version: 66.11
revision: 1138
glider: 512
mission: 8
dive: 52
start: 7 3 117 15 16 11
data:
$ID,512
$MISSION,8
$DIVE,52
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,970
$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,300
$T_MISSION,600
$T_ABORT,1440
$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,1
$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,-124077
$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,59
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2680
$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
$GPS1,030717,150630,2413.556,-15758.781,32,0.9,32,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-74.8
$GPS2,030717,151516,2413.536,-15758.730,8,0.9,8,10.0
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TC3
$TGT_LATLONG,2500.000,-15824.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.171,0.186
$KALMAN_X,-13010141.0,93870.9,-892.4,-4635977.0,-111554.1
$KALMAN_Y,1992829.1,-13778.9,276.1,712396.2,17526.2
$MHEAD_RNG_PITCHd_Wd,323.8,95937,-18.9,-10.000,-21.63,2088
$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,15,-0.68,-136.3,171,2118,820,940,0.0,0.0,0,102,0.00,0.00,-84.38,0.000,16386,0.000,0.000,170,2116,3009,2997,3022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.68,-136.3,170,2116,2997,3022,3.4,-6.5,11,130,11.35,2.15,-4.18,0.000,18692,0.262,0.047,2705,3495,3236,3233,3239,0,0,0,0,0,0,25.71,26.04,26.32
$GC,320,-0.68,-136.3,2704,3495,3235,3239,64.0,-20.7,34,330,0.00,2.05,0.00,0.000,3078,0.000,0.024,2704,2105,3237,3235,3239,0,0,0,0,0,0,28.83,26.25,28.83
$GC,570,-0.51,-136.3,2704,2103,3237,3239,112.3,-17.3,59,579,0.22,2.10,0.00,0.000,2564,0.171,0.037,2767,696,3238,3237,3239,0,0,0,0,0,0,26.19,26.36,28.83
$GC,640,-0.51,-136.3,2768,696,3238,3239,121.1,-11.7,65,649,0.05,2.03,0.00,0.000,3078,0.164,0.028,2776,2082,3238,3238,3238,0,0,0,0,0,0,26.27,26.42,28.83
$GC,886,-0.51,-136.3,2775,2083,3240,3239,146.5,-10.4,90,890,0.00,2.10,0.00,0.000,2564,0.000,0.038,2776,684,3239,3240,3239,0,0,0,0,0,0,28.83,26.47,28.83
$GC,928,-0.51,-136.3,2776,684,3240,3239,150.3,-10.3,93,938,0.00,2.12,0.00,0.000,3078,0.000,0.027,2768,2098,3239,3240,3239,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1179,-0.51,-136.3,2767,2099,3241,3239,175.1,-9.4,118,1187,0.00,2.12,0.00,0.000,2308,0.000,0.042,2757,3506,3240,3241,3239,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1213,-0.51,-136.3,2757,3506,3240,3239,178.3,-9.8,121,1221,0.05,2.10,0.00,0.000,3078,0.127,0.022,2774,2093,3240,3241,3239,0,0,0,0,0,0,26.46,26.59,28.83
$GC,1491,-0.51,-136.3,2774,2091,3241,3239,204.0,-9.7,146,1494,0.00,2.08,0.00,0.000,2564,0.000,0.038,2775,693,3240,3241,3239,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1574,-0.51,-136.3,2774,693,3241,3239,211.6,-9.9,148,1578,0.00,2.08,0.00,0.000,3078,0.000,0.028,2766,2102,3240,3241,3239,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1847,-0.51,-136.3,2766,2102,3239,3238,237.3,-9.1,155,1853,0.00,2.12,0.00,0.000,2308,0.000,0.042,2757,3503,3238,3238,3239,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1927,-0.51,-136.3,2756,3504,3238,3239,244.8,-9.2,157,1931,0.10,2.05,0.00,0.000,3078,0.148,0.022,2781,2084,3238,3238,3238,0,0,0,0,0,0,26.55,26.68,28.83
$GC,2204,-0.69,-136.3,2780,2082,3237,3238,268.4,-8.4,164,2211,0.15,2.05,0.00,0.000,4612,0.064,0.037,2681,702,3237,3237,3238,0,0,0,0,0,0,26.77,26.67,28.83
$GC,2297,-0.69,-136.3,2681,701,3236,3238,280.3,-11.5,166,2302,0.17,2.05,0.00,0.000,3078,0.158,0.028,2718,2102,3237,3237,3238,0,0,0,0,0,0,26.54,26.70,28.83
