version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 82
start: 12 22 116 16 4 40
data:
$ID,573
$MISSION,15
$DIVE,82
$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,-31699.9
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,221216,155633,-4534.308,545.130,41,0.9,41,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-57.4
$GPS2,221216,160416,-4534.199,545.269,18,1.5,18,-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,232.1,96068,-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,-150.8,212,1879,608,408,0.0,0.0,0,162,0.00,0.00,-143.95,0.000,16386,0.000,0.000,212,1879,3435,3452,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-0.77,-150.8,212,1879,3453,3420,3.0,-2.6,23,193,10.65,0.00,-14.10,0.000,19206,0.262,0.000,2698,1874,3865,3996,3735,0,0,0,0,0,0,25.37,28.83,25.89
$GC,238,-0.87,-150.8,2697,1874,4003,3734,8.4,-7.7,35,245,0.08,0.00,0.00,0.000,4102,0.125,0.000,2660,1874,3868,4003,3733,0,0,0,0,0,0,25.79,28.83,28.83
$GC,287,-0.87,-150.8,1696,1873,4003,3732,12.7,-8.2,44,295,0.03,0.00,0.00,0.000,2054,0.259,0.000,2669,1874,3868,4004,3733,0,0,0,0,0,0,25.81,28.83,28.83
$GC,338,-0.91,-150.8,2669,1874,4005,3733,16.4,-6.9,53,345,0.00,2.38,0.00,0.000,4612,0.000,0.067,2669,449,3869,4005,3733,0,0,0,0,0,0,28.83,25.75,28.83
$GC,367,-0.91,-150.8,1704,449,4004,3732,18.9,-9.0,58,375,0.00,2.33,0.00,0.000,1030,0.000,0.050,2660,1869,3869,4005,3733,0,0,0,0,0,0,28.83,25.81,28.83
$GC,418,-0.91,-150.8,2660,1869,4006,3733,24.1,-10.5,67,424,0.00,0.00,0.00,0.000,2054,0.000,0.000,2660,1869,3869,4006,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,547,-0.91,-150.8,1664,1868,4005,3732,36.7,-9.7,92,554,0.00,2.35,0.00,0.000,2564,0.000,0.064,2660,468,3869,4006,3733,0,0,0,0,0,0,28.83,25.87,28.83
$GC,585,-0.91,-150.8,1696,468,4005,3732,40.8,-10.2,99,592,0.00,2.28,0.00,0.000,3078,0.000,0.049,2651,1867,3869,4006,3733,0,0,0,0,0,0,28.83,25.92,28.83
$GC,896,-0.91,-150.8,1728,1865,4006,3732,74.2,-10.8,160,902,0.00,2.28,0.00,0.000,2308,0.000,0.066,2641,3270,3870,4007,3733,0,0,0,0,0,0,28.83,25.97,28.83
$GC,939,-0.94,-150.8,2640,3270,4007,3732,79.0,-10.8,168,947,0.00,2.25,0.00,0.000,3078,0.000,0.050,2641,1860,3869,4007,3732,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1254,-0.94,-150.8,2640,1860,4008,3733,114.9,-11.9,185,1260,0.00,2.25,0.00,0.000,2564,0.000,0.065,2641,467,3870,4008,3732,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1336,-0.94,-150.8,2640,467,4007,3733,124.9,-12.6,189,1342,0.03,2.28,0.00,0.000,3078,0.196,0.049,2641,1871,3869,4007,3732,0,0,0,0,0,0,26.02,26.14,28.83
$GC,1655,-0.94,-150.8,2640,1872,4008,3732,162.8,-11.9,205,1656,0.00,0.00,0.00,0.000,2054,0.000,0.000,2641,1872,3870,4008,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,-0.94,-150.8,2640,1872,4007,3732,198.0,-11.3,220,1955,0.00,0.00,0.00,0.000,2054,0.000,0.000,2640,1872,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2256,-0.94,-150.8,2640,1872,4008,3732,231.4,-11.0,235,2261,0.00,2.28,0.00,0.000,2564,0.000,0.065,2641,463,3870,4008,3732,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2314,-0.94,-150.8,2640,464,4008,3732,238.3,-11.2,238,2319,0.08,2.25,0.00,0.000,3078,0.197,0.049,2647,1878,3870,4008,3733,0,0,0,0,0,0,26.15,26.27,28.83
