version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 448
start: 6 5 116 20 54 53
data:
$ID,512
$MISSION,7
$DIVE,448
$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,-131299.94
$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
$GPS1,050616,203131,3414.291,-15744.257,26,0.9,26,11.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-71.1
$GPS2,050616,205411,3414.279,-15743.952,7,1.0,7,11.3
$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,162.3,194350,-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,-97.3,164,2277,439,555,0.0,0.0,0,104,0.00,0.00,-85.95,0.000,16386,0.000,0.000,164,2278,2761,2745,2777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.67,-97.3,164,2275,2745,2778,3.0,-2.2,10,136,8.90,0.93,-11.55,0.000,18948,0.207,0.068,2464,1617,3159,3163,3156,0,0,0,0,0,0,25.43,25.98,26.39
$GC,507,-0.67,-97.3,2463,1617,3164,3156,80.3,-18.5,50,517,0.00,1.12,0.00,0.000,3078,0.000,0.043,2460,4095,3160,3164,3156,0,0,0,0,0,0,28.83,26.22,28.83
$GC,758,-0.67,-97.3,2459,4095,3164,3156,125.0,-17.5,75,761,0.00,0.12,0.00,0.000,2308,0.000,0.067,2459,2251,3160,3164,3156,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1301,-0.67,-97.3,2460,2250,3164,3156,214.5,-16.7,117,1304,0.00,0.15,0.00,0.000,3078,0.000,0.070,2459,4095,3159,3163,3156,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1558,-0.67,-97.3,2458,4095,3164,3156,260.5,-16.3,124,1561,0.00,0.12,0.00,0.000,2308,0.000,0.067,2459,2257,3159,3163,3156,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2062,-0.67,-97.3,2458,2257,3163,3156,336.7,-15.3,136,2065,0.00,0.15,0.00,0.000,3078,0.000,0.073,2458,4095,3159,3163,3156,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2319,-0.67,-97.3,2457,4095,3162,3155,380.6,-15.8,143,2322,0.00,0.15,0.00,0.000,2308,0.000,0.062,2457,2246,3158,3162,3155,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2823,-0.67,-97.3,2458,2245,3160,3154,454.9,-15.4,155,2826,0.00,0.17,0.00,0.000,3078,0.000,0.066,2457,4095,3156,3159,3154,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3080,-0.67,-97.3,2457,4095,3159,3154,498.2,-15.6,162,3083,0.00,0.15,0.00,0.000,2308,0.000,0.062,2457,2249,3156,3159,3154,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3584,-0.67,-97.3,2457,2249,3158,3153,574.7,-15.7,174,3588,0.00,0.17,0.00,0.000,3078,0.000,0.067,2456,4095,3155,3158,3153,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3841,-0.67,-97.3,2456,4095,3158,3152,617.9,-15.2,181,3845,0.05,0.15,0.00,0.000,2308,0.218,0.039,2468,2252,3155,3158,3152,0,0,0,0,0,0,26.67,26.53,28.83
$GC,4346,-0.67,-97.3,2467,2252,3156,3150,681.3,-12.5,193,4349,0.00,0.15,0.00,0.000,3078,0.000,0.073,2467,4095,3153,3157,3150,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4602,-0.67,-97.3,2467,4095,3155,3149,714.7,-11.7,200,4606,0.00,0.15,0.00,0.000,2308,0.000,0.063,2467,2240,3152,3155,3149,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5106,-0.67,-97.3,2467,2241,3154,3146,776.0,-13.4,212,5110,0.00,0.17,0.00,0.000,3078,0.000,0.070,2468,4095,3149,3153,3146,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5364,-0.67,-97.3,2467,4095,3152,3145,815.0,-14.0,219,5367,0.00,1.12,0.00,0.000,2564,0.000,0.040,2472,1606,3148,3152,3145,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5372,-0.67,-97.3,2471,1606,3153,3145,815.0,-14.0,219,5376,0.00,1.15,0.00,0.000,3078,0.000,0.047,2468,4095,3149,3153,3145,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5645,-0.67,-97.3,2467,4095,3152,3144,852.4,-12.9,226,5649,0.00,1.10,0.00,0.000,2564,0.000,0.041,2468,1623,3147,3151,3144,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,6084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6084,begin apogee
$GC,6091,-0.17,0.0,2464,4095,3150,3143,904.3,-11.2,237,6177,0.52,0.17,82.47,1.095,10246,0.119,0.057,2630,2253,2762,2778,2747,0,0,0,0,0,0,25.84,25.22,24.28
$STATE,6178,end apogee,CONTROL_FINISHED_OK
$STATE,6178,begin climb
$GC,6180,0.67,97.3,2630,2249,2777,2746,906.6,0.0,239,6278,0.75,0.25,91.35,1.045,10500,0.053,0.066,2908,4095,2365,2379,2352,0,0,0,0,0,0,25.29,24.81,23.97
