version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 76
start: 12 21 116 5 16 17
data:
$ID,573
$MISSION,15
$DIVE,76
$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,-31692.381
$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,31
$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
$GPS1,211216,050833,-4534.353,553.151,37,0.9,37,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-64.9
$GPS2,211216,051553,-4534.288,553.186,17,1.6,17,-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,237.2,101077,-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,-150.8,218,1866,590,421,0.0,0.0,0,168,0.00,0.00,-149.82,0.000,16386,0.000,0.000,217,1868,3575,3617,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,170,-0.77,-150.8,217,1868,3619,3532,3.1,-1.9,24,199,10.68,2.35,-8.38,0.000,18692,0.266,0.079,2685,3270,3867,3999,3736,0,0,0,0,0,0,25.40,25.67,25.99
$GC,402,-0.88,-150.8,1696,3269,4005,3731,24.5,-7.9,68,410,0.00,2.28,0.00,0.000,5126,0.000,0.050,2687,1859,3870,4007,3733,0,0,0,0,0,0,28.83,25.86,28.83
$GC,534,-0.98,-150.8,1696,1857,4006,3732,35.5,-8.5,93,541,0.12,2.30,0.00,0.000,4612,0.088,0.064,2618,459,3870,4007,3733,0,0,0,0,0,0,25.97,25.88,28.83
$GC,614,-0.89,-150.8,2618,459,4007,3733,45.3,-12.5,108,623,0.17,2.30,0.00,0.000,3078,0.156,0.050,2664,1871,3870,4007,3733,0,0,0,0,0,0,25.79,25.96,28.83
$GC,927,-0.93,-150.8,2664,1871,4007,3733,75.5,-9.5,169,934,0.00,2.33,0.00,0.000,4612,0.000,0.065,2666,463,3870,4007,3733,0,0,0,0,0,0,28.83,26.02,28.83
$GC,994,-0.93,-150.8,2666,464,4007,3733,82.1,-10.2,178,998,0.00,2.28,0.00,0.000,1030,0.000,0.050,2656,1866,3870,4007,3733,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1312,-0.96,-150.8,2656,1866,4007,3733,114.8,-10.4,194,1317,0.00,2.28,0.00,0.000,4356,0.000,0.067,2646,3273,3870,4008,3733,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1402,-1.01,-150.8,2645,3273,4009,3733,123.2,-10.2,198,1406,0.00,2.22,0.00,0.000,5126,0.000,0.049,2646,1863,3871,4009,3733,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1710,-1.01,-150.8,2646,1863,4009,3733,156.8,-10.7,213,1711,0.00,0.00,0.00,0.000,4102,0.000,0.000,2646,1863,3870,4008,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2009,-1.01,-150.8,2646,1863,4009,3733,186.8,-9.7,228,2015,0.00,2.28,0.00,0.000,4612,0.000,0.066,2646,465,3871,4009,3733,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2056,-1.01,-150.8,2646,465,4009,3733,190.9,-9.9,230,2061,0.00,2.25,0.00,0.000,5126,0.000,0.050,2637,1862,3870,4008,3733,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2368,-1.01,-150.8,2637,1862,4009,3733,222.7,-9.9,246,2369,0.00,0.00,0.00,0.000,4102,0.000,0.000,2637,1862,3871,4009,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2671,-1.01,-150.8,2636,1862,4009,3733,251.5,-9.8,261,2672,0.00,0.00,0.00,0.000,4102,0.000,0.000,2637,1862,3870,4008,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,-1.01,-150.8,2636,1862,4009,3733,281.1,-9.7,276,2971,0.00,0.00,0.00,0.000,4102,0.000,0.000,2637,1862,3870,4008,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3269,-1.01,-150.8,2637,1862,4009,3732,309.6,-9.8,291,3270,0.00,0.00,0.00,0.000,4102,0.000,0.000,2637,1862,3870,4008,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3568,-1.01,-150.8,2637,1862,4009,3733,339.6,-10.1,306,3569,0.00,0.00,0.00,0.000,4102,0.000,0.000,2637,1862,3871,4009,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3868,-1.01,-150.8,2637,1862,4009,3732,371.1,-10.6,321,3869,0.00,0.00,0.00,0.000,4102,0.000,0.000,2637,1862,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4168,-1.01,-150.8,2637,1862,4009,