version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 126
start: 1 2 117 9 31 4
data:
$ID,573
$MISSION,15
$DIVE,126
$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,-31755.283
$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,30
$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
$GPS1,020117,092226,-4528.777,552.100,70,1.1,70,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-50.2
$GPS2,020117,093039,-4528.711,552.315,27,1.5,28,-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,233.8,109318,-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,14,-0.77,-150.8,202,1883,620,402,0.0,0.0,0,155,0.00,0.00,-137.45,0.000,16386,0.000,0.000,201,1880,3423,3441,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,157,-0.77,-150.8,201,1880,3441,3405,3.2,-2.3,22,189,10.57,2.30,-13.38,0.000,18692,0.256,0.077,2687,3274,3865,3999,3732,0,0,0,0,0,0,25.31,25.60,26.01
$GC,216,-0.87,-150.8,2687,3273,4004,3730,9.8,-14.5,31,224,0.00,2.28,0.00,0.000,5126,0.000,0.048,2688,1862,3867,4004,3730,0,0,0,0,0,0,28.83,25.72,28.83
$GC,266,-0.91,-150.8,1712,1861,4004,3729,13.8,-7.9,40,274,0.10,2.33,0.00,0.000,4612,0.099,0.062,2633,468,3867,4005,3730,0,0,0,0,0,0,25.85,25.70,28.83
$GC,349,-0.85,-150.8,1664,468,4004,3729,23.9,-10.4,55,357,0.15,2.28,0.00,0.000,3078,0.151,0.048,2681,1867,3868,4006,3730,0,0,0,0,0,0,25.58,25.82,28.83
$GC,482,-0.90,-150.8,1696,1865,4006,3728,37.2,-11.8,80,489,0.03,0.00,0.00,0.000,4102,0.227,0.000,2650,1867,3868,4007,3729,0,0,0,0,0,0,26.06,28.83,28.83
$GC,613,-0.90,-150.8,2650,1868,4007,3729,48.2,-8.4,105,619,0.00,0.00,0.00,0.000,2054,0.000,0.000,2650,1868,3868,4007,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.90,-150.8,2650,1868,4007,3729,79.6,-9.9,166,931,0.00,0.00,0.00,0.000,2054,0.000,0.000,2650,1868,3868,4007,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1230,-0.90,-150.8,2650,1868,4008,3729,111.0,-10.5,182,1236,0.00,2.25,0.00,0.000,2308,0.000,0.066,2640,3270,3868,4008,3729,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1262,-0.90,-150.8,2640,3270,4009,3729,113.4,-11.2,183,1270,0.08,2.20,0.00,0.000,3078,0.184,0.048,2657,1857,3868,4008,3728,0,0,0,0,0,0,26.00,26.13,28.83
$GC,1572,-0.96,-150.8,2657,1857,4009,3729,145.2,-8.9,199,1577,0.00,2.22,0.00,0.000,4612,0.000,0.064,2659,465,3868,4009,3728,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1677,-0.96,-150.8,2658,465,4009,3728,154.8,-9.6,204,1682,0.00,2.22,0.00,0.000,5126,0.000,0.047,2650,1869,3868,4009,3727,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1986,-0.99,-150.8,2650,1869,4009,3728,184.3,-9.4,219,1988,0.00,0.00,0.00,0.000,4102,0.000,0.000,2650,1869,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2285,-1.03,-150.8,2650,1869,4009,3728,212.0,-9.1,234,2291,0.10,2.28,0.00,0.000,4612,0.096,0.062,2599,463,3869,4010,3728,0,0,0,0,0,0,26.37,26.19,28.83
$GC,2327,-1.03,-150.8,1792,463,4008,3727,216.4,-10.0,236,2332,0.08,2.25,0.00,0.000,3078,0.163,0.047,2615,1865,3869,4009,3729,0,0,0,0,0,0,26.04,26.25,28.83
$GC,2647,-1.00,-150.8,2614,1865,4009,3728,251.5,-10.9,252,2649,0.05,0.00,0.00,0.000,2054,0.231,0.000,2627,1866,3869,4009,3729,0,0,0,0,0,0,26.36,28.83,28.83
