version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 111
start: 12 29 116 17 27 23
data:
$ID,573
$MISSION,15
$DIVE,111
$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,-31736.465
$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,35
$R_STBD_OVSHOOT,40
$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
$GPS1,291216,171922,-4526.918,544.001,40,0.8,40,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-61.3
$GPS2,291216,172658,-4526.826,544.053,18,1.3,19,-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,228.0,107677,-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,-150.8,214,1854,608,408,0.0,0.0,0,167,0.00,0.00,-149.82,0.000,16386,0.000,0.000,215,1849,3654,3715,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,170,-0.77,-150.8,214,1849,3722,3591,3.4,-2.5,24,192,10.70,2.40,-5.43,0.000,18692,0.263,0.078,2686,3270,3867,4000,3735,0,0,0,0,0,0,25.34,25.64,26.03
$GC,323,-0.89,-150.8,1728,3269,4007,3732,19.3,-8.4,52,331,0.03,2.25,0.00,0.000,5126,0.109,0.050,2651,1869,3870,4008,3733,0,0,0,0,0,0,25.76,25.84,28.83
$GC,375,-0.89,-150.8,1680,1867,4007,3731,24.0,-10.3,61,382,0.03,0.00,0.00,0.000,2054,0.256,0.000,2660,1869,3870,4008,3733,0,0,0,0,0,0,25.96,28.83,28.83
$GC,506,-0.93,-150.8,1672,1867,4008,3731,37.1,-10.2,86,513,0.00,2.33,0.00,0.000,516,0.000,0.065,2659,468,3871,4009,3733,0,0,0,0,0,0,28.83,25.89,28.83
$GC,539,-0.93,-150.8,1728,468,4008,3732,40.9,-10.9,92,546,0.00,2.22,0.00,0.000,3078,0.000,0.047,2651,1866,3870,4008,3733,0,0,0,0,0,0,28.83,25.94,28.83
$GC,850,-0.97,-150.8,2651,1866,4009,3733,74.7,-10.7,153,860,0.00,2.33,0.00,0.000,4612,0.000,0.066,2651,471,3871,4009,3733,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1042,-0.97,-150.8,2651,471,4009,3733,99.0,-12.9,168,1046,0.00,2.25,0.00,0.000,1030,0.000,0.047,2642,1878,3871,4009,3733,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1360,-1.01,-150.8,2641,1878,4010,3733,138.3,-12.5,184,1365,0.00,2.30,0.00,0.000,4612,0.000,0.063,2642,462,3871,4010,3733,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1504,-1.01,-150.8,2641,461,4010,3733,157.5,-13.9,191,1508,0.00,2.28,0.00,0.000,1030,0.000,0.047,2632,1876,3871,4010,3733,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1824,-1.01,-150.8,2632,1877,4010,3733,199.8,-12.8,207,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1877,3872,4011,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,-1.01,-150.8,2632,1877,4011,3733,235.3,-11.4,222,2129,0.00,2.25,0.00,0.000,516,0.000,0.063,2632,472,3872,4011,3733,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2202,-1.01,-150.8,2631,472,4011,3733,244.8,-12.0,226,2206,0.00,2.22,0.00,0.000,3078,0.000,0.047,2623,1883,3871,4011,3732,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2518,-1.01,-150.8,2622,1883,4011,3733,279.0,-10.6,242,2524,0.00,2.33,0.00,0.000,2564,0.000,0.063,2623,459,3872,4011,3733,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2558,-1.01,-150.8,2622,459,4010,3733,283.6,-10.9,244,2562,0.00,2.22,0.00,0.000,3078,0.000,0.047,2613,1871,3871,4010,3733,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2874,-0.98,-150.8,2613,1871,4011,3733,317.5,-10.6,260,2876,0.10,0.00,0.00,0.000,2054,0.182,0.000,2637,1871,3872,4011,3733,0,0,0,0,0,0,26.24,28.83,28.83
