version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 447
start: 6 5 116 16 47 40
data:
$ID,512
$MISSION,7
$DIVE,447
$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,-131298.69
$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
$GPS1,050616,163220,3413.518,-15746.042,38,1.0,38,11.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-73.1
$GPS2,050616,164659,3413.586,-15745.846,7,1.1,7,11.3
$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,161.3,193431,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.67,-97.3,119,2235,1000,1082,0.0,0.0,0,97,0.00,0.00,-78.30,0.000,16386,0.000,0.000,119,2255,3050,3033,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.67,-97.3,118,2255,3033,3067,3.6,-3.0,9,120,9.10,0.88,-2.45,0.000,19204,0.208,0.065,2468,1608,3159,3154,3165,0,0,0,0,0,0,25.53,26.14,26.46
$GC,488,-0.67,-97.3,2468,1608,3157,3164,84.7,-16.8,45,492,0.00,1.15,0.00,0.000,3078,0.000,0.044,2464,4095,3161,3157,3165,0,0,0,0,0,0,28.83,26.20,28.83
$GC,739,-0.67,-97.3,2464,4095,3158,3165,127.3,-16.7,70,743,0.00,0.15,0.00,0.000,2308,0.000,0.062,2464,2241,3161,3158,3165,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1283,-0.67,-97.3,2464,2240,3158,3165,213.7,-16.2,112,1287,0.00,0.20,0.00,0.000,3078,0.000,0.063,2463,4095,3162,3159,3165,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1541,-0.67,-97.3,2463,4095,3159,3165,259.5,-16.5,119,1544,0.00,0.15,0.00,0.000,2308,0.000,0.062,2463,2256,3161,3158,3165,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2045,-0.67,-97.3,2462,2256,3158,3163,338.5,-16.6,131,2048,0.00,0.17,0.00,0.000,3078,0.000,0.067,2462,4095,3160,3158,3163,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2302,-0.67,-97.3,2462,4095,3158,3161,383.5,-16.1,138,2305,0.00,0.17,0.00,0.000,2308,0.000,0.057,2462,2241,3160,3158,3162,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2806,-0.67,-97.3,2461,2242,3158,3161,461.7,-16.1,150,2809,0.00,0.17,0.00,0.000,3078,0.000,0.067,2461,4095,3159,3158,3161,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3062,-0.67,-97.3,2461,4095,3158,3160,505.1,-15.2,157,3066,0.00,0.15,0.00,0.000,2308,0.000,0.064,2461,2247,3159,3158,3160,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3567,-0.67,-97.3,2461,2247,3158,3157,573.9,-13.8,169,3570,0.00,0.17,0.00,0.000,3078,0.000,0.067,2460,4095,3157,3157,3157,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3824,-0.67,-97.3,2460,4095,3158,3157,614.8,-15.0,176,3827,0.00,0.15,0.00,0.000,2308,0.000,0.064,2460,2250,3157,3157,3157,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4013,-0.67,-97.3,2460,2250,3157,3156,639.6,-15.4,180,4016,0.00,0.20,0.00,0.000,3078,0.000,0.063,2460,4095,3156,3157,3156,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4265,-0.67,-97.3,2459,4095,3157,3155,682.7,-15.3,187,4269,0.00,0.17,0.00,0.000,2308,0.000,0.058,2459,2249,3156,3157,3155,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4769,-0.67,-97.3,2459,2249,3155,3153,748.9,-13.2,199,4772,0.00,0.17,0.00,0.000,3078,0.000,0.069,2460,4095,3154,3155,3153,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5026,-0.67,-97.3,2459,4095,3155,3153,786.0,-13.4,206,5030,0.00,0.15,0.00,0.000,2308,0.000,0.063,2459,2251,3153,3154,3153,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5082,-0.67,-97.3,2459,2251,3154,3153,791.6,-13.5,207,5086,0.00,0.15,0.00,0.000,3078,0.000,0.075,2459,4095,3153,3154,3153,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5348,-0.67,-97.3,2459,4095,3153,3152,830.5,-13.9,214,5352,0.00,0.12,0.00,0.000,2308,0.000,0.071,2459,2258,3152,3153,3152,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5356,-0.67,-97.3,2459,2258,3154,3152,830.5,-13.9,214,5360,0.00,0.17,0.00,0.000,3078,0.000,0.071,2458,4095,3152,3153,3152,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5630,-0.67,-97.3,2458,4095,3153,3150,869.6,-13.9,221,5633,0.00,0.15,0.00,0.000,2308,0.000,0.064,2458,2249,3151,3153,3150,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5728,-0.67,-97.3,2459,2249,3152,3150,880.6,-13.4,223,5732,0.00,0.17,0.00,0.000,3078,0.000,0.070,2457,4095,3151,3152,3150,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,5868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5869,begin apogee
$GC,5874,-0.17,0.0,2458,2253,3152,3149,902.0,-13.4,227,5961,0.55,0.20,83.25,1.079,10246,0.116,0.067,2632,4095,2761,2775,2748,0,0,0,0,0,0,25.82,25.22,24.27
$STATE,5962,end apogee,CONTROL_FINISHED_OK
