version: 66.11
revision: 1138
glider: 512
mission: 8
dive: 28
start: 6 30 117 0 3 52
data:
$ID,512
$MISSION,8
$DIVE,28
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,133
$T_MISSION,266
$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,0
$FERRY_MAX,45
$KALMAN_USE,0
$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,-123971.67
$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,43
$R_STBD_OVSHOOT,91
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2720
$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
$GPS1,290617,235624,2354.878,-15759.154,38,0.9,38,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-74.8
$GPS2,300617,000300,2354.838,-15759.215,8,0.9,8,10.0
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,TC2
$TGT_LATLONG,2442.000,-15736.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.249,0.039
$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,14.1,95680,-19.0,-10.025,-21.66,2082
$D_GRID,400
$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,-0.69,-136.3,176,2144,858,983,0.0,0.0,0,102,0.00,0.00,-84.75,0.000,16386,0.000,0.000,176,2142,3027,3011,3043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.69,-136.3,176,2142,3011,3043,3.5,-7.0,11,130,11.07,2.03,-4.47,0.000,18692,0.259,0.049,2706,3454,3275,3268,3283,0,0,0,0,0,0,25.94,26.28,26.55
$GC,207,-0.38,-136.3,2705,3454,3271,3283,42.1,-28.2,24,218,0.35,1.98,0.00,0.000,3078,0.170,0.024,2812,2092,3277,3271,3283,0,0,0,0,0,0,26.12,26.39,28.83
$GC,458,-0.38,-136.3,2811,2092,3274,3283,74.0,-10.7,49,469,0.00,2.05,0.00,0.000,2308,0.000,0.040,2804,3451,3278,3273,3283,0,0,0,0,0,0,28.83,26.50,28.83
$GC,482,-0.38,-136.3,2803,3451,3274,3283,76.7,-10.7,51,493,0.00,1.98,0.00,0.000,3078,0.000,0.023,2804,2094,3278,3274,3283,0,0,0,0,0,0,28.83,26.54,28.83
$GC,730,-0.38,-136.3,2804,2094,3275,3283,103.3,-10.2,76,732,0.05,0.00,0.00,0.000,2054,0.200,0.000,2814,2091,3279,3276,3283,0,0,0,0,0,0,26.65,28.83,28.83
$GC,971,-0.60,-136.3,2813,2091,3277,3283,125.0,-8.0,100,983,0.15,2.05,0.00,0.000,4356,0.064,0.037,2714,3453,3279,3276,3283,0,0,0,0,0,0,26.74,26.65,28.83
$GC,1018,-0.60,-136.3,2714,3453,3277,3283,130.8,-12.8,104,1029,0.12,1.95,0.00,0.000,3078,0.160,0.023,2745,2098,3280,3277,3283,0,0,0,0,0,0,26.52,26.70,28.83
$GC,1266,-0.60,-136.3,2745,2098,3277,3283,167.2,-14.3,129,1268,0.00,0.00,0.00,0.000,2054,0.000,0.000,2746,2098,3280,3277,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1506,-0.60,-136.3,2745,2098,3278,3283,199.4,-12.6,153,1507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2745,2098,3280,3278,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1757,-0.60,-136.3,2745,2098,3278,3283,230.6,-12.4,160,1758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2745,2098,3280,3278,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1997,-0.60,-136.3,2745,2098,3277,3283,258.4,-11.3,166,2001,0.00,2.05,0.00,0.000,2564,0.000,0.038,2746,703,3280,3277,3283,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2026,-0.60,-136.3,2745,703,3277,3283,258.4,-11.3,166,2030,0.00,2.00,0.00,0.000,3078,0.000,0.029,2737,2048,3280,3277,3283,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2278,-0.60,-136.3,2737,2048,3276,3283,289.5,-10.9,173,2282,0.00,2.10,0.00,0.000,2308,0.000,0.041,2726,3449,3279,3276,3283,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2321,-0.60,-136.3,2726,3450,3275,3283,293.6,-10.9,174,2326,0.05,2.00,0.00,0.000,3078,0.132,0.024,2745,2099,3278,3275,3282,0,0,0,0,0,0,26.68,26.82,28.83