3732,404.0,-11.2,336,4169,0.00,0.00,0.00,0.000,4102,0.000,0.000,2637,1862,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4470,-1.01,-150.8,2637,1862,4009,3732,436.1,-10.5,351,4476,0.00,2.25,0.00,0.000,4612,0.000,0.067,2637,467,3870,4008,3732,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4496,-1.01,-150.8,2636,466,4008,3732,438.3,-10.6,352,4501,0.00,2.25,0.00,0.000,1030,0.000,0.050,2628,1865,3870,4009,3732,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4809,-1.01,-150.8,2627,1865,4009,3732,471.8,-10.6,368,4810,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1865,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5109,-1.01,-150.8,2627,1866,4009,3732,501.8,-9.7,383,5110,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1865,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5408,-1.01,-150.8,2627,1865,4008,3731,530.6,-9.5,398,5412,0.00,2.25,0.00,0.000,2308,0.000,0.068,2617,3269,3869,4008,3731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5452,-1.01,-150.8,2616,3269,4009,3730,534.0,-9.6,400,5456,0.00,2.17,0.00,0.000,3078,0.000,0.052,2617,1869,3869,4009,3730,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5764,-1.01,-150.8,2617,1869,4009,3730,564.7,-9.6,416,5766,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1869,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6064,-1.01,-150.8,2617,1869,4009,3730,593.1,-9.7,431,6065,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1869,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6364,-1.01,-150.8,2616,1869,4009,3729,622.8,-10.0,446,6368,0.00,2.28,0.00,0.000,2564,0.000,0.069,2617,469,3869,4009,3729,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6420,-1.01,-150.8,2617,469,4008,3729,628.6,-10.3,449,6424,0.08,2.22,0.00,0.000,3078,0.203,0.052,2623,1867,3868,4008,3729,0,0,0,0,0,0,26.29,26.41,28.83
$GC,6736,-1.01,-150.8,2623,1868,4009,3729,660.3,-9.8,465,6741,0.00,2.25,0.00,0.000,2308,0.000,0.070,2613,3270,3868,4009,3728,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6761,-1.01,-150.8,2613,3272,4009,3728,661.9,-9.8,466,6765,0.03,2.20,0.00,0.000,3078,0.253,0.052,2622,1870,3868,4009,3728,0,0,0,0,0,0,26.34,26.41,28.83
$GC,7068,-1.01,-150.8,2623,1871,4009,3728,692.1,-9.4,481,7069,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1870,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7367,-1.01,-150.8,2623,1871,4009,3728,720.1,-9.2,496,7371,0.00,2.28,0.00,0.000,2564,0.000,0.070,2623,468,3868,4009,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7416,-1.01,-150.8,2623,468,4008,3728,723.6,-9.3,498,7426,0.00,2.22,0.00,0.000,3078,0.000,0.051,2615,1870,3868,4008,3728,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7723,-1.01,-150.8,2615,1870,4008,3727,754.4,-9.5,514,7727,0.00,2.25,0.00,0.000,2308,0.000,0.068,2604,3276,3868,4008,3728,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7774,-1.01,-150.8,2604,3276,4009,3727,757.8,-9.6,516,7781,0.10,2.17,0.00,0.000,3078,0.171,0.052,2628,1870,3868,4009,3727,0,0,0,0,0,0,26.29,26.42,28.83
$GC,8082,-1.04,-150.8,2628,1870,4009,3727,785.3,-8.5,532,8087,0.00,2.25,0.00,0.000,4612,0.000,0.070,2628,465,3867,4008,3727,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8142,-1.04,-150.8,2629,465,4009,3727,790.8,-9.0,535,8146,0.00,2.22,0.00,0.000,1030,0.000,0.051,2620,1869,3867,4008,3727,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8455,-1.04,-150.8,2619,1870,4007,3727,818.0,-8.5,551,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1871,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8754,-1.04,-150.8,2619,1871,4008,3726,843.6,-8.4,566,8758