version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 96
start: 12 26 116 1 31 28
data:
$ID,573
$MISSION,15
$DIVE,96
$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,-31717.65
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,261216,011934,-4532.315,538.647,33,0.9,33,-24.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-59.2
$GPS2,261216,013104,-4532.237,538.826,18,1.1,19,-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,226.6,95829,-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,15,-0.77,-150.8,218,1879,609,405,0.0,0.0,0,162,0.00,0.00,-143.70,0.000,16386,0.000,0.000,216,1883,3530,3559,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-0.77,-150.8,216,1882,3567,3498,3.2,-2.7,23,193,10.60,2.30,-9.80,0.000,18692,0.261,0.081,2688,3267,3865,3997,3733,0,0,0,0,0,0,25.34,25.61,25.97
$GC,393,-0.88,-150.8,1696,3266,4005,3728,24.0,-8.4,66,401,0.03,2.28,0.00,0.000,5126,0.112,0.049,2652,1854,3868,4007,3730,0,0,0,0,0,0,25.79,25.86,28.83
$GC,526,-0.88,-150.8,2651,1854,4007,3730,37.5,-10.4,91,533,0.08,0.00,0.00,0.000,2054,0.200,0.000,2666,1854,3868,4007,3729,0,0,0,0,0,0,25.91,28.83,28.83
$GC,657,-0.93,-150.8,1684,1853,4006,3728,49.2,-8.7,116,663,0.00,0.00,0.00,0.000,4102,0.000,0.000,2666,1854,3868,4007,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,966,-0.99,-150.8,1712,1853,4006,3728,75.3,-8.2,177,974,0.10,2.28,0.00,0.000,4612,0.102,0.064,2618,458,3868,4007,3729,0,0,0,0,0,0,26.15,26.03,28.83
$GC,1032,-0.90,-150.8,2618,458,4007,3730,82.2,-11.1,187,1039,0.20,2.25,0.00,0.000,3078,0.164,0.048,2664,1872,3868,4007,3729,0,0,0,0,0,0,25.91,26.09,28.83
$GC,1353,-0.96,-150.8,2664,1872,4007,3729,107.8,-7.8,203,1359,0.05,2.28,0.00,0.000,4612,0.161,0.062,2627,471,3868,4007,3729,0,0,0,0,0,0,26.28,26.13,28.83
$GC,1400,-0.96,-150.8,2627,471,4007,3729,111.6,-8.6,205,1404,0.10,2.22,0.00,0.000,3078,0.182,0.047,2642,1877,3868,4007,3730,0,0,0,0,0,0,26.02,26.17,28.83
$GC,1713,-0.96,-150.8,2641,1877,4008,3730,140.4,-8.6,221,1714,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1877,3868,4007,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2014,-0.96,-150.8,2642,1877,4008,3729,166.6,-8.7,236,2015,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1877,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2312,-0.96,-150.8,2642,1877,4008,3729,194.0,-9.4,251,2314,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1877,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2612,-0.96,-150.8,2641,1877,4008,3729,221.2,-8.9,266,2613,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1877,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2912,-0.96,-150.8,2642,1877,4008,3729,247.5,-8.9,281,2914,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1877,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3212,-0.96,-150.8,2642,1877,4008,3729,274.5,-9.0,296,3213,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1877,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3514,-0.96,-150.8,2642,1877,4008,3729,300.8,-8.6,311,3515,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1877,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3811,-0.96,-150.8,2642,1877,4008,3729,328.3,-9.6,326,3815,0.00,2.30,0.00,0.000,2564,0.000,0.066,2642,467,3868,4008,3729,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3869,-0.96,-150.8,2641,467,4007,3729,333.8,-9.7,329,3874,0.00,2.17,0.00,0.000,3078,0.000,0.049,2633,1865,3868,4008,3729,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4188,-0.96,-150.8,2633,1865,4007,3728,365.4,-10.0,345,4189,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1866,3867,4006,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4489,-0.96,-150.8,2633,1865,4007,3728,395.7,-10.4,360,4494,0.00,2.25,0.00,0.000,2564,0.000,0.067,2633,467,3867,4008,3727,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4526,-0.96,-150.8,2633,467,4008,3728,400.1,-10.6,362,4531,0.08,2.25,0.00,0.000,3078,0.200,0.050,2640,1880,3868,4008,3728,0,0,0,0,0,0,26.25,26.38,28.83
