version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 105
start: 12 28 116 6 32 5
data:
$ID,573
$MISSION,15
$DIVE,105
$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,-31728.943
$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,27
$R_STBD_OVSHOOT,38
$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
$GPS1,281216,062333,-4529.465,541.810,30,0.9,30,-24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-57.4
$GPS2,281216,063140,-4529.396,541.912,25,0.8,26,-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,227.5,102218,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.77,-150.8,209,1861,609,402,0.0,0.0,0,148,0.00,0.00,-131.23,0.000,16386,0.000,0.000,207,1862,3290,3291,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,151,-0.77,-150.8,207,1862,3298,3283,3.0,-1.7,21,191,10.52,2.33,-21.02,0.000,18692,0.257,0.079,2690,3270,3866,4000,3732,0,0,0,0,0,0,25.37,25.65,26.06
$GC,314,-0.89,-150.8,1696,3269,4006,3728,16.6,-9.0,51,323,0.05,2.28,0.00,0.000,5126,0.071,0.050,2645,1857,3868,4007,3729,0,0,0,0,0,0,25.79,25.84,28.83
$GC,366,-0.89,-150.8,1672,1856,4006,3727,22.4,-11.1,60,373,0.08,0.00,0.00,0.000,2054,0.194,0.000,2659,1857,3868,4007,3729,0,0,0,0,0,0,25.86,28.83,28.83
$GC,496,-0.89,-150.8,1672,1856,4006,3728,35.0,-8.5,85,504,0.00,0.00,0.00,0.000,2054,0.000,0.000,2659,1857,3868,4007,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,627,-0.93,-150.8,1704,1856,4006,3728,47.5,-8.6,110,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1857,3868,4007,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,936,-0.97,-150.8,1696,1856,4006,3727,75.6,-9.3,171,943,0.00,2.30,0.00,0.000,4612,0.000,0.065,2660,465,3868,4007,3729,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1101,-0.97,-150.8,2659,465,4007,3729,92.2,-10.2,186,1106,0.00,2.22,0.00,0.000,5126,0.000,0.047,2651,1868,3868,4007,3729,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1418,-1.00,-150.8,2651,1868,4008,3729,123.2,-10.2,202,1420,0.05,0.00,0.00,0.000,4102,0.160,0.000,2610,1868,3868,4008,3729,0,0,0,0,0,0,26.31,28.83,28.83
$GC,1719,-0.95,-150.8,2610,1868,4009,3728,159.1,-11.9,217,1725,0.12,2.25,0.00,0.000,2564,0.171,0.062,2647,468,3868,4008,3729,0,0,0,0,0,0,26.09,26.17,28.83
$GC,1766,-0.91,-150.8,2647,468,4008,3728,163.7,-11.6,219,1771,0.08,2.22,0.00,0.000,3078,0.192,0.047,2654,1872,3868,4008,3729,0,0,0,0,0,0,26.10,26.23,28.83
$GC,2074,-0.96,-150.8,2654,1872,4009,3729,195.5,-10.4,234,2075,0.00,0.00,0.00,0.000,4102,0.000,0.000,2654,1872,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2374,-1.00,-150.8,2654,1873,4009,3729,227.0,-10.6,249,2376,0.08,0.00,0.00,0.000,4102,0.124,0.000,2611,1873,3869,4009,3729,0,0,0,0,0,0,26.36,28.83,28.83
$GC,2673,-0.96,-150.8,2611,1873,4009,3729,261.6,-11.5,264,2675,0.12,0.00,0.00,0.000,2054,0.163,0.000,2643,1874,3869,4009,3729,0,0,0,0,0,0,26.20,28.83,28.83
$GC,2974,-0.96,-150.8,2643,1874,4009,3729,290.4,-9.1,279,2980,0.00,2.28,0.00,0.000,2564,0.000,0.065,2646,461,3869,4009,3729,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3047,-0.96,-150.8,2646,461,4009,3729,296.3,-9.6,282,3055,0.00,2.25,0.00,0.000,3078,0.000,0.049,2637,1866,3869,4009,3729,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3355,-0.96,-150.8,2637,1866,4009,3729,325.3,-8.9,298,3356,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1866,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3654,-0.96,-150.8,2637,1866,4009,3729,352.3,-9.1,313,3656,0.00,0.00,0.00,0.000,2054,0.000,0.000,2638,1866,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3954,-0.96,-150.8,2637,1866,4009,3728,380.1,-9.5,328,3955,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1865,3868,4009,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4254,-0.96,-150.8,2637,1866,4009,3727,408.0,-9.2,343,4260,0.00,2.30,0.00,0.000,2564,0.000,0.066,2638,459,3868,4009,3727,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4317,-0.96,-150.8,2637,459,4009,3727,414.1,-9.9,346,4322,0.05,2.25,0.00,0.000,3078,0.230,0.049,2639,1876,3868,4009,3727,0,0,0,0,0,0,26.27,26.38,28.83
