version: 66.11
revision: 1138
glider: 512
mission: 8
dive: 18
start: 6 29 117 6 34 58
data:
$ID,512
$MISSION,8
$DIVE,18
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$D_NO_BLEED,29
$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,100
$T_MISSION,200
$T_ABORT,400
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,440
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,3
$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,-123958.47
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,182
$PITCH_MAX,3917
$C_PITCH,2940
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,5
$ROLL_MIN,255
$ROLL_MAX,3932
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-63.940346
$PRESSURE_SLOPE,0.000116527
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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
$GPS1,290617,062753,2354.491,-15800.812,9,1.6,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-75.5
$GPS2,290617,063434,2354.401,-15800.802,16,1.6,16,10.0
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TC2
$TGT_LATLONG,2442.000,-15736.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,330.3,97532,-18.9,-10.000,-21.63,2088
$D_GRID,300
$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,15,-0.68,-136.3,168,2156,889,1010,0.0,0.0,0,102,0.00,0.00,-84.85,0.000,16386,0.000,0.000,168,2157,3076,3058,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.68,-136.3,168,2157,3059,3094,4.0,-8.0,11,131,11.10,2.20,-3.95,0.000,18692,0.259,0.055,2696,3558,3309,3299,3319,0,0,0,0,0,0,25.94,26.25,26.54
$GC,220,-0.44,-136.3,2696,3558,3302,3318,46.9,-23.6,24,232,0.30,2.05,0.00,0.000,3078,0.164,0.025,2788,2153,3310,3302,3318,0,0,0,0,0,0,26.00,26.39,28.83
$GC,471,-0.44,-136.3,2788,2153,3305,3318,79.1,-11.2,49,482,0.00,2.08,0.00,0.000,2564,0.000,0.038,2788,751,3311,3304,3318,0,0,0,0,0,0,28.83,26.52,28.83
$GC,593,-0.44,-136.3,2788,751,3305,3318,93.0,-11.0,60,598,0.08,2.08,0.00,0.000,3078,0.181,0.031,2796,2157,3311,3305,3318,0,0,0,0,0,0,26.46,26.58,28.83
$GC,838,-0.44,-136.3,2796,2157,3306,3318,117.6,-10.1,84,842,0.00,2.12,0.00,0.000,2308,0.000,0.043,2787,3564,3312,3307,3318,0,0,0,0,0,0,28.83,26.61,28.83
$GC,858,-0.59,-136.3,2786,3564,3306,3318,119.2,-10.2,85,868,0.08,2.10,0.00,0.000,5126,0.051,0.024,2718,2141,3312,3306,3318,0,0,0,0,0,0,26.65,26.68,28.83
$GC,1106,-0.59,-136.3,2718,2140,3306,3318,158.1,-14.5,110,1108,0.12,0.00,0.00,0.000,2054,0.171,0.000,2749,2138,3312,3307,3318,0,0,0,0,0,0,26.57,28.83,28.83
$GC,1346,-0.59,-136.3,2748,2138,3307,3318,187.3,-12.0,134,1355,0.00,2.05,0.00,0.000,2564,0.000,0.038,2749,745,3312,3307,3318,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1402,-0.59,-136.3,2749,745,3307,3318,193.6,-12.1,139,1410,0.00,2.10,0.00,0.000,3078,0.000,0.031,2740,2148,3312,3307,3318,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1661,-0.59,-136.3,2740,2148,3307,3318,226.0,-12.3,150,1663,0.00,0.00,0.00,0.000,2054,0.000,0.000,2740,2148,3312,3307,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-0.59,-136.3,2740,2148,3306,3318,254.7,-11.7,156,1901,0.00,0.00,0.00,0.000,2054,0.000,0.000,2740,2148,3312,3306,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2141,-0.59,-136.3,2740,2148,3305,3316,281.1,-10.8,162,2142,0.00,0.00,0.00,0.000,2054,0.000,0.000,2740,2148,3310,3305,3316,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2339,begin apogee
$GC,2343,-0.17,0.0,2740,1925,3305,3314,303.2,-11.1,167,2462,0.45,0.00,111.43,0.755,10246,0.122,0.000,2884,1923,2749,2753,2746,0,0,0,0,0,0,26.67,28.83,24.88
$STATE,2463,end apogee,CONTROL_FINISHED_OK
$STATE,2463,begin climb
$GC,2464,0.68,136.3,2884,1923,2751,2746,307.8,0.0,170,2590,0.75,2.15,117.43,0.739,10756,0.061,0.040,3170,566,2192,2214,2171,0,0,0,0,0,0,25.60,25.32,24.69
$GC,2720,0.38,136.3,3170,565,2209,2166,293.1,10.7,176,2725,0.35,2.10,0.00,0.000,5126,0.149,0.031,3068,1960,2187,2209,2165,0,0,0,0,0,0,25.91,26.08,28.83
