version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 452
start: 6 6 116 12 39 33
data:
$ID,512
$MISSION,7
$DIVE,452
$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,-131304.95
$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
$GPS1,060616,122826,3417.019,-15737.430,36,0.8,37,11.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.1
$GPS2,060616,123852,3417.061,-15737.328,8,0.8,8,11.3
$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,165.4,198608,-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,-97.3,171,2275,438,555,0.0,0.0,0,113,0.00,0.00,-94.65,0.000,16386,0.000,0.000,170,2276,2994,2979,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.67,-97.3,170,2268,2979,3010,3.4,-2.7,11,136,8.95,0.90,-3.88,0.000,18948,0.210,0.067,2463,1602,3159,3155,3163,0,0,0,0,0,0,25.36,25.97,26.32
$GC,262,-0.67,-97.3,2463,1602,3157,3162,40.8,-23.1,28,272,0.00,1.17,0.00,0.000,3078,0.000,0.044,2459,4095,3159,3157,3162,0,0,0,0,0,0,28.83,26.06,28.83
$GC,513,-0.67,-97.3,2459,4095,3158,3162,88.9,-18.0,53,516,0.00,0.15,0.00,0.000,2308,0.000,0.062,2459,2243,3159,3157,3162,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1071,-0.67,-97.3,2459,2243,3158,3162,184.1,-17.5,103,1078,0.00,0.20,0.00,0.000,3078,0.000,0.063,2458,4095,3160,3158,3162,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1318,-0.67,-97.3,2458,4095,3159,3162,227.6,-17.3,116,1322,0.00,0.15,0.00,0.000,2308,0.000,0.059,2459,2248,3160,3158,3162,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1823,-0.67,-97.3,2459,2248,3158,3162,313.9,-17.8,128,1826,0.00,0.17,0.00,0.000,3078,0.000,0.065,2458,4095,3160,3159,3162,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2079,-0.67,-97.3,2458,4095,3158,3161,362.5,-17.2,135,2083,0.00,0.15,0.00,0.000,2308,0.000,0.063,2458,2252,3159,3158,3161,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2210,-0.67,-97.3,2458,2251,3158,3161,382.9,-16.8,138,2213,0.00,0.15,0.00,0.000,3078,0.000,0.072,2457,4095,3159,3158,3161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2481,-0.67,-97.3,2457,4095,3159,3161,430.9,-17.2,145,2484,0.00,0.12,0.00,0.000,2308,0.000,0.069,2457,2262,3159,3158,3160,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2895,-0.67,-97.3,2457,2261,3159,3158,496.3,-15.7,155,2898,0.00,0.17,0.00,0.000,3078,0.000,0.067,2457,4095,3158,3158,3158,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3162,-0.67,-97.3,2457,4094,3158,3157,536.4,-13.9,162,3165,0.00,1.12,0.00,0.000,2564,0.000,0.038,2460,1619,3157,3158,3157,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3666,-0.67,-97.3,2460,1619,3158,3156,602.0,-14.4,174,3669,0.00,1.12,0.00,0.000,3078,0.000,0.045,2456,4095,3156,3157,3156,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3923,-0.67,-97.3,2456,4095,3157,3154,645.0,-15.8,181,3926,0.00,1.12,0.00,0.000,2564,0.000,0.037,2460,1598,3155,3157,3154,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3967,-0.67,-97.3,2459,1598,3157,3154,651.3,-15.8,182,3970,0.00,1.15,0.00,0.000,3078,0.000,0.045,2456,4095,3155,3157,3154,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4244,-0.67,-97.3,2456,4095,3157,3154,695.4,-15.9,189,4246,0.05,0.00,0.00,0.000,2054,0.221,0.000,2466,4095,3154,3156,3153,0,0,0,0,0,0,26.67,28.83,28.83
