,3153,3152,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3857,-0.67,-97.3,2455,4095,3152,3150,774.0,-14.4,164,3861,0.05,0.15,0.00,0.000,2308,0.213,0.041,2469,2258,3151,3152,3150,0,0,0,0,0,0,26.72,26.55,28.83
$GC,3962,-0.67,-97.3,2469,2258,3152,3149,784.7,-13.7,166,3965,0.00,0.15,0.00,0.000,3078,0.000,0.076,2469,4095,3151,3153,3149,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4218,-0.67,-97.3,2469,4095,3150,3148,818.5,-11.9,173,4220,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,4095,3149,3151,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4459,-0.67,-97.3,2469,4095,3150,3146,844.4,-10.7,179,4460,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,4095,3148,3150,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,-0.67,-97.3,2469,4095,3149,3145,869.0,-10.3,185,4700,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,4095,3147,3149,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4939,-0.67,-97.3,2469,4095,3148,3145,895.0,-11.1,191,4942,0.00,0.12,0.00,0.000,2308,0.000,0.071,2469,2262,3146,3147,3145,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5018,begin apogee
$GC,5024,-0.17,0.0,2468,4095,3147,3144,904.5,-11.5,193,5110,0.50,0.20,82.45,1.087,10246,0.116,0.054,2628,2261,2762,2777,2747,0,0,0,0,0,0,25.91,25.25,24.32
$STATE,5111,end apogee,CONTROL_FINISHED_OK
$STATE,5111,begin climb
$GC,5113,0.67,97.3,2628,2252,2776,2747,907.3,0.0,195,5212,0.75,1.02,91.03,1.032,10756,0.054,0.046,2906,1626,2365,2380,2350,0,0,0,0,0,0,25.29,24.84,24.01
$GC,5271,0.67,97.3,2906,1626,2373,2347,894.6,9.9,199,5274,0.00,1.20,0.00,0.000,5126,0.000,0.055,2904,4095,2360,2374,2346,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5542,0.67,97.3,2904,4095,2368,2344,851.6,15.1,206,5545,0.00,0.12,0.00,0.000,260,0.000,0.071,2904,2253,2357,2370,2344,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6046,0.67,97.3,2904,2252,2366,2341,784.5,14.5,218,6049,0.00,0.17,0.00,0.000,5126,0.000,0.079,2904,4095,2353,2366,2341,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6303,0.67,97.3,2904,4095,2365,2340,741.4,15.9,225,6307,0.00,0.12,0.00,0.000,260,0.000,0.072,2904,2264,2352,2364,2340,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6807,0.67,97.3,2904,2263,2363,2339,663.1,15.4,237,6811,0.00,0.15,0.00,0.000,5126,0.000,0.087,2904,4095,2351,2363,2339,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7064,0.67,97.3,2904,4095,2363,2338,623.9,13.7,244,7068,0.00,0.12,0.00,0.000,260,0.000,0.072,2904,2269,2350,2363,2338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7568,0.67,97.3,2904,2269,2362,2337,559.3,13.5,256,7572,0.00,0.12,0.00,0.000,1030,0.000,0.092,2904,4095,2350,2362,2338,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7825,0.67,97.3,2904,4095,2361,2337,519.1,14.6,263,7829,0.00,0.12,0.00,0.000,260,0.000,0.072,2904,2258,2349,2361,2337,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8329,0.67,97.3,2904,2258,2359,2338,454.0,13.2,275,8332,0.00,0.17,0.00,0.000,5126,0.000,0.080,2904,4095,2349,2361,2337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8587,0.67,97.3,2904,4095,2361,2337,422.5,10.7,282,8590,0.00,0.15,0.00,0.000,260,0.000,0.064,2904,2251,2349,2360,2338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9020,0.67,97.3,2904,2251,2360,2337,379.2,11.7,292,9027,0.00,0.17,0.00,0.000,1030,0.000,0.078,2904,4095,2348,2360,2337,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9267,0.67,97.3,2903,4095,2360,2337,343.0,13.1,299,9271,0.00,0.12,0.00,0.000,260,0.000,0.071,2904,2264,2348,2360,2337,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9311,0.67,97.3,2016,2262,2323,2331,337.4,13.4,300,9315,0.00,0.17,0.00,0.000,1030,0.000,0.079,2904,4095,2348,2360,2337,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9589,0.67,97.3,2904,4095,2360,2337,302.0,12.2,307,9592,0.00,0.15,0.00,0.000,260,0.000,0.065,2904,2254,2348,2360,2337,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10093,0.67,97.3,2904,2254,2360,2337,245.0,12.1,319,10096,0.00,0.17,0.00,0.000,5126,0.000,0.078,2904,4095,2348,2360,2337,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10350,0.67,97.3,2904,4095,2360,2337,210.5,12.4,326,10354,0.00,0.12,0.00,0.000,260,0.000,0.070,2904,2264,2348,2360,2337,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10887,0.67,97.3,2904,2264,2360,2337,147.6,11.4,367,10894,0.00,0.17,0.00,0.000,1030,0.000,0.076,2904,4095,2348,2360,2337,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11136,0.67,97.3,2904,4095,2351,2344,115.3,15.1,392,11139,0.00,0.15,0.00,0.000,4356,0.000,0.060,2905,2248,2347,2351,2344,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11249,0.67,97.3,2906,2247,2351,2343,95.3,19.9,402,11252,0.00,0.17,0.00,0.000,5126,0.000,0.071,2906,4095,2347,2351,2343,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11505,0.67,97.3,2906,4095,2351,2343,54.3,14.5,427,11508,0.00,1.12,0.00,0.000,4612,0.000,0.039,2912,1606,2347,2351,2344,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11608,0.67,97.3,2912,1604,2351,2345,41.8,12.5,435,11617,0.00,1.17,0.00,0.000,5126,0.000,0.053,2908,4095,2348,2351,2345,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11925,0.67,97.3,2908,4095,2351,2344,3.6,10.7,477,11935,0.00,1.08,0.00,0.000,4612,0.000,0.039,2914,1619,2347,2351,2344,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,11943,end climb,SURFACE_DEPTH_REACHED
$STATE,11943,begin surface coast
$FINISH,0.8,1.011898
$STATE,11973,end surface coast,CONTROL_FINISHED_OK
$STATE,11973,begin surface
$SM_CCo,11989,173.68,0.607,0,0,1048,420.19
$SM_GC,2.04,6.90,1.15,173.68,0.024,0.048,0.607,191,4095,1048,-7.74,-0.57,420.19,0,0,0,0,0,0,26.35,26.28,24.60
$IRIDIUM_FIX,3353.88,-15754.04,010409,101058
$TT8_MAMPS,0.02247,0.02247
$HUMID,46.18
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,18.70
$XPDR_PINGS,31
$24V_AH,24.0,46.270
$10V_AH,10.2,28.520
$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,17.450,17.825,173.475,173.675,0.000,113.103,245.115,510.277,7.750,0.000,9.092,1545.850,7530.177,413.036,3670.385,227.789,0.000,1526.594,0.000,2328.891,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,91.800,1087.065,606.645,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,338.494,205.477,407.532,369.492,765.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352900
$DATA_FILE_SIZE,40576,483
$CAP_FILE_SIZE,127179,0
$CFSIZE,259248128,240373760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050616,004419,3410.379,-15750.211,38,0.7,39,11.2