$GC,2947,-1.00,-150.8,2626,1866,4009,3728,281.7,-10.0,267,2952,0.00,2.25,0.00,0.000,2564,0.000,0.065,2627,468,3868,4009,3728,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3026,-1.00,-150.8,2627,468,4009,3728,290.0,-10.4,271,3032,0.00,2.22,0.00,0.000,3078,0.000,0.049,2617,1872,3869,4009,3729,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3347,-1.00,-150.8,2617,1872,4009,3728,320.3,-9.7,287,3349,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1872,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3645,-1.00,-150.8,2617,1872,4009,3729,349.1,-9.7,302,3646,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1872,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,-1.00,-150.8,2617,1872,4009,3728,378.4,-10.0,317,3946,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1872,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4245,-1.00,-150.8,2617,1872,4009,3727,410.0,-10.8,332,4246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1872,3868,4009,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4545,-1.00,-150.8,2617,1872,4009,3726,443.8,-11.4,347,4546,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1872,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4845,-1.00,-150.8,2617,1872,4009,3726,479.2,-11.9,362,4846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1872,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5145,-1.00,-150.8,2617,1872,4009,3725,513.9,-11.2,377,5146,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1872,3867,4009,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5445,-1.00,-150.8,2617,1872,4009,3725,546.7,-11.0,392,5451,0.00,2.30,0.00,0.000,2564,0.000,0.066,2618,466,3867,4009,3725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5510,-0.97,-150.8,2618,467,4009,3724,553.6,-11.4,395,5515,0.12,2.22,0.00,0.000,3078,0.171,0.050,2641,1869,3866,4009,3724,0,0,0,0,0,0,26.15,26.35,28.83
$GC,5823,-1.01,-150.8,2641,1869,4008,3723,584.7,-9.5,411,5829,0.00,2.25,0.00,0.000,4356,0.000,0.070,2630,3273,3866,4009,3724,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5851,-1.05,-150.8,2631,3273,4009,3723,586.6,-9.3,412,5855,0.00,2.20,0.00,0.000,5126,0.000,0.050,2631,1865,3866,4009,3723,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6159,-1.05,-150.8,2630,1865,4009,3723,615.3,-8.5,427,6165,0.00,2.25,0.00,0.000,4612,0.000,0.067,2631,471,3866,4009,3723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6238,-1.05,-150.8,2630,471,4009,3723,622.7,-9.2,431,6244,0.00,2.22,0.00,0.000,5126,0.000,0.051,2621,1873,3866,4009,3723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6559,-1.05,-150.8,2621,1873,4009,3722,649.4,-8.3,447,6564,0.00,2.28,0.00,0.000,4612,0.000,0.067,2622,470,3865,4008,3722,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6591,-1.05,-150.8,2621,470,4008,3722,651.3,-8.3,448,6598,0.00,2.25,0.00,0.000,3078,0.000,0.050,2612,1881,3865,4008,3722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6898,-1.05,-150.8,2612,1881,4009,3722,679.0,-8.8,464,6899,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1881,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7200,-1.05,-150.8,2612,1881,4009,3721,706.4,-9.1,479,7201,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1881,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7498,-1.05,-150.8,2611,1881,4008,3721,733.7,-8.9,494,7499,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1881,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7798,-1.05,-150.8,2612,1881,4008,3721,761.0,-9.1,509,7804,0.00,2.33,0.00,0.000,2564,0.000,0.067,2612,465,3864,4008,3721,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7838,-1.05,-150.8,2612,465,4008,3721,764.7,-9.0,511,7842,0.00,2.22,0.00,0.000,3078,0.000,0.050,2603,1869,3864,4008,3721,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8155,-1.05,-150.8,2603,1869,4008,3721,793.3,-9.1,527,8156,0.00,0.00,0.00,0.000,2054,0.000,0.000,2603,1869,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8454,-1.05,-150.8,2603,1869,4008