version: 66.11
revision: 1138
glider: 512
mission: 8
dive: 61
start: 7 5 117 8 58 48
data:
$ID,512
$MISSION,8
$DIVE,61
$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,-124261.22
$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,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2700
$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
$GPS1,050717,084900,2429.316,-15804.731,32,0.8,32,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-75.8
$GPS2,050717,085752,2429.346,-15804.671,6,1.2,7,10.0
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TC3
$TGT_LATLONG,2500.000,-15824.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.173,0.183
$KALMAN_X,-12918610.0,-4428.9,-2480.0,-4640005.5,19429.3
$KALMAN_Y,1973428.0,1313.7,-147.7,746615.1,-1840.6
$MHEAD_RNG_PITCHd_Wd,320.3,65387,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.68,-136.3,173,2100,839,961,0.0,0.0,0,102,0.00,0.00,-84.68,0.000,16386,0.000,0.000,173,2099,3009,2995,3023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.68,-136.3,173,2099,2996,3024,3.1,-5.7,11,130,11.15,2.17,-4.60,0.000,18692,0.256,0.049,2703,3494,3256,3253,3260,0,0,0,0,0,0,25.72,26.03,26.35
$GC,230,-0.44,-136.3,2703,3494,3256,3259,43.9,-25.2,27,241,0.32,2.08,0.00,0.000,3078,0.187,0.023,2797,2097,3258,3256,3260,0,0,0,0,0,0,25.95,26.20,28.83
$GC,482,-0.44,-136.3,2797,2095,3258,3259,78.2,-10.6,52,492,0.00,2.08,0.00,0.000,2564,0.000,0.038,2797,700,3258,3258,3259,0,0,0,0,0,0,28.83,26.32,28.83
$GC,551,-0.60,-136.3,1872,700,3245,3256,85.1,-9.6,58,561,0.08,2.10,0.00,0.000,5126,0.053,0.027,2730,2092,3259,3259,3259,0,0,0,0,0,0,26.36,26.39,28.83
$GC,803,-0.60,-136.3,2730,2092,3261,3259,120.0,-14.2,83,809,0.10,0.00,0.00,0.000,2054,0.180,0.000,2752,2092,3260,3261,3259,0,0,0,0,0,0,26.36,28.83,28.83
$GC,1048,-0.60,-136.3,2752,2092,3261,3259,151.3,-11.6,108,1052,0.00,2.08,0.00,0.000,516,0.000,0.036,2752,698,3260,3262,3259,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1151,-0.60,-136.3,2752,697,3262,3259,163.4,-11.3,117,1155,0.00,2.05,0.00,0.000,3078,0.000,0.028,2743,2097,3260,3262,3259,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1396,-0.60,-136.3,2743,2097,3261,3259,191.4,-11.3,141,1400,0.00,2.12,0.00,0.000,2308,0.000,0.042,2733,3501,3260,3261,3259,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1436,-0.60,-136.3,2732,3501,3262,3259,195.5,-11.2,144,1446,0.05,2.08,0.00,0.000,3078,0.141,0.021,2750,2098,3260,3262,3259,0,0,0,0,0,0,26.48,26.63,28.83
$GC,1715,-0.60,-136.3,2750,2095,3262,3259,225.6,-10.6,154,1716,0.00,0.00,0.00,0.000,2054,0.000,0.000,2750,2095,3260,3262,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,-0.60,-136.3,2750,2095,3261,3259,251.4,-10.8,160,1960,0.00,2.05,0.00,0.000,2564,0.000,0.037,2750,704,3259,3260,3259,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1994,-0.60,-136.3,2750,703,3260,3259,255.6,-10.6,161,2000,0.00,2.05,0.00,0.000,3078,0.000,0.028,2742,2107,3259,3260,3259,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2273,-0.60,-136.3,2741,2108,3258,3259,284.4,-10.2,168,2277,0.00,2.10,0.00,0.000,2308,0.000,0.043,2731,3501,3258,3258,3259,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2302,-0.60,-136.3,2731,3501,3258,3259,284.4,-10.2,168,2311,0.05,2.08,0.00,0.000,3078,0.132,0.021,2749,2094,3258,3258,3259,0,0,0,0,0,0,26.58,26.72,28.83