$GC,2560,-0.69,-136.3,2718,2102,3236,3236,316.4,-12.8,173,2565,0.00,2.08,0.00,0.000,2564,0.000,0.037,2718,706,3236,3236,3237,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2611,-0.69,-136.3,2718,706,3236,3236,321.5,-12.8,174,2616,0.00,2.08,0.00,0.000,3078,0.000,0.028,2710,2095,3236,3236,3236,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2881,-0.69,-136.3,2709,2096,3235,3234,355.4,-11.8,181,2883,0.00,0.00,0.00,0.000,2054,0.000,0.000,2709,2096,3234,3235,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3119,-0.69,-136.3,2709,2096,3234,3232,381.8,-10.8,187,3125,0.00,2.12,0.00,0.000,2308,0.000,0.042,2699,3499,3233,3234,3232,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3161,-0.69,-136.3,2698,3499,3233,3232,386.2,-10.7,188,3166,0.05,2.08,0.00,0.000,3078,0.142,0.022,2716,2098,3232,3233,3232,0,0,0,0,0,0,26.63,26.77,28.83
$GC,3439,-0.69,-136.3,2716,2096,3232,3230,414.3,-10.1,195,3443,0.00,2.08,0.00,0.000,2564,0.000,0.039,2716,700,3230,3232,3229,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3467,-0.69,-136.3,2716,699,3232,3229,414.3,-10.1,195,3476,0.00,2.10,0.00,0.000,3078,0.000,0.028,2707,2100,3230,3231,3229,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3715,-0.69,-136.3,2707,2100,3231,3228,446.2,-11.8,202,3717,0.03,0.00,0.00,0.000,2054,0.269,0.000,2716,2100,3229,3231,3228,0,0,0,0,0,0,26.77,28.83,28.83
$GC,3955,-0.69,-136.3,2716,2100,3229,3226,474.8,-12.0,208,3956,0.00,0.00,0.00,0.000,2054,0.000,0.000,2716,2100,3227,3229,3226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4195,-0.69,-136.3,2716,2100,3228,3224,501.9,-11.1,214,4196,0.00,0.00,0.00,0.000,2054,0.000,0.000,2716,2100,3226,3228,3224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4437,-0.69,-136.3,2716,2100,3226,3222,527.0,-10.2,220,4442,0.00,2.08,0.00,0.000,2564,0.000,0.039,2716,706,3224,3226,3222,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4483,-0.69,-136.3,2716,706,3226,3222,531.4,-10.2,221,4487,0.00,2.10,0.00,0.000,3078,0.000,0.028,2707,2097,3224,3226,3222,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4756,-0.69,-136.3,2707,2099,3224,3220,561.5,-10.7,228,4761,0.00,2.12,0.00,0.000,2308,0.000,0.044,2697,3500,3221,3223,3220,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4796,-0.69,-136.3,2697,3500,3223,3219,565.9,-10.8,229,4802,0.10,2.05,0.00,0.000,3078,0.157,0.024,2720,2092,3222,3224,3220,0,0,0,0,0,0,26.65,26.81,28.83
$GC,5077,-0.69,-136.3,2720,2090,3222,3217,593.3,-9.6,236,5078,0.00,0.00,0.00,0.000,2054,0.000,0.000,2720,2090,3219,3222,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5318,-0.69,-136.3,2720,2089,3221,3216,616.1,-9.5,242,5323,0.00,2.15,0.00,0.000,2308,0.000,0.044,2711,3501,3218,3221,3216,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5356,-0.69,-136.3,2711,3500,3221,3216,620.1,-9.6,243,5362,0.00,2.05,0.00,0.000,3078,0.000,0.024,2711,2094,3218,3221,3216,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5636,-0.69,-136.3,2711,2091,3219,3214,648.7,-10.2,250,5637,0.00,0.00,0.00,0.000,2054,0.000,0.000,2712,2091,3216,3219,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5876,-0.69,-136.3,2711,2091,3218,3211,673.0,-9.9,256,5877,0.00,0.00,0.00,0.000,2054,0.000,0.000,2711,2091,3215,3219,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6118,-0.69,-136.3,2711,2091,3217,3209,695.9,-9.5,262,6119,0.00,0.00,0.00,0.000,2054,0.000,0.000,2711,2091,3213,3217,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6358,-0.69,-136.3,2711,2091,3216,3208,716.0,-8.2,268,6359,0.00,0.00,0.00,0.000,2054,0.000,0.000,2711,2091,3211,3215,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6595,-0.69,-136.3,2711,2091,3214,3207,734.7,-7.8,274,6599,0.00,2.17,0.00,0.000,2308,0.000,0.045,2701,3505,3210,3214,3207,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6654,-0.69,-136.3,2701,3505,3213,3207,737.6,-7.8,275,6659,0.10,2.08,0.00,0.000,3078,0.154,0.024,2725,2089,3210,3213,3207,0,0,0,0,0,0,26.67,26.82,28.83