$GC,4843,-0.96,-150.8,2639,1879,4007,3726,432.3,-10.0,378,4844,0.00,0.00,0.00,0.000,2054,0.000,0.000,2640,1880,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5143,-0.96,-150.8,2639,1880,4008,3726,462.4,-10.1,393,5147,0.00,2.30,0.00,0.000,2564,0.000,0.067,2643,464,3867,4008,3726,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5202,-0.96,-150.8,2642,463,4008,3726,468.5,-10.7,396,5206,0.00,2.25,0.00,0.000,3078,0.000,0.049,2634,1868,3867,4008,3726,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5519,-0.96,-150.8,2633,1868,4008,3726,500.6,-9.9,412,5520,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1868,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5820,-0.96,-150.8,2633,1868,4008,3725,529.4,-9.3,427,5825,0.00,2.28,0.00,0.000,2564,0.000,0.067,2633,465,3866,4008,3725,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5900,-0.96,-150.8,2633,465,4008,3725,537.8,-10.4,431,5905,0.08,2.22,0.00,0.000,3078,0.202,0.050,2640,1869,3866,4008,3725,0,0,0,0,0,0,26.27,26.40,28.83
$GC,6219,-0.99,-150.8,2640,1871,4008,3724,566.0,-8.7,447,6224,0.00,2.28,0.00,0.000,516,0.000,0.067,2642,464,3866,4008,3724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6297,-0.99,-150.8,2642,464,4008,3724,573.3,-9.1,451,6301,0.00,2.22,0.00,0.000,3078,0.000,0.050,2634,1871,3866,4008,3724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6614,-0.99,-150.8,2633,1871,4008,3723,600.8,-8.6,467,6615,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1871,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6914,-0.99,-150.8,2633,1871,4008,3723,626.8,-8.8,482,6915,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1871,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7213,-0.99,-150.8,2633,1871,4007,3722,652.3,-8.4,497,7215,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1871,3865,4008,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7514,-0.99,-150.8,2633,1871,4008,3722,676.6,-7.6,512,7515,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1871,3865,4008,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7813,-0.99,-150.8,2633,1871,4007,3721,698.6,-7.3,527,7815,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1871,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8113,-0.99,-150.8,2633,1871,4008,3721,721.0,-7.4,542,8117,0.00,2.28,0.00,0.000,2564,0.000,0.067,2633,465,3864,4007,3721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8162,-0.99,-150.8,2633,465,4007,3721,724.0,-7.9,544,8172,0.00,2.22,0.00,0.000,3078,0.000,0.050,2624,1869,3864,4008,3721,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8469,-0.99,-150.8,2624,1869,4007,3721,749.4,-8.2,560,8470,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1869,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8769,-0.99,-150.8,2624,1869,4007,3720,774.1,-8.2,575,8775,0.00,2.30,0.00,0.000,2564,0.000,0.067,2624,463,3863,4007,3720,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8798,-0.99,-150.8,2624,463,4007,3721,776.0,-8.3,576,8803,0.08,2.25,0.00,0.000,3078,0.192,0.050,2631,1874,3863,4007,3720,0,0,0,0,0,0,26.30,26.42,28.83
