version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 29
start: 12 9 116 16 49 17
data:
$ID,573
$MISSION,15
$DIVE,29
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,5
$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,340
$T_MISSION,380
$T_ABORT,400
$T_TURN,225
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52758
$MASS_COMP,0
$NAV_MODE,1
$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,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,670
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-31632.518
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3858
$C_PITCH,2954
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1967
$C_ROLL_CLIMB,1333
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,3200
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.331184
$PRESSURE_SLOPE,0.00011693723
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,5
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,131
$DEVICE4,151
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$GPS1,091216,163758,-4521.465,612.649,39,0.9,39,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-63.8
$GPS2,091216,164853,-4521.390,612.788,16,1.0,17,-24.3
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SOUTH
$TGT_LATLONG,-4620.000,470.000
$TGT_RADIUS,1000.000
$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,240.8,135013,-17.9,-9.804,-20.77,2280
$D_GRID,1000
$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,14,-0.78,-145.9,227,1976,551,364,0.0,0.0,0,162,0.00,0.00,-144.27,0.000,16386,0.000,0.000,228,1980,3593,3637,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-0.78,-145.9,228,1980,3642,3547,3.2,-1.8,23,189,10.80,2.38,-5.47,0.000,18948,0.269,0.077,2693,558,3796,3908,3685,0,0,0,0,0,0,25.29,25.49,25.82
$GC,282,-0.86,-145.9,1712,558,3917,3677,15.6,-9.0,44,289,0.00,2.33,0.00,0.000,5126,0.000,0.053,2684,1962,3799,3920,3678,0,0,0,0,0,0,28.83,25.63,28.83
$GC,334,-0.94,-145.9,1696,1960,3919,3676,20.1,-8.9,53,341,0.10,0.00,0.00,0.000,4102,0.106,0.000,2640,1962,3799,3921,3677,0,0,0,0,0,0,25.72,28.83,28.83
$GC,463,-0.94,-145.9,1672,1960,3920,3674,33.4,-10.7,78,470,0.00,0.00,0.00,0.000,2054,0.000,0.000,2640,1962,3799,3922,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,596,-0.94,-145.9,2639,1962,3924,3675,47.0,-9.8,103,602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1962,3799,3924,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,-0.94,-145.9,1696,1960,3923,3673,77.3,-9.4,164,910,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1962,3799,3925,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1217,-0.94,-145.9,2639,1962,3925,3674,106.9,-9.5,184,1218,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1962,3799,3925,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1519,-0.94,-145.9,2639,1962,3926,3674,136.8,-10.3,199,1524,0.00,2.30,0.00,0.000,2564,0.000,0.064,2640,554,3800,3926,3674,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1584,-0.94,-145.9,2639,553,3926,3674,143.4,-10.9,202,1589,0.10,2.30,0.00,0.000,3078,0.182,0.052,2653,1971,3800,3926,3674,0,0,0,0,0,0,26.03,26.14,28.83
$GC,1899,-0.98,-145.9,2653,1972,3926,3674,174.4,-9.6,218,1900,0.00,0.00,0.00,0.000,4102,0.000,0.000,2653,1972,3799,3925,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2198,-1.03,-145.9,2653,1971,3926,3674,203.1,-9.6,233,2200,0.10,0.00,0.00,0.000,4102,0.101,0.000,2607,1971,3800,3927,3674,0,0,0,0,0,0,26.29,28.83,28.83
$GC,2498,-0.99,-145.9,2606,1971,3926,3674,235.1,-10.4,248,2504,0.10,2.28,0.00,0.000,2564,0.181,0.063,2630,556,3799,3926,3673,0,0,0,0,0,0,26.19,26.22,28.83
$GC,2551,-0.96,-145.9,2630,556,3926,3673,239.1,-10.0,250,2559,0.05,2.28,0.00,0.000,3078,0.169,0.052,2639,1964,3799,3926,3673,0,0,0,0,0,0,26.15,26.25,28.83
