version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 121
start: 1 1 117 4 45 52
data:
$ID,573
$MISSION,15
$DIVE,121
$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,-31749.008
$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,30
$R_STBD_OVSHOOT,26
$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
$GPS1,010117,043732,-4527.563,551.452,32,0.9,32,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-58.5
$GPS2,010117,044527,-4527.434,551.483,18,1.3,19,-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,232.7,110866,-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,-150.8,211,1871,609,411,0.0,0.0,0,149,0.00,0.00,-131.25,0.000,16386,0.000,0.000,212,1871,3277,3284,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,151,-0.77,-150.8,211,1871,3287,3271,3.1,-2.3,21,191,10.27,2.30,-21.05,0.000,18692,0.246,0.076,2687,3278,3867,4002,3733,0,0,0,0,0,0,25.29,25.63,26.04
$GC,300,-0.87,-150.8,1696,3277,4007,3730,15.3,-8.0,48,307,0.00,2.28,0.00,0.000,5126,0.000,0.050,2687,1863,3869,4008,3731,0,0,0,0,0,0,28.83,25.79,28.83
$GC,351,-0.96,-150.8,1696,1862,4007,3730,19.5,-8.4,57,359,0.12,0.00,0.00,0.000,4102,0.085,0.000,2618,1863,3869,4007,3731,0,0,0,0,0,0,25.93,28.83,28.83
$GC,401,-0.91,-150.8,1664,1862,4007,3730,24.7,-11.2,66,412,0.12,2.30,0.00,0.000,2564,0.171,0.064,2660,466,3869,4007,3731,0,0,0,0,0,0,25.71,25.80,28.83
$GC,449,-0.91,-150.8,1696,466,4007,3730,30.0,-10.5,74,457,0.00,2.30,0.00,0.000,3078,0.000,0.050,2651,1881,3869,4008,3731,0,0,0,0,0,0,28.83,25.88,28.83
$GC,580,-0.91,-150.8,2650,1881,4008,3731,46.2,-13.3,99,586,0.00,0.00,0.00,0.000,2054,0.000,0.000,2651,1881,3869,4008,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.91,-150.8,1712,1880,4008,3730,80.2,-11.9,160,897,0.00,2.33,0.00,0.000,2564,0.000,0.063,2650,464,3870,4009,3731,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1087,-0.91,-150.8,2650,464,4008,3731,103.0,-13.0,169,1096,0.08,2.25,0.00,0.000,3078,0.192,0.047,2657,1876,3870,4009,3731,0,0,0,0,0,0,25.96,26.10,28.83
$GC,1397,-0.95,-150.8,2657,1876,4009,3731,136.5,-10.2,185,1402,0.00,2.20,0.00,0.000,4356,0.000,0.065,2647,3269,3870,4010,3731,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1435,-1.00,-150.8,2647,3269,4010,3731,140.6,-10.3,187,1441,0.00,2.20,0.00,0.000,5126,0.000,0.049,2647,1863,3870,4010,3731,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1756,-1.00,-150.8,2646,1863,4010,3731,173.8,-10.2,203,1761,0.00,2.28,0.00,0.000,4612,0.000,0.065,2647,459,3870,4010,3731,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1817,-1.00,-150.8,1792,459,4009,3730,180.2,-10.5,206,1822,0.00,2.25,0.00,0.000,1030,0.000,0.047,2638,1868,3870,4010,3731,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2137,-1.00,-150.8,2637,1868,4011,3731,211.7,-9.7,222,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1868,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2437,-1.00,-150.8,2637,1868,4011,3731,240.6,-9.4,237,2442,0.00,2.28,0.00,0.000,516,0.000,0.065,2637,465,3871,4011,3731,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2497,-1.00,-150.8,1800,466,4010,3730,246.6,-9.9,240,2502,0.00,2.25,0.00,0.000,3078,0.000,0.048,2627,1865,3871,4011,3732,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2815,-1.00,-150.8,2628,1865,4011,3731,277.7,-9.7,256,2817,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1866,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3115,-1.00,-150.8,2628,1865,4010,3731,308.4,-10.8,271,3119,0.00,2.28,0.00,0.000,2308,0.000,0.067,2617,3282,3871,4011,3731,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3159,-1.00,-150.8,2617,3282,4011,3731,312.2,-10.8,273,3164,0.05,2.22,0.00,0.000,3078,0.209,0.050,2629,1861,3871,4011,3731,0,0,0,0,0,0,26.21,26.29,28.83