$GC,9106,-0.99,-150.8,2631,1875,4007,3720,802.6,-8.7,591,9107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1876,3863,4007,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9405,-1.02,-150.8,2631,1876,4007,3720,829.0,-9.0,606,9411,0.00,2.30,0.00,0.000,516,0.000,0.067,2631,467,3863,4006,3720,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9448,-1.02,-150.8,2631,467,4007,3720,833.0,-9.5,608,9452,0.00,2.22,0.00,0.000,3078,0.000,0.050,2622,1878,3863,4007,3720,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9766,-1.02,-150.8,2623,1878,4007,3720,863.8,-9.8,624,9767,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1878,3863,4007,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10065,-1.02,-150.8,2622,1878,4007,3719,892.6,-9.5,639,10069,0.00,2.22,0.00,0.000,2308,0.000,0.068,2612,3276,3863,4007,3719,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10110,-1.02,-150.8,2611,3276,4007,3719,896.8,-10.0,641,10115,0.00,2.22,0.00,0.000,3078,0.000,0.051,2612,1870,3863,4007,3719,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10428,-1.02,-150.8,2612,1870,4007,3718,927.4,-9.5,657,10434,0.00,2.28,0.00,0.000,2564,0.000,0.069,2612,468,3862,4007,3718,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10495,-1.02,-150.8,2612,468,4007,3718,933.5,-10.1,660,10500,0.08,2.22,0.00,0.000,3078,0.201,0.051,2619,1871,3862,4007,3718,0,0,0,0,0,0,26.29,26.41,28.83
$GC,10808,-1.02,-150.8,2618,1871,4007,3718,962.6,-9.0,676,10809,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1871,3862,4007,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11108,-1.02,-150.8,2619,1872,4008,3716,990.5,-9.2,691,11109,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1872,3862,4008,3716,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11226,begin apogee
$GC,11231,-0.19,0.0,2618,1343,4008,3716,1001.5,-9.2,697,11361,0.85,0.00,126.97,1.299,10246,0.139,0.000,2886,1342,3250,3379,3122,0,0,0,0,0,0,26.22,28.83,23.42
$STATE,11362,end apogee,CONTROL_FINISHED_OK
$STATE,11362,begin climb
$GC,11364,0.77,150.8,2886,1342,3379,3123,1004.9,0.0,703,11509,0.93,2.22,134.55,1.256,10756,0.068,0.074,3212,163,2634,2730,2539,0,0,0,0,0,0,24.34,23.29,22.52
$GC,11655,0.51,150.8,3213,163,2722,2539,970.7,15.4,718,11660,0.35,1.95,0.00,0.000,5126,0.165,0.050,3121,1340,2630,2722,2539,0,0,0,0,0,0,24.74,24.89,28.83
$GC,11968,0.46,150.8,3121,1341,2718,2538,935.9,10.9,734,11969,0.05,0.00,0.00,0.000,4102,0.229,0.000,3109,1341,2628,2718,2538,0,0,0,0,0,0,25.63,28.83,28.83
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$STATE,20470,end climb,SURFACE_DEPTH_REACHED
$STATE,20470,begin surface coast
$FINISH,2.0,1.023274
$STATE,20476,end surface coast,CONTROL_FINISHED_OK
$STATE,20476,begin surface
$SM_CCo,20492,185.27,0.053,0,0,517,670.15
$SM_GC,2.16,7.55,1.40,185.27,0.032,0.048,0.053,224,1857,517,-8.40,0.57,670.15,0,0,0,0,0,0,26.30,26.25,26.03
$IRIDIUM_FIX,-4514.89,516.95,221009,141445
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.77
$INTERNAL_PRESSURE,8.88396
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.5,16.552
$10V_AH,10.2,9.889
$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
$DEVICE_SECS,22.250,133.800,369.150,185.275,0.000,58.038,74.097,346.799,25.000,0.000,19.792,3079.392,14260.492,719.275,3155.415,151.835,0.000,1998.272,0.000,2522.206,0.000,148.414,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.652,588.392,711.481,114.426,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353684
$DATA_FILE_SIZE,73462,1267
$CAP_FILE_SIZE,200040,0
$CFSIZE,2097086464,2078998528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,261216,071722,-4532.187,538.853,41,0.9,41,-24.0