version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 94
start: 12 25 116 13 49 35
data:
$ID,573
$MISSION,15
$DIVE,94
$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,-31715.045
$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,29
$R_STBD_OVSHOOT,47
$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
$GPS1,251216,134205,-4532.608,538.971,34,0.8,34,-24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-61.0
$GPS2,251216,134911,-4532.567,539.047,14,1.5,15,-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,226.9,95376,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.77,-150.8,205,1878,610,400,0.0,0.0,0,156,0.00,0.00,-137.25,0.000,16386,0.000,0.000,206,1878,3375,3392,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,158,-0.77,-150.8,205,1878,3392,3358,3.1,-1.6,22,193,10.65,2.35,-17.05,0.000,18692,0.263,0.081,2686,3258,3866,3998,3734,0,0,0,0,0,0,25.41,25.66,26.04
$GC,256,-0.89,-150.8,1728,3257,4005,3731,10.9,-9.8,39,264,0.03,2.25,0.00,0.000,5126,0.112,0.050,2652,1865,3869,4006,3732,0,0,0,0,0,0,25.72,25.79,28.83
$GC,308,-0.89,-150.8,1680,1864,4006,3731,15.8,-9.8,48,315,0.00,2.35,0.00,0.000,2564,0.000,0.067,2652,469,3869,4006,3732,0,0,0,0,0,0,28.83,25.78,28.83
$GC,348,-0.89,-150.8,1696,469,4005,3731,19.9,-10.3,55,356,0.05,2.25,0.00,0.000,3078,0.163,0.049,2660,1849,3869,4006,3732,0,0,0,0,0,0,25.71,25.85,28.83
$GC,398,-0.89,-150.8,1680,1848,4006,3731,24.7,-9.0,64,407,0.00,0.00,0.00,0.000,2054,0.000,0.000,2660,1849,3869,4007,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,532,-0.92,-150.8,1696,1848,4006,3731,38.3,-10.9,89,539,0.00,2.33,0.00,0.000,516,0.000,0.065,2660,468,3869,4007,3732,0,0,0,0,0,0,28.83,25.90,28.83
$GC,606,-0.92,-150.8,1728,468,4006,3731,47.5,-12.4,103,613,0.00,2.25,0.00,0.000,3078,0.000,0.048,2651,1872,3869,4007,3732,0,0,0,0,0,0,28.83,25.97,28.83
$GC,923,-0.92,-150.8,2651,1872,4008,3732,84.7,-11.4,159,929,0.00,2.30,0.00,0.000,2564,0.000,0.064,2651,468,3870,4008,3732,0,0,0,0,0,0,28.83,26.03,28.83
$GC,990,-0.92,-150.8,2651,467,4007,3732,92.2,-12.2,162,994,0.00,2.28,0.00,0.000,3078,0.000,0.048,2642,1871,3870,4008,3732,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1304,-0.92,-150.8,2642,1872,4008,3732,130.0,-11.7,178,1309,0.00,2.22,0.00,0.000,2308,0.000,0.064,2632,3265,3870,4009,3732,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1350,-0.92,-150.8,2631,3264,4009,3733,134.8,-11.7,180,1355,0.10,2.22,0.00,0.000,3078,0.171,0.049,2656,1866,3870,4009,3732,0,0,0,0,0,0,26.03,26.16,28.83
$GC,1663,-0.97,-150.8,2655,1866,4009,3732,168.8,-10.2,196,1668,0.00,2.25,0.00,0.000,4612,0.000,0.066,2656,469,3870,4009,3732,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1726,-1.00,-150.8,2656,468,4009,3732,175.1,-10.5,199,1730,0.00,2.25,0.00,0.000,5126,0.000,0.049,2647,1866,3870,4009,3732,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2045,-1.00,-150.8,2647,1867,4009,3732,203.8,-8.4,215,2046,0.00,0.00,0.00,0.000,4102,0.000,0.000,2647,1867,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-1.00,-150.8,2647,1867,4009,3732,227.8,-7.6,230,2345,0.00,0.00,0.00,0.000,4102,0.000,0.000,2647,1867,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2645,-1.03,-150.8,2647,1867,4009,3733,249.1,-7.0,245,2651,0.10,2.25,0.00,0.000,4612,0.099,0.063,2597,468,3870,4009,3732,0,0,0,0,0,0,26.39,26.26,28.83
$GC,2728,-0.96,-150.8,2596,468,4009,3732,256.8,-9.6,249,2733,0.20,2.22,0.00,0.000,3078,0.168,0.049,2642,1870,3870,4009,3732,0,0,0,0,0,0,26.13,26.31,28.83
$GC,3041,-0.96,-150.8,2642,1871,4009,3732,280.4,-7.5,265,3043,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1871,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-0.96,-150.8,2642,1871,4009,3732,303.6,-7.9,280,3342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1871,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-0.96,-150.8,2642,1871,4009,3732,328.8,-8.8,295,3641,0.00,0.00,0.00,0.000,2054,0.000,0.000,2643,1871,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3940,-0.96,-150.8,2642,1870,4009,3731,356.4,-9.4,310,3941,0.00,0.00,0.00,0.000,2054,0.000,0.000,2643,1871,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4240,-0.96,-150.8,2642,1870,4009,3732,383.1,-8.7,325,4246,0.00,2.25,0.00,0.000,2308,0.000,0.067,2632,3275,3870,4010,3731,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4283,-0.99,-150.8,1760,3274,4009,3730,386.5,-8.6,327,4287,0.00,2.20,0.00,0.000,3078,0.000,0.050,2633,1867,3871,4011,3731,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4601,-0.99,-150.8,2633,1868,4010,3730,415.7,-9.3,343,4602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1868,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,-0.99,-150.8,2633,1867,4010,3731,444.6,-9.7,358,4904,0.00,2.25,0.00,0.000,2564,0.000,0.067,2633,467,3870,4010,3730,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4996,-0.99,-150.8,2633,467,4010,3730,454.6,-10.6,363,5000,