$GC,3175,-0.98,-150.8,2637,1871,4011,3733,345.4,-9.1,275,3181,0.00,2.28,0.00,0.000,2564,0.000,0.067,2637,468,3872,4011,3733,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3222,-0.98,-150.8,2637,468,4011,3733,349.3,-9.4,277,3226,0.00,2.22,0.00,0.000,3078,0.000,0.048,2628,1871,3872,4011,3733,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3529,-0.98,-150.8,2628,1871,4011,3732,378.0,-8.9,292,3535,0.00,2.30,0.00,0.000,2564,0.000,0.065,2628,462,3872,4011,3733,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3569,-0.98,-150.8,2628,462,4011,3732,381.9,-9.4,294,3574,0.08,2.22,0.00,0.000,3078,0.195,0.049,2635,1868,3871,4010,3733,0,0,0,0,0,0,26.20,26.34,28.83
$GC,3885,-0.98,-150.8,2635,1868,4009,3732,408.7,-8.4,310,3886,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1868,3871,4011,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-0.98,-150.8,2635,1868,4010,3732,434.1,-8.5,325,4191,0.00,2.30,0.00,0.000,2564,0.000,0.067,2635,465,3871,4011,3732,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4240,-0.98,-150.8,2635,465,4010,3732,437.8,-8.8,327,4246,0.00,2.22,0.00,0.000,3078,0.000,0.049,2626,1869,3871,4010,3732,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4548,-0.98,-150.8,2626,1869,4010,3731,466.6,-9.1,343,4549,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1869,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4846,-0.98,-150.8,2626,1869,4011,3730,494.8,-9.5,358,4851,0.00,2.30,0.00,0.000,2564,0.000,0.066,2626,465,3870,4010,3730,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4910,-0.98,-150.8,2626,466,4010,3730,500.6,-10.1,361,4915,0.08,2.25,0.00,0.000,3078,0.197,0.050,2634,1880,3870,4011,3730,0,0,0,0,0,0,26.23,26.37,28.83
$GC,5223,-0.98,-150.8,2634,1881,4010,3729,531.1,-9.7,377,5229,0.00,2.22,0.00,0.000,2308,0.000,0.067,2624,3271,3869,4010,3729,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5251,-0.98,-150.8,2623,3270,4011,3729,532.9,-9.5,378,5255,0.00,2.20,0.00,0.000,3078,0.000,0.051,2624,1865,3870,4011,3729,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5558,-0.98,-150.8,2624,1865,4011,3728,564.9,-10.6,393,5562,0.00,2.25,0.00,0.000,2564,0.000,0.067,2624,465,3869,4011,3728,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5699,-0.98,-150.8,2624,465,4010,3728,581.2,-12.0,400,5704,0.10,2.22,0.00,0.000,3078,0.182,0.050,2639,1869,3869,4010,3728,0,0,0,0,0,0,26.21,26.37,28.83
$GC,6011,-1.02,-150.8,2639,1869,4010,3728,613.2,-9.9,416,6012,0.00,0.00,0.00,0.000,4102,0.000,0.000,2639,1869,3868,4010,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6311,-1.06,-150.8,2639,1869,4010,3727,642.7,-9.8,431,6318,0.10,2.28,0.00,0.000,4612,0.098,0.065,2589,470,3868,4010,3727,0,0,0,0,0,0,26.50,26.33,28.83
$GC,6372,-1.02,-150.8,2589,469,4010,3726,649.9,-11.5,434,6377,0.15,2.22,0.00,0.000,3078,0.177,0.050,2619,1872,3868,4010,3726,0,0,0,0,0,0,26.17,26.38,28.83
$GC,6688,-1.02,-150.8,2618,1872,4010,3726,682.5,-10.0,450,6689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1872,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6989,-1.02,-150.8,2618,1872,4010,3726,711.6,-9.7,465,6990,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1872,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7288,-1.02,-150.8,2618,1872,4010,3725,739.9,-9.0,480,7293,0.00,2.25,0.00,0.000,2308,0.000,0.067,2609,3275,3867,4010,3725,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7353,-1.02,-150.8,2609,3275,4010,3724,745.1,-9.3,483,7357,0.00,2.17,0.00,0.000,3078,0.000,0.052,2610,1868,3867,4010,3724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7659,-1.02,-150.8,2609,1868,4010,3724,774.3,-9.2,498,7663,0.00,2.25,0.00,0.000,2564,0.000,0.068,2610,469,3867,4010,3724,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7760,-0.98,-150.8,1696,469,4009,3722,783.7,-9.9,503,7765,0.12,2.22,0.00,0.000,3078,0.177,0.051,2632,1869,3867,4010,3724,0,0,0,0,0,0,26.20,26.39,28.83