$GC,6780,0.67,97.3,2908,4095,2368,2345,814.6,17.1,254,6784,0.00,0.17,0.00,0.000,5126,0.000,0.062,2908,2260,2355,2367,2344,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7047,0.67,97.3,2908,2259,2365,2343,768.7,16.2,261,7051,0.00,0.17,0.00,0.000,4356,0.000,0.070,2908,4095,2354,2365,2343,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7551,0.67,97.3,2908,4095,2363,2341,699.2,13.4,273,7554,0.00,0.17,0.00,0.000,5126,0.000,0.060,2908,2258,2352,2363,2341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7808,0.67,97.3,2908,2258,2363,2341,664.6,12.0,280,7812,0.00,0.17,0.00,0.000,4356,0.000,0.071,2909,4095,2352,2363,2341,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8312,0.67,97.3,2908,4095,2361,2339,597.2,15.4,292,8316,0.00,0.17,0.00,0.000,5126,0.000,0.060,2908,2256,2350,2361,2339,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8569,0.67,97.3,2908,2256,2360,2339,555.4,14.9,299,8573,0.00,0.17,0.00,0.000,4356,0.000,0.073,2908,4095,2350,2361,2339,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9074,0.67,97.3,2908,4095,2360,2339,487.9,13.6,311,9077,0.00,0.17,0.00,0.000,5126,0.000,0.060,2908,2251,2349,2360,2339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9330,0.67,97.3,2908,2251,2359,2339,449.6,14.0,318,9334,0.00,0.17,0.00,0.000,4356,0.000,0.073,2909,4095,2348,2359,2338,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9834,0.67,97.3,2908,4095,2359,2339,385.0,13.4,330,9837,0.00,0.17,0.00,0.000,5126,0.000,0.059,2909,2251,2349,2359,2339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10091,0.67,97.3,2908,2251,2359,2339,349.6,12.7,337,10095,0.00,0.17,0.00,0.000,4356,0.000,0.072,2909,4095,2349,2359,2339,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10597,0.67,97.3,2908,4095,2359,2339,289.4,12.3,349,10600,0.00,0.17,0.00,0.000,5126,0.000,0.058,2909,2246,2349,2359,2339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10854,0.67,97.3,2908,2247,2359,2339,253.3,12.9,356,10858,0.00,0.90,0.00,0.000,4612,0.000,0.043,2913,1616,2349,2359,2339,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11363,0.67,97.3,2913,1616,2358,2338,189.7,12.0,373,11369,0.00,1.15,0.00,0.000,5126,0.000,0.052,2910,4095,2348,2358,2339,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11611,0.67,97.3,2910,4095,2358,2339,161.6,10.9,398,11614,0.00,1.10,0.00,0.000,4612,0.000,0.041,2914,1608,2348,2358,2339,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11870,0.67,97.3,2914,1608,2358,2339,132.9,11.4,421,11877,0.00,1.15,0.00,0.000,5126,0.000,0.047,2913,4095,2348,2358,2339,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12119,0.67,97.3,2913,4095,2358,2339,103.2,11.3,446,12123,0.00,0.10,0.00,0.000,4356,0.000,0.073,2913,2252,2348,2357,2339,0,0,0,0,0,0,28.83,26.67,28.83
$GC,12245,0.67,97.3,2913,2251,2358,2339,90.0,11.1,457,12248,0.00,0.15,0.00,0.000,5126,0.000,0.079,2913,4095,2348,2358,2339,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12501,0.67,97.4,2914,4095,2358,2339,63.3,10.0,482,12509,0.00,0.00,0.00,0.000,4102,0.000,0.000,2913,4095,2348,2358,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12750,0.69,112.2,2913,4095,2357,2339,39.0,9.4,507,12769,0.00,0.00,11.82,0.608,12294,0.000,0.000,2913,4095,2303,2314,2292,0,0,0,0,0,0,28.83,28.83,25.32
$GC,13074,0.72,139.2,2913,4095,2313,2290,10.3,9.0,549,13102,0.00,1.15,23.98,0.618,10756,0.000,0.037,2917,1613,2194,2210,2178,0,0,0,0,0,0,28.83,26.22,25.34
$STATE,13152,end climb,SURFACE_DEPTH_REACHED
$STATE,13152,begin surface coast
$FINISH,1.0,2.456577
$STATE,13196,end surface coast,CONTROL_FINISHED_OK
$STATE,13197,begin surface
$SM_CCo,13213,137.32,0.599,0,0,1048,420.19
$SM_GC,2.29,7.00,1.17,137.32,0.025,0.045,0.599,186,4094,1048,-7.73,-0.40,420.19,0,0,0,0,0,0,26.17,26.06,24.61
$IRIDIUM_FIX,3359.08,-15746.26,020409,101007
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.10
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,19.10
$XPDR_PINGS,489
$24V_AH,24.0,47.031
$10V_AH,10.2,29.128
$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,17.225,17.825,209.625,137.325,0.000,83.813,144.531,815.759,122.250,0.000,8.116,1799.402,7759.311,392.788,4532.624,237.666,0.000,1736.043,0.000,2871.383,0.000,0.543,0.000
$DEVICE_MAMPS,218.025,78.795,1094.715,598.995,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,398.996,262.359,507.970,470.392,975.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352876
$DATA_FILE_SIZE,50643,565
$CAP_FILE_SIZE,145455,0
$CFSIZE,259248128,239955968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,060616,003831,3415.377,-15742.831,38,0.7,38,11.3