version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 86
start: 12 23 116 15 14 7
data:
$ID,573
$MISSION,15
$DIVE,86
$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,155
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-31704.92
$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,1869
$C_ROLL_CLIMB,1333
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,3250
$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
$GPS1,231216,150551,-4533.404,542.410,36,0.9,36,-24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-59.3
$GPS2,231216,151342,-4533.386,542.476,18,0.9,20,-24.0
$SPEED_LIMITS,0.170,0.262
$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,229.7,95797,-17.6,-9.804,-20.49,2356
$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,-0.77,-150.8,217,1877,602,411,0.0,0.0,0,142,0.00,0.00,-124.93,0.000,16386,0.000,0.000,216,1878,3155,3145,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,145,-0.77,-150.8,216,1878,3146,3166,3.1,-2.1,20,190,10.55,0.00,-28.45,0.000,18694,0.260,0.000,2698,1879,3865,3998,3733,0,0,0,0,0,0,25.39,28.83,26.03
$GC,234,-0.85,-150.8,1728,1878,4003,3730,8.5,-8.4,35,242,0.05,2.35,0.00,0.000,4612,0.163,0.065,2666,462,3867,4004,3731,0,0,0,0,0,0,25.86,25.72,28.83
$GC,295,-0.85,-150.8,1696,462,4003,3730,16.0,-13.7,46,303,0.05,2.30,0.00,0.000,3078,0.174,0.050,2685,1863,3868,4005,3731,0,0,0,0,0,0,25.64,25.83,28.83
$GC,346,-0.94,-150.8,1704,1862,4004,3730,21.4,-10.3,55,354,0.10,0.00,0.00,0.000,4102,0.099,0.000,2634,1864,3868,4005,3731,0,0,0,0,0,0,25.90,28.83,28.83
$GC,478,-0.94,-150.8,1664,1862,4005,3730,35.7,-11.3,80,485,0.08,0.00,0.00,0.000,2054,0.195,0.000,2650,1864,3868,4006,3731,0,0,0,0,0,0,25.89,28.83,28.83
$GC,607,-0.94,-150.8,2649,1864,4006,3731,50.4,-11.9,105,614,0.00,0.00,0.00,0.000,2054,0.000,0.000,2650,1864,3868,4006,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,931,-0.94,-150.8,2649,1864,4006,3730,87.0,-11.5,159,932,0.00,0.00,0.00,0.000,2054,0.000,0.000,2650,1864,3868,4006,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1228,-0.94,-150.8,2649,1864,4007,3730,120.6,-10.6,174,1232,0.00,2.25,0.00,0.000,2308,0.000,0.066,2640,3273,3868,4006,3731,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1349,-0.97,-150.8,2639,3273,4007,3729,133.3,-10.8,180,1353,0.00,2.22,0.00,0.000,1030,0.000,0.050,2641,1857,3868,4007,3729,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1662,-0.97,-150.8,2641,1857,4008,3729,167.6,-11.0,196,1667,0.00,2.22,0.00,0.000,516,0.000,0.066,2641,471,3869,4008,3730,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1729,-0.97,-150.8,2641,471,4008,3729,174.5,-11.4,199,1734,0.00,2.22,0.00,0.000,3078,0.000,0.049,2632,1872,3868,4008,3729,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2036,-0.97,-150.8,2631,1872,4008,3729,207.7,-9.8,214,2037,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1872,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,-0.97,-150.8,2631,1872,4008,3729,234.8,-8.7,229,2339,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1872,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2635,-0.97,-150.8,2631,1872,4008,3730,259.8,-7.8,244,2636,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1872,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2936,-0.97,-150.8,2631,1872,4008,3729,283.6,-8.1,259,2937,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1872,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3235,-0.97,-150.8,2631,1872,4008,3729,309.2,-8.9,274,3236,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1872,3868,4007,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3536,-0.97,-150.8,2631,1872,4008,3729,335.6,-8.9,289,3542,0.00,2.30,0.00,0.000,2564,0.000,0.066,2632,466,3868,4008,3729,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3588,-0.97,-150.8,2631,467,4008,3729,339.4,-9.1,291,3595,0.05,2.25,0.00,0.000,3078,0.224,0.050,2634,1880,3868,4008,3729,0,0,0,0,0,0,26.25,26.36,28.83