$GC,3465,-1.00,-150.8,2629,1862,4011,3731,347.2,-11.1,288,3469,0.00,2.25,0.00,0.000,2564,0.000,0.067,2629,471,3871,4011,3731,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3544,-1.00,-150.8,2629,471,4010,3731,355.8,-11.6,292,3549,0.00,2.25,0.00,0.000,3078,0.000,0.050,2620,1872,3871,4011,3731,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3861,-1.00,-150.8,2620,1872,4010,3730,392.9,-11.5,308,3863,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1872,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4164,-1.00,-150.8,2620,1872,4011,3729,425.1,-10.5,323,4165,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1872,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4464,-1.00,-150.8,2619,1872,4011,3728,456.8,-10.2,338,4465,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1872,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4764,-1.00,-150.8,2620,1872,4010,3728,485.2,-9.1,353,4766,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1872,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5062,-1.00,-150.8,2620,1872,4010,3727,511.8,-8.7,368,5063,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1872,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5362,-1.00,-150.8,2620,1872,4011,3727,537.7,-8.6,383,5363,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1872,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5663,-1.00,-150.8,2620,1872,4010,3726,562.7,-8.3,398,5669,0.00,2.28,0.00,0.000,2564,0.000,0.067,2620,474,3868,4010,3726,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5710,-1.00,-150.8,2620,474,4010,3726,566.3,-8.6,400,5715,0.08,2.22,0.00,0.000,3078,0.190,0.050,2628,1874,3868,4010,3726,0,0,0,0,0,0,26.22,26.36,28.83
$GC,6018,-1.00,-150.8,2627,1875,4010,3725,592.2,-8.5,415,6019,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1874,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6318,-1.00,-150.8,2627,1874,4010,3725,619.4,-9.2,430,6324,0.00,2.30,0.00,0.000,2564,0.000,0.067,2628,468,3867,4010,3725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6357,-1.00,-150.8,2627,468,4009,3724,623.2,-9.3,432,6361,0.00,2.22,0.00,0.000,3078,0.000,0.051,2619,1871,3867,4009,3725,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6673,-1.00,-150.8,2618,1871,4010,3724,653.7,-9.9,448,6677,0.00,2.28,0.00,0.000,2564,0.000,0.067,2619,470,3867,4010,3724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6722,-1.00,-150.8,2618,470,4010,3724,657.3,-10.0,450,6730,0.10,2.22,0.00,0.000,3078,0.177,0.050,2634,1869,3867,4010,3724,0,0,0,0,0,0,26.19,26.36,28.83
$GC,7032,-1.03,-150.8,2633,1869,4011,3723,685.6,-8.4,466,7037,0.00,2.28,0.00,0.000,4612,0.000,0.067,2634,473,3866,4010,3723,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7069,-1.03,-150.8,2633,472,4010,3723,689.3,-8.8,468,7073,0.00,2.20,0.00,0.000,1030,0.000,0.051,2625,1871,3866,4010,3723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7385,-1.03,-150.8,2625,1871,4010,3723,717.1,-8.7,484,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1871,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7685,-1.03,-150.8,2625,1871,4010,3722,743.0,-8.5,499,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1871,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7985,-1.03,-150.8,2625,1871,4010,3722,768.9,-8.8,514,7989,0.00,2.30,0.00,0.000,516,0.000,0.067,2625,469,3866,4010,3722,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8029,-1.03,-150.8,2625,468,4009,3722