version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 112
start: 12 29 116 23 1 4
data:
$ID,573
$MISSION,15
$DIVE,112
$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,-31737.719
$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,46
$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
$GPS1,291216,225304,-4526.875,544.237,39,0.9,39,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-59.6
$GPS2,291216,230040,-4526.834,544.335,17,1.3,18,-24.1
$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,228.1,107808,-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,-150.8,216,1872,605,409,0.0,0.0,0,162,0.00,0.00,-143.52,0.000,16386,0.000,0.000,217,1872,3526,3557,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-0.77,-150.8,216,1873,3558,3491,3.1,-1.1,23,193,10.55,2.28,-9.98,0.000,18692,0.259,0.076,2686,3257,3864,3997,3731,0,0,0,0,0,0,25.36,25.63,26.01
$GC,231,-0.87,-150.8,1712,3255,4002,3726,9.8,-9.4,34,239,0.00,2.25,0.00,0.000,5126,0.000,0.048,2687,1860,3866,4004,3728,0,0,0,0,0,0,28.83,25.76,28.83
$GC,282,-0.96,-150.8,1728,1858,4003,3726,14.0,-7.9,43,289,0.12,0.00,0.00,0.000,4102,0.085,0.000,2619,1859,3865,4004,3727,0,0,0,0,0,0,25.86,28.83,28.83
$GC,334,-0.90,-150.8,1680,1858,4003,3726,19.3,-10.6,52,342,0.12,2.30,0.00,0.000,2564,0.170,0.064,2659,465,3865,4004,3727,0,0,0,0,0,0,25.68,25.78,28.83
$GC,414,-0.90,-150.8,2658,465,4004,3727,28.0,-9.9,67,421,0.00,2.25,0.00,0.000,3078,0.000,0.048,2650,1849,3866,4005,3727,0,0,0,0,0,0,28.83,25.90,28.83
$GC,543,-0.90,-150.8,1664,1848,4005,3726,41.4,-10.4,92,549,0.00,0.00,0.00,0.000,2054,0.000,0.000,2650,1849,3866,4005,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-0.90,-150.8,2650,1849,4006,3727,72.8,-9.4,153,859,0.00,2.33,0.00,0.000,2308,0.000,0.065,2639,3275,3867,4007,3727,0,0,0,0,0,0,28.83,25.98,28.83
$GC,967,-0.90,-150.8,2639,3275,4007,3725,83.0,-9.1,169,972,0.10,2.20,0.00,0.000,3078,0.171,0.047,2663,1856,3867,4008,3726,0,0,0,0,0,0,25.94,26.08,28.83
$GC,1275,-0.96,-150.8,2662,1856,4008,3726,108.2,-7.8,184,1281,0.00,2.22,0.00,0.000,4612,0.000,0.063,2672,468,3866,4007,3726,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1476,-1.01,-150.8,2672,468,4007,3726,124.2,-7.8,194,1483,0.10,2.25,0.00,0.000,5126,0.096,0.047,2610,1890,3866,4007,3726,0,0,0,0,0,0,26.17,26.17,28.83
$GC,1797,-0.96,-150.8,2610,1891,4008,3726,155.8,-10.5,210,1798,0.12,0.00,0.00,0.000,2054,0.165,0.000,2642,1891,3867,4008,3726,0,0,0,0,0,0,26.10,28.83,28.83
$GC,2097,-0.96,-150.8,2642,1891,4008,3726,182.0,-8.6,225,2102,0.00,2.33,0.00,0.000,2564,0.000,0.063,2642,459,3867,4008,3726,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2145,-0.96,-150.8,2642,459,4008,3726,185.7,-8.9,227,2149,0.00,2.25,0.00,0.000,3078,0.000,0.047,2633,1878,3867,4008,3726,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2453,-0.96,-150.8,2633,1878,4008,3725,215.7,-9.6,242,2454,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1878,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2753,-0.96,-150.8,2633,1879,4008,3726,244.0,-9.4,257,2754,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1878,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3052,-0.96,-150.8,2633,1878,4008,3726,272.9,-9.7,272,3053,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1878,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3354,-0.96,-150.8,2633,1878,4008,3726,301.7,-9.4,287,3360,0.00,2.28,0.00,0.000,2564,0.000,0.064,2633,465,3867,4008,3726,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3405,-0.96,-150.8,2633,465,4008,3725,305.7,-9.6,289,3412,0.08,2.22,0.00,0.000,3078,0.197,0.047,2640,1871,3867,4008,3726,0,0,0,0,0,0,26.20,26.34,28.83