$GC,3896,-0.97,-150.8,2634,1880,4008,3729,368.0,-9.0,307,3897,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1880,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4197,-0.97,-150.8,2635,1880,4008,3729,395.3,-9.3,322,4198,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1880,3868,4008,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4495,-0.97,-150.8,2635,1880,4008,3728,422.9,-9.3,337,4496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1880,3868,4008,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4794,-0.97,-150.8,2634,1879,4008,3728,452.5,-10.0,352,4796,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1880,3867,4007,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5095,-0.97,-150.8,2635,1879,4007,3727,483.5,-10.4,367,5096,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1880,3867,4008,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5395,-0.97,-150.8,2635,1880,4008,3726,514.7,-10.3,382,5399,0.00,2.33,0.00,0.000,2564,0.000,0.067,2635,461,3867,4008,3727,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5451,-0.97,-150.8,2635,461,4008,3727,520.7,-10.8,385,5455,0.00,2.22,0.00,0.000,3078,0.000,0.050,2626,1871,3867,4008,3726,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5767,-0.97,-150.8,2625,1871,4008,3726,553.7,-10.0,401,5768,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1871,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6066,-0.97,-150.8,2626,1871,4008,3726,583.0,-9.6,416,6068,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1871,3866,4008,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6367,-0.97,-150.8,2626,1871,4007,3725,609.6,-8.6,431,6373,0.00,2.25,0.00,0.000,2308,0.000,0.069,2615,3273,3866,4008,3724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6407,-0.97,-150.8,2615,3273,4008,3724,613.0,-8.7,433,6413,0.10,2.17,0.00,0.000,3078,0.168,0.051,2641,1864,3866,4008,3724,0,0,0,0,0,0,26.29,26.42,28.83
$GC,6728,-1.02,-150.8,2641,1864,4008,3723,637.8,-8.0,449,6734,0.00,2.28,0.00,0.000,4612,0.000,0.069,2643,463,3866,4008,3724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6810,-1.02,-150.8,2643,462,4007,3724,644.9,-8.9,453,6814,0.00,2.22,0.00,0.000,5126,0.000,0.051,2634,1873,3866,4008,3724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7122,-1.02,-150.8,2634,1874,4008,3723,672.6,-8.7,469,7128,0.00,2.33,0.00,0.000,4612,0.000,0.068,2634,461,3865,4007,3723,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7155,-1.02,-150.8,2634,461,4007,3723,674.4,-8.9,470,7162,0.00,2.22,0.00,0.000,1030,0.000,0.051,2625,1872,3865,4007,3723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7461,-1.02,-150.8,2625,1872,4008,3723,704.5,-9.5,486,7466,0.00,2.25,0.00,0.000,260,0.000,0.068,2614,3274,3865,4008,3723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7512,-1.02,-150.8,2614,3275,4008,3722,708.1,-9.6,488,7519,0.00,2.20,0.00,0.000,3078,0.000,0.051,2615,1870,3866,4009,3723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7818,-1.02,-150.8,2614,1870,4008,3722,739.8,-9.9,504,7822,0.00,2.25,0.00,0.000,2564,0.000,0.068,2614,469,3865,4008,3722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7895,-0.99,-150.8,2614,468,4007,3722,748.0,-10.7,508,7900,0.10,2.22,0.00,0.000,3078,0.186,0.052,2629,1872,3864,4007,3722,0,0,0,0,0,0,26.27,26.41,28.83
