version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 444
start: 6 5 116 4 55 0
data:
$ID,512
$MISSION,7
$DIVE,444
$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,-131264
$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
$GPS1,050616,044332,3411.073,-15749.281,24,1.0,25,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-70.1
$GPS2,050616,045418,3411.139,-15749.257,7,1.4,7,11.2
$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,159.7,189709,-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,-97.3,167,2270,440,552,0.0,0.0,0,113,0.00,0.00,-94.45,0.000,16386,0.000,0.000,164,2246,2988,2970,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.67,-97.3,164,2245,2970,3005,3.6,-3.6,11,136,8.93,0.85,-4.00,0.000,18948,0.207,0.066,2464,1604,3158,3155,3162,0,0,0,0,0,0,25.40,26.00,26.34
$GC,384,-0.67,-97.3,2463,1604,3157,3162,61.9,-17.8,38,394,0.00,1.15,0.00,0.000,3078,0.000,0.044,2459,4095,3159,3157,3162,0,0,0,0,0,0,28.83,26.13,28.83
$GC,635,-0.67,-97.3,2459,4095,3157,3162,107.1,-17.7,63,639,0.00,0.12,0.00,0.000,2308,0.000,0.069,2459,2254,3159,3157,3161,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1189,-0.67,-97.3,2459,2254,3158,3162,200.7,-16.9,113,1193,0.00,0.17,0.00,0.000,3078,0.000,0.066,2459,4095,3160,3158,3162,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1446,-0.67,-97.3,2459,4095,3158,3162,244.2,-16.7,120,1450,0.00,0.17,0.00,0.000,2308,0.000,0.055,2459,2239,3160,3158,3162,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1950,-0.67,-97.3,2459,2238,3158,3161,321.4,-16.2,132,1954,0.00,0.17,0.00,0.000,3078,0.000,0.066,2459,4095,3159,3158,3161,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2207,-0.67,-97.3,2459,4095,3158,3160,367.5,-16.6,139,2211,0.00,0.12,0.00,0.000,2308,0.000,0.070,2459,2260,3159,3158,3161,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2711,-0.67,-97.3,2459,2260,3158,3158,447.5,-16.4,151,2714,0.00,0.15,0.00,0.000,3078,0.000,0.074,2459,4095,3158,3158,3158,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2968,-0.67,-97.3,2458,4095,3158,3158,493.5,-16.3,158,2972,0.00,0.15,0.00,0.000,2308,0.000,0.063,2459,2248,3157,3158,3157,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3472,-0.67,-97.3,2458,2248,3158,3156,565.9,-14.6,170,3476,0.00,0.17,0.00,0.000,3078,0.000,0.068,2458,4095,3157,3158,3156,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3729,-0.67,-97.3,2458,4095,3157,3154,605.1,-13.7,177,3733,0.00,0.15,0.00,0.000,2308,0.000,0.063,2458,2248,3155,3157,3154,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4233,-0.67,-97.3,2457,2248,3156,3153,674.0,-14.5,189,4237,0.00,0.17,0.00,0.000,3078,0.000,0.068,2457,4095,3155,3156,3154,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4491,-0.67,-97.3,2457,4095,3155,3153,716.6,-15.2,196,4494,0.00,0.15,0.00,0.000,2308,0.000,0.064,2457,2251,3154,3155,3153,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4995,-0.67,-97.3,2457,2251,3154,3151,788.9,-15.1,208,4998,0.00,0.15,0.00,0.000,3078,0.000,0.074,2456,4095,3153,3154,3152,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5252,-0.67,-97.3,2456,4095,3153,3150,829.0,-14.1,215,5256,0.05,0.12,0.00,0.000,2308,0.215,0.043,2468,2258,3151,3153,3150,0,0,0,0,0,0,26.72,26.56,28.83
$GC,5756,-0.67,-97.3,2468,2258,3150,3148,885.8,-11.5,227,5760,0.00,0.15,0.00,0.000,3078,0.000,0.078,2468,4095,3149,3151,3148,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,5891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5891,begin apogee
$GC,5897,-0.17,0.0,2468,2242,3151,3147,904.0,-11.4,231,5984,0.50,0.20,82.82,1.082,10246,0.113,0.067,2630,4095,2762,2777,2748,0,0,0,0,0,0,25.91,25.22,24.31
$STATE,5985,end apogee,CONTROL_FINISHED_OK
$STATE,5985,begin climb
$GC,5987,0.67,97.3,2630,4095,2776,2747,906.2,0.0,233,6086,0.75,1.23,91.05,1.023,10756,0.056,0.046,2910,1631,2365,2379,2351,0,0,0,0,0,0,25.29,24.85,24.01