,3720,819.9,-8.7,542,8455,0.00,0.00,0.00,0.000,2054,0.000,0.000,2603,1869,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8756,-1.05,-150.8,2603,1869,4008,3720,844.8,-8.2,557,8757,0.00,0.00,0.00,0.000,2054,0.000,0.000,2603,1869,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9054,-1.05,-150.8,2603,1869,4008,3720,869.2,-8.2,572,9058,0.00,2.28,0.00,0.000,2564,0.000,0.068,2603,469,3864,4008,3721,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9090,-1.02,-150.8,2603,469,4008,3720,872.5,-8.5,574,9096,0.12,2.22,0.00,0.000,3078,0.176,0.052,2626,1868,3864,4008,3720,0,0,0,0,0,0,26.15,26.35,28.83
$GC,9411,-1.02,-150.8,2626,1868,4008,3720,896.4,-7.4,590,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1868,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9710,-1.05,-150.8,2626,1869,4008,3719,920.0,-7.8,605,9712,0.00,0.00,0.00,0.000,4102,0.000,0.000,2626,1869,3863,4008,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10010,-1.09,-150.8,2626,1869,4008,3719,943.5,-8.0,620,10017,0.08,2.28,0.00,0.000,4612,0.122,0.065,2590,469,3863,4008,3719,0,0,0,0,0,0,26.53,26.29,28.83
$GC,10058,-1.09,-150.8,2589,468,4008,3716,947.4,-8.8,622,10063,0.10,2.25,0.00,0.000,3078,0.201,0.051,2603,1877,3862,4008,3717,0,0,0,0,0,0,26.13,26.35,28.83
$GC,10366,-1.09,-150.8,2603,1877,4008,3717,975.5,-8.7,637,10372,0.00,2.30,0.00,0.000,2564,0.000,0.068,2603,467,3862,4007,3717,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10424,-1.09,-150.8,2603,467,4008,3717,981.2,-9.3,640,10429,0.00,2.22,0.00,0.000,3078,0.000,0.051,2594,1876,3862,4008,3717,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,10639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10639,begin apogee
$GC,10644,-0.19,0.0,2594,1329,4008,3716,1000.5,-9.1,651,10773,0.95,0.00,125.82,1.290,10246,0.145,0.000,2888,1329,3250,3377,3123,0,0,0,0,0,0,26.03,28.83,23.42
$STATE,10774,end apogee,CONTROL_FINISHED_OK
$STATE,10774,begin climb
$GC,10776,0.77,150.8,2888,1329,3378,3126,1002.6,0.0,657,10922,0.93,2.22,133.90,1.252,10756,0.068,0.073,3214,171,2635,2729,2541,0,0,0,0,0,0,24.34,23.42,22.64
$GC,11024,0.52,150.8,3214,171,2723,2541,974.4,15.3,670,11029,0.32,1.95,0.00,0.000,5126,0.161,0.049,3128,1345,2632,2723,2541,0,0,0,0,0,0,24.65,24.82,28.83
$GC,11341,0.46,150.8,3128,1345,2718,2540,941.5,10.1,686,11343,0.10,0.00,0.00,0.000,4102,0.177,0.000,3104,1345,2629,2718,2541,0,0,0,0,0,0,25.56,28.83,28.83
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$STATE,20047,end climb,SURFACE_DEPTH_REACHED
$STATE,20047,begin surface coast
$FINISH,1.8,1.022377
$STATE,20064,end surface coast,CONTROL_FINISHED_OK
$STATE,20064,begin surface
$SM_CCo,20079,159.18,0.053,0,0,515,670.15
$SM_GC,2.22,7.70,0.88,159.18,0.036,0.055,0.053,216,1872,515,-8.41,-0.90,670.15,0,0,0,0,0,0,26.27,26.20,26.01
$IRIDIUM_FIX,-4511.83,550.58,291009,171752
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.64
$INTERNAL_PRESSURE,8.88396
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.6,21.149
$10V_AH,10.3,12.736
$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
$DEVICE_SECS,23.075,147.875,424.675,159.175,0.000,37.311,44.493,285.533,25.000,0.000,29.171,2996.419,13736.710,745.275,3097.839,153.379,0.000,2093.497,0.000,2593.615,0.000,149.561,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.751,557.743,640.208,98.764,0.000,0.000,0.000,0.000,0.000,0.000
$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,70341,1214
$CAP_FILE_SIZE,203192,0
$CFSIZE,2097086464,2075066368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020117,150932,-4528.555,552.874,34,0.9,34,-24.1