0.00,2.22,0.00,0.000,3078,0.000,0.050,2624,1875,3870,4010,3730,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5314,-0.99,-150.8,2623,1876,4010,3730,487.5,-10.4,379,5315,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1876,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5611,-0.99,-150.8,2623,1876,4010,3729,519.5,-10.7,394,5612,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5912,-0.99,-150.8,2623,1876,4010,3729,551.6,-10.5,409,5913,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6211,-0.99,-150.8,2623,1876,4010,3728,583.0,-10.4,424,6212,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6512,-0.99,-150.8,2623,1876,4010,3728,612.9,-9.5,439,6513,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3868,4010,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6813,-0.99,-150.8,2624,1876,4010,3726,639.9,-8.3,454,6814,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1876,3868,4010,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7112,-0.99,-150.8,2623,1876,4010,3726,662.7,-7.1,469,7113,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7412,-0.99,-150.8,2624,1876,4010,3726,684.8,-7.4,484,7413,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7712,-0.99,-150.8,2623,1876,4010,3725,706.6,-7.1,499,7713,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8012,-0.99,-150.8,2623,1876,4010,3724,728.4,-7.8,514,8013,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8312,-0.99,-150.8,2624,1876,4010,3724,750.7,-7.5,529,8313,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8612,-0.99,-150.8,2623,1876,4009,3723,772.1,-7.0,544,8613,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3866,4009,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8912,-0.99,-150.8,2624,1876,4010,3723,792.1,-6.6,559,8913,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3866,4009,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9212,-0.99,-150.8,2623,1876,4009,3722,812.4,-7.0,574,9213,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9514,-0.99,-150.8,2623,1876,4009,3722,835.1,-7.7,589,9515,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1876,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9812,-0.99,-150.8,2623,1876,4009,3722,858.9,-8.0,604,9813,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1876,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10112,-0.99,-150.8,2623,1876,4009,3722,882.5,-7.9,619,10113,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1876,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10413,-0.99,-150.8,2623,1876,4009,3721,907.4,-8.3,634,10414,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1876,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10712,-1.02,-150.8,2623,1876,4009,3721,932.0,-8.1,649,10714,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1876,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11013,-1.05,-150.8,2623,1876,4009,3721,955.9,-7.9,664,11014,0.00,0.00,0.00,0.000,4102,0.000,0.000,2624,1876,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11314,-1.08,-150.8,2623,1876,4009,3721,979.8,-8.0,679,11320,0.00,2.22,0.00,0.000,4356,0.000,0.068,2613,3273,3865,4009,3721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11355,-1.08,-150.8,2613,3274,4009,3721,983.2,-8.1,681,11359,0.00,2.20,0.00,0.000,5126,0.000,0.052,2613,1870,3865,4010,3721,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,11405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11405,begin apogee
$GC,11410,-0.19,0.0,2613,1330,4009,3720,987.8,-8.5,684,11547,0.88,0.00,128.62,1.292,10246,0.143,0.000,2886,1329,3249,3377,3122,0,0,0,0,0,0,26.24,28.83,23.40
$STATE,11548,end apogee,CONTROL_FINISHED_OK
$STATE,11548,begin climb
$GC,11549,0.77,150.8,2886,1329,3377,3123,991.1,0.0,691,11692,0.90,2.20,134.45,1.245,10756,0.066,0.073,3209,161,2634,2730,2539,0,0,0,0,0,0,24.39,23.29,22.52
$GC,11757,0.53,150.8,3209,161,2723,2540,971.7,13.9,701,11764,0.32,2.03,0.00,0.000,5126,0.164,0.051,3127,1339,2631,2723,2540,0,0,0,0,0,0,24.21,24.35,28.83
$GC,12065,0.47,155.9,3126,1339,2717,2539,938.6,9.6,717,12072,0.08,0.00,4.68,0.773,12294,0.195,0.000,3111,1339,2614,2700,2528,0,0,0,0,0,0,25.44,28.83,24.44
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$STATE,20438,end climb,SURFACE_DEPTH_REACHED
$STATE,20438,begin surface coast
$FINISH,1.6,1.005490
$STATE,20465,end surface coast,CONTROL_FINISHED_OK
$STATE,20466,begin surface
$SM_CCo,20481,189.88,0.053,0,0,515,670.15
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$TT8_MAMPS,0.026964,0.026964
$HUMID,48.81
$INTERNAL_PRESSURE,8.88396
$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,22.5,16.244
$10V_AH,10.3,9.702
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,353644
$DATA_FILE_SIZE,73552,1244
$CAP_FILE_SIZE,191791,0
$CFSIZE,2097086464,2079293440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251216,193522,-4532.599,538.758,41,0.9,41,-24.0