$GC,4630,-0.96,-150.8,2638,1877,4009,3726,443.8,-9.4,362,4631,0.00,0.00,0.00,0.000,2054,0.000,0.000,2640,1877,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4929,-0.96,-150.8,2639,1877,4009,3725,470.8,-8.8,377,4931,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1877,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5230,-0.96,-150.8,2638,1876,4009,3725,496.3,-8.3,392,5231,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1877,3866,4009,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5530,-0.99,-150.8,2639,1877,4009,3724,521.1,-8.1,407,5536,0.00,2.33,0.00,0.000,516,0.000,0.067,2639,456,3866,4009,3724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5590,-0.99,-150.8,2639,456,4008,3724,526.4,-8.6,410,5595,0.00,2.25,0.00,0.000,3078,0.000,0.050,2631,1877,3866,4009,3724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5910,-0.99,-150.8,2630,1877,4008,3723,552.2,-8.0,426,5915,0.00,2.33,0.00,0.000,2564,0.000,0.066,2630,454,3866,4009,3723,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5958,-0.99,-150.8,2630,455,4008,3723,555.7,-8.3,428,5961,0.00,2.25,0.00,0.000,3078,0.000,0.050,2621,1872,3865,4008,3723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6269,-0.99,-150.8,2621,1873,4008,3723,582.0,-8.1,444,6273,0.00,2.30,0.00,0.000,2564,0.000,0.067,2621,465,3865,4008,3723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6308,-0.99,-150.8,1760,465,4007,3722,585.2,-8.5,446,6313,0.05,2.25,0.00,0.000,3078,0.160,0.050,2629,1865,3865,4008,3723,0,0,0,0,0,0,26.25,26.39,28.83
$GC,6625,-0.99,-150.8,2629,1866,4008,3722,612.1,-8.7,462,6627,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1866,3865,4008,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6925,-0.99,-150.8,2629,1866,4009,3722,640.1,-9.7,477,6926,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1866,3865,4008,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7224,-0.99,-150.8,2629,1866,4008,3721,669.4,-9.9,492,7229,0.00,2.30,0.00,0.000,2564,0.000,0.067,2629,461,3864,4008,3721,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7260,-0.99,-150.8,2629,461,4008,3721,673.2,-10.2,494,7264,0.00,2.22,0.00,0.000,3078,0.000,0.051,2620,1877,3864,4008,3721,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7577,-0.99,-150.8,2620,1878,4008,3721,707.6,-10.6,510,7579,0.03,0.00,0.00,0.000,2054,0.280,0.000,2631,1878,3864,4008,3721,0,0,0,0,0,0,26.50,28.83,28.83
$GC,7876,-0.99,-150.8,2630,1878,4008,3721,740.1,-11.0,525,7880,0.00,2.30,0.00,0.000,2564,0.000,0.067,2631,460,3864,4008,3720,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7941,-0.99,-150.8,2631,460,4008,3720,746.6,-11.4,528,7945,0.00,2.25,0.00,0.000,3078,0.000,0.050,2622,1871,3864,4008,3720,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8252,-0.99,-150.8,2621,1872,4008,3720,781.9,-10.5,544,8254,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1872,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8555,-0.99,-150.8,2622,1872,4008,3720,811.5,-9.6,559,8556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1872,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8853,-0.99,-150.8,2622,1872,4008,3720,838.8,-9.0,574,8857,0.00,2.30,0.00,0.000,2564,0.000,0.067,2622,465,3864,4008,3720,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8917,-0.99,-150.8,2622,465,4007,3720,843.9,-9.0,577,8922,0.10,2.22,0.00,0.000,3078,0.175,0.051,2637,1869,3863,4007,3720,0,0,0,0,0,0,26.25,26.41,28.83