$GC,2552,-0.60,-136.3,2749,2091,3258,3257,310.1,-9.2,175,2557,0.00,2.03,0.00,0.000,2564,0.000,0.037,2749,707,3257,3257,3257,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2577,-0.60,-136.3,2749,707,3257,3257,310.1,-9.2,175,2581,0.00,2.03,0.00,0.000,3078,0.000,0.028,2741,2102,3257,3258,3256,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2830,-0.60,-136.3,2740,2102,3256,3254,339.3,-10.7,182,2831,0.00,0.00,0.00,0.000,2054,0.000,0.000,2741,2102,3255,3256,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,-0.60,-136.3,2740,2102,3255,3253,366.0,-11.1,188,3075,0.00,2.12,0.00,0.000,2308,0.000,0.044,2730,3503,3253,3254,3253,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3111,-0.60,-136.3,2730,3503,3254,3253,370.3,-10.9,189,3117,0.05,2.08,0.00,0.000,3078,0.135,0.022,2748,2094,3253,3254,3253,0,0,0,0,0,0,26.62,26.76,28.83
$GC,3391,-0.60,-136.3,2747,2091,3253,3251,396.7,-9.4,196,3395,0.00,2.05,0.00,0.000,2564,0.000,0.038,2748,707,3252,3253,3251,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3456,-0.60,-136.3,2748,707,3252,3250,401.1,-9.6,197,3460,0.00,2.05,0.00,0.000,3078,0.000,0.028,2739,2106,3251,3252,3250,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3716,-0.60,-136.3,2739,2107,3251,3248,428.2,-9.4,204,3721,0.00,2.10,0.00,0.000,2308,0.000,0.044,2728,3501,3249,3251,3248,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3754,-0.60,-136.3,2728,3500,3251,3248,432.0,-9.4,205,3760,0.10,2.03,0.00,0.000,3078,0.150,0.022,2753,2095,3249,3251,3248,0,0,0,0,0,0,26.63,26.78,28.83
$GC,4034,-0.60,-136.3,2753,2092,3250,3246,455.5,-8.4,212,4040,0.00,2.15,0.00,0.000,260,0.000,0.043,2745,3503,3248,3250,3246,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4066,-0.60,-136.3,2744,3504,3249,3246,455.5,-8.4,212,4073,0.00,2.03,0.00,0.000,3078,0.000,0.022,2745,2104,3247,3249,3246,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4314,-0.60,-136.3,2744,2102,3247,3243,482.2,-9.7,219,4320,0.00,2.08,0.00,0.000,2564,0.000,0.039,2745,704,3245,3247,3243,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4356,-0.60,-136.3,2744,704,3247,3243,486.3,-9.8,220,4361,0.03,2.10,0.00,0.000,3078,0.176,0.028,2744,2100,3245,3246,3244,0,0,0,0,0,0,26.65,26.77,28.83
$GC,4636,-0.60,-136.3,2744,2100,3246,3241,512.1,-9.0,227,4637,0.00,0.00,0.00,0.000,2054,0.000,0.000,2744,2100,3243,3245,3241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4876,-0.60,-136.3,2744,2100,3245,3239,531.9,-8.1,233,4877,0.00,0.00,0.00,0.000,2054,0.000,0.000,2744,2100,3242,3245,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5116,-0.60,-136.3,2744,2100,3244,3238,550.3,-7.6,239,5121,0.00,2.12,0.00,0.000,2308,0.000,0.045,2735,3507,3240,3243,3238,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5213,-0.60,-136.3,2735,3507,3242,3238,556.4,-7.6,241,5218,0.05,2.05,0.00,0.000,3078,0.190,0.024,2748,2095,3240,3242,3238,0,0,0,0,0,0,26.70,26.81,28.83
$GC,5477,-0.60,-136.3,2748,2093,3241,3236,577.4,-7.4,248,5479,0.00,0.00,0.00,0.000,2054,0.000,0.000,2748,2092,3239,3241,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5717,-0.60,-136.3,2748,2093,3240,3235,595.5,-7.6,254,5719,0.00,0.00,0.00,0.000,2054,0.000,0.000,2748,2093,3237,3240,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5955,-0.60,-136.3,2747,2093,3238,3232,613.4,-7.4,260,5959,0.00,2.17,0.00,0.000,2308,0.000,0.044,2739,3512,3235,3238,3233,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5992,-0.75,-136.3,2738,3512,3237,3233,616.4,-7.5,261,5999,0.10,2.05,0.00,0.000,5126,0.085,0.024,2681,2098,3235,3237,3233,0,0,0,0,0,0,26.79,26.82,28.83
$GC,6274,-0.75,-136.3,2681,2095,3236,3231,649.3,-12.1,268,6275,0.10,0.00,0.00,0.000,2054,0.173,0.000,2704,2094,3233,3236,3231,0,0,0,0,0,0,26.69,28.83,28.83
