version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 454
start: 6 6 116 20 32 46
data:
$ID,512
$MISSION,7
$DIVE,454
$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,-131307.45
$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
$GPS1,060616,201431,3417.547,-15733.969,26,0.9,26,11.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-72.0
$GPS2,060616,203205,3417.489,-15733.789,8,0.9,8,11.3
$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,167.0,199158,-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,-97.3,166,2264,439,555,0.0,0.0,0,114,0.00,0.00,-95.00,0.000,16386,0.000,0.000,166,2264,3013,2997,3029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.67,-97.3,165,2246,2997,3029,3.3,-2.6,11,137,9.02,0.90,-3.42,0.000,18948,0.210,0.066,2466,1592,3159,3156,3163,0,0,0,0,0,0,25.39,26.00,26.33
$GC,517,-0.67,-97.3,2466,1592,3158,3163,86.8,-17.7,49,521,0.00,1.17,0.00,0.000,3078,0.000,0.044,2462,4095,3160,3158,3163,0,0,0,0,0,0,28.83,26.17,28.83
$GC,769,-0.67,-97.3,2462,4095,3158,3162,132.2,-17.4,74,772,0.00,0.12,0.00,0.000,2308,0.000,0.067,2462,2254,3160,3158,3163,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1307,-0.67,-97.3,2461,2254,3158,3163,222.3,-17.5,113,1311,0.00,0.15,0.00,0.000,3078,0.000,0.072,2461,4095,3160,3158,3163,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1564,-0.67,-97.3,2461,4095,3158,3162,270.7,-17.2,120,1568,0.00,0.15,0.00,0.000,2308,0.000,0.063,2461,2243,3160,3158,3162,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2068,-0.67,-97.3,2461,2242,3158,3161,352.1,-16.3,132,2072,0.00,0.17,0.00,0.000,3078,0.000,0.064,2461,4095,3159,3158,3161,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2325,-0.67,-97.3,2461,4095,3158,3159,396.2,-15.7,139,2329,0.00,0.15,0.00,0.000,2308,0.000,0.061,2461,2247,3158,3158,3159,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2830,-0.67,-97.3,2461,2247,3158,3158,467.2,-14.6,151,2833,0.00,0.17,0.00,0.000,3078,0.000,0.064,2461,4095,3157,3158,3157,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3086,-0.67,-97.3,2461,4095,3157,3157,507.9,-14.6,158,3090,0.00,0.15,0.00,0.000,2308,0.000,0.063,2461,2251,3157,3157,3157,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3590,-0.67,-97.3,2461,2251,3156,3154,581.1,-15.6,170,3593,0.00,0.15,0.00,0.000,3078,0.000,0.072,2460,4095,3155,3156,3154,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3847,-0.67,-97.3,2460,4095,3155,3153,624.3,-15.3,177,3851,0.00,0.15,0.00,0.000,2308,0.000,0.063,2460,2242,3154,3154,3154,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4351,-0.67,-97.3,2460,2242,3154,3153,694.4,-14.0,189,4355,0.00,0.17,0.00,0.000,3078,0.000,0.067,2459,4095,3153,3154,3153,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4609,-0.67,-97.3,2459,4095,3153,3152,732.4,-13.4,196,4612,0.00,0.15,0.00,0.000,2308,0.000,0.063,2459,2247,3152,3152,3152,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5113,-0.67,-97.3,2460,2247,3152,3150,799.1,-14.5,208,5116,0.00,0.17,0.00,0.000,3078,0.000,0.067,2459,4095,3151,3152,3150,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5369,-0.67,-97.3,2458,4095,3150,3148,836.6,-13.2,215,5373,0.00,0.15,0.00,0.000,2308,0.000,0.063,2459,2249,3149,3150,3149,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5873,-0.67,-97.3,2459,2249,3150,3146,897.4,-12.5,227,5877,0.00,0.17,0.00,0.000,3078,0.000,0.069,2458,4095,3147,3149,3146,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,5888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5888,begin apogee
$GC,5894,-0.17,0.0,2458,2236,3149,3146,902.5,-12.4,228,5981,0.55,0.22,83.00,1.081,10246,0.116,0.063,2632,4095,2762,2777,2748,0,0,0,0,0,0,25.82,25.22,24.27
$STATE,5982,end apogee,CONTROL_FINISHED_OK
$STATE,5982,begin climb
$GC,5984,0.67,97.3,2633,4095,2777,2747,904.5,0.0,230,6083,0.73,1.23,91.47,1.027,10756,0.054,0.045,2906,1620,2365,2379,2351,0,0,0,0,0,0,25.29,24.84,23.96
$GC,6091,0.67,97.3,2906,1620,2377,2350,896.5,8.4,233,6094,0.00,1.23,0.00,0.000,5126,0.000,0.056,2903,4095,2363,2377,2350,0,0,0,0,0,0,28.83,25.00,28.83
