version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 451
start: 6 6 116 8 44 17
data:
$ID,512
$MISSION,7
$DIVE,451
$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,-131303.69
$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
$GPS1,060616,082902,3416.447,-15739.443,27,0.9,28,11.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-74.0
$GPS2,060616,084336,3416.479,-15739.302,8,1.0,8,11.3
$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,164.5,197734,-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,14,begin dive
$GC,16,-0.67,-97.3,121,4095,1001,1083,0.0,0.0,0,87,0.00,0.00,-69.25,0.000,16386,0.000,0.000,120,4095,2794,2774,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.67,-97.3,120,4095,2774,2814,3.1,-1.9,8,119,9.07,1.17,-10.15,0.000,18948,0.207,0.058,2464,1607,3160,3163,3158,0,0,0,0,0,0,25.51,26.08,26.52
$GC,474,-0.67,-97.3,2464,1607,3164,3157,82.0,-18.8,46,477,0.00,1.15,0.00,0.000,3078,0.000,0.042,2460,4095,3161,3164,3158,0,0,0,0,0,0,28.83,26.21,28.83
$GC,728,-0.67,-97.3,2460,4095,3165,3157,127.2,-16.3,71,732,0.00,0.12,0.00,0.000,2308,0.000,0.066,2460,2250,3161,3166,3157,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1270,-0.67,-97.3,2460,2250,3167,3157,217.0,-16.7,112,1273,0.00,0.17,0.00,0.000,3078,0.000,0.065,2459,4095,3162,3168,3157,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1527,-0.67,-97.3,2459,4095,3167,3157,261.7,-16.2,119,1531,0.00,0.15,0.00,0.000,2308,0.000,0.062,2459,2250,3162,3167,3157,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2031,-0.67,-97.3,2459,2250,3166,3157,341.5,-17.3,131,2035,0.00,0.15,0.00,0.000,3078,0.000,0.072,2459,4095,3161,3166,3157,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2288,-0.67,-97.3,2459,4095,3165,3157,387.8,-16.0,138,2292,0.00,0.12,0.00,0.000,2308,0.000,0.069,2459,2259,3161,3165,3157,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2542,-0.67,-97.3,2459,2259,3164,3157,426.5,-16.0,144,2545,0.00,0.15,0.00,0.000,3078,0.000,0.072,2458,4095,3160,3164,3157,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2809,-0.67,-97.3,2458,4095,3163,3157,469.0,-14.9,151,2813,0.00,0.15,0.00,0.000,2308,0.000,0.062,2458,2248,3160,3163,3157,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2945,-0.67,-97.3,2458,2248,3163,3157,486.8,-14.7,154,2948,0.00,0.17,0.00,0.000,3078,0.000,0.064,2457,4095,3160,3163,3157,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3211,-0.67,-97.3,2457,4095,3162,3157,528.9,-15.0,161,3214,0.00,0.15,0.00,0.000,2308,0.000,0.065,2458,2250,3159,3161,3157,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3315,-0.67,-97.3,2457,2250,3161,3157,541.5,-15.3,163,3318,0.00,0.15,0.00,0.000,3078,0.000,0.071,2457,4095,3159,3162,3157,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3572,-0.67,-97.3,2457,4095,3161,3156,584.9,-15.4,170,3575,0.00,0.12,0.00,0.000,2308,0.000,0.070,2457,2258,3158,3161,3156,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3585,-0.67,-97.3,2457,2258,3161,3155,584.9,-15.4,170,3589,0.00,0.17,0.00,0.000,3078,0.000,0.068,2456,4095,3158,3161,3156,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3853,-0.67,-97.3,2456,4095,3159,3154,626.1,-14.5,177,3857,0.05,0.15,0.00,0.000,2308,0.216,0.039,2468,2250,3157,3160,3154,0,0,0,0,0,0,26.67,26.52,28.83
$GC,4337,-0.67,-97.3,2468,2250,3158,3153,687.9,-12.9,189,4341,0.00,0.15,0.00,0.000,3078,0.000,0.073,2468,4095,3156,3159,3153,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4615,-0.67,-97.3,2468,4095,3158,3153,725.5,-13.4,196,4618,0.00,0.12,0.00,0.000,2308,0.000,0.070,2468,2263,3155,3158,3152,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5009,-0.67,-97.3,2468,2263,3158,3151,776.3,-14.1,205,5015,0.00,0.15,0.00,0.000,3078,0.000,0.073,2468,4095,3154,3158,3151,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5255,-0.67,-97.3,2468,4095,3157,3150,812.3,-12.4,212,5259,0.00,0.15,0.00,0.000,2308,0.000,0.063,2468,2253,3153,3157,3150,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5490,-0.67,-97.3,2467,2253,3156,3149,834.7,-10.9,217,5496,0.00,0.15,0.00,0.000,3078,0.000,0.074,2468,4095,3152,3156,3149,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5736,-0.67,-97.3,2467,4095,3155,3147,865.1,-11.2,224,5740,0.00,1.12,0.00,0.000,2564,0.000,0.042,2472,1620,3151,3155,3148,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,6055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6055,begin apogee