,772.4,-9.1,516,8033,0.00,2.20,0.00,0.000,3078,0.000,0.052,2616,1869,3865,4009,3722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8337,-1.03,-150.8,2615,1869,4009,3721,801.8,-9.6,531,8342,0.00,2.30,0.00,0.000,2564,0.000,0.068,2617,471,3865,4009,3721,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8377,-1.03,-150.8,2616,471,4009,3721,805.7,-9.8,533,8382,0.00,2.22,0.00,0.000,3078,0.000,0.051,2608,1871,3865,4009,3721,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8696,-1.03,-150.8,2607,1871,4009,3721,837.1,-9.7,549,8698,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1871,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8996,-1.03,-150.8,2607,1871,4009,3721,865.5,-9.4,564,9003,0.03,2.30,0.00,0.000,2564,0.279,0.066,2618,469,3865,4009,3721,0,0,0,0,0,0,26.48,26.28,28.83
$GC,9024,-1.03,-150.8,2617,469,4010,3721,867.3,-9.2,565,9028,0.00,2.22,0.00,0.000,3078,0.000,0.050,2609,1869,3865,4009,3721,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9332,-1.03,-150.8,2608,1869,4009,3720,896.2,-8.9,580,9333,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,1869,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9631,-1.03,-150.8,2609,1869,4009,3720,922.5,-8.7,595,9632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,1869,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9931,-1.03,-150.8,2608,1869,4009,3720,948.0,-8.5,610,9932,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,1869,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10231,-1.03,-150.8,2608,1869,4009,3720,973.9,-8.5,625,10237,0.00,2.30,0.00,0.000,2564,0.000,0.067,2609,468,3864,4009,3720,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10271,-1.03,-150.8,2608,468,4009,3720,977.5,-8.8,627,10277,0.10,2.22,0.00,0.000,3078,0.181,0.051,2623,1868,3864,4009,3720,0,0,0,0,0,0,26.17,26.36,28.83
$STATE,10569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10569,begin apogee
$GC,10574,-0.19,0.0,2623,1342,4008,3720,1001.2,-7.6,642,10704,0.82,0.00,126.38,1.286,10246,0.133,0.000,2884,1342,3250,3379,3122,0,0,0,0,0,0,26.10,28.83,23.42
$STATE,10705,end apogee,CONTROL_FINISHED_OK
$STATE,10705,begin climb
$GC,10707,0.77,150.8,2884,1342,3379,3122,1002.9,0.0,648,10852,0.93,2.22,134.15,1.248,10756,0.067,0.076,3213,164,2634,2730,2539,0,0,0,0,0,0,24.34,23.39,22.62
$GC,10954,0.51,150.8,3212,164,2723,2540,972.9,16.1,661,10961,0.32,1.98,0.00,0.000,5126,0.162,0.050,3126,1343,2631,2723,2540,0,0,0,0,0,0,24.63,24.78,28.83
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$STATE,20130,end climb,SURFACE_DEPTH_REACHED
$STATE,20130,begin surface coast
$FINISH,2.3,1.023242
$STATE,20136,end surface coast,CONTROL_FINISHED_OK
$STATE,20137,begin surface
$SM_CCo,20153,194.50,0.052,0,0,516,670.15
$SM_GC,2.07,7.65,2.78,194.50,0.037,0.049,0.052,226,1865,516,-8.42,-1.10,670.15,0,0,0,0,0,0,26.27,26.22,26.01
$IRIDIUM_FIX,-4511.83,637.38,281009,050549
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.58
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.6,20.337
$10V_AH,10.3,12.272
$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
$DEVICE_SECS,21.100,151.825,348.225,194.500,0.000,33.890,22.321,299.835,25.000,0.000,20.429,3006.672,13845.982,716.139,3105.707,145.078,0.000,2056.851,0.000,2618.801,0.000,148.394,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.376,569.115,661.657,106.182,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353624
$DATA_FILE_SIZE,70319,1225
$CAP_FILE_SIZE,199760,0
$CFSIZE,2097086464,2075721728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010117,102602,-4527.757,551.370,27,1.2,27,-24.1