$GC,2595,-0.60,-136.3,2745,2098,3274,3281,323.3,-10.6,181,2600,0.00,2.05,0.00,0.000,2564,0.000,0.038,2745,703,3277,3274,3281,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2622,-0.60,-136.3,2745,703,3274,3281,323.3,-10.6,181,2626,0.00,2.00,0.00,0.000,3078,0.000,0.029,2737,2047,3277,3274,3281,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2876,-0.60,-136.3,2737,2047,3273,3278,354.2,-10.9,188,2881,0.00,2.08,0.00,0.000,2308,0.000,0.041,2726,3443,3275,3273,3278,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2915,-0.60,-136.3,2726,3444,3273,3278,358.1,-10.5,189,2921,0.10,1.95,0.00,0.000,3078,0.148,0.024,2751,2092,3275,3273,3278,0,0,0,0,0,0,26.70,26.84,28.83
$GC,3195,-0.60,-136.3,2751,2092,3272,3277,382.7,-8.6,196,3196,0.00,0.00,0.00,0.000,2054,0.000,0.000,2751,2092,3274,3272,3277,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3433,begin apogee
$GC,3437,-0.17,0.0,2751,1892,3270,3274,403.3,-8.7,202,3554,0.43,0.00,112.28,0.846,10246,0.121,0.000,2889,1890,2719,2721,2718,0,0,0,0,0,0,26.69,28.83,24.74
$STATE,3555,end apogee,CONTROL_FINISHED_OK
$STATE,3556,begin climb
$GC,3557,0.69,136.3,2889,1890,2719,2718,407.0,0.0,205,3683,0.73,2.10,118.40,0.822,10756,0.045,0.039,3182,569,2163,2191,2136,0,0,0,0,0,0,25.50,25.21,24.56
$GC,3793,0.32,136.3,2304,569,2147,2126,385.9,13.9,211,3798,0.43,2.03,0.00,0.000,5126,0.152,0.029,3040,1883,2158,2185,2132,0,0,0,0,0,0,25.77,25.96,28.83
$GC,4070,0.34,172.8,3040,1882,2184,2124,361.0,8.2,218,4111,0.00,2.33,30.50,0.791,10500,0.000,0.040,3040,3321,2013,2051,1975,0,0,0,0,0,0,28.83,25.86,25.22
$GC,4156,0.35,204.2,3040,3322,2049,1973,353.8,8.5,220,4193,0.00,2.08,27.40,0.775,11270,0.000,0.026,3048,1987,1886,1929,1843,0,0,0,0,0,0,28.83,26.08,25.04
$GC,4433,0.35,216.8,3048,1987,1924,1837,327.4,9.4,227,4450,0.00,2.28,11.10,0.717,10756,0.000,0.044,3059,563,1836,1878,1794,0,0,0,0,0,0,28.83,26.10,25.43
$GC,4526,0.36,233.8,3059,563,1873,1793,320.0,9.2,229,4547,0.00,2.05,15.75,0.742,9222,0.000,0.029,3059,1930,1766,1805,1728,0,0,0,0,0,0,28.83,26.27,25.33
$GC,4788,0.37,245.4,3058,1930,1799,1723,294.4,9.5,235,4805,0.00,2.22,10.57,0.707,8452,0.000,0.041,3059,3326,1719,1754,1684,0,0,0,0,0,0,28.83,26.18,25.50
$GC,4856,0.37,253.7,3058,3327,1751,1683,290.5,9.6,236,4871,0.00,2.03,8.80,0.674,13318,0.000,0.027,3067,1978,1684,1717,1651,0,0,0,0,0,0,28.83,26.29,25.45