$STATE,5963,begin climb
$GC,5965,0.67,97.3,2632,4095,2776,2747,904.9,0.0,229,6063,0.75,1.23,90.70,1.027,11012,0.054,0.046,2909,1628,2364,2377,2351,0,0,0,0,0,0,25.29,24.84,23.98
$GC,6565,0.67,97.3,2909,1628,2364,2345,822.2,15.3,244,6569,0.00,1.15,0.00,0.000,5126,0.000,0.057,2906,4094,2355,2365,2346,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6832,0.67,97.3,2906,4095,2363,2344,779.0,15.2,251,6835,0.00,1.10,0.00,0.000,4612,0.000,0.045,2910,1630,2354,2363,2345,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7161,0.67,97.3,2910,1629,2361,2344,732.2,14.7,259,7165,0.00,1.15,0.00,0.000,5126,0.000,0.055,2905,4095,2352,2361,2344,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7433,0.67,97.3,2906,4095,2361,2342,690.5,14.9,266,7434,0.00,0.00,0.00,0.000,4102,0.000,0.000,2906,4095,2351,2361,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7673,0.67,97.3,2906,4095,2360,2341,656.3,14.1,272,7677,0.00,0.10,0.00,0.000,4356,0.000,0.076,2906,2263,2350,2360,2341,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8177,0.67,97.3,2906,2263,2358,2341,587.6,14.5,284,8181,0.00,0.17,0.00,0.000,5126,0.000,0.082,2906,4095,2349,2358,2341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8434,0.67,97.3,2906,4095,2358,2340,547.8,14.2,291,8436,0.00,0.00,0.00,0.000,4102,0.000,0.000,2906,4095,2349,2358,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8674,0.67,97.3,2906,4095,2357,2340,513.0,14.9,297,8678,0.00,0.12,0.00,0.000,4356,0.000,0.067,2906,2258,2348,2357,2340,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9178,0.67,97.3,2906,2258,2357,2340,446.7,13.8,309,9182,0.00,0.15,0.00,0.000,5126,0.000,0.085,2906,4095,2348,2356,2340,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9435,0.67,97.3,2906,4095,2357,2340,407.7,14.1,316,9439,0.00,0.10,0.00,0.000,4356,0.000,0.075,2906,2266,2348,2357,2340,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9939,0.67,97.3,2906,2267,2357,2339,345.9,12.4,328,9943,0.00,0.15,0.00,0.000,5126,0.000,0.081,2906,4095,2348,2357,2340,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10196,0.67,97.3,2906,4095,2357,2340,312.2,12.3,335,10199,0.00,0.12,0.00,0.000,4356,0.000,0.067,2906,2260,2348,2357,2339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10701,0.67,97.3,2906,2260,2357,2340,255.4,11.3,347,10704,0.00,0.17,0.00,0.000,5126,0.000,0.078,2906,4095,2348,2357,2340,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10958,0.67,97.3,2906,4095,2357,2340,224.4,11.2,354,10962,0.00,0.12,0.00,0.000,4356,0.000,0.066,2906,2264,2348,2357,2340,0,0,0,0,0,0,28.83,26.66,28.83
$GC,11485,0.67,97.3,2906,2264,2356,2341,166.9,11.4,386,11492,0.00,0.17,0.00,0.000,5126,0.000,0.077,2906,4095,2348,2356,2340,0,0,0,0,0,0,28.83,26.54,28.83
$GC,11739,0.67,97.3,2906,4095,2356,2340,138.4,11.7,411,11742,0.00,0.15,0.00,0.000,4356,0.000,0.058,2906,2252,2348,2356,2340,0,0,0,0,0,0,28.83,26.64,28.83
$GC,12308,0.67,97.3,2906,2252,2357,2340,77.1,10.4,461,12318,0.00,0.17,0.00,0.000,5126,0.000,0.076,2906,4094,2348,2356,2340,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12560,0.69,119.5,2906,4095,2356,2340,54.2,9.2,486,12583,0.00,0.17,17.80,0.636,10500,0.000,0.058,2906,2245,2274,2285,2263,0,0,0,0,0,0,28.83,26.32,25.34
$STATE,13081,end climb,SURFACE_DEPTH_REACHED
$STATE,13081,begin surface coast
$FINISH,0.9,1.868970
$STATE,13117,end surface coast,CONTROL_FINISHED_OK
$STATE,13117,begin surface
$SM_CCo,13133,242.90,0.596,0,0,500,554.86
$SM_GC,2.17,6.95,0.20,242.90,0.028,0.069,0.596,190,4095,500,-7.72,-0.31,554.86,0,0,0,0,0,0,26.32,26.44,24.50
$IRIDIUM_FIX,3359.08,-15749.66,020409,060648
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.11
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,19.30
$XPDR_PINGS,492
$24V_AH,24.0,46.877
$10V_AH,10.3,29.018
$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,17.350,12.275,191.750,242.900,0.000,151.423,375.599,0.000,123.000,0.000,9.077,1752.589,8082.042,472.863,3743.452,214.021,0.000,1725.819,0.000,2695.832,0.000,0.543,0.000
$DEVICE_MAMPS,208.080,84.915,1079.415,595.935,0.000,64.260,160.000,0.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,393.231,249.680,488.769,442.503,917.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353064
$DATA_FILE_SIZE,47214,550
$CAP_FILE_SIZE,131016,0
$CFSIZE,259248128,240017408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,050616,203131,3414.291,-15744.257,26,0.9,26,11.3