$GC,9224,-1.04,-150.8,2636,1869,4007,3719,867.9,-7.3,592,9226,0.00,0.00,0.00,0.000,4102,0.000,0.000,2637,1869,3863,4007,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9525,-1.09,-150.8,2636,1869,4007,3719,889.0,-7.1,607,9531,0.10,2.30,0.00,0.000,4612,0.098,0.065,2588,462,3863,4007,3719,0,0,0,0,0,0,26.52,26.35,28.83
$GC,9592,-1.05,-150.8,2588,462,4007,3718,894.6,-8.7,610,9597,0.12,2.25,0.00,0.000,3078,0.189,0.051,2609,1877,3863,4007,3719,0,0,0,0,0,0,26.20,26.40,28.83
$GC,9900,-1.05,-150.8,2609,1877,4007,3718,920.9,-8.3,625,9901,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1877,3862,4007,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10199,-1.05,-150.8,2609,1877,4007,3718,946.8,-8.8,640,10200,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1877,3862,4007,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10499,-1.05,-150.8,2610,1877,4007,3718,973.7,-9.1,655,10500,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1877,3862,4007,3717,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10797,begin apogee
$GC,10802,-0.19,0.0,2610,1335,4007,3717,1001.4,-9.2,670,10939,0.88,0.00,128.50,1.301,10246,0.142,0.000,2884,1335,3250,3378,3123,0,0,0,0,0,0,26.20,28.83,23.42
$STATE,10940,end apogee,CONTROL_FINISHED_OK
$STATE,10940,begin climb
$GC,10941,0.77,150.8,2883,1334,3378,3123,1004.8,0.0,677,11084,0.93,2.20,134.70,1.258,10756,0.067,0.073,3213,162,2633,2729,2538,0,0,0,0,0,0,24.41,23.32,22.56
$GC,11210,0.51,150.8,3213,162,2720,2539,975.6,15.7,690,11218,0.35,1.98,0.00,0.000,5126,0.161,0.050,3121,1341,2628,2719,2538,0,0,0,0,0,0,24.68,24.82,28.83
$GC,11517,0.47,150.8,3121,1341,2717,2537,941.5,10.3,706,11518,0.00,0.00,0.00,0.000,4102,0.000,0.000,3121,1342,2626,2716,2537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11817,0.43,150.8,3121,1341,2716,2537,910.6,10.6,721,11821,0.10,2.00,0.00,0.000,4612,0.179,0.076,3106,160,2626,2716,2537,0,0,0,0,0,0,25.78,25.77,28.83
$GC,11861,0.40,150.8,3106,161,2716,2537,906.8,10.7,723,11866,0.08,1.88,0.00,0.000,5126,0.186,0.051,3088,1331,2626,2716,2537,0,0,0,0,0,0,25.76,25.89,28.83
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$STATE,20082,end climb,SURFACE_DEPTH_REACHED
$STATE,20082,begin surface coast
$FINISH,1.4,1.012613
$STATE,20105,end surface coast,CONTROL_FINISHED_OK
$STATE,20105,begin surface
$SM_CCo,20120,187.40,0.053,0,0,516,670.15
$SM_GC,2.13,7.57,0.82,187.40,0.034,0.060,0.053,228,1862,516,-8.43,-1.19,670.15,0,0,0,0,0,0,26.38,26.34,26.13
$IRIDIUM_FIX,-4511.83,541.41,241009,141400
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.30
$XPDR_PINGS,1
$24V_AH,22.6,17.897
$10V_AH,10.3,10.740
$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
$DEVICE_SECS,22.150,130.725,367.500,187.400,0.000,24.433,42.572,294.483,25.250,0.000,26.944,2985.126,13919.169,738.376,3009.229,142.044,0.000,2017.211,0.000,2515.750,0.000,148.869,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.672,564.193,657.317,108.946,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353616
$DATA_FILE_SIZE,73439,1229
$CAP_FILE_SIZE,196634,0
$CFSIZE,2097086464,2077818880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,281216,121152,-4529.014,542.423,44,0.8,44,-24.0