$GC,2857,-0.96,-145.9,2638,1964,3926,3673,267.3,-8.6,266,2858,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1964,3799,3926,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3158,-0.96,-145.9,2639,1964,3926,3673,294.9,-9.3,281,3159,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1964,3799,3926,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3456,-0.96,-145.9,2639,1964,3926,3673,324.5,-10.1,296,3457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1964,3799,3926,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3757,-0.96,-145.9,2639,1964,3926,3672,353.4,-9.7,311,3761,0.00,2.30,0.00,0.000,2564,0.000,0.066,2639,555,3799,3926,3672,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3792,-0.96,-145.9,2639,555,3926,3672,357.1,-10.1,313,3797,0.05,2.25,0.00,0.000,3078,0.225,0.052,2641,1967,3799,3926,3672,0,0,0,0,0,0,26.27,26.34,28.83
$GC,4110,-0.99,-145.9,2641,1968,3926,3672,387.7,-9.5,329,4116,0.00,2.30,0.00,0.000,4612,0.000,0.066,2642,552,3799,3926,3672,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4149,-0.99,-145.9,2641,552,3926,3672,391.7,-9.9,331,4153,0.00,2.25,0.00,0.000,1030,0.000,0.053,2632,1972,3799,3926,3672,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4465,-0.99,-145.9,2632,1973,3926,3672,421.8,-9.0,347,4466,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1973,3798,3926,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4764,-0.99,-145.9,2632,1972,3926,3671,447.9,-8.6,362,4768,0.00,2.33,0.00,0.000,2564,0.000,0.067,2633,547,3798,3926,3671,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4824,-0.99,-145.9,2632,547,3926,3671,453.0,-8.9,365,4828,0.00,2.28,0.00,0.000,3078,0.000,0.053,2623,1969,3798,3926,3671,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5136,-0.99,-145.9,2623,1968,3926,3670,479.8,-8.2,381,5137,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1969,3797,3925,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5435,-0.99,-145.9,2623,1968,3926,3670,503.3,-7.5,396,5439,0.00,2.30,0.00,0.000,2564,0.000,0.067,2623,557,3798,3926,3670,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5519,-0.99,-145.9,2623,558,3926,3670,509.5,-8.3,400,5524,0.08,2.25,0.00,0.000,3078,0.207,0.053,2629,1973,3798,3926,3670,0,0,0,0,0,0,26.30,26.40,28.83
$GC,5826,-0.99,-145.9,2628,1973,3926,3669,532.1,-7.0,415,5827,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1973,3797,3926,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6127,-0.99,-145.9,2628,1973,3926,3669,553.6,-7.4,430,6133,0.00,2.30,0.00,0.000,2564,0.000,0.065,2628,556,3797,3925,3669,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6199,-0.99,-145.9,2629,556,3926,3669,558.5,-7.8,433,6205,0.00,2.28,0.00,0.000,3078,0.000,0.052,2620,1971,3797,3926,3669,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6506,-0.99,-145.9,2620,1970,3926,3668,584.0,-8.1,449,6512,0.00,2.30,0.00,0.000,2564,0.000,0.066,2620,556,3797,3926,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6559,-0.99,-145.9,2620,556,3926,3667,587.5,-8.3,451,6566,0.10,2.25,0.00,0.000,3078,0.188,0.053,2634,1970,3797,3926,3668,0,0,0,0,0,0,26.32,26.42,28.83
$GC,6867,-1.03,-145.9,2634,1970,3926,3667,613.2,-8.1,467,6872,0.00,2.28,0.00,0.000,4612,0.000,0.066,2635,556,3796,3926,3667,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6908,-1.03,-145.9,1792,556,3925,3666,616.5,-8.3,469,6913,0.00,2.28,0.00,0.000,1030,0.000,0.053,2626,1965,3796,3926,3667,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7227,-1.03,-145.9,2625,1965,3926,3667,645.0,-9.3,485,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1965,3796,3926,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7526,-1.03,-145.9,2625,1965,3926,3667,672.7,-9.2,500,7530,0.00,2.30,0.00,0.000,516,0.000,0.067,2626,555,3796,3926,3666,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7629,-1.03,-145.9,2625,555,3926,3666,682.2,-10.0,505,7634,0.00,2.28,0.00,0.000,3078,0.000,0.052,2616,1969,3796,3926,3666,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7942,-1.03,-145.9,2616,1969,3926,3666,713.1,-9.7,521,7943,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1968,3796,3926,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