version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 443
start: 6 5 116 0 59 33
data:
$ID,512
$MISSION,7
$DIVE,443
$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,554.85956
$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,-131262.75
$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
$GPS1,050616,004419,3410.379,-15750.211,38,0.7,39,11.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-73.1
$GPS2,050616,005852,3410.425,-15750.145,7,1.3,7,11.2
$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,159.2,188630,-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,-97.3,118,2238,1002,1079,0.0,0.0,0,96,0.00,0.00,-77.57,0.000,16386,0.000,0.000,118,2262,3021,3002,3041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.67,-97.3,118,2261,3002,3041,3.4,-3.0,9,119,9.12,0.22,-3.17,0.000,18692,0.207,0.177,2467,4095,3160,3156,3165,0,0,0,0,0,0,25.51,25.98,26.45
$GC,191,-0.67,-97.3,2467,4095,3157,3165,30.3,-24.4,21,195,0.00,0.20,0.00,0.000,3078,0.000,0.053,2467,2251,3161,3157,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,446,-0.67,-97.3,2467,2251,3158,3165,79.4,-18.1,46,449,0.00,0.93,0.00,0.000,2564,0.000,0.037,2470,1604,3161,3158,3165,0,0,0,0,0,0,28.83,26.21,28.83
$GC,919,-0.67,-97.3,2470,1603,3158,3165,160.2,-17.2,88,923,0.00,1.15,0.00,0.000,3078,0.000,0.043,2466,4095,3161,3158,3165,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1190,-0.67,-97.3,2466,4095,3158,3165,207.5,-17.3,112,1193,0.00,0.12,0.00,0.000,2308,0.000,0.067,2466,2261,3161,3158,3164,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1694,-0.67,-97.3,2466,2261,3158,3164,290.1,-17.2,124,1697,0.00,0.17,0.00,0.000,3078,0.000,0.067,2466,4095,3161,3158,3164,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1951,-0.67,-97.3,2466,4095,3158,3163,337.4,-17.0,131,1955,0.00,0.15,0.00,0.000,2308,0.000,0.063,2466,2252,3161,3158,3164,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2455,-0.67,-97.3,2466,2252,3158,3162,421.2,-17.5,143,2458,0.00,0.17,0.00,0.000,3078,0.000,0.067,2465,4095,3160,3158,3162,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2712,-0.67,-97.3,2465,4095,3158,3161,467.2,-16.1,150,2715,0.00,0.15,0.00,0.000,2308,0.000,0.063,2465,2245,3159,3158,3161,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3217,-0.67,-97.3,2465,2244,3158,3160,538.1,-14.2,162,3220,0.00,0.17,0.00,0.000,3078,0.000,0.066,2464,4095,3159,3158,3160,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3473,-0.67,-97.3,2464,4095,3158,3159,575.8,-13.2,169,3476,0.00,0.15,0.00,0.000,2308,0.000,0.063,2464,2248,3158,3158,3159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3977,-0.67,-97.3,2464,2248,3158,3157,638.4,-13.2,181,3980,0.00,0.17,0.00,0.000,3078,0.000,0.067,2464,4095,3157,3157,3157,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4234,-0.67,-97.3,2464,4095,3157,3156,677.7,-14.1,188,4237,0.00,0.15,0.00,0.000,2308,0.000,0.064,2464,2250,3156,3157,3156,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4738,-0.67,-97.3,2464,2250,3156,3155,749.0,-14.9,200,4741,0.00,0.17,0.00,0.000,3078,0.000,0.068,2463,4095,3155,3156,3154,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4995,-0.67,-97.3,2463,4095,3155,3154,790.0,-14.3,207,4999,0.00,0.15,0.00,0.000,2308,0.000,0.064,2463,2255,3154,3155,3154,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5499,-0.67,-97.3,2463,2255,3153,3152,852.5,-12.7,219,5502,0.00,0.17,0.00,0.000,3078,0.000,0.071,2463,4095,3152,3153,3152,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5756,-0.67,-97.3,2462,4095,3153,3151,887.4,-12.6,226,5760,0.00,0.12,0.00,0.000,2308,0.000,0.071,2463,2264,3152,3153,3151,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,5875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5875,begin apogee
$GC,5882,-0.17,0.0,2462,4095,3152,3151,903.0,-12.9,229,5969,0.52,0.20,83.40,1.082,10246,0.116,0.052,2629,2261,2762,2776,2749,0,0,0,0,0,0,25.86,25.24,24.29
$STATE,5970,end apogee,CONTROL_FINISHED_OK
$STATE,5970,begin climb
$GC,5973,0.67,97.3,2629,2254,2775,2748,906.4,0.0,231,6070,0.75,1.00,90.90,1.034,10756,0.055,0.045,2909,1595,2365,2377,2353,0,0,0,0,0,0,25.29,24.83,23.99
