version: 66.11
revision: 1138
glider: 512
mission: 8
dive: 20
start: 6 29 117 9 45 36
data:
$ID,512
$MISSION,8
$DIVE,20
$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,-123960.98
$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,2945
$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,2100
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,49
$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
$GPS1,290617,093913,2354.237,-15800.926,6,1.1,6,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-75.0
$GPS2,290617,094512,2354.172,-15800.928,6,1.3,6,10.0
$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,331.3,98005,-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,-136.3,176,2118,892,1004,0.0,0.0,0,102,0.00,0.00,-85.10,0.000,16386,0.000,0.000,175,2118,3080,3063,3097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.68,-136.3,175,2118,3063,3098,4.0,-8.8,11,131,11.10,2.12,-3.92,0.000,18692,0.259,0.049,2701,3500,3308,3298,3318,0,0,0,0,0,0,25.96,26.30,26.56
$GC,255,-0.50,-136.3,2701,3500,3302,3317,53.2,-20.5,27,266,0.25,2.05,0.00,0.000,3078,0.179,0.025,2777,2096,3309,3302,3317,0,0,0,0,0,0,25.98,26.44,28.83
$GC,503,-0.50,-136.3,2777,2096,3304,3317,88.2,-13.2,52,507,0.00,2.08,0.00,0.000,2564,0.000,0.038,2777,700,3310,3304,3317,0,0,0,0,0,0,28.83,26.55,28.83
$GC,568,-0.50,-136.3,2777,700,3305,3317,96.2,-12.5,57,572,0.00,2.08,0.00,0.000,3078,0.000,0.029,2769,2099,3311,3305,3317,0,0,0,0,0,0,28.83,26.59,28.83
$GC,819,-0.50,-136.3,2769,2099,3306,3317,128.1,-12.2,82,830,0.00,2.12,0.00,0.000,2308,0.000,0.041,2758,3508,3311,3306,3317,0,0,0,0,0,0,28.83,26.63,28.83
$GC,856,-0.50,-136.3,2758,3508,3306,3317,132.2,-12.5,85,865,0.10,2.05,0.00,0.000,3078,0.157,0.024,2783,2097,3311,3306,3317,0,0,0,0,0,0,26.55,26.69,28.83
$GC,1104,-0.50,-136.3,2783,2097,3307,3317,157.6,-9.0,110,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2097,3311,3307,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1344,-0.66,-136.3,2783,2097,3307,3317,178.9,-8.5,134,1353,0.12,2.05,0.00,0.000,4612,0.075,0.036,2699,702,3311,3306,3317,0,0,0,0,0,0,26.83,26.74,28.83
$GC,1379,-0.66,-136.3,2698,702,3307,3317,183.4,-11.9,137,1389,0.12,2.10,0.00,0.000,3078,0.145,0.029,2729,2101,3312,3307,3317,0,0,0,0,0,0,26.59,26.77,28.83
$GC,1657,-0.66,-136.3,2729,2102,3307,3317,221.5,-13.1,153,1658,0.00,0.00,0.00,0.000,2054,0.000,0.000,2729,2102,3311,3306,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1896,-0.66,-136.3,2729,2102,3306,3317,253.3,-13.1,159,1898,0.00,0.00,0.00,0.000,2054,0.000,0.000,2729,2102,3311,3306,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2136,-0.66,-136.3,2729,2102,3305,3317,283.4,-12.4,165,2140,0.00,2.12,0.00,0.000,2308,0.000,0.042,2720,3505,3311,3305,3317,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2185,-0.66,-136.3,2720,3506,3305,3316,288.1,-12.1,166,2189,0.00,2.08,0.00,0.000,3078,0.000,0.024,2720,2103,3310,3305,3316,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,2296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2296,begin apogee
$GC,2299,-0.17,0.0,2720,1891,3304,3315,301.9,-11.5,169,2418,0.52,0.00,111.30,0.756,10246,0.131,0.000,2886,1888,2749,2759,2740,0,0,0,0,0,0,26.66,28.83,24.89
$STATE,2419,end apogee,CONTROL_FINISHED_OK
$STATE,2419,begin climb
$GC,2420,0.68,136.3,2885,1888,2758,2740,305.2,0.0,172,2546,0.75,2.12,116.28,0.738,10756,0.059,0.039,3176,569,2193,2214,2172,0,0,0,0,0,0,25.60,25.32,24.69
$GC,2641,0.35,173.1,3176,569,2210,2168,292.7,8.2,177,2678,0.40,2.10,30.85,0.711,13318,0.151,0.030,3062,1934,2044,2080,2009,0,0,0,0,0,0,25.81,25.99,25.01
$GC,2936,0.37,218.4,3062,1934,2075,2001,263.8,7.8,185,2980,0.00,2.22,37.60,0.717,8452,0.000,0.040,3062,3323,1857,1896,1819,0,0,0,0,0,0,28.83,25.81,25.18
