version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 153
start: 1 8 117 21 45 29
data:
$ID,573
$MISSION,15
$DIVE,153
$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,-31789.826
$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,32
$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
$GPS1,080117,213326,-4535.025,553.943,46,1.0,46,-24.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-53.6
$GPS2,080117,214504,-4535.039,554.080,17,0.9,19,-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,238.2,100552,-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,-150.8,171,1848,610,415,0.0,0.0,0,143,0.00,0.00,-125.62,0.000,16386,0.000,0.000,170,1847,3196,3189,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,146,-0.77,-150.8,170,1847,3192,3200,3.1,-1.1,20,187,10.62,0.00,-22.05,0.000,18694,0.248,0.000,2697,1849,3867,4002,3733,0,0,0,0,0,0,25.11,28.83,26.00
$GC,232,-0.93,-150.8,2697,1849,4005,3732,11.8,-9.3,34,240,0.12,2.33,0.00,0.000,4356,0.096,0.060,2624,3267,3869,4006,3732,0,0,0,0,0,0,25.80,25.60,28.83
$GC,293,-0.93,-150.8,1672,3266,4007,3730,19.8,-13.2,45,301,0.05,2.25,0.00,0.000,3078,0.164,0.050,2645,1872,3869,4008,3731,0,0,0,0,0,0,25.58,25.75,28.83
$GC,343,-0.93,-150.8,1680,1871,4006,3730,23.9,-7.7,54,350,0.00,0.00,0.00,0.000,2054,0.000,0.000,2645,1872,3869,4008,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,476,-0.93,-150.8,2645,1872,4008,3731,36.6,-9.1,79,483,0.00,2.35,0.00,0.000,2564,0.000,0.066,2646,464,3869,4008,3731,0,0,0,0,0,0,28.83,25.79,28.83
$GC,537,-0.89,-150.8,2645,464,4008,3731,43.7,-11.3,90,545,0.08,2.28,0.00,0.000,3078,0.169,0.047,2669,1867,3869,4008,3731,0,0,0,0,0,0,25.60,25.87,28.83
$GC,851,-0.93,-150.8,2669,1867,4009,3731,76.5,-10.6,151,858,0.00,2.33,0.00,0.000,4612,0.000,0.066,2669,467,3870,4009,3731,0,0,0,0,0,0,28.83,25.91,28.83
$GC,898,-0.93,-150.8,2669,467,4008,3731,81.3,-10.8,158,902,0.00,2.22,0.00,0.000,5126,0.000,0.047,2660,1870,3870,4009,3731,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1211,-0.97,-150.8,2660,1871,4009,3731,113.0,-9.7,174,1217,0.05,2.25,0.00,0.000,4356,0.161,0.065,2615,3272,3870,4009,3731,0,0,0,0,0,0,26.27,25.94,28.83
$GC,1327,-0.93,-150.8,2614,3272,4010,3730,124.9,-12.0,179,1335,0.12,2.20,0.00,0.000,3078,0.154,0.048,2650,1868,3870,4010,3730,0,0,0,0,0,0,25.89,26.07,28.83
$GC,1634,-0.93,-150.8,2650,1868,4010,3730,161.2,-11.2,195,1639,0.00,2.25,0.00,0.000,2564,0.000,0.064,2650,465,3870,4010,3730,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1693,-0.93,-150.8,2650,465,4010,3730,168.0,-11.1,198,1697,0.00,2.22,0.00,0.000,3078,0.000,0.047,2642,1872,3870,4010,3731,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2010,-0.93,-150.8,2641,1872,4010,3730,202.0,-10.2,214,2011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1872,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2310,-0.93,-150.8,2641,1872,4011,3730,229.9,-8.7,229,2316,0.00,2.30,0.00,0.000,2564,0.000,0.064,2642,468,3870,4010,3730,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2350,-0.93,-150.8,2641,468,4009,3730,233.7,-8.9,231,2357,0.10,2.22,0.00,0.000,3078,0.173,0.047,2656,1875,3870,4010,3730,0,0,0,0,0,0,26.01,26.19,28.83
$GC,2673,-0.98,-150.8,2656,1876,4010,3730,258.9,-7.8,247,2675,0.05,0.00,0.00,0.000,4102,0.163,0.000,2622,1876,3870,4010,3730,0,0,0,0,0,0,26.43,28.83,28.83
$GC,2971,-0.98,-150.8,2622,1876,4011,3730,285.5,-9.1,262,2972,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1876,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3271,-0.98,-150.8,2622,1876,4011,3731,313.3,-9.7,277,3276,0.00,2.30,0.00,0.000,2564,0.000,0.065,2622,467,3870,4010,3730,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3363,-0.95,-150.8,2622,467,4010,3730,321.1,-9.8,281,3369,0.12,2.22,0.00,0.000,3078,0.164,0.047,2645,1869,3870,4010,3730,0,0,0,0,0,0,26.01,26.24,28.83