,0.00,2.28,0.00,0.000,516,0.000,0.069,2620,469,3867,4008,3726,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8790,-1.04,-150.8,2620,469,4008,3726,846.8,-8.5,568,8796,0.00,2.22,0.00,0.000,3078,0.000,0.053,2611,1869,3867,4008,3726,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9110,-1.04,-150.8,2610,1869,4008,3726,873.5,-8.1,584,9111,0.00,0.00,0.00,0.000,2054,0.000,0.000,2611,1869,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9411,-1.04,-150.8,2611,1869,4008,3725,896.1,-7.2,599,9412,0.00,0.00,0.00,0.000,2054,0.000,0.000,2611,1869,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9711,-1.04,-150.8,2610,1869,4008,3726,917.4,-6.9,614,9717,0.00,2.25,0.00,0.000,2308,0.000,0.068,2600,3274,3866,4008,3725,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9773,-1.04,-150.8,2599,3273,4008,3725,921.9,-7.4,617,9778,0.08,2.20,0.00,0.000,3078,0.182,0.052,2616,1870,3866,4008,3725,0,0,0,0,0,0,26.33,26.44,28.83
$GC,10086,-1.04,-150.8,2616,1870,4008,3724,942.5,-6.3,633,10091,0.00,2.25,0.00,0.000,2564,0.000,0.069,2616,469,3866,4007,3725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10206,-1.04,-150.8,2616,469,4008,3725,951.3,-7.5,639,10211,0.00,2.22,0.00,0.000,3078,0.000,0.051,2607,1872,3866,4008,3725,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10526,-1.04,-150.8,2607,1872,4008,3724,974.4,-7.5,655,10527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1872,3866,4008,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10825,-1.04,-150.8,2607,1872,4007,3723,996.8,-7.5,670,10826,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1872,3866,4008,3724,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10883,begin apogee
$GC,10888,-0.19,0.0,2607,1339,4008,3724,1001.3,-7.7,673,11025,0.90,0.00,129.02,1.300,10246,0.145,0.000,2888,1339,3250,3378,3122,0,0,0,0,0,0,26.26,28.83,23.36
$STATE,11026,end apogee,CONTROL_FINISHED_OK
$STATE,11026,begin climb
$GC,11027,0.77,150.8,2887,1339,3377,3122,1002.9,0.0,680,11170,0.90,2.22,134.82,1.255,10756,0.066,0.073,3208,164,2634,2730,2539,0,0,0,0,0,0,24.37,23.22,22.44
$GC,11331,0.52,150.8,3208,163,2722,2539,966.4,15.5,695,11336,0.32,1.98,0.00,0.000,5126,0.168,0.050,3123,1346,2630,2722,2539,0,0,0,0,0,0,24.66,24.80,28.83
$GC,11638,0.46,150.8,3123,1346,2718,2538,932.8,10.0,710,11644,0.08,2.05,0.00,0.000,4612,0.197,0.075,3117,157,2628,2718,2538,0,0,0,0,0,0,25.48,25.46,28.83
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$STATE,19953,end climb,SURFACE_DEPTH_REACHED
$STATE,19953,begin surface coast
$FINISH,1.4,1.012136
$STATE,19980,end surface coast,CONTROL_FINISHED_OK
$STATE,19980,begin surface
$SM_CCo,19995,195.55,0.054,0,0,517,670.15
$SM_GC,2.13,7.62,0.88,195.55,0.041,0.057,0.054,226,1873,517,-8.40,-0.90,670.15,0,0,0,0,0,0,26.44,26.39,26.15
$IRIDIUM_FIX,-4514.89,551.20,171009,121201
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.70
$INTERNAL_PRESSURE,8.86442
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.4,13.515
$10V_AH,10.3,8.040
$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,21.650,150.675,351.375,195.550,0.000,26.674,19.893,278.868,25.000,0.000,18.942,2995.873,13798.030,746.069,2946.506,141.349,0.000,2033.421,0.000,2500.161,0.000,148.782,0.000
$DEVICE_MAMPS,266.220,78.795,1299.735,53.550,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.692,570.492,687.816,115.465,0.000,0.000,0.000,0.000,0.000,0.000
$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,73489,1234
$CAP_FILE_SIZE,197888,0
$CFSIZE,2097086464,2081619968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211216,105403,-4534.234,551.450,40,0.9,40,-24.1