$GC,2634,-0.97,-150.8,2646,1878,4008,3732,270.5,-10.1,254,2635,0.00,0.00,0.00,0.000,4102,0.000,0.000,2647,1878,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2934,-1.00,-150.8,2647,1877,4008,3732,301.2,-10.3,269,2939,0.00,2.22,0.00,0.000,4356,0.000,0.066,2637,3269,3870,4008,3732,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3004,-1.04,-150.8,2637,3269,4009,3732,307.3,-10.3,272,3011,0.00,2.20,0.00,0.000,5126,0.000,0.050,2637,1864,3870,4009,3732,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3313,-1.04,-150.8,2637,1863,4009,3732,338.0,-9.2,288,3318,0.00,2.25,0.00,0.000,4612,0.000,0.066,2637,468,3870,4009,3732,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3374,-1.04,-150.8,2637,468,4009,3731,343.8,-9.5,291,3378,0.00,2.22,0.00,0.000,5126,0.000,0.050,2628,1869,3870,4009,3732,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3687,-1.04,-150.8,2627,1869,4009,3732,372.6,-9.0,307,3693,0.00,2.25,0.00,0.000,4356,0.000,0.067,2617,3274,3870,4009,3732,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3729,-1.04,-150.8,1768,3273,4008,3730,376.2,-8.8,309,3733,0.00,2.22,0.00,0.000,3078,0.000,0.050,2617,1869,3870,4009,3731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4049,-1.04,-150.8,2617,1869,4008,3731,405.8,-9.3,325,4054,0.00,2.22,0.00,0.000,2564,0.000,0.067,2618,474,3870,4009,3731,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4106,-0.99,-150.8,2617,474,4009,3731,412.0,-10.1,328,4111,0.10,2.22,0.00,0.000,3078,0.187,0.050,2632,1877,3870,4009,3731,0,0,0,0,0,0,26.22,26.36,28.83
$GC,4423,-0.99,-150.8,2631,1877,4008,3731,441.2,-9.6,344,4424,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1877,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4723,-0.99,-150.8,2631,1877,4009,3731,469.4,-9.5,359,4724,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1877,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5025,-0.99,-150.8,2632,1877,4009,3730,496.6,-9.1,374,5026,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1877,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5325,-0.99,-150.8,2632,1878,4009,3730,525.3,-9.4,389,5327,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1877,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.99,-150.8,2632,1877,4009,3729,553.8,-9.8,404,5626,0.00,2.33,0.00,0.000,2564,0.000,0.068,2633,468,3869,4009,3729,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5678,-0.99,-150.8,2632,468,4009,3729,559.6,-10.2,407,5682,0.00,2.22,0.00,0.000,3078,0.000,0.050,2624,1870,3868,4008,3729,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5994,-0.99,-150.8,2623,1871,4008,3729,593.5,-10.9,423,6000,0.00,2.25,0.00,0.000,2308,0.000,0.067,2612,3275,3868,4008,3728,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6037,-0.99,-150.8,2612,3274,4009,3728,597.9,-11.1,425,6041,0.08,2.22,0.00,0.000,3078,0.179,0.051,2629,1868,3868,4009,3728,0,0,0,0,0,0,26.31,26.41,28.83
$GC,6354,-0.99,-150.8,2629,1868,4008,3728,633.0,-11.1,441,6355,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1868,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6654,-0.99,-150.8,2629,1867,4009,3728,666.3,-11.3,456,6655,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1868,3868,4009,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6954,-0.99,-150.8,2629,1868,4009,3727,700.1,-11.4,471,6955,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1868,3868,4009,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7254,-0.99,-150.8,2629,1868,4009,3726,733.8,-11.0,486,7255,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1868,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7554,-0.99,-150.8,2629,1868,4009,3726,764.0,-9.7,501,7555,0.00,0.00,0.00,0.000,2054,0.000,0.000,2630,1868,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7854,-0.99,-150.8,2629,1867,4009,3725,791.5,-8.8,516,7855,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1868