$GC,6588,0.67,97.3,2910,1631,2365,2345,820.7,15.6,248,6591,0.00,1.15,0.00,0.000,1030,0.000,0.057,2907,4095,2355,2365,2345,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6855,0.67,97.3,2907,4095,2364,2344,778.6,14.8,255,6856,0.00,0.00,0.00,0.000,4102,0.000,0.000,2907,4095,2354,2364,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7095,0.67,97.3,2907,4095,2363,2343,742.5,15.0,261,7098,0.00,0.10,0.00,0.000,4356,0.000,0.076,2907,2264,2353,2363,2343,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7539,0.67,97.3,2907,2263,2361,2341,675.6,15.1,272,7542,0.00,0.15,0.00,0.000,5126,0.000,0.086,2907,4095,2351,2361,2342,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7816,0.67,97.3,2907,4095,2361,2341,634.8,14.8,279,7817,0.00,0.00,0.00,0.000,4102,0.000,0.000,2907,4095,2351,2361,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8056,0.67,97.3,2907,4095,2360,2341,601.0,13.9,285,8059,0.00,1.10,0.00,0.000,4612,0.000,0.045,2910,1629,2350,2360,2341,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8115,0.67,97.3,2910,1629,2358,2341,595.2,14.0,286,8118,0.00,1.12,0.00,0.000,5126,0.000,0.056,2907,4095,2350,2359,2341,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8377,0.67,97.3,2907,4095,2357,2341,555.3,14.5,293,8381,0.00,0.10,0.00,0.000,4356,0.000,0.074,2907,2250,2349,2358,2341,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8441,0.67,97.3,2907,2250,2357,2341,549.1,14.6,294,8445,0.00,0.20,0.00,0.000,5126,0.000,0.076,2907,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8699,0.67,97.3,2907,4095,2357,2341,509.7,13.6,301,8700,0.00,0.00,0.00,0.000,4102,0.000,0.000,2907,4095,2348,2357,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8939,0.67,97.3,2907,4095,2356,2340,477.7,13.4,307,8943,0.00,1.12,0.00,0.000,4612,0.000,0.043,2911,1620,2348,2356,2341,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9118,0.67,97.3,2910,1620,2356,2341,456.4,13.2,311,9121,0.00,1.15,0.00,0.000,5126,0.000,0.055,2907,4095,2348,2356,2341,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9380,0.67,97.3,2907,4095,2357,2340,419.2,13.1,318,9384,0.00,0.10,0.00,0.000,4356,0.000,0.075,2907,2257,2348,2356,2340,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9884,0.67,97.3,2907,2257,2356,2341,360.2,11.8,330,9888,0.00,0.17,0.00,0.000,5126,0.000,0.080,2907,4095,2348,2356,2341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10142,0.67,97.3,2907,4095,2356,2341,326.9,12.0,337,10145,0.00,0.12,0.00,0.000,4356,0.000,0.066,2907,2251,2348,2356,2341,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10647,0.67,97.3,2907,2250,2356,2341,270.8,11.5,349,10651,0.00,0.15,0.00,0.000,5126,0.000,0.085,2907,4095,2348,2356,2341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10904,0.67,97.3,2907,4095,2356,2341,238.7,11.4,356,10908,0.00,0.10,0.00,0.000,4356,0.000,0.074,2907,2264,2348,2356,2341,0,0,0,0,0,0,28.83,26.71,28.83
$GC,11353,0.67,97.3,2907,2264,2355,2341,194.5,10.3,370,11360,0.00,0.17,0.00,0.000,5126,0.000,0.079,2907,4095,2348,2356,2341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11602,0.67,97.3,2907,4095,2356,2341,166.6,11.7,395,11605,0.00,0.12,0.00,0.000,4356,0.000,0.065,2907,2259,2348,2355,2341,0,0,0,0,0,0,28.83,26.69,28.83
$GC,11791,0.67,97.3,2907,2259,2355,2341,144.8,11.4,412,11794,0.00,0.15,0.00,0.000,5126,0.000,0.080,2907,4095,2348,2355,2341,0,0,0,0,0,0,28.83,26.59,28.83
$GC,12046,0.67,100.3,2907,4095,2356,2341,118.7,9.9,437,12050,0.00,0.12,0.00,0.000,4356,0.000,0.071,2907,2260,2348,2356,2341,0,0,0,0,0,0,28.83,26.70,28.83
$GC,12480,0.67,100.3,2907,2260,2356,2341,73.2,10.9,475,12490,0.00,0.17,0.00,0.000,5126,0.000,0.078,2907,4095,2348,2356,2341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,12733,0.73,150.0,2907,4095,2356,2341,47.9,8.1,500,12780,0.00,0.15,42.67,0.643,10500,0.000,0.039,2907,2251,2149,2169,2130,0,0,0,0,0,0,28.83,26.06,25.25
$STATE,13093,end climb,SURFACE_DEPTH_REACHED
$STATE,13093,begin surface coast
$FINISH,1.1,2.664057
$STATE,13124,end surface coast,CONTROL_FINISHED_OK
$STATE,13124,begin surface
$SM_CCo,13139,126.53,0.592,0,0,1049,420.19
$SM_GC,2.16,6.93,0.20,126.53,0.024,0.073,0.592,190,4095,1049,-7.72,0.76,420.19,0,0,0,0,0,0,26.20,26.25,24.68
$IRIDIUM_FIX,3353.88,-15745.83,010409,141430
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.73
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,19.10
$XPDR_PINGS,76
$24V_AH,24.0,46.499
$10V_AH,10.2,28.718
$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,17.150,13.875,216.550,126.525,0.000,31.264,49.961,444.729,19.000,0.000,8.107,1731.243,7901.889,378.293,3701.608,210.745,0.000,1647.149,0.000,2671.122,0.000,0.542,0.000
$DEVICE_MAMPS,214.965,86.445,1081.710,592.110,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,390.478,243.261,478.741,421.072,872.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352920
$DATA_FILE_SIZE,47113,545
$CAP_FILE_SIZE,135302,0
$CFSIZE,259248128,240230400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,050616,083701,3412.063,-15748.376,25,0.8,25,11.2