$GC,3045,0.39,271.7,3062,3323,1894,1817,257.7,7.4,187,3098,0.00,2.05,44.20,0.710,9222,0.000,0.028,3071,1953,1641,1670,1613,0,0,0,0,0,0,28.83,26.07,24.98
$GC,3337,0.40,277.8,3070,1953,1663,1610,228.4,9.7,195,3349,0.00,2.22,5.78,0.554,8708,0.000,0.043,3082,536,1616,1641,1591,0,0,0,0,0,0,28.83,26.20,25.53
$GC,3390,0.40,282.4,3081,535,1640,1591,224.5,9.8,196,3400,0.00,2.12,5.45,0.538,13318,0.000,0.029,3082,1937,1597,1620,1575,0,0,0,0,0,0,28.83,26.32,25.53
$GC,3649,0.40,282.4,3081,1938,1618,1573,193.7,11.8,205,3658,0.00,2.08,0.00,0.000,4356,0.000,0.041,3082,3319,1595,1618,1573,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3691,0.40,282.4,3082,3320,1617,1572,188.5,11.7,209,3696,0.08,2.05,0.00,0.000,5126,0.170,0.028,3076,1932,1594,1617,1572,0,0,0,0,0,0,26.39,26.49,28.83
$GC,3937,0.55,293.1,3076,1931,1617,1572,163.7,9.5,233,3959,0.12,2.15,9.60,0.615,10756,0.069,0.042,3166,527,1554,1572,1536,0,0,0,0,0,0,26.68,26.44,25.75
$GC,4013,0.55,293.1,3166,527,1571,1536,151.6,17.8,240,4017,0.15,2.08,0.00,0.000,5126,0.149,0.030,3125,1935,1553,1571,1536,0,0,0,0,0,0,26.37,26.52,28.83
$GC,4259,0.55,293.1,3125,1936,1571,1534,119.8,12.5,264,4270,0.00,2.10,0.00,0.000,260,0.000,0.039,3125,3331,1552,1570,1534,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4316,0.55,293.1,3125,3331,1570,1534,112.4,13.7,269,4325,0.00,2.12,0.00,0.000,5126,0.000,0.028,3135,1926,1551,1569,1534,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4565,0.55,293.1,3134,1926,1569,1534,80.4,12.4,294,4576,0.00,2.10,0.00,0.000,4612,0.000,0.044,3146,527,1551,1569,1534,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4603,0.55,293.1,3146,527,1569,1534,76.1,12.6,297,4614,0.05,2.10,0.00,0.000,5126,0.143,0.028,3125,1937,1551,1570,1533,0,0,0,0,0,0,26.57,26.70,28.83
$GC,4855,0.55,293.1,3125,1937,1569,1533,48.3,10.5,322,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1937,1551,1569,1533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5114,0.75,349.0,3125,1937,1568,1533,25.0,7.2,352,5166,0.15,2.17,44.97,0.578,10500,0.060,0.036,3229,3325,1326,1334,1318,0,0,0,0,0,0,26.84,26.21,25.65
$GC,5198,0.57,349.0,3229,3325,1333,1317,13.2,17.3,363,5207,0.32,2.12,0.00,0.000,5126,0.145,0.028,3137,1931,1325,1333,1317,0,0,0,0,0,0,26.13,26.30,28.83
$STATE,5291,end climb,SURFACE_DEPTH_REACHED
$STATE,5292,begin surface coast
$FINISH,0.2,1.022951
$STATE,5329,end surface coast,CONTROL_FINISHED_OK
$STATE,5329,begin surface
$SM_CCo,5343,39.30,0.542,0,0,954,440.06
$SM_GC,0.86,7.68,0.22,39.30,0.039,0.044,0.542,183,2135,954,-8.59,-1.50,440.06,0,0,0,0,0,0,26.39,26.51,25.48
$IRIDIUM_FIX,2345.05,-15802.72,250410,212109
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.87
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,24.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.2,7.4
$24V_AH,24.7,3.259
$10V_AH,10.4,1.704
$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,21.925,55.225,406.025,39.300,0.000,27.561,46.354,200.759,0.750,0.000,7.107,1046.386,2609.775,501.625,1536.267,64.211,0.000,1049.202,0.000,1237.595,0.000,5.456,0.000
$DEVICE_MAMPS,259.335,48.960,755.820,542.385,0.000,65.030,160.000,223.000,420.000,0.000,15.730,13.600,2.190,13.600,39.810,48.050,0.000,11.870,0.000,18.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,261.650,258.371,476.482,470.336,721.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,47.190,6.740,50.180,36.700,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353156
$DATA_FILE_SIZE,34046,384
$CAP_FILE_SIZE,69845,0
$CFSIZE,259252224,257454080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.224,163.2,1
$GPS,290617,111607,2354.267,-15801.037,14,1.1,14,10.0