$GC,3713,-0.96,-150.8,2640,1871,4008,3726,335.7,-9.4,305,3714,0.00,0.00,0.00,0.000,2054,0.000,0.000,2640,1871,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4012,-0.96,-150.8,2640,1871,4008,3725,364.7,-9.6,320,4018,0.00,2.30,0.00,0.000,2564,0.000,0.065,2641,464,3866,4008,3725,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4060,-0.96,-150.8,2640,464,4008,3725,368.7,-9.7,322,4064,0.00,2.22,0.00,0.000,3078,0.000,0.048,2631,1871,3866,4008,3725,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4367,-0.96,-150.8,2631,1872,4008,3724,400.0,-10.1,337,4373,0.00,2.30,0.00,0.000,2564,0.000,0.064,2631,468,3866,4008,3724,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4420,-0.96,-150.8,2631,468,4009,3724,404.3,-10.4,339,4430,0.08,2.25,0.00,0.000,3078,0.193,0.049,2638,1887,3866,4008,3724,0,0,0,0,0,0,26.23,26.36,28.83
$GC,4728,-0.96,-150.8,2638,1887,4008,3724,434.9,-9.2,355,4729,0.00,0.00,0.00,0.000,2054,0.000,0.000,2638,1887,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5027,-0.96,-150.8,2638,1887,4008,3723,461.3,-8.7,370,5028,0.00,0.00,0.00,0.000,2054,0.000,0.000,2638,1887,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5327,-0.96,-150.8,2638,1887,4008,3722,487.6,-8.8,385,5333,0.00,2.33,0.00,0.000,2564,0.000,0.066,2638,466,3865,4008,3722,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5395,-0.96,-150.8,2638,466,4008,3722,493.2,-9.1,388,5399,0.00,2.22,0.00,0.000,3078,0.000,0.050,2629,1868,3865,4008,3722,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5703,-0.96,-150.8,2629,1869,4008,3722,522.1,-9.4,403,5704,0.00,0.00,0.00,0.000,2054,0.000,0.000,2630,1869,3865,4008,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6002,-0.96,-150.8,2629,1869,4008,3721,551.0,-9.8,418,6006,0.00,2.30,0.00,0.000,2564,0.000,0.067,2629,464,3864,4008,3721,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6045,-0.96,-150.8,2629,464,4008,3721,554.7,-10.2,420,6050,0.10,2.25,0.00,0.000,3078,0.178,0.050,2644,1877,3864,4008,3721,0,0,0,0,0,0,26.22,26.39,28.83
$GC,6358,-1.01,-150.8,2644,1877,4008,3721,583.6,-9.1,436,6364,0.00,2.28,0.00,0.000,4612,0.000,0.067,2646,469,3864,4007,3721,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6418,-1.04,-150.8,2646,469,4008,3721,589.4,-9.5,439,6424,0.00,2.22,0.00,0.000,5126,0.000,0.050,2637,1875,3864,4008,3720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6739,-1.07,-150.8,2636,1876,4008,3720,619.4,-9.3,455,6745,0.10,2.30,0.00,0.000,4612,0.097,0.065,2586,462,3864,4008,3720,0,0,0,0,0,0,26.51,26.32,28.83
$GC,6785,-1.07,-150.8,2585,462,4008,3720,623.7,-10.0,457,6790,0.12,2.25,0.00,0.000,3078,0.186,0.050,2607,1863,3863,4007,3720,0,0,0,0,0,0,26.17,26.39,28.83
$GC,7100,-1.07,-150.8,2607,1863,4007,3720,657.2,-10.3,473,7101,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1863,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7397,-1.07,-150.8,2607,1864,4007,3719,688.1,-10.3,488,7398,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1863,3863,4008,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7697,-1.07,-150.8,2607,1864,4007,3719,720.3,-10.9,503,7699,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1863,3863,4008,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7997,-1.07,-150.8,2607,1863,4008,3718,752.1,-10.5,518,7999,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1863,3862,4007,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8298,-1.07,-150.8,2607,1863,4007,3718,783.0,-10.1,533,8302,0.00,2.28,0.00,0.000,2564,0.000,0.067,2608,462,3862,4007,3717,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8382,-1.03,-150.8,2607,462,4007,3717,791.6,-11.3,537,8387,0.10,2.22,0.00,0.000,3078,0.183,0.050,2622,1878,3862,4007,3717,0,0,0,0,0,0,26.22,26.40,28.83
