version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 455
start: 6 7 116 0 20 10
data:
$ID,512
$MISSION,7
$DIVE,455
$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,-131351.86
$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
$GPS1,070616,001131,3418.032,-15732.234,37,1.0,37,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.3
$GPS2,070616,001929,3418.003,-15732.173,7,1.0,7,11.3
$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,167.7,200050,-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,-97.3,175,4095,1001,1082,0.0,0.0,0,87,0.00,0.00,-68.80,0.000,16386,0.000,0.000,174,4095,2778,2759,2798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.67,-97.3,175,4095,2759,2798,3.0,-2.0,8,119,9.00,1.17,-10.45,0.000,18948,0.210,0.057,2472,1614,3159,3162,3157,0,0,0,0,0,0,25.34,25.96,25.59
$GC,389,-0.67,-97.3,2472,1614,3163,3157,62.9,-19.9,39,399,0.00,1.15,0.00,0.000,3078,0.000,0.043,2468,4095,3160,3164,3157,0,0,0,0,0,0,28.83,26.10,28.83
$GC,637,-0.67,-97.3,2468,4095,3164,3158,110.2,-19.2,64,640,0.00,0.15,0.00,0.000,2308,0.000,0.061,2468,2239,3160,3164,3157,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1187,-0.67,-97.3,2468,2239,3167,3157,205.8,-18.0,110,1190,0.00,0.17,0.00,0.000,3078,0.000,0.067,2467,4095,3162,3167,3158,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1444,-0.67,-97.3,2467,4095,3167,3158,254.5,-17.3,117,1447,0.00,0.15,0.00,0.000,2308,0.000,0.063,2467,2243,3162,3166,3158,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1948,-0.67,-97.3,2467,2243,3167,3157,334.2,-16.1,129,1952,0.00,0.17,0.00,0.000,3078,0.000,0.065,2467,4095,3162,3167,3158,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2205,-0.67,-97.3,2467,4095,3167,3157,378.4,-15.6,136,2209,0.00,0.15,0.00,0.000,2308,0.000,0.061,2467,2248,3162,3166,3158,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2709,-0.67,-97.3,2467,2248,3164,3157,449.9,-14.4,148,2713,0.00,0.17,0.00,0.000,3078,0.000,0.067,2467,4095,3160,3164,3157,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2966,-0.67,-97.3,2467,4095,3163,3157,492.0,-15.2,155,2969,0.00,0.15,0.00,0.000,2308,0.000,0.063,2467,2252,3161,3164,3158,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3470,-0.67,-97.3,2467,2252,3162,3157,564.0,-14.8,167,3473,0.00,0.15,0.00,0.000,3078,0.000,0.073,2466,4095,3159,3162,3157,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3727,-0.67,-97.3,2466,4095,3162,3156,604.3,-14.5,174,3730,0.00,0.12,0.00,0.000,2308,0.000,0.069,2466,2258,3159,3162,3156,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4231,-0.67,-97.3,2466,2258,3160,3154,675.1,-14.8,186,4234,0.00,0.15,0.00,0.000,3078,0.000,0.074,2466,4095,3157,3160,3154,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4488,-0.67,-97.3,2466,4095,3159,3154,714.8,-14.0,193,4492,0.00,0.15,0.00,0.000,2308,0.000,0.063,2466,2245,3156,3159,3154,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4992,-0.67,-97.3,2466,2245,3158,3153,776.7,-13.1,205,4996,0.00,0.17,0.00,0.000,3078,0.000,0.068,2466,4095,3155,3158,3153,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5249,-0.67,-97.3,2466,4095,3158,3152,814.7,-13.7,212,5253,0.00,0.15,0.00,0.000,2308,0.000,0.063,2466,2249,3155,3158,3152,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5753,-0.67,-97.3,2466,2249,3157,3150,882.8,-14.7,224,5757,0.00,0.17,0.00,0.000,3078,0.000,0.067,2465,4095,3153,3157,3150,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,5848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5848,begin apogee
$GC,5853,-0.17,0.0,2465,2252,3157,3149,900.1,-14.5,227,5941,0.52,0.20,83.82,1.082,10246,0.115,0.067,2632,4095,2762,2777,2747,0,0,0,0,0,0,25.83,25.20,24.24
$STATE,5942,end apogee,CONTROL_FINISHED_OK
$STATE,5942,begin climb
$GC,5944,0.67,97.3,2633,4095,2776,2747,904.5,0.0,229,6043,0.73,1.23,90.80,1.032,10756,0.052,0.045,2907,1631,2365,2379,2351,0,0,0,0,0,0,25.28,24.82,23.94