$GC,8073,-1.02,-150.8,2632,1869,4010,3723,809.3,-7.7,519,8074,0.00,0.00,0.00,0.000,4102,0.000,0.000,2632,1869,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8372,-1.06,-150.8,2632,1869,4009,3723,832.0,-7.5,534,8374,0.05,0.00,0.00,0.000,4102,0.162,0.000,2597,1869,3866,4010,3723,0,0,0,0,0,0,26.55,28.83,28.83
$GC,8673,-1.03,-150.8,2597,1870,4010,3723,858.4,-9.0,549,8679,0.10,2.28,0.00,0.000,2564,0.174,0.067,2621,471,3866,4010,3722,0,0,0,0,0,0,26.34,26.34,28.83
$GC,8740,-1.03,-150.8,2620,471,4008,3722,863.7,-8.8,552,8744,0.00,2.22,0.00,0.000,3078,0.000,0.051,2612,1869,3865,4009,3722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9047,-1.03,-150.8,2612,1869,4009,3722,890.0,-8.2,567,9049,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9347,-1.03,-150.8,2612,1869,4009,3722,915.3,-8.6,582,9353,0.00,2.25,0.00,0.000,2308,0.000,0.068,2601,3275,3865,4009,3721,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9386,-1.03,-150.8,2601,3275,4009,3721,918.8,-8.7,584,9391,0.05,2.20,0.00,0.000,3078,0.207,0.052,2616,1866,3865,4010,3721,0,0,0,0,0,0,26.32,26.39,28.83
$GC,9704,-1.03,-150.8,2615,1866,4009,3721,946.4,-8.8,600,9710,0.00,2.28,0.00,0.000,2564,0.000,0.068,2615,465,3865,4009,3721,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9776,-1.03,-150.8,2615,465,4009,3721,952.0,-9.4,603,9782,0.00,2.25,0.00,0.000,3078,0.000,0.051,2607,1877,3865,4009,3721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10084,-1.03,-150.8,2607,1877,4010,3721,982.2,-9.4,619,10085,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1877,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10282,begin apogee
$GC,10286,-0.19,0.0,2606,1331,4008,3721,1001.5,-9.7,629,10423,0.90,0.00,128.93,1.299,10246,0.138,0.000,2889,1330,3251,3379,3123,0,0,0,0,0,0,26.16,28.83,23.42
$STATE,10424,end apogee,CONTROL_FINISHED_OK
$STATE,10424,begin climb
$GC,10426,0.77,150.8,2889,1330,3378,3123,1006.2,0.0,636,10569,0.90,2.17,134.43,1.255,10756,0.062,0.073,3215,166,2634,2730,2539,0,0,0,0,0,0,24.41,23.36,22.61
$GC,10634,0.52,150.8,3214,166,2724,2539,988.3,12.9,646,10642,0.35,2.03,0.00,0.000,5126,0.161,0.049,3124,1349,2631,2723,2539,0,0,0,0,0,0,24.32,24.46,28.83
$GC,10941,0.49,177.8,3124,1349,2718,2538,959.0,8.6,662,10970,0.00,2.10,24.05,1.176,12804,0.000,0.076,3133,162,2524,2610,2438,0,0,0,0,0,0,28.83,24.88,24.10
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$STATE,19252,end climb,SURFACE_DEPTH_REACHED
$STATE,19253,begin surface coast
$FINISH,1.5,1.015688
$STATE,19274,end surface coast,CONTROL_FINISHED_OK
$STATE,19274,begin surface
$SM_CCo,19290,176.70,0.052,0,0,516,670.15
$SM_GC,2.01,7.72,0.85,176.70,0.038,0.052,0.052,221,1876,516,-8.41,-1.22,670.15,0,0,0,0,0,0,26.13,26.10,25.89
$IRIDIUM_FIX,-4508.77,541.11,261009,010155
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.25
$INTERNAL_PRESSURE,8.90349
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.6,18.824
$10V_AH,10.3,11.312
$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
$DEVICE_SECS,22.700,161.225,387.275,176.700,0.000,26.571,42.867,270.504,25.000,0.000,19.484,2897.953,13141.980,745.100,2986.897,149.036,0.000,2050.251,0.000,2517.449,0.000,148.924,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.412,542.878,629.225,105.755,0.000,0.000,0.000,0.000,0.000,0.000
$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,70225,1180
$CAP_FILE_SIZE,199551,0
$CFSIZE,2097086464,2077032448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,291216,225304,-4526.875,544.237,39,0.9,39,-24.1