$GC,8689,-1.03,-150.8,2621,1878,4007,3717,823.3,-9.7,552,8690,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1878,3862,4007,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8989,-1.03,-150.8,2621,1878,4007,3717,851.0,-8.8,567,8990,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1878,3862,4007,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9289,-1.03,-150.8,2621,1878,4007,3716,876.6,-8.1,582,9291,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1878,3861,4007,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9589,-1.03,-150.8,2621,1878,4007,3716,900.4,-7.7,597,9594,0.00,2.30,0.00,0.000,2564,0.000,0.068,2622,466,3861,4007,3716,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9673,-1.03,-150.8,1712,466,4006,3715,906.9,-8.1,601,9677,0.00,2.22,0.00,0.000,3078,0.000,0.050,2613,1869,3861,4007,3716,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9986,-1.03,-150.8,2613,1871,4007,3716,930.5,-7.5,617,9987,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1871,3861,4007,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10283,-1.03,-150.8,2613,1871,4007,3715,953.3,-7.5,632,10285,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1871,3861,4007,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10584,-1.03,-150.8,2613,1871,4007,3715,976.2,-8.0,647,10590,0.00,2.28,0.00,0.000,2564,0.000,0.068,2613,468,3861,4007,3715,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10672,-1.03,-150.8,2613,468,4007,3715,983.4,-9.0,651,10677,0.08,2.22,0.00,0.000,3078,0.200,0.051,2619,1868,3861,4007,3715,0,0,0,0,0,0,26.25,26.39,28.83
$STATE,10877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10877,begin apogee
$GC,10882,-0.19,0.0,2619,1340,4007,3715,1001.3,-8.3,661,11014,0.85,0.00,127.90,1.295,10246,0.135,0.000,2888,1339,3251,3380,3122,0,0,0,0,0,0,26.16,28.83,23.42
$STATE,11014,end apogee,CONTROL_FINISHED_OK
$STATE,11015,begin climb
$GC,11016,0.77,150.8,2888,1339,3379,3122,1004.1,0.0,667,11161,0.90,2.20,133.77,1.250,10756,0.065,0.073,3210,166,2635,2730,2541,0,0,0,0,0,0,24.35,23.37,22.61
$GC,11317,0.52,150.8,3209,166,2722,2540,970.2,15.4,682,11324,0.32,1.95,0.00,0.000,5126,0.163,0.050,3124,1341,2631,2721,2541,0,0,0,0,0,0,24.86,25.03,28.83
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$STATE,20190,end climb,SURFACE_DEPTH_REACHED
$STATE,20190,begin surface coast
$FINISH,1.6,1.023258
$STATE,20212,end surface coast,CONTROL_FINISHED_OK
$STATE,20213,begin surface
$SM_CCo,20228,181.50,0.052,0,0,518,670.15
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$TT8_MAMPS,0.026964,0.026964
$HUMID,48.74
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.6,18.980
$10V_AH,10.3,11.406
$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
$DEVICE_SECS,22.575,140.050,376.775,181.500,0.000,40.849,31.500,270.828,25.000,0.000,18.588,3013.610,13968.208,734.451,2998.699,148.429,0.000,2030.625,0.000,2533.866,0.000,148.891,0.000
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$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353652
$DATA_FILE_SIZE,70110,1228
$CAP_FILE_SIZE,199360,0
$CFSIZE,2097086464,2076901376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,301216,044227,-4526.739,544.728,39,0.9,39,-24.1