$GC,6545,0.67,97.3,2907,1631,2365,2345,826.5,15.3,244,6548,0.00,1.15,0.00,0.000,5126,0.000,0.057,2905,4095,2355,2365,2345,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6812,0.67,97.3,2905,4095,2363,2345,783.7,15.0,251,6816,0.00,0.10,0.00,0.000,4356,0.000,0.073,2905,2257,2354,2363,2345,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7316,0.67,97.3,2905,2257,2361,2343,714.3,13.8,263,7320,0.00,0.15,0.00,0.000,5126,0.000,0.086,2905,4095,2351,2360,2343,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7573,0.67,97.3,2904,4095,2360,2342,675.1,13.9,270,7576,0.00,0.10,0.00,0.000,4356,0.000,0.075,2905,2265,2351,2361,2342,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7622,0.67,97.3,2905,2265,2360,2342,669.6,13.7,271,7625,0.00,0.17,0.00,0.000,5126,0.000,0.080,2905,4095,2351,2360,2342,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7894,0.67,97.3,2905,4095,2360,2341,629.2,14.8,278,7895,0.00,0.00,0.00,0.000,4102,0.000,0.000,2905,4095,2350,2360,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8134,0.67,97.3,2905,4095,2359,2341,593.8,14.7,284,8137,0.00,1.10,0.00,0.000,4612,0.000,0.041,2908,1628,2350,2359,2341,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8203,0.67,97.3,2908,1628,2359,2341,588.0,14.6,285,8206,0.00,1.12,0.00,0.000,5126,0.000,0.054,2907,4095,2350,2359,2341,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8455,0.67,97.3,2907,4095,2357,2341,548.4,14.2,292,8456,0.00,0.00,0.00,0.000,4102,0.000,0.000,2907,4095,2349,2357,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8695,0.67,97.3,2907,4095,2358,2341,517.4,12.7,298,8698,0.00,1.08,0.00,0.000,4612,0.000,0.042,2910,1625,2349,2357,2341,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8775,0.67,97.3,2910,1625,2357,2340,507.1,12.8,300,8779,0.00,1.12,0.00,0.000,5126,0.000,0.053,2907,4095,2349,2358,2341,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9056,0.67,97.3,2907,4095,2357,2340,472.0,12.5,307,9060,0.00,1.08,0.00,0.000,4612,0.000,0.041,2910,1621,2349,2358,2341,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9145,0.67,97.3,2910,1621,2357,2340,461.3,12.9,309,9149,0.00,1.15,0.00,0.000,5126,0.000,0.052,2907,4095,2348,2357,2340,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9418,0.67,97.3,2906,4095,2357,2340,427.3,11.6,316,9421,0.00,0.10,0.00,0.000,4356,0.000,0.073,2907,2249,2348,2356,2340,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9922,0.67,97.3,2907,2249,2357,2340,374.9,10.7,328,9925,0.00,0.17,0.00,0.000,5126,0.000,0.077,2907,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10179,0.67,97.3,2907,4095,2357,2340,340.7,12.4,335,10183,0.00,0.12,0.00,0.000,4356,0.000,0.063,2907,2249,2348,2356,2341,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10684,0.67,97.3,2906,2248,2357,2341,277.6,12.9,347,10687,0.00,0.17,0.00,0.000,5126,0.000,0.073,2907,4095,2348,2356,2341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10941,0.67,97.3,2907,4095,2357,2341,242.9,12.3,354,10944,0.00,0.12,0.00,0.000,4356,0.000,0.063,2907,2252,2349,2357,2341,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11453,0.67,97.3,2907,2252,2357,2341,184.9,10.9,374,11460,0.00,0.17,0.00,0.000,5126,0.000,0.076,2907,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11702,0.67,97.3,2906,4095,2356,2341,156.2,11.5,399,11706,0.00,0.12,0.00,0.000,4356,0.000,0.063,2907,2250,2349,2357,2341,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12268,0.67,97.3,2906,2250,2357,2341,93.3,11.2,449,12275,0.00,0.20,0.00,0.000,5126,0.000,0.069,2907,4095,2349,2357,2341,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12521,0.67,97.3,2906,4095,2356,2341,64.3,11.5,474,12524,0.00,0.12,0.00,0.000,4356,0.000,0.063,2907,2254,2349,2357,2341,0,0,0,0,0,0,28.83,26.65,28.83
$GC,13172,0.82,224.0,2906,2255,2357,2341,17.2,5.2,540,13278,0.10,0.15,99.35,0.631,11270,0.041,0.080,2970,4095,1847,1892,1802,0,0,0,0,0,0,26.42,26.55,24.79
$STATE,13285,end climb,SURFACE_DEPTH_REACHED
$STATE,13286,begin surface coast
$FINISH,1.1,2.568509
$STATE,13311,end surface coast,CONTROL_FINISHED_OK
$STATE,13311,begin surface
$SM_CCo,13327,97.05,0.592,0,0,1048,420.19
$SM_GC,2.32,7.25,0.17,97.05,0.024,0.054,0.592,184,2247,1048,-7.73,-0.48,420.19,0,0,0,0,0,0,25.70,25.77,24.55
$IRIDIUM_FIX,3401.68,-15737.05,030409,090934
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.29
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,19.30
$XPDR_PINGS,489
$24V_AH,23.9,47.933
$10V_AH,10.2,29.813
$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,17.600,16.275,273.975,97.050,0.000,24.847,50.857,282.207,122.250,0.000,9.293,1753.492,7917.628,370.147,3659.717,208.524,0.000,1686.703,0.000,2756.216,0.000,0.542,0.000
$DEVICE_MAMPS,209.610,85.680,1081.710,592.110,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,396.888,248.042,490.978,455.415,944.098,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,352896
$DATA_FILE_SIZE,50585,556
$CAP_FILE_SIZE,134744,0
$CFSIZE,259248128,239513600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070616,040501,3417.514,-15730.983,37,0.7,37,11.3