$GC,2972,0.40,171.8,3068,1961,2208,2159,268.7,8.2,183,3006,0.00,2.15,29.08,0.715,8452,0.000,0.040,3068,3344,2050,2083,2017,0,0,0,0,0,0,28.83,25.98,25.34
$GC,3041,0.41,207.4,3068,3344,2079,2015,268.7,8.2,183,3077,0.00,2.08,30.75,0.705,13318,0.000,0.026,3077,1972,1903,1941,1866,0,0,0,0,0,0,28.83,26.13,25.11
$GC,3323,0.42,221.9,3076,1972,1937,1859,236.0,9.3,191,3341,0.00,2.22,12.62,0.661,8708,0.000,0.045,3088,535,1844,1882,1807,0,0,0,0,0,0,28.83,26.15,25.48
$GC,3371,0.43,239.9,3088,534,1878,1807,232.5,9.1,192,3393,0.00,2.12,16.25,0.670,13318,0.000,0.031,3088,1953,1772,1806,1738,0,0,0,0,0,0,28.83,26.26,25.36
$GC,3640,0.43,259.6,3088,1953,1802,1732,207.6,9.0,199,3662,0.00,2.22,17.08,0.674,12548,0.000,0.050,3088,3350,1691,1721,1661,0,0,0,0,0,0,28.83,26.14,25.50
$GC,3738,0.44,276.2,3088,3350,1718,1660,200.1,9.2,201,3762,0.03,2.12,14.68,0.657,13318,0.252,0.028,3086,1935,1623,1649,1597,0,0,0,0,0,0,26.21,26.31,25.44
$GC,4002,0.45,290.5,3086,1935,1645,1595,174.3,9.3,226,4021,0.00,2.15,12.45,0.636,12804,0.000,0.044,3095,546,1565,1587,1544,0,0,0,0,0,0,28.83,26.23,25.59
$GC,4066,0.45,290.5,3094,546,1586,1543,167.6,10.4,232,4074,0.00,2.08,0.00,0.000,5126,0.000,0.030,3095,1956,1564,1586,1543,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4316,0.45,290.5,3094,1956,1585,1541,139.2,10.9,257,4326,0.00,2.08,0.00,0.000,4356,0.000,0.042,3095,3336,1563,1585,1542,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4382,0.45,290.5,3094,3336,1583,1541,132.0,11.0,263,4391,0.05,2.03,0.00,0.000,5126,0.135,0.028,3088,1948,1562,1583,1542,0,0,0,0,0,0,26.43,26.55,28.83
$GC,4631,0.62,314.9,3087,1948,1583,1541,108.1,8.8,288,4664,0.12,2.17,20.73,0.627,10756,0.070,0.044,3181,546,1464,1479,1449,0,0,0,0,0,0,26.72,26.32,25.70
$GC,4764,0.62,314.9,3181,546,1477,1449,86.5,17.9,300,4774,0.12,2.12,0.00,0.000,5126,0.136,0.028,3139,1951,1463,1477,1449,0,0,0,0,0,0,26.32,26.48,28.83
$GC,5013,0.62,314.9,3138,1951,1477,1447,53.2,11.2,325,5025,0.00,2.12,0.00,0.000,516,0.000,0.043,3147,544,1462,1477,1447,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5075,0.62,314.9,3147,544,1477,1447,46.3,11.8,330,5085,0.00,2.12,0.00,0.000,5126,0.000,0.029,3148,1955,1462,1477,1447,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5348,0.63,343.6,3147,1955,1477,1447,17.0,8.6,366,5381,0.00,2.17,23.55,0.561,12548,0.000,0.041,3147,3351,1348,1360,1337,0,0,0,0,0,0,28.83,26.36,25.79
$GC,5444,0.84,365.6,3147,3351,1359,1337,8.5,8.9,380,5470,0.10,2.12,18.90,0.539,11270,0.034,0.029,3246,1949,1259,1264,1254,0,0,0,0,0,0,26.48,26.46,25.67
$STATE,5489,end climb,SURFACE_DEPTH_REACHED
$STATE,5489,begin surface coast
$FINISH,-0.1,1.000174
$STATE,5510,end surface coast,CONTROL_FINISHED_OK
$STATE,5510,begin surface
$SM_CCo,5524,30.33,0.535,0,0,955,440.06
$SM_GC,0.81,7.95,0.30,30.33,0.034,0.043,0.535,176,2186,955,-8.60,-1.16,440.06,0,0,0,0,0,0,26.27,26.36,25.48
$IRIDIUM_FIX,2342.70,-15800.53,250410,181803
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.46
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.7,3.052
$10V_AH,10.4,1.588
$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,21.600,55.700,424.925,30.325,0.000,30.911,51.233,217.337,11.500,0.000,17.700,1072.860,2702.602,501.962,1626.562,66.310,0.000,1063.358,0.000,1263.951,0.000,70.990,0.000
$DEVICE_MAMPS,258.570,55.080,755.055,535.500,0.000,65.030,160.000,223.000,420.000,0.000,15.730,13.600,2.190,13.600,39.810,48.050,0.000,11.870,0.000,18.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,265.769,256.681,479.209,472.497,725.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,47.190,6.740,50.180,36.700,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353160
$DATA_FILE_SIZE,33855,389
$CAP_FILE_SIZE,75331,0
$CFSIZE,259252224,257540096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.280,164.0,1
$GPS,290617,080830,2354.281,-15800.849,23,0.8,23,10.0