$GC,3671,-0.98,-150.8,2645,1869,4010,3730,349.3,-9.2,297,3676,0.00,2.28,0.00,0.000,4612,0.000,0.066,2646,469,3870,4010,3730,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3709,-0.98,-150.8,2646,469,4010,3730,353.2,-9.5,299,3714,0.00,2.22,0.00,0.000,1030,0.000,0.048,2637,1871,3870,4010,3730,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4027,-0.98,-150.8,2637,1872,4011,3730,385.0,-10.1,315,4028,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1872,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4326,-0.98,-150.8,2637,1872,4010,3729,416.6,-10.5,330,4331,0.00,2.30,0.00,0.000,2564,0.000,0.065,2638,466,3869,4010,3729,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4449,-0.98,-150.8,2637,467,4010,3729,430.4,-11.6,336,4453,0.00,2.25,0.00,0.000,3078,0.000,0.049,2628,1880,3869,4010,3729,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4761,-0.98,-150.8,2628,1881,4010,3728,465.4,-11.0,352,4763,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1880,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5061,-0.98,-150.8,2628,1881,4011,3727,498.0,-10.9,367,5065,0.00,2.33,0.00,0.000,2564,0.000,0.065,2628,462,3869,4010,3728,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5120,-0.98,-150.8,2628,462,4010,3727,504.7,-11.6,370,5124,0.08,2.25,0.00,0.000,3078,0.194,0.049,2634,1874,3869,4010,3728,0,0,0,0,0,0,26.11,26.25,28.83
$GC,5436,-0.98,-150.8,2634,1874,4011,3726,540.0,-11.2,386,5437,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1874,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5737,-0.98,-150.8,2634,1874,4010,3726,573.6,-11.2,401,5741,0.00,2.30,0.00,0.000,2564,0.000,0.067,2634,468,3868,4010,3726,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5792,-0.98,-150.8,2634,468,4010,3726,580.2,-11.7,404,5796,0.00,2.22,0.00,0.000,3078,0.000,0.050,2626,1871,3868,4010,3726,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6109,-0.98,-150.8,2625,1871,4010,3725,615.5,-11.0,420,6110,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1871,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6408,-0.98,-150.8,2625,1871,4010,3725,647.8,-10.7,435,6409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1871,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6708,-0.98,-150.8,2626,1871,4010,3724,678.4,-10.2,450,6709,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1871,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7008,-0.98,-150.8,2626,1871,4010,3723,707.6,-9.6,465,7010,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1871,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7308,-0.98,-150.8,2625,1871,4010,3723,734.1,-8.6,480,7312,0.00,2.30,0.00,0.000,2564,0.000,0.067,2626,468,3865,4009,3722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7359,-0.98,-150.8,2626,468,4010,3723,737.2,-8.7,482,7366,0.08,2.22,0.00,0.000,3078,0.194,0.050,2632,1868,3866,4010,3723,0,0,0,0,0,0,26.12,26.26,28.83
$GC,7667,-1.01,-150.8,2632,1868,4010,3722,764.6,-8.6,498,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1868,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7965,-1.05,-150.8,2632,1867,4010,3722,789.6,-8.2,513,7966,0.00,0.00,0.00,0.000,4102,0.000,0.000,2632,1868,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8264,-1.08,-150.8,2632,1868,4010,3721,813.5,-7.9,528,8266,0.10,0.00,0.00,0.000,4102,0.100,0.000,2585,1868,3866,4010,3722,0,0,0,0,0,0,26.48,28.83,28.83