$GC,6511,-0.75,-136.3,2704,2094,3236,3230,675.0,-10.7,274,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2094,3233,3236,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6752,-0.75,-136.3,2704,2094,3234,3228,700.5,-10.6,280,6757,0.00,2.15,0.00,0.000,260,0.000,0.044,2696,3503,3231,3234,3228,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6804,-0.75,-136.3,2695,3503,3233,3228,704.7,-10.5,281,6808,0.00,2.10,0.00,0.000,3078,0.000,0.024,2696,2098,3230,3233,3228,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7071,-0.75,-136.3,2695,2096,3232,3227,734.4,-10.4,288,7075,0.00,2.08,0.00,0.000,2564,0.000,0.041,2696,703,3229,3232,3227,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7107,-0.75,-136.3,2696,703,3232,3227,738.1,-10.3,289,7113,0.08,2.05,0.00,0.000,3078,0.180,0.028,2701,2102,3229,3232,3227,0,0,0,0,0,0,26.65,26.79,28.83
$GC,7387,-0.75,-136.3,2701,2102,3232,3224,764.6,-9.2,296,7388,0.00,0.00,0.00,0.000,2054,0.000,0.000,2701,2102,3228,3232,3225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7629,-0.75,-136.3,2700,2102,3231,3223,785.9,-8.9,302,7630,0.00,0.00,0.00,0.000,2054,0.000,0.000,2701,2102,3227,3231,3223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7869,-0.75,-136.3,2700,2102,3230,3222,806.5,-8.6,308,7874,0.00,2.12,0.00,0.000,2308,0.000,0.045,2691,3503,3226,3230,3222,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7947,-0.75,-136.3,2691,3503,3230,3222,814.2,-9.3,310,7951,0.00,2.05,0.00,0.000,3078,0.000,0.024,2692,2095,3225,3229,3222,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8223,-0.75,-136.3,2692,2093,3229,3221,842.3,-10.2,317,8225,0.00,0.00,0.00,0.000,2054,0.000,0.000,2692,2093,3225,3229,3221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8463,-0.75,-136.3,2692,2093,3228,3220,866.5,-10.0,323,8464,0.00,0.00,0.00,0.000,2054,0.000,0.000,2692,2093,3224,3228,3220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8703,-0.75,-136.3,2691,2093,3228,3219,889.5,-9.4,329,8704,0.00,0.00,0.00,0.000,2054,0.000,0.000,2692,2093,3223,3228,3219,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8822,begin apogee
$GC,8826,-0.17,0.0,2691,1885,3227,3219,900.9,-9.5,332,8947,0.62,0.05,117.07,1.262,10246,0.138,0.122,2886,1938,2700,2706,2695,0,0,0,0,0,0,26.54,24.82,24.13
$STATE,8948,end apogee,CONTROL_FINISHED_OK
$STATE,8948,begin climb
$GC,8949,0.68,136.3,2886,1938,2705,2694,903.3,0.0,335,9086,0.73,2.33,127.57,1.215,10756,0.026,0.045,3214,576,2143,2186,2101,0,0,0,0,0,0,25.10,24.69,23.91
$GC,9131,0.68,136.3,3214,576,2180,2098,886.4,13.5,339,9136,0.15,2.17,0.00,0.000,5126,0.201,0.029,3172,1937,2138,2179,2098,0,0,0,0,0,0,25.08,25.27,28.83
$GC,9383,0.28,136.3,3171,1938,2176,2094,829.7,19.7,346,9390,0.47,2.20,0.00,0.000,4356,0.191,0.042,3041,3333,2135,2176,2094,0,0,0,0,0,0,25.72,25.91,28.83
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$STATE,15521,end climb,SURFACE_DEPTH_REACHED
$STATE,15521,begin surface coast
$FINISH,-0.2,1.023120
$STATE,15535,end surface coast,CONTROL_FINISHED_OK
$STATE,15535,begin surface
$SM_CCo,15549,43.90,0.575,0,0,904,440.06
$SM_GC,0.64,7.93,0.22,43.90,0.029,0.053,0.575,180,2103,904,-8.60,-1.41,440.06,0,0,0,0,0,0,26.11,26.19,25.14
$IRIDIUM_FIX,2418.11,-15804.00,010510,171743
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.77
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.9,9.474
$10V_AH,10.3,5.043
$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
$DEVICE_SECS,23.650,156.125,419.775,43.900,0.000,57.491,57.794,249.914,41.250,0.000,8.151,1916.258,10977.571,549.149,2541.250,141.325,33.252,1590.123,0.000,2033.309,0.000,255.826,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,435.193,294.525,530.856,449.007,688.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,47.190,6.740,50.180,36.700,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353112
$DATA_FILE_SIZE,54044,631
$CAP_FILE_SIZE,171658,0
$CFSIZE,259252224,254697472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050717,131955,2431.481,-15805.842,38,0.9,38,10.0