$GC,5148,0.37,253.7,3067,1978,1712,1648,257.3,10.8,244,5152,0.00,2.22,0.00,0.000,4612,0.000,0.043,3078,518,1680,1712,1649,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5224,0.37,253.7,3078,517,1710,1649,248.9,11.0,246,5228,0.00,2.10,0.00,0.000,5126,0.000,0.028,3078,1938,1679,1710,1649,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5499,0.37,253.7,3078,1938,1709,1648,218.1,11.3,253,5503,0.00,2.10,0.00,0.000,4356,0.000,0.041,3079,3324,1678,1709,1648,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5518,0.37,253.7,3078,3324,1709,1648,218.1,11.3,253,5523,0.05,2.12,0.00,0.000,5126,0.137,0.027,3070,1918,1678,1709,1648,0,0,0,0,0,0,26.46,26.59,28.83
$GC,5769,0.38,277.6,3070,1917,1709,1648,193.1,8.8,265,5797,0.00,0.00,19.75,0.710,12294,0.000,0.000,3071,1917,1587,1613,1562,0,0,0,0,0,0,28.83,28.83,25.65
$GC,6040,0.57,318.4,3070,1917,1610,1559,170.2,8.0,292,6077,0.15,0.00,34.33,0.702,10758,0.060,0.000,3164,1917,1421,1438,1405,0,0,0,0,0,0,26.60,28.83,25.39
$GC,6315,0.57,318.4,3164,1917,1434,1401,120.1,17.9,320,6320,0.12,2.12,0.00,0.000,4612,0.159,0.041,3137,522,1417,1434,1401,0,0,0,0,0,0,26.25,26.36,28.83
$GC,6333,0.57,318.4,3137,521,1432,1402,117.4,17.2,321,6342,0.00,2.08,0.00,0.000,5126,0.000,0.027,3138,1931,1417,1433,1402,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6583,0.57,318.4,3137,1931,1433,1401,81.1,13.4,346,6594,0.00,2.10,0.00,0.000,4356,0.000,0.039,3138,3333,1416,1432,1401,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6630,0.57,318.4,3137,3333,1432,1401,74.6,14.0,350,6641,0.05,2.05,0.00,0.000,5126,0.145,0.027,3130,1933,1416,1431,1401,0,0,0,0,0,0,26.41,26.53,28.83
$GC,6881,0.58,331.0,3130,1932,1432,1401,47.3,9.4,375,6900,0.00,0.00,11.12,0.563,8198,0.000,0.000,3130,1932,1369,1383,1356,0,0,0,0,0,0,28.83,28.83,25.83
$GC,7154,0.84,394.2,3130,1932,1383,1353,22.8,6.9,409,7209,0.20,0.00,50.88,0.576,10758,0.048,0.000,3256,1932,1112,1107,1118,0,0,0,0,0,0,26.68,28.83,25.45
$STATE,7257,end climb,SURFACE_DEPTH_REACHED
$STATE,7258,begin surface coast
$FINISH,0.3,1.022858
$STATE,7271,end surface coast,CONTROL_FINISHED_OK
$STATE,7272,begin surface
$SM_CCo,7286,20.45,0.533,0,0,925,440.06
$SM_GC,1.13,7.90,0.25,20.45,0.027,0.044,0.533,179,2118,925,-8.60,-1.13,440.06,0,0,0,0,0,0,26.13,26.21,25.41
$IRIDIUM_FIX,2347.41,-15759.65,260410,111131
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.09
$INTERNAL_PRESSURE,9.71717
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.6,4.184
$10V_AH,10.4,2.200
$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,21.950,62.700,450.875,20.450,0.000,29.952,48.699,224.983,16.000,0.000,9.290,1152.256,4248.021,507.357,1723.395,82.683,29.114,1142.340,0.000,1356.622,0.000,99.391,0.000
$DEVICE_MAMPS,258.570,53.550,846.090,533.205,0.000,65.030,160.000,223.000,420.000,0.000,15.730,13.600,2.190,13.600,39.810,48.050,64.530,11.870,0.000,18.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,290.723,257.024,477.727,463.905,711.909,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,47.190,6.740,50.180,36.700,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353120
$DATA_FILE_SIZE,37295,426
$CAP_FILE_SIZE,88271,0
$CFSIZE,259252224,257060864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300617,020625,2354.917,-15758.373,11,1.2,11,10.0