$GC,6372,0.67,97.3,2904,4095,2369,2345,846.3,18.1,240,6376,0.00,0.12,0.00,0.000,260,0.000,0.070,2904,2260,2357,2369,2345,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6876,0.67,97.3,2904,2260,2365,2343,764.7,16.3,252,6880,0.00,0.15,0.00,0.000,5126,0.000,0.086,2904,4095,2354,2365,2343,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7133,0.67,97.3,2904,4095,2364,2341,720.3,15.8,259,7137,0.00,0.12,0.00,0.000,260,0.000,0.070,2904,2258,2353,2364,2342,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7637,0.67,97.3,2904,2258,2362,2340,649.4,14.3,271,7641,0.00,0.15,0.00,0.000,5126,0.000,0.087,2904,4095,2351,2362,2340,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7894,0.67,97.3,2904,4095,2361,2340,609.0,14.5,278,7898,0.00,0.12,0.00,0.000,260,0.000,0.072,2904,2259,2350,2361,2340,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8398,0.67,97.3,2903,2260,2360,2339,539.1,13.7,290,8402,0.00,0.15,0.00,0.000,1030,0.000,0.084,2904,4095,2349,2360,2339,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8655,0.67,97.3,2904,4095,2360,2338,502.3,12.9,297,8659,0.00,0.12,0.00,0.000,260,0.000,0.071,2904,2258,2349,2360,2339,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9160,0.67,97.3,2904,2258,2359,2338,443.1,12.8,309,9163,0.00,0.17,0.00,0.000,5126,0.000,0.080,2904,4095,2348,2359,2338,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9417,0.67,97.3,2904,4095,2359,2338,406.8,13.3,316,9421,0.00,0.15,0.00,0.000,260,0.000,0.064,2904,2248,2349,2359,2339,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9921,0.67,97.3,2904,2248,2358,2338,346.0,12.0,328,9925,0.00,0.17,0.00,0.000,5126,0.000,0.079,2904,4095,2348,2358,2339,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10178,0.67,97.3,2904,4095,2358,2338,311.4,12.6,335,10182,0.00,1.12,0.00,0.000,516,0.000,0.042,2908,1611,2348,2358,2338,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10193,0.67,97.3,2908,1611,2358,2339,311.4,12.6,335,10197,0.00,1.15,0.00,0.000,5126,0.000,0.052,2905,4095,2348,2358,2338,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10459,0.67,97.3,2905,4095,2358,2338,277.8,12.0,342,10463,0.00,0.10,0.00,0.000,4356,0.000,0.073,2905,2253,2348,2358,2339,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10543,0.67,97.3,2905,2253,2358,2338,268.1,12.0,344,10547,0.00,0.15,0.00,0.000,5126,0.000,0.084,2905,4095,2348,2358,2338,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10821,0.67,97.3,2905,4095,2358,2339,232.6,12.8,351,10824,0.00,0.12,0.00,0.000,260,0.000,0.071,2905,2252,2348,2358,2338,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10864,0.67,97.3,2008,2250,2321,2332,227.3,12.7,352,10868,0.00,0.20,0.00,0.000,5126,0.000,0.071,2905,4095,2348,2358,2339,0,0,0,0,0,0,28.83,26.54,28.83
$GC,11142,0.67,97.3,2905,4095,2357,2338,195.4,11.2,359,11145,0.00,1.10,0.00,0.000,4612,0.000,0.039,2909,1625,2348,2358,2339,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11696,0.67,97.3,2908,1625,2357,2338,135.3,10.8,409,11702,0.00,1.12,0.00,0.000,1030,0.000,0.050,2905,4095,2348,2357,2339,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11943,0.67,97.3,2905,4095,2357,2339,108.2,10.9,434,11946,0.00,1.08,0.00,0.000,4612,0.000,0.039,2909,1621,2348,2357,2339,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12046,0.67,97.3,2909,1620,2357,2339,96.7,11.1,443,12050,0.00,1.15,0.00,0.000,5126,0.000,0.051,2906,4095,2348,2357,2339,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12302,0.67,97.3,2905,4095,2357,2339,68.5,11.1,468,12306,0.00,0.12,0.00,0.000,4356,0.000,0.062,2905,2242,2348,2357,2339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12732,0.78,190.7,2905,2242,2357,2339,30.3,6.5,502,12812,0.08,0.17,76.05,0.640,11270,0.047,0.075,2964,4095,1984,2017,1951,0,0,0,0,0,0,26.39,26.53,24.92
$STATE,12905,end climb,SURFACE_DEPTH_REACHED
$STATE,12905,begin surface coast
$FINISH,1.1,2.264207
$STATE,12928,end surface coast,CONTROL_FINISHED_OK
$STATE,12928,begin surface
$SM_CCo,12944,112.97,0.598,0,0,1048,420.19
$SM_GC,2.15,7.22,0.15,112.97,0.028,0.059,0.598,195,2260,1048,-7.72,0.06,420.19,0,0,0,0,0,0,25.87,26.07,24.60
$IRIDIUM_FIX,3404.29,-15731.23,030409,090904
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.41
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,19.00
$XPDR_PINGS,474
$24V_AH,24.0,47.813
$10V_AH,10.2,29.714
$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,17.600,16.550,250.525,112.975,0.000,86.761,149.432,534.610,118.500,0.000,9.296,1700.735,7821.102,375.744,3997.146,227.872,0.000,1680.604,0.000,2715.670,0.000,0.541,0.000
$DEVICE_MAMPS,210.375,87.210,1080.945,598.230,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,371.452,233.697,457.610,399.550,828.288,0.000,0.000,0.000,0.000,0.000
$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,47250,527
$CAP_FILE_SIZE,139970,0
$CFSIZE,259248128,239575040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,070616,001131,3418.032,-15732.234,37,1.0,37,11.3