$GC,6062,-0.17,0.0,2468,4095,3153,3146,904.5,-12.6,232,6149,0.52,0.17,83.72,1.093,10246,0.117,0.057,2635,2255,2762,2777,2747,0,0,0,0,0,0,25.82,25.20,24.22
$STATE,6150,end apogee,CONTROL_FINISHED_OK
$STATE,6150,begin climb
$GC,6152,0.67,97.3,2635,2249,2776,2747,907.7,0.0,234,6250,0.73,0.20,91.65,1.042,10500,0.047,0.056,2910,4095,2364,2378,2351,0,0,0,0,0,0,25.32,24.79,23.94
$GC,6752,0.67,97.3,2910,4095,2366,2343,823.9,16.7,249,6755,0.00,0.17,0.00,0.000,5126,0.000,0.060,2911,2256,2354,2366,2343,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7019,0.67,97.3,2911,2256,2364,2341,778.9,16.0,256,7023,0.00,0.17,0.00,0.000,4356,0.000,0.071,2911,4095,2352,2364,2341,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7524,0.67,97.3,2911,4095,2362,2340,708.7,13.9,268,7527,0.00,0.15,0.00,0.000,5126,0.000,0.067,2911,2267,2351,2362,2340,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7780,0.67,97.3,2911,2267,2361,2340,669.4,14.2,275,7784,0.00,0.15,0.00,0.000,4356,0.000,0.074,2911,4095,2350,2360,2340,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8284,0.67,97.3,2911,4095,2360,2338,600.9,14.2,287,8287,0.00,0.17,0.00,0.000,5126,0.000,0.060,2911,2255,2349,2360,2339,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8541,0.67,97.3,2911,2255,2359,2338,562.8,13.6,294,8545,0.00,0.17,0.00,0.000,4356,0.000,0.073,2911,4095,2348,2359,2338,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9045,0.67,97.3,2911,4095,2359,2338,501.3,12.5,306,9049,0.00,0.20,0.00,0.000,5126,0.000,0.055,2911,2247,2348,2358,2338,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9302,0.67,97.3,2911,2248,2358,2338,464.4,13.2,313,9306,0.00,0.17,0.00,0.000,4356,0.000,0.073,2911,4095,2348,2358,2338,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9806,0.67,97.3,2911,4095,2358,2338,399.1,13.5,325,9810,0.00,0.15,0.00,0.000,5126,0.000,0.064,2912,2256,2347,2357,2338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10063,0.67,97.3,2912,2256,2357,2337,362.0,12.9,332,10067,0.00,0.17,0.00,0.000,4356,0.000,0.072,2912,4095,2347,2357,2338,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10567,0.67,97.3,2912,4095,2357,2338,298.3,14.0,344,10571,0.00,0.17,0.00,0.000,5126,0.000,0.059,2913,2251,2347,2357,2338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10824,0.67,97.3,2913,2250,2357,2338,261.7,13.1,351,10827,0.00,0.17,0.00,0.000,4356,0.000,0.070,2913,4095,2348,2358,2338,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11331,0.67,97.3,2913,4095,2357,2338,194.1,12.6,365,11338,0.00,0.17,0.00,0.000,5126,0.000,0.057,2914,2247,2347,2356,2338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11582,0.67,97.3,2913,2247,2357,2338,165.4,10.7,390,11585,0.00,0.17,0.00,0.000,4356,0.000,0.070,2914,4095,2347,2357,2338,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12142,0.67,97.3,2913,4095,2357,2338,108.5,10.8,440,12152,0.00,0.15,0.00,0.000,5126,0.000,0.064,2914,2256,2347,2357,2338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12394,0.67,97.3,2913,2256,2357,2338,82.4,10.8,465,12398,0.00,0.17,0.00,0.000,4356,0.000,0.070,2914,4095,2347,2357,2338,0,0,0,0,0,0,28.83,26.50,28.83
$GC,13035,0.92,303.0,2914,4095,2356,2338,25.2,2.3,524,13184,0.15,0.17,144.10,0.629,11266,0.041,0.058,2994,2247,1564,1618,1510,0,0,0,0,0,0,26.46,26.65,28.83
$STATE,13185,end climb,SURFACE_DEPTH_REACHED
$STATE,13185,begin surface coast
$FINISH,0.9,1.880571
$STATE,13202,end surface coast,CONTROL_FINISHED_OK
$STATE,13202,begin surface
$SM_CCo,13218,163.27,0.594,0,0,500,554.86
$SM_GC,2.18,7.38,0.20,163.27,0.024,0.067,0.594,190,4095,500,-7.72,-0.40,554.86,0,0,0,0,0,0,25.51,25.48,24.41
$IRIDIUM_FIX,3406.89,-15733.64,020409,222226
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.78
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,19.00
$XPDR_PINGS,481
$24V_AH,23.9,47.423
$10V_AH,10.2,29.424
$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,17.900,10.950,319.475,163.275,0.000,145.270,375.600,0.000,120.250,0.000,9.291,1722.725,8061.147,458.146,3813.282,211.347,0.000,1813.689,0.000,2789.512,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,74.205,1093.185,594.405,0.000,64.260,160.000,0.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,382.533,240.340,473.972,421.060,872.904,0.000,0.000,0.000,0.000,0.000
$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,47248,543
$CAP_FILE_SIZE,134553,0
$CFSIZE,259248128,239751168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,060616,122826,3417.019,-15737.430,36,0.8,37,11.3