version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 449
start: 6 6 116 0 51 36
data:
$ID,512
$MISSION,7
$DIVE,449
$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,-131301.19
$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
$GPS1,060616,003831,3415.377,-15742.831,38,0.7,38,11.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.7
$GPS2,060616,005055,3415.391,-15742.793,8,0.7,9,11.3
$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,162.9,196204,-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,-97.3,151,2232,1002,1081,0.0,0.0,0,88,0.00,0.00,-69.82,0.000,16386,0.000,0.000,150,2249,2809,2792,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.67,-97.3,150,2236,2792,2828,3.1,-2.5,8,120,8.90,0.90,-9.23,0.000,19204,0.205,0.069,2463,1608,3156,3158,3155,0,0,0,0,0,0,25.51,26.13,26.53
$GC,497,-0.67,-97.3,2464,1608,3159,3154,84.3,-18.2,48,500,0.00,1.15,0.00,0.000,3078,0.000,0.045,2460,4095,3156,3159,3154,0,0,0,0,0,0,28.83,26.21,28.83
$GC,751,-0.67,-97.3,2460,4095,3160,3154,129.7,-17.9,73,757,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,4095,3157,3160,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,998,-0.67,-97.3,2460,4095,3161,3154,175.0,-18.1,98,1001,0.00,1.10,0.00,0.000,2564,0.000,0.035,2460,1613,3157,3161,3154,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1024,-0.67,-97.3,2459,1612,3160,3154,178.7,-18.1,100,1031,0.03,1.15,0.00,0.000,3078,0.189,0.043,2465,4095,3157,3161,3154,0,0,0,0,0,0,26.14,26.30,28.83
$GC,1271,-0.67,-97.3,2465,4095,3161,3154,222.0,-17.0,116,1272,0.00,0.00,0.00,0.000,2054,0.000,0.000,2465,4095,3157,3161,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1511,-0.67,-97.3,2465,4095,3161,3154,262.0,-16.5,122,1512,0.00,0.00,0.00,0.000,2054,0.000,0.000,2465,4095,3157,3160,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1752,-0.67,-97.3,2465,4095,3161,3154,301.0,-16.3,128,1755,0.00,1.12,0.00,0.000,2564,0.000,0.037,2469,1606,3157,3160,3154,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1795,-0.67,-97.3,2469,1606,3161,3154,307.6,-16.2,129,1799,0.00,1.15,0.00,0.000,3078,0.000,0.044,2466,4095,3157,3161,3154,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2072,-0.67,-97.3,2465,4095,3161,3154,353.6,-16.7,136,2076,0.00,0.15,0.00,0.000,2308,0.000,0.062,2466,2238,3157,3161,3154,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2577,-0.67,-97.3,2465,2238,3159,3154,434.4,-16.4,148,2580,0.00,0.17,0.00,0.000,3078,0.000,0.067,2464,4095,3156,3159,3154,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2833,-0.67,-97.3,2464,4095,3158,3154,478.3,-15.6,155,2837,0.00,0.15,0.00,0.000,2308,0.000,0.063,2465,2241,3156,3158,3154,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3337,-0.67,-97.3,2464,2241,3158,3154,550.3,-14.5,167,3340,0.00,0.17,0.00,0.000,3078,0.000,0.067,2463,4095,3155,3158,3153,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3594,-0.67,-97.3,2463,4095,3158,3153,593.1,-15.4,174,3598,0.00,0.15,0.00,0.000,2308,0.000,0.063,2463,2247,3155,3158,3153,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4098,-0.67,-97.3,2463,2246,3157,3151,665.5,-14.4,186,4102,0.00,0.20,0.00,0.000,3078,0.000,0.065,2462,4095,3154,3157,3152,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4355,-0.67,-97.3,2462,4095,3156,3151,702.8,-13.0,193,4359,0.00,0.17,0.00,0.000,2308,0.000,0.057,2463,2241,3153,3156,3151,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4859,-0.67,-97.3,2462,2241,3155,3149,765.7,-13.3,205,4863,0.00,0.17,0.00,0.000,3078,0.000,0.069,2461,4095,3152,3155,3149,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5116,-0.67,-97.3,2461,4095,3154,3148,805.3,-14.6,212,5119,0.00,0.12,0.00,0.000,2308,0.000,0.070,2462,2265,3151,3154,3148,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5620,-0.67,-97.3,2461,2265,3152,3146,875.4,-14.5,224,5624,0.00,0.17,0.00,0.000,3078,0.000,0.070,2461,4095,3149,3152,3146,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,5795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5795,begin apogee
$GC,5801,-0.17,0.0,2460,2252,3152,3145,904.2,-14.5,229,5887,0.52,0.20,82.93,1.087,10246,0.114,0.067,2629,4095,2762,2777,2748,0,0,0,0,0,0,25.84,25.20,24.27
$STATE,5888,end apogee,CONTROL_FINISHED_OK
$STATE,5889,begin climb
$GC,5891,0.67,97.3,2629,4095,2776,2748,907.7,0.0,231,5990,0.75,1.23,91.50,1.032,10756,0.056,0.046,2908,1626,2364,2378,2351,0,0,0,0,0,0,25.27,24.83,23.96