$GC,4484,-0.67,-97.3,2466,4095,3156,3153,729.6,-14.0,195,4485,0.00,0.00,0.00,0.000,2054,0.000,0.000,2466,4095,3154,3156,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4724,-0.67,-97.3,2465,4095,3155,3152,760.8,-12.7,201,4725,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,4095,3153,3155,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4964,-0.67,-97.3,2466,4095,3154,3152,790.0,-12.1,207,4967,0.00,1.10,0.00,0.000,2564,0.000,0.041,2471,1623,3153,3154,3152,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5013,-0.67,-97.3,2471,1623,3154,3151,795.1,-12.1,208,5016,0.00,1.12,0.00,0.000,3078,0.000,0.048,2468,4095,3153,3154,3152,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5285,-0.67,-97.3,2467,4095,3153,3150,831.0,-13.2,215,5288,0.00,1.10,0.00,0.000,2564,0.000,0.041,2471,1625,3151,3153,3150,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5344,-0.67,-97.3,2471,1625,3153,3150,836.4,-13.3,216,5347,0.00,1.12,0.00,0.000,3078,0.000,0.048,2467,4095,3151,3153,3150,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5606,-0.67,-97.3,2467,4095,3152,3148,872.9,-13.0,223,5607,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,4095,3150,3152,3148,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5844,begin apogee
$GC,5849,-0.17,0.0,2467,2235,3151,3147,903.0,-12.5,229,5937,0.50,0.22,83.50,1.086,10246,0.116,0.063,2628,4095,2762,2777,2748,0,0,0,0,0,0,25.86,25.20,24.25
$STATE,5937,end apogee,CONTROL_FINISHED_OK
$STATE,5938,begin climb
$GC,5940,0.67,97.3,2628,4095,2776,2747,905.9,0.0,231,6036,0.77,0.00,92.47,1.033,10246,0.056,0.000,2903,4095,2365,2380,2351,0,0,0,0,0,0,25.27,28.83,23.95
$GC,6246,0.67,97.3,2903,4095,2370,2345,865.7,17.0,239,6249,0.00,1.15,0.00,0.000,516,0.000,0.044,2908,1630,2357,2370,2345,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6393,0.67,97.3,2908,1630,2368,2345,845.4,17.0,242,6396,0.00,1.15,0.00,0.000,5126,0.000,0.056,2905,4095,2356,2368,2345,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6648,0.67,97.3,2905,4095,2366,2344,800.5,15.7,249,6650,0.00,0.00,0.00,0.000,4102,0.000,0.000,2906,4095,2355,2366,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6889,0.67,97.3,2905,4095,2365,2343,762.2,15.8,255,6892,0.00,1.10,0.00,0.000,4612,0.000,0.047,2909,1627,2353,2365,2342,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6952,0.67,97.3,2908,1627,2365,2342,755.8,15.8,256,6956,0.00,1.15,0.00,0.000,5126,0.000,0.056,2905,4095,2353,2364,2342,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7210,0.67,97.3,2905,4095,2363,2341,711.9,15.5,263,7211,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,4095,2352,2364,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7449,0.67,97.3,2905,4095,2363,2341,675.2,15.2,269,7453,0.00,0.10,0.00,0.000,4356,0.000,0.075,2905,2252,2352,2363,2341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7513,0.67,97.3,2905,2252,2363,2341,669.6,14.7,270,7517,0.00,0.17,0.00,0.000,5126,0.000,0.080,2905,4095,2352,2363,2341,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7771,0.67,97.3,2905,4095,2362,2340,630.8,13.4,277,7774,0.00,1.12,0.00,0.000,4612,0.000,0.044,2909,1620,2350,2360,2340,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7800,0.67,97.3,2909,1620,2362,2340,630.8,13.4,277,7803,0.00,1.15,0.00,0.000,5126,0.000,0.055,2906,4095,2350,2361,2340,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8051,0.67,97.3,2905,4094,2361,2340,596.2,12.1,284,8055,