version: 66.11
revision: 1138
glider: 512
mission: 8
dive: 55
start: 7 4 117 5 4 26
data:
$ID,512
$MISSION,8
$DIVE,55
$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,-124124.93
$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,35
$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
$GPS1,040717,045539,2418.051,-15800.198,27,1.7,27,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-76.5
$GPS2,040717,050330,2418.037,-15800.195,27,0.9,27,10.0
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TC3
$TGT_LATLONG,2500.000,-15824.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.208,0.142
$KALMAN_X,-12867000.0,-47625.5,-7891.5,-4635160.0,89296.0
$KALMAN_Y,1970283.0,6179.5,939.3,722936.3,-12905.7
$MHEAD_RNG_PITCHd_Wd,322.8,87385,-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,16,-0.68,-136.3,170,2080,820,940,0.0,0.0,0,103,0.00,0.00,-85.22,0.000,16386,0.000,0.000,170,2081,3010,2996,3024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.68,-136.3,170,2081,2995,3024,3.2,-5.7,11,131,11.32,2.25,-4.20,0.000,18692,0.263,0.050,2704,3509,3237,3233,3241,0,0,0,0,0,0,25.75,26.08,26.37
$GC,346,-0.50,-136.3,2704,3509,3237,3241,67.7,-19.2,36,357,0.22,2.15,0.00,0.000,3078,0.151,0.024,2774,2095,3239,3237,3241,0,0,0,0,0,0,26.11,26.30,28.83
$GC,595,-0.50,-136.3,2773,2092,3241,3241,101.3,-12.7,61,599,0.00,2.10,0.00,0.000,2564,0.000,0.039,2774,698,3241,3241,3241,0,0,0,0,0,0,28.83,26.39,28.83
$GC,641,-0.50,-136.3,2773,698,3241,3241,106.4,-11.7,65,650,0.03,2.05,0.00,0.000,3078,0.194,0.028,2773,2102,3241,3241,3241,0,0,0,0,0,0,26.33,26.46,28.83
$GC,887,-0.50,-136.3,2773,2102,3244,3241,134.4,-10.2,90,889,0.00,0.00,0.00,0.000,2054,0.000,0.000,2773,2102,3241,3243,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1129,-0.50,-136.3,2773,2102,3243,3241,159.4,-10.7,114,1143,0.00,2.12,0.00,0.000,2308,0.000,0.042,2765,3509,3242,3243,3241,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1169,-0.50,-136.3,2765,3509,3243,3241,163.3,-10.8,117,1178,0.03,2.10,0.00,0.000,3078,0.154,0.023,2775,2094,3242,3243,3241,0,0,0,0,0,0,26.48,26.59,28.83
$GC,1419,-0.50,-136.3,2775,2091,3243,3240,188.2,-10.0,142,1427,0.00,2.05,0.00,0.000,2564,0.000,0.038,2776,698,3242,3244,3241,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1474,-0.50,-136.3,1888,698,3229,3238,194.2,-10.5,147,1487,0.00,2.10,0.00,0.000,3078,0.000,0.028,2767,2100,3242,3244,3241,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1736,-0.50,-136.3,2767,2100,3244,3240,220.6,-9.7,158,1741,0.00,2.12,0.00,0.000,2308,0.000,0.042,2757,3502,3241,3243,3240,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1757,-0.50,-136.3,2757,3502,3242,3240,220.6,-9.7,158,1762,0.10,2.05,0.00,0.000,3078,0.148,0.022,2782,2093,3241,3243,3240,0,0,0,0,0,0,26.54,26.67,28.83
$GC,2016,-0.68,-136.3,2782,2091,3242,3240,241.7,-7.2,165,2022,0.15,2.05,0.00,0.000,4612,0.063,0.036,2685,700,3241,3242,3240,0,0,0,0,0,0,26.74,26.67,28.83
$GC,2043,-0.85,-136.3,2685,700,3241,3240,241.7,-7.2,165,2047,0.00,2.05,0.00,0.000,1030,0.000,0.027,2675,2102,3240,3241,3240,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2291,-0.85,-136.3,2674,2102,3239,3240,283.1,-16.0,171,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2102,3240,3240,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2530,-0.85,-136.3,2674,2102,3238,3240,322.3,-16.4,177,2534,0.00,2.10,0.00,0.000,516,0.000,0.037,2674,691,3238,3237,3240,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2554,-0.85,-136.3,2674,690,3237,3240,322.3,-16.4,177,2558,0.00,2.12,0.00,0.000,3078,0.000,0.028,2664,2102,3238,3237,3240,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2812,-0.70,-136.3,2664,2102,3237,3238,367.6,-15.8,184,2820,0.17,2.10,0.00,0.000,2308,0.170,0.041,2706,3501,3237,3237,3238,0,0,0,0,0,0,26.55,26.69,28.83