$GC,8565,-1.02,-150.8,2585,1869,4010,3721,841.1,-9.3,543,8567,0.15,0.00,0.00,0.000,2054,0.168,0.000,2624,1869,3865,4010,3721,0,0,0,0,0,0,26.10,28.83,28.83
$GC,8864,-1.02,-150.8,2624,1869,4010,3721,864.4,-7.9,558,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1869,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9164,-1.02,-150.8,2624,1869,4010,3721,888.4,-8.1,573,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1869,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9464,-1.02,-150.8,2624,1869,4010,3720,912.3,-8.0,588,9470,0.00,2.25,0.00,0.000,260,0.000,0.070,2614,3267,3865,4011,3720,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9505,-1.02,-150.8,2614,3267,4010,3720,915.5,-8.0,590,9510,0.00,2.20,0.00,0.000,3078,0.000,0.052,2617,1865,3865,4010,3720,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9824,-1.02,-150.8,2617,1865,4010,3720,941.7,-8.2,606,9830,0.00,2.30,0.00,0.000,2564,0.000,0.068,2617,465,3864,4009,3720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9897,-1.02,-150.8,2617,465,4009,3720,947.0,-8.7,609,9904,0.00,2.25,0.00,0.000,3078,0.000,0.051,2609,1876,3864,4009,3720,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10204,-1.02,-150.8,2608,1876,4009,3720,974.6,-8.5,625,10211,0.03,2.28,0.00,0.000,2308,0.285,0.067,2608,3278,3864,4009,3720,0,0,0,0,0,0,26.49,26.08,28.83
$GC,10233,-1.02,-150.8,2608,3278,4009,3720,976.3,-8.4,626,10238,0.05,2.22,0.00,0.000,3078,0.203,0.051,2620,1863,3864,4009,3720,0,0,0,0,0,0,26.16,26.23,28.83
$STATE,10520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10520,begin apogee
$GC,10525,-0.19,0.0,2619,1338,4008,3720,1001.0,-8.6,640,10661,0.85,0.00,128.73,1.291,10246,0.137,0.000,2884,1339,3250,3377,3123,0,0,0,0,0,0,25.84,28.83,23.34
$STATE,10662,end apogee,CONTROL_FINISHED_OK
$STATE,10662,begin climb
$GC,10663,0.77,150.8,2883,1339,3377,3124,1004.3,0.0,647,10806,0.93,2.25,134.52,1.248,10756,0.070,0.073,3210,165,2635,2729,2541,0,0,0,0,0,0,24.34,23.51,22.73
$GC,10867,0.54,150.8,3210,165,2725,2541,985.3,13.8,657,10872,0.30,2.00,0.00,0.000,5126,0.160,0.050,3133,1343,2632,2724,2541,0,0,0,0,0,0,24.44,24.60,28.83
$GC,11174,0.47,150.8,3132,1344,2718,2541,951.4,10.6,672,11181,0.10,2.30,0.00,0.000,4356,0.178,0.057,3106,2733,2629,2718,2541,0,0,0,0,0,0,25.54,25.54,28.83
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$GC,15130,0.50,186.7,3130,1325,2570,2407,546.6,10.8,869,15134,0.00,2.28,0.00,0.000,4356,0.000,0.058,3130,2733,2488,2570,2406,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,20217,end climb,SURFACE_DEPTH_REACHED
$STATE,20217,begin surface coast
$FINISH,1.7,1.022945
$STATE,20223,end surface coast,CONTROL_FINISHED_OK
$STATE,20223,begin surface
$SM_CCo,20241,176.07,0.052,0,0,516,670.15
$SM_GC,2.40,7.70,2.80,176.07,0.041,0.052,0.052,224,1869,516,-8.43,-1.05,670.15,0,0,0,0,0,0,26.25,26.11,25.96
$IRIDIUM_FIX,-4521.02,554.90,051109,111121
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.25
$INTERNAL_PRESSURE,8.88396
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.7,25.234
$10V_AH,10.1,15.246
$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
$DEVICE_SECS,22.200,131.100,400.500,176.075,0.000,54.971,63.692,361.388,25.000,0.000,20.180,2918.873,14299.492,750.047,2986.549,160.982,0.000,1959.125,0.000,2349.227,0.000,148.983,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.299,561.722,627.287,95.158,0.000,0.000,0.000,0.000,0.000,0.000
$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,70294,1207
$CAP_FILE_SIZE,192929,0
$CFSIZE,2097086464,2071560192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090117,032701,-4535.731,553.533,40,1.7,40,-24.1