0.00,0.10,0.00,0.000,4356,0.000,0.073,2906,2251,2350,2361,2340,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8556,0.67,97.3,2905,2250,2360,2339,538.2,11.9,296,8559,0.00,0.17,0.00,0.000,5126,0.000,0.076,2905,4095,2349,2360,2339,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8812,0.67,97.3,2905,4095,2360,2339,503.8,12.1,303,8816,0.00,0.12,0.00,0.000,4356,0.000,0.065,2905,2252,2349,2360,2339,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9316,0.67,97.3,2905,2252,2359,2339,442.5,13.2,315,9320,0.00,0.15,0.00,0.000,5126,0.000,0.086,2905,4095,2349,2359,2339,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9574,0.67,97.3,2905,4095,2359,2339,404.9,13.7,322,9577,0.00,0.12,0.00,0.000,4356,0.000,0.065,2905,2246,2349,2359,2339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10077,0.67,97.3,2905,2246,2359,2339,342.4,12.3,334,10081,0.00,0.17,0.00,0.000,5126,0.000,0.080,2906,4095,2349,2359,2339,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10335,0.67,97.3,2905,4095,2359,2339,306.9,12.7,341,10338,0.00,0.12,0.00,0.000,4356,0.000,0.065,2905,2247,2349,2359,2339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10839,0.67,97.3,2905,2247,2359,2339,251.1,11.6,353,10843,0.00,0.17,0.00,0.000,5126,0.000,0.074,2905,4095,2348,2359,2338,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11096,0.67,97.3,2905,4095,2359,2339,218.3,11.9,360,11099,0.00,0.12,0.00,0.000,4356,0.000,0.063,2905,2251,2349,2359,2339,0,0,0,0,0,0,28.83,26.66,28.83
$GC,11627,0.67,97.3,2000,2249,2322,2333,156.6,11.5,398,11633,0.00,0.20,0.00,0.000,5126,0.000,0.072,2905,4095,2349,2359,2339,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11878,0.67,97.3,2905,4095,2359,2339,128.1,11.1,423,11882,0.00,0.12,0.00,0.000,4356,0.000,0.064,2905,2256,2349,2359,2339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12453,0.67,97.3,2905,2256,2359,2339,68.5,10.8,473,12463,0.00,0.17,0.00,0.000,5126,0.000,0.077,2905,4095,2349,2359,2339,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12706,0.68,110.3,2905,4095,2359,2339,41.8,9.5,498,12718,0.00,0.17,10.12,0.592,8452,0.000,0.058,2905,2261,2312,2323,2301,0,0,0,0,0,0,28.83,26.39,25.27
$STATE,13170,end climb,SURFACE_DEPTH_REACHED
$STATE,13170,begin surface coast
$FINISH,1.0,2.187296
$STATE,13213,end surface coast,CONTROL_FINISHED_OK
$STATE,13213,begin surface
$SM_CCo,13229,151.52,0.602,0,0,1049,420.19
$SM_GC,2.16,6.95,0.20,151.52,0.028,0.067,0.602,186,4095,1049,-7.73,2.32,420.19,0,0,0,0,0,0,26.34,26.50,24.62
$IRIDIUM_FIX,3401.68,-15742.87,020409,222220
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.70
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,19.10
$XPDR_PINGS,489
$24V_AH,24.0,47.546
$10V_AH,10.2,29.518
$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,17.225,22.150,186.100,151.525,0.000,29.050,47.554,426.458,122.250,0.000,9.305,1717.679,8288.738,425.261,3380.772,205.345,0.000,1517.730,0.000,2340.303,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,86.445,1086.300,602.055,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,394.606,256.061,502.548,466.208,966.478,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352892
$DATA_FILE_SIZE,50746,562
$CAP_FILE_SIZE,128227,0
$CFSIZE,259248128,239706112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,060616,162331,3416.944,-15735.771,26,1.1,27,11.3