8241,-1.03,-145.9,2616,1968,3926,3665,742.7,-10.1,536,8245,0.00,2.30,0.00,0.000,2564,0.000,0.065,2617,553,3795,3926,3665,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8297,-1.03,-145.9,2616,554,3926,3666,748.6,-10.7,539,8301,0.00,2.25,0.00,0.000,3078,0.000,0.054,2607,1967,3795,3926,3665,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8613,-1.03,-145.9,2607,1968,3926,3665,781.3,-10.2,555,8617,0.00,2.30,0.00,0.000,2564,0.000,0.066,2607,554,3795,3926,3665,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8656,-1.03,-145.9,2607,554,3926,3665,785.4,-10.5,557,8661,0.05,2.28,0.00,0.000,3078,0.177,0.053,2614,1968,3795,3926,3665,0,0,0,0,0,0,26.33,26.45,28.83
$GC,8969,-1.03,-145.9,2614,1968,3926,3665,818.0,-10.2,573,8970,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1968,3795,3926,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9268,-1.03,-145.9,2614,1969,3926,3664,849.5,-10.6,588,9269,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1968,3795,3926,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9568,-1.03,-145.9,2614,1969,3926,3664,880.9,-10.5,603,9572,0.00,2.30,0.00,0.000,2564,0.000,0.067,2614,557,3795,3926,3664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9667,-1.03,-145.9,2613,556,3926,3664,891.2,-10.8,608,9671,0.00,2.28,0.00,0.000,3078,0.000,0.053,2606,1968,3795,3926,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9984,-1.03,-145.9,2606,1968,3926,3664,922.5,-9.4,624,9991,0.03,2.28,0.00,0.000,2564,0.285,0.065,2614,555,3794,3926,3663,0,0,0,0,0,0,26.53,26.43,28.83
$GC,10034,-1.03,-145.9,2614,555,3926,3663,926.2,-9.3,626,10038,0.00,2.25,0.00,0.000,3078,0.000,0.052,2606,1970,3795,3926,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10341,-1.03,-145.9,2605,1971,3926,3663,953.3,-8.2,641,10347,0.03,2.30,0.00,0.000,2564,0.283,0.063,2614,554,3794,3926,3663,0,0,0,0,0,0,26.52,26.43,28.83
$GC,10388,-1.03,-145.9,2614,554,3926,3664,956.7,-8.2,643,10393,0.00,2.25,0.00,0.000,3078,0.000,0.054,2606,1967,3794,3926,3663,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10695,-1.03,-145.9,2606,1967,3926,3663,981.6,-7.7,658,10697,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1967,3794,3926,3662,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10933,begin apogee
$GC,10938,-0.19,0.0,2606,1326,3926,3662,1000.4,-7.8,670,11066,0.90,0.00,124.72,1.307,10246,0.147,0.000,2885,1326,3200,3320,3080,0,0,0,0,0,0,26.33,28.83,23.32
$STATE,11067,end apogee,CONTROL_FINISHED_OK
$STATE,11067,begin climb
$GC,11069,0.78,145.9,2885,1326,3320,3080,1001.8,0.0,676,11208,0.93,2.22,129.68,1.261,10756,0.072,0.073,3208,165,2605,2691,2519,0,0,0,0,0,0,24.25,23.59,22.80
$GC,11264,0.57,145.9,3208,165,2684,2519,980.8,14.5,686,11269,0.28,2.03,0.00,0.000,5126,0.167,0.052,3139,1339,2601,2684,2519,0,0,0,0,0,0,24.22,24.36,28.83
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$STATE,20550,end climb,SURFACE_DEPTH_REACHED
$STATE,20550,begin surface coast
$FINISH,1.7,1.023401
$STATE,20577,end surface coast,CONTROL_FINISHED_OK
$STATE,20577,begin surface
$SM_CCo,20592,209.27,0.054,0,0,466,670.15
$SM_GC,2.29,7.75,1.05,209.27,0.041,0.054,0.054,229,1961,466,-8.40,-0.99,670.15,0,0,0,0,0,0,26.08,26.03,25.84
$IRIDIUM_FIX,-4505.71,608.56,061009,000032
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.83
$INTERNAL_PRESSURE,8.85466
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.8,6.372
$10V_AH,10.3,3.613
$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
$DEVICE_SECS,22.125,134.525,325.900,209.275,0.000,27.102,45.388,449.674,25.000,0.000,18.581,3056.790,14390.848,724.801,3142.646,123.699,0.000,1991.357,0.000,2501.853,0.000,148.423,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.482,591.882,689.643,109.362,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353692
$DATA_FILE_SIZE,73566,1262
$CAP_FILE_SIZE,202320,0
$CFSIZE,2097086464,2087780352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091216,223703,-4521.472,612.714,30,1.3,30,-24.3