$GC,2835,-0.54,-136.3,2706,3501,3237,3238,367.6,-15.8,184,2840,0.20,2.05,0.00,0.000,3078,0.142,0.022,2762,2088,3237,3237,3238,0,0,0,0,0,0,26.57,26.75,28.83
$GC,3092,-0.54,-136.3,2762,2086,3237,3236,393.7,-8.4,191,3098,0.00,2.05,0.00,0.000,2564,0.000,0.038,2762,703,3236,3237,3236,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3155,-0.54,-136.3,2762,703,3237,3236,397.4,-8.6,192,3159,0.00,2.08,0.00,0.000,3078,0.000,0.028,2754,2110,3236,3237,3236,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3408,-0.54,-136.3,2754,2111,3236,3232,420.5,-8.3,199,3413,0.00,2.12,0.00,0.000,2308,0.000,0.044,2743,3508,3234,3236,3232,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3430,-0.54,-136.3,2743,3508,3236,3232,420.5,-8.3,199,3434,0.10,2.05,0.00,0.000,3078,0.142,0.022,2769,2095,3234,3236,3232,0,0,0,0,0,0,26.65,26.78,28.83
$GC,3689,-0.73,-136.3,2768,2092,3234,3230,440.2,-6.9,206,3691,0.17,0.00,0.00,0.000,4102,0.055,0.000,2678,2092,3232,3234,3230,0,0,0,0,0,0,26.84,28.83,28.83
$GC,3929,-0.73,-136.3,2678,2092,3231,3229,471.3,-13.5,212,3931,0.12,0.00,0.00,0.000,2054,0.157,0.000,2708,2092,3230,3231,3229,0,0,0,0,0,0,26.65,28.83,28.83
$GC,4167,-0.73,-136.3,2708,2092,3230,3227,499.3,-11.5,218,4168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2708,2092,3229,3231,3227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4407,-0.73,-136.3,2708,2092,3229,3225,526.7,-11.3,224,4413,0.00,2.15,0.00,0.000,2308,0.000,0.043,2700,3502,3227,3229,3225,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4459,-0.73,-136.3,2699,3502,3228,3225,531.2,-11.3,225,4464,0.00,2.10,0.00,0.000,3078,0.000,0.024,2699,2098,3226,3228,3225,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4728,-0.73,-136.3,2699,2094,3227,3223,563.4,-11.5,232,4733,0.00,2.15,0.00,0.000,2308,0.000,0.043,2689,3504,3224,3226,3223,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4759,-0.73,-136.3,2689,3504,3226,3223,563.4,-11.5,232,4768,0.05,2.10,0.00,0.000,3078,0.142,0.024,2706,2088,3225,3227,3223,0,0,0,0,0,0,26.65,26.81,28.83
$GC,5007,-0.73,-136.3,2706,2086,3225,3221,594.1,-10.8,239,5008,0.00,0.00,0.00,0.000,2054,0.000,0.000,2706,2086,3223,3225,3221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5247,-0.73,-136.3,2706,2086,3224,3219,619.3,-10.5,245,5248,0.00,0.00,0.00,0.000,2054,0.000,0.000,2705,2086,3221,3224,3219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5488,-0.73,-136.3,2706,2086,3223,3217,643.6,-9.9,251,5493,0.00,2.08,0.00,0.000,2564,0.000,0.040,2706,694,3220,3223,3217,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5535,-0.73,-136.3,2706,694,3222,3217,647.9,-10.0,252,5539,0.00,2.12,0.00,0.000,3078,0.000,0.029,2698,2101,3219,3222,3217,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5808,-0.73,-136.3,2697,2102,3221,3216,677.0,-10.5,259,5809,0.00,0.00,0.00,0.000,2054,0.000,0.000,2697,2102,3218,3221,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6049,-0.73,-136.3,2697,2102,3219,3214,702.5,-10.6,265,6054,0.00,2.12,0.00,0.000,2308,0.000,0.044,2687,3502,3217,3220,3214,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6121,-0.73,-136.3,2686,3502,3218,3214,706.9,-10.7,266,6130,0.10,2.05,0.00,0.000,3078,0.158,0.024,2710,2097,3216,3218,3214,0,0,0,0,0,0,26.66,26.82,28.83