$GC,8213,-0.99,-150.8,2629,1873,4007,3722,777.5,-9.2,524,8214,0.00,0.00,0.00,0.000,2054,0.000,0.000,2630,1873,3864,4007,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8513,-0.99,-150.8,2629,1873,4008,3722,806.4,-9.6,539,8514,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1873,3864,4007,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8812,-1.02,-150.8,2628,1873,4008,3721,834.8,-9.3,554,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1873,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9113,-1.05,-150.8,2629,1873,4007,3721,862.4,-9.1,569,9119,0.00,2.30,0.00,0.000,4612,0.000,0.069,2630,469,3864,4007,3721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9180,-1.05,-150.8,2630,469,4007,3721,868.4,-9.8,572,9184,0.00,2.22,0.00,0.000,5126,0.000,0.050,2621,1870,3864,4007,3721,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9488,-1.05,-150.8,2621,1870,4007,3720,898.3,-9.1,587,9489,0.00,0.00,0.00,0.000,4102,0.000,0.000,2621,1871,3864,4007,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9789,-1.05,-150.8,2620,1871,4007,3721,925.2,-8.7,602,9790,0.00,0.00,0.00,0.000,4102,0.000,0.000,2621,1871,3864,4007,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10087,-1.05,-150.8,2620,1871,4007,3720,951.9,-8.9,617,10093,0.00,2.25,0.00,0.000,4356,0.000,0.067,2610,3275,3863,4007,3720,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10160,-1.05,-150.8,2610,3275,4007,3720,957.6,-9.4,620,10167,0.00,2.20,0.00,0.000,3078,0.000,0.051,2610,1869,3863,4007,3720,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10467,-1.05,-150.8,2610,1869,4007,3720,987.8,-9.3,636,10473,0.00,2.28,0.00,0.000,2564,0.000,0.068,2610,467,3863,4007,3720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10536,-1.05,-150.8,2610,467,4007,3720,993.7,-9.7,639,10540,0.00,2.22,0.00,0.000,3078,0.000,0.051,2601,1871,3863,4007,3720,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,10600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10600,begin apogee
$GC,10605,-0.19,0.0,2600,1339,4007,3720,1001.1,-10.0,642,10737,0.93,0.00,128.15,1.304,10246,0.144,0.000,2889,1339,3249,3377,3122,0,0,0,0,0,0,26.23,28.83,23.37
$STATE,10738,end apogee,CONTROL_FINISHED_OK
$STATE,10738,begin climb
$GC,10739,0.77,150.8,2889,1339,3377,3122,1004.4,0.0,648,10884,0.90,2.22,134.70,1.257,10756,0.066,0.073,3210,163,2634,2729,2540,0,0,0,0,0,0,24.32,23.22,22.44
$GC,11009,0.50,150.8,3210,163,2721,2540,974.0,15.6,662,11015,0.35,1.98,0.00,0.000,5126,0.162,0.051,3119,1341,2630,2721,2540,0,0,0,0,0,0,24.56,24.70,28.83
$GC,11322,0.46,150.8,3119,1341,2717,2539,939.6,11.0,678,11329,0.05,2.30,0.00,0.000,4356,0.233,0.056,3106,2733,2628,2717,2539,0,0,0,0,0,0,25.54,25.49,28.83
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$STATE,20033,end climb,SURFACE_DEPTH_REACHED
$STATE,20033,begin surface coast
$FINISH,1.7,1.002309
$STATE,20061,end surface coast,CONTROL_FINISHED_OK
$STATE,20061,begin surface
$SM_CCo,20076,201.45,0.054,0,0,515,670.15
$SM_GC,2.39,7.57,0.88,201.45,0.037,0.055,0.054,227,1856,515,-8.41,-1.39,670.15,0,0,0,0,0,0,26.40,26.33,26.08
$IRIDIUM_FIX,-4514.89,538.96,191009,222228
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.14
$INTERNAL_PRESSURE,8.86442
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.4,15.004
$10V_AH,10.3,8.961
$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,21.525,131.725,337.125,201.450,0.000,24.591,33.390,296.866,25.000,0.000,21.295,2963.022,13973.923,724.153,2948.394,137.918,0.000,1983.931,0.000,2467.316,0.000,148.399,0.000
$DEVICE_MAMPS,260.100,80.325,1303.560,54.315,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.477,560.914,657.695,105.965,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353640
$DATA_FILE_SIZE,70381,1216
$CAP_FILE_SIZE,193547,0
$CFSIZE,2097086464,2080342016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,231216,205303,-4533.248,541.997,23,0.9,23,-24.0