$GC,6387,0.67,97.3,2909,1595,2365,2347,860.7,14.3,241,6391,0.00,1.20,0.00,0.000,5126,0.000,0.055,2906,4095,2356,2366,2347,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6639,0.67,97.3,2905,4095,2364,2345,822.8,13.3,248,6640,0.00,0.00,0.00,0.000,4102,0.000,0.000,2906,4095,2354,2364,2345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6879,0.67,97.3,2905,4095,2363,2345,788.1,14.7,254,6882,0.00,0.10,0.00,0.000,4356,0.000,0.073,2906,2253,2353,2363,2344,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7383,0.67,97.3,2906,2252,2361,2343,718.0,14.4,266,7386,0.00,0.20,0.00,0.000,5126,0.000,0.077,2905,4095,2352,2361,2343,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7640,0.67,97.3,2905,4095,2360,2342,679.5,13.9,273,7644,0.00,0.15,0.00,0.000,4356,0.000,0.060,2905,2250,2351,2360,2342,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8144,0.67,97.3,2905,2249,2359,2341,614.1,13.4,285,8147,0.00,0.20,0.00,0.000,1030,0.000,0.074,2905,4095,2349,2358,2341,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8401,0.67,97.3,2905,4094,2358,2341,576.9,13.4,292,8405,0.00,0.12,0.00,0.000,4356,0.000,0.065,2905,2252,2349,2357,2341,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8906,0.67,97.3,2905,2252,2356,2341,510.9,13.6,304,8910,0.00,0.15,0.00,0.000,5126,0.000,0.083,2905,4095,2347,2355,2340,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9163,0.67,97.3,2905,4095,2355,2341,473.4,13.6,311,9166,0.00,0.10,0.00,0.000,4356,0.000,0.075,2905,2263,2348,2355,2341,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9667,0.67,97.3,2905,2262,2355,2341,409.7,13.1,323,9671,0.00,0.17,0.00,0.000,5126,0.000,0.080,2905,4095,2348,2355,2341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9924,0.67,97.3,2905,4095,2355,2341,374.3,12.8,330,9928,0.00,0.12,0.00,0.000,4356,0.000,0.065,2905,2256,2348,2355,2341,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10428,0.67,97.3,2905,2256,2355,2341,316.8,11.5,342,10431,0.00,0.17,0.00,0.000,5126,0.000,0.077,2905,4095,2348,2355,2341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10685,0.67,97.3,2905,4095,2355,2341,283.9,11.9,349,10688,0.00,0.12,0.00,0.000,4356,0.000,0.065,2905,2257,2348,2355,2341,0,0,0,0,0,0,28.83,26.70,28.83
$GC,11100,0.67,97.3,2905,2257,2355,2340,230.7,13.4,359,11103,0.00,0.17,0.00,0.000,5126,0.000,0.077,2905,4095,2348,2355,2341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11351,0.67,97.3,2905,4095,2355,2341,197.2,12.7,367,11355,0.00,1.10,0.00,0.000,4612,0.000,0.039,2910,1615,2348,2355,2341,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11905,0.67,97.3,2909,1615,2356,2341,129.5,11.8,417,11912,0.00,1.15,0.00,0.000,5126,0.000,0.050,2906,4095,2348,2355,2341,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12154,0.67,97.3,2906,4095,2355,2341,99.3,11.8,442,12155,0.00,0.00,0.00,0.000,4102,0.000,0.000,2906,4095,2348,2355,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12396,0.68,104.6,2906,4095,2355,2341,75.1,9.7,466,12408,0.00,1.10,4.93,0.502,8708,0.000,0.037,2910,1614,2335,2341,2329,0,0,0,0,0,0,28.83,26.51,25.15
$GC,12488,0.70,122.7,2910,1613,2341,2329,66.7,9.3,473,12510,0.00,1.15,17.38,0.638,11270,0.000,0.048,2906,4095,2261,2272,2250,0,0,0,0,0,0,28.83,26.32,25.39
$GC,12751,0.71,134.3,2906,4095,2270,2247,39.1,9.6,499,12770,0.00,0.00,10.95,0.590,10246,0.000,0.000,2906,4095,2214,2228,2200,0,0,0,0,0,0,28.83,28.83,25.41
$GC,13070,0.71,134.3,2906,4095,2226,2196,7.7,11.6,540,13080,0.00,1.10,0.00,0.000,2564,0.000,0.039,2910,1618,2210,2225,2196,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,13108,end climb,SURFACE_DEPTH_REACHED
$STATE,13108,begin surface coast
$FINISH,0.9,1.014550
$STATE,13137,end surface coast,CONTROL_FINISHED_OK
$STATE,13137,begin surface
$SM_CCo,13153,231.25,0.594,0,0,499,554.86
$SM_GC,1.92,6.97,1.17,231.25,0.030,0.048,0.594,198,4095,499,-7.71,-0.25,554.86,0,0,0,0,0,0,26.27,26.21,24.51
$IRIDIUM_FIX,3356.48,-15753.06,010409,141445
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.35
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,19.00
$XPDR_PINGS,16
$24V_AH,24.0,46.386
$10V_AH,10.2,28.621
$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,17.375,15.850,207.550,231.250,0.000,146.401,375.607,0.000,4.000,0.000,9.107,1767.840,7973.784,471.396,3837.880,218.460,0.000,1780.056,0.000,2795.339,0.000,0.542,0.000
$DEVICE_MAMPS,206.550,176.715,1082.475,594.405,0.000,64.260,160.000,0.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,391.127,249.279,481.587,438.276,908.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353092
$DATA_FILE_SIZE,47344,549
$CAP_FILE_SIZE,134735,0
$CFSIZE,259248128,240275456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050616,044332,3411.073,-15749.281,24,1.0,25,11.2