$GC,6368,-0.73,-136.3,2710,2094,3217,3212,735.3,-10.0,273,6374,0.00,2.15,0.00,0.000,260,0.000,0.043,2702,3503,3214,3217,3212,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6400,-0.73,-136.3,2701,3503,3217,3212,735.3,-10.0,273,6407,0.00,2.05,0.00,0.000,3078,0.000,0.024,2702,2097,3215,3218,3212,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6648,-0.73,-136.3,2701,2095,3216,3210,762.8,-9.8,280,6649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2701,2095,3213,3217,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6890,-0.73,-136.3,2701,2094,3216,3208,786.7,-9.9,286,6891,0.00,0.00,0.00,0.000,2054,0.000,0.000,2701,2094,3212,3216,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7128,-0.73,-136.3,2701,2094,3215,3208,810.5,-9.9,292,7129,0.00,0.00,0.00,0.000,2054,0.000,0.000,2701,2094,3211,3215,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7367,-0.73,-136.3,2701,2094,3214,3207,833.8,-9.7,298,7368,0.00,0.00,0.00,0.000,2054,0.000,0.000,2701,2094,3210,3214,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7608,-0.73,-136.3,2701,2094,3213,3205,856.1,-9.3,304,7609,0.00,0.00,0.00,0.000,2054,0.000,0.000,2701,2094,3209,3213,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7848,-0.73,-136.3,2701,2094,3212,3203,877.4,-8.8,310,7849,0.00,0.00,0.00,0.000,2054,0.000,0.000,2701,2094,3207,3212,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8088,-0.73,-136.3,2701,2094,3212,3203,897.9,-8.5,316,8094,0.00,2.17,0.00,0.000,2308,0.000,0.044,2691,3511,3207,3212,3203,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,8126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8126,begin apogee
$GC,8133,-0.17,0.0,2691,1925,3212,3203,901.3,-8.6,317,8254,0.62,0.00,118.12,1.262,10246,0.135,0.000,2887,1922,2680,2686,2674,0,0,0,0,0,0,26.58,28.83,24.11
$STATE,8255,end apogee,CONTROL_FINISHED_OK
$STATE,8255,begin climb
$GC,8256,0.68,136.3,2886,1922,2685,2673,903.5,0.0,320,8390,0.75,0.00,127.38,1.213,10758,0.025,0.000,3208,1922,2124,2167,2081,0,0,0,0,0,0,25.08,28.83,23.92
$GC,8647,0.20,136.3,3208,1922,2157,2074,829.4,23.2,330,8650,0.73,0.00,0.00,0.000,4102,0.194,0.000,3016,1921,2115,2157,2074,0,0,0,0,0,0,25.70,28.83,28.83
$GC,8887,0.20,145.8,3016,1921,2157,2068,804.0,9.5,336,8901,0.00,2.22,8.52,0.981,12548,0.000,0.039,3016,3336,2084,2131,2038,0,0,0,0,0,0,28.83,25.96,25.12
$GC,8923,0.20,152.9,3016,3336,2129,2037,800.3,9.6,337,8936,0.00,2.15,8.12,0.959,13318,0.000,0.026,3025,1923,2056,2106,2007,0,0,0,0,0,0,28.83,26.03,25.01
$GC,9198,0.20,153.0,3025,1923,2102,2001,772.6,10.0,344,9199,0.00,0.00,0.00,0.000,4102,0.000,0.000,3025,1923,2052,2103,2001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9438,0.20,159.3,3025,1923,2101,2000,749.2,9.7,350,9450,0.00,2.22,6.55,0.910,12804,0.000,0.045,3036,526,2030,2080,1980,0,0,0,0,0,0,28.83,26.19,25.25
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$STATE,15596,end climb,SURFACE_DEPTH_REACHED
$STATE,15596,begin surface coast
$FINISH,-0.1,1.013256
$STATE,15621,end surface coast,CONTROL_FINISHED_OK
$STATE,15621,begin surface
$SM_CCo,15636,31.70,0.558,0,0,885,440.06
$SM_GC,0.74,7.90,0.22,31.70,0.027,0.040,0.558,180,2111,885,-8.59,-1.33,440.06,0,0,0,0,0,0,26.10,26.21,25.24
$IRIDIUM_FIX,2406.29,-15758.30,300410,131348
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.80
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.9,8.465
$10V_AH,10.3,4.483
$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
$DEVICE_SECS,23.800,157.575,461.575,31.700,0.000,23.433,49.609,274.172,41.000,0.000,28.128,1915.978,10999.660,607.874,2471.005,145.133,33.250,1620.170,0.000,1967.631,0.000,255.248,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,445.903,301.055,547.600,476.841,731.694,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,47.190,6.740,50.180,36.700,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353108
$DATA_FILE_SIZE,57427,643
$CAP_FILE_SIZE,172568,0
$CFSIZE,259252224,255135744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040717,092648,2419.583,-15800.846,39,0.8,39,10.0