,3867,4009,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8155,-1.03,-150.8,2629,1868,4009,3725,816.5,-8.0,531,8161,0.00,2.25,0.00,0.000,4612,0.000,0.068,2630,471,3866,4008,3725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8217,-1.03,-150.8,2629,471,4008,3725,821.5,-8.2,534,8221,0.00,2.22,0.00,0.000,3078,0.000,0.051,2621,1868,3866,4008,3725,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8535,-1.03,-150.8,2620,1868,4008,3725,846.5,-7.9,550,8536,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1868,3866,4008,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8834,-1.03,-150.8,2620,1869,4008,3724,867.9,-7.1,565,8840,0.00,2.25,0.00,0.000,2308,0.000,0.068,2610,3272,3866,4008,3724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8887,-1.03,-150.8,2609,3273,4008,3724,870.8,-7.2,567,8893,0.00,2.20,0.00,0.000,3078,0.000,0.051,2610,1865,3865,4008,3723,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9195,-1.03,-150.8,2610,1865,4008,3724,895.7,-8.0,583,9196,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1865,3866,4008,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9494,-1.03,-150.8,2610,1865,4008,3723,921.1,-8.7,598,9495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1865,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9794,-1.03,-150.8,2609,1865,4008,3723,947.9,-8.9,613,9800,0.00,2.25,0.00,0.000,2564,0.000,0.068,2610,465,3865,4008,3723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9878,-1.03,-150.8,1712,465,4007,3722,955.4,-9.5,617,9883,0.08,2.22,0.00,0.000,3078,0.200,0.051,2617,1869,3865,4007,3723,0,0,0,0,0,0,26.30,26.44,28.83
$GC,10192,-1.03,-150.8,2617,1869,4008,3723,983.4,-8.8,633,10193,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1869,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10368,begin apogee
$GC,10372,-0.19,0.0,2617,1338,4008,3723,1000.2,-9.6,642,10503,0.85,0.00,126.65,1.288,10246,0.140,0.000,2886,1338,3250,3378,3122,0,0,0,0,0,0,26.27,28.83,23.39
$STATE,10504,end apogee,CONTROL_FINISHED_OK
$STATE,10504,begin climb
$GC,10505,0.77,150.8,2885,1338,3378,3123,1004.3,0.0,648,10651,0.93,2.25,135.02,1.251,10756,0.068,0.074,3212,166,2634,2730,2539,0,0,0,0,0,0,24.33,23.24,22.46
$GC,10807,0.50,150.8,3212,166,2723,2539,973.3,14.2,663,10813,0.35,1.98,0.00,0.000,5126,0.166,0.051,3121,1340,2631,2723,2539,0,0,0,0,0,0,24.68,24.83,28.83
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$STATE,20052,end climb,SURFACE_DEPTH_REACHED
$STATE,20052,begin surface coast
$FINISH,2.0,1.023343
$STATE,20075,end surface coast,CONTROL_FINISHED_OK
$STATE,20075,begin surface
$SM_CCo,20092,205.32,0.054,0,0,517,670.15
$SM_GC,2.07,7.78,2.78,205.32,0.049,0.050,0.054,219,1861,517,-8.41,-1.22,670.15,0,0,0,0,0,0,26.41,26.36,26.13
$IRIDIUM_FIX,-4514.89,557.32,181009,232358
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.85
$INTERNAL_PRESSURE,8.86442
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.5,14.409
$10V_AH,10.3,8.592
$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,21.550,143.525,335.200,205.325,0.000,24.483,19.468,303.140,25.000,0.000,20.287,2994.323,13939.533,737.758,2949.900,136.276,0.000,2008.829,0.000,2482.567,0.000,148.812,0.000
$DEVICE_MAMPS,262.395,78.030,1288.260,53.550,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.691,575.209,674.773,113.824,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353640
$DATA_FILE_SIZE,70207,1230
$CAP_FILE_SIZE,194702,0
$CFSIZE,2097086464,2080866304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221216,214433,-4534.003,544.040,61,0.8,61,-24.0