$GC,6908,-0.69,-136.3,2724,2086,3213,3205,757.7,-7.3,282,6913,0.00,2.17,0.00,0.000,260,0.000,0.045,2716,3501,3208,3212,3205,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6939,-0.69,-136.3,2716,3501,3212,3206,757.7,-7.3,282,6947,0.00,2.05,0.00,0.000,3078,0.000,0.024,2716,2095,3209,3212,3206,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7187,-0.69,-136.3,2716,2092,3212,3203,781.1,-8.5,289,7193,0.00,2.15,0.00,0.000,2308,0.000,0.044,2705,3499,3207,3211,3204,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7229,-0.69,-136.3,1840,3498,3195,3200,784.8,-8.7,290,7234,0.03,2.10,0.00,0.000,3078,0.155,0.024,2715,2094,3207,3211,3203,0,0,0,0,0,0,26.70,26.83,28.83
$GC,7508,-0.69,-136.3,2715,2091,3210,3202,810.1,-9.0,297,7509,0.00,0.00,0.00,0.000,2054,0.000,0.000,2715,2090,3206,3210,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7747,-0.69,-136.3,2715,2091,3209,3201,832.2,-9.2,303,7748,0.00,0.00,0.00,0.000,2054,0.000,0.000,2715,2091,3205,3209,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7987,-0.69,-136.3,2715,2091,3209,3200,853.4,-8.8,309,7993,0.00,2.17,0.00,0.000,2308,0.000,0.044,2706,3506,3204,3208,3200,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8049,-0.69,-136.3,2706,3506,3207,3200,857.0,-8.7,310,8054,0.05,2.08,0.00,0.000,3078,0.190,0.024,2718,2094,3204,3208,3200,0,0,0,0,0,0,26.71,26.82,28.83
$GC,8307,-0.69,-136.3,2718,2091,3207,3199,879.9,-7.9,317,8308,0.00,0.00,0.00,0.000,2054,0.000,0.000,2718,2091,3203,3207,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8546,-0.69,-136.3,2718,2091,3207,3198,898.6,-7.8,323,8550,0.00,2.17,0.00,0.000,2308,0.000,0.044,2709,3502,3202,3206,3198,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8580,-0.69,-136.3,2709,3502,3206,3198,898.6,-7.8,323,8591,0.00,2.05,0.00,0.000,3078,0.000,0.024,2709,2097,3202,3206,3198,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,8626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8627,begin apogee
$GC,8630,-0.17,0.0,2709,1892,3205,3198,905.4,-8.0,325,8750,0.57,0.00,116.30,1.269,10246,0.132,0.000,2890,1890,2680,2686,2674,0,0,0,0,0,0,26.60,28.83,24.10
$STATE,8751,end apogee,CONTROL_FINISHED_OK
$STATE,8751,begin climb
$GC,8752,0.68,136.3,2890,1890,2685,2673,907.7,0.0,328,8887,0.73,2.20,126.72,1.218,10756,0.024,0.044,3218,564,2122,2166,2079,0,0,0,0,0,0,25.08,24.69,23.88
$GC,8917,0.68,136.3,3217,564,2160,2078,889.8,14.5,332,8922,0.15,2.20,0.00,0.000,5126,0.190,0.029,3175,1930,2118,2160,2077,0,0,0,0,0,0,24.98,25.17,28.83
$GC,9184,0.27,136.3,3175,1930,2156,2073,832.2,20.2,339,9191,0.47,2.20,0.00,0.000,4356,0.181,0.040,3040,3331,2114,2155,2073,0,0,0,0,0,0,25.76,25.93,28.83
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$STATE,15994,end climb,SURFACE_DEPTH_REACHED
$STATE,15995,begin surface coast
$FINISH,-0.1,1.009877
$STATE,16019,end surface coast,CONTROL_FINISHED_OK
$STATE,16019,begin surface
$SM_CCo,16035,44.92,0.569,0,0,885,440.06
$SM_GC,0.73,7.57,1.88,44.92,0.024,0.021,0.569,178,2082,885,-8.60,1.30,440.06,0,0,0,0,0,0,26.36,26.44,25.32
$IRIDIUM_FIX,2403.92,-15756.99,290410,232352
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.96
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,23.9,7.937
$10V_AH,10.3,4.198
$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
$DEVICE_SECS,23.900,152.650,418.100,44.925,0.000,27.775,48.878,342.525,41.500,0.000,9.096,1922.321,11398.978,578.076,2560.892,142.830,33.237,1597.390,0.000,2002.724,0.000,258.613,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,442.609,291.629,530.972,448.869,688.854,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,47.190,6.740,50.180,36.700,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353076
$DATA_FILE_SIZE,57500,642
$CAP_FILE_SIZE,173192,0
$CFSIZE,259252224,255361024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030717,194524,2415.071,-15759.076,38,0.7,38,10.0