$GC,6392,0.67,97.3,2907,1626,2366,2346,843.7,16.0,243,6398,0.00,1.17,0.00,0.000,5126,0.000,0.060,2905,4095,2355,2365,2346,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6639,0.67,97.3,2904,4095,2364,2345,800.0,15.3,250,6640,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,4095,2354,2363,2345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6879,0.67,97.3,2904,4095,2362,2344,763.2,15.2,256,6880,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,4095,2353,2363,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7119,0.67,97.3,2904,4095,2362,2343,728.8,14.3,262,7123,0.00,0.10,0.00,0.000,4356,0.000,0.076,2904,2262,2352,2362,2343,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7623,0.67,97.3,2904,2262,2359,2342,663.7,13.7,274,7627,0.00,0.17,0.00,0.000,5126,0.000,0.081,2904,4095,2351,2360,2342,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7880,0.67,97.3,2904,4095,2359,2341,623.8,14.3,281,7884,0.00,0.12,0.00,0.000,260,0.000,0.073,2904,2260,2350,2359,2341,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8384,0.67,97.3,2904,2260,2358,2341,559.8,13.0,293,8388,0.00,0.15,0.00,0.000,5126,0.000,0.086,2904,4095,2349,2358,2341,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8641,0.67,97.3,2904,4095,2357,2341,522.9,12.8,300,8644,0.00,0.12,0.00,0.000,260,0.000,0.073,2904,2258,2348,2357,2340,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9145,0.67,97.3,2904,2258,2357,2340,459.7,13.4,312,9148,0.00,0.17,0.00,0.000,5126,0.000,0.081,2904,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9402,0.67,97.3,2904,4095,2356,2340,420.6,14.4,319,9406,0.00,0.12,0.00,0.000,260,0.000,0.073,2904,2256,2348,2357,2340,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9907,0.67,97.3,2904,2257,2356,2340,353.5,13.4,331,9910,0.00,0.17,0.00,0.000,5126,0.000,0.081,2904,4095,2348,2356,2341,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10164,0.67,97.3,2904,4095,2356,2341,321.4,10.8,338,10167,0.00,0.12,0.00,0.000,260,0.000,0.073,2904,2258,2348,2356,2340,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10669,0.67,97.3,2904,2258,2356,2340,269.4,11.5,350,10672,0.00,0.15,0.00,0.000,5126,0.000,0.083,2904,4095,2348,2356,2340,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10925,0.67,97.3,2905,4095,2356,2340,234.3,12.8,357,10929,0.00,0.12,0.00,0.000,260,0.000,0.073,2904,2258,2348,2356,2341,0,0,0,0,0,0,28.83,26.68,28.83
$GC,11446,0.67,97.3,2904,2258,2356,2340,173.3,12.3,383,11452,0.00,0.17,0.00,0.000,5126,0.000,0.079,2904,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11694,0.67,97.3,2904,4095,2356,2341,145.5,10.8,408,11698,0.00,0.12,0.00,0.000,260,0.000,0.072,2904,2257,2348,2356,2341,0,0,0,0,0,0,28.83,26.66,28.83
$GC,12258,0.68,104.9,2000,2256,2318,2334,86.1,9.7,458,12268,0.00,0.17,5.30,0.521,9222,0.000,0.078,2904,4095,2333,2340,2327,0,0,0,0,0,0,28.83,26.53,25.13
$GC,12510,0.68,104.9,2904,4095,2340,2327,60.3,10.6,483,12514,0.00,0.12,0.00,0.000,260,0.000,0.065,2904,2258,2333,2340,2327,0,0,0,0,0,0,28.83,26.63,28.83
$GC,12661,0.68,104.9,2904,2258,2340,2327,43.2,11.0,495,12664,0.00,0.15,0.00,0.000,1030,0.000,0.081,2904,4095,2333,2340,2326,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12953,0.80,203.2,2904,4095,2340,2327,20.0,6.3,530,13042,0.12,1.17,82.47,0.634,10756,0.076,0.039,2979,1622,1932,1970,1895,0,0,0,0,0,0,26.65,25.63,24.89
$STATE,13064,end climb,SURFACE_DEPTH_REACHED
$STATE,13064,begin surface coast
$FINISH,1.0,2.356182
$STATE,13081,end surface coast,CONTROL_FINISHED_OK
$STATE,13081,begin surface
$SM_CCo,13098,201.75,0.596,0,0,500,554.86
$SM_GC,2.19,7.32,1.20,201.75,0.030,0.051,0.596,203,4094,500,-7.71,-0.34,554.86,0,0,0,0,0,0,25.71,25.65,24.44
$IRIDIUM_FIX,3401.68,-15745.28,020409,141420
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.11
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,19.10
$XPDR_PINGS,478
$24V_AH,24.0,47.159
$10V_AH,10.2,29.224
$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,17.650,15.875,262.200,201.750,0.000,154.031,237.179,0.000,119.500,0.000,9.305,1712.253,8118.579,474.399,3538.735,208.413,0.000,1738.790,0.000,2642.619,0.000,0.544,0.000
$DEVICE_MAMPS,205.020,85.680,1087.065,595.935,0.000,64.260,160.000,0.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,389.045,245.276,478.423,427.468,886.172,0.000,0.000,0.000,0.000,0.000
$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,47281,545
$CAP_FILE_SIZE,130521,0
$CFSIZE,259248128,239886336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,060616,043426,3415.639,-15741.348,40,0.8,41,11.3