version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 157
start: 1 9 117 20 48 5
data:
$ID,573
$MISSION,15
$DIVE,157
$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,-31795.031
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,090117,204020,-4536.693,552.089,40,1.0,40,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-57.5
$GPS2,090117,204740,-4536.645,552.214,20,0.9,21,-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,238.0,96752,-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,-150.8,225,1875,602,417,0.0,0.0,0,148,0.00,0.00,-130.95,0.000,16386,0.000,0.000,225,1874,3296,3307,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,151,-0.77,-150.8,225,1876,3311,3286,3.1,-1.6,21,192,10.35,2.38,-20.58,0.000,18692,0.246,0.080,2689,3275,3867,4001,3734,0,0,0,0,0,0,25.18,25.54,26.08
$GC,246,-0.86,-150.8,1712,3274,4005,3731,10.0,-9.3,37,253,0.00,2.30,0.00,0.000,5126,0.000,0.050,2690,1852,3869,4007,3732,0,0,0,0,0,0,28.83,25.73,28.83
$GC,298,-0.95,-150.8,1712,1850,4006,3731,14.4,-7.7,46,305,0.12,0.00,0.00,0.000,4102,0.085,0.000,2622,1851,3869,4007,3732,0,0,0,0,0,0,25.90,28.83,28.83
$GC,348,-0.90,-150.8,1664,1850,4006,3731,20.0,-11.6,55,356,0.15,2.33,0.00,0.000,2564,0.166,0.067,2674,469,3869,4007,3732,0,0,0,0,0,0,25.58,25.70,28.83
$GC,378,-0.90,-150.8,1728,469,4006,3731,23.4,-10.2,60,386,0.00,2.30,0.00,0.000,1030,0.000,0.047,2665,1887,3869,4007,3732,0,0,0,0,0,0,28.83,25.81,28.83
$GC,510,-0.94,-150.8,1680,1886,4006,3731,36.2,-10.4,85,516,0.00,0.00,0.00,0.000,4102,0.000,0.000,2664,1887,3869,4007,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,639,-0.98,-150.8,1728,1886,4007,3731,49.1,-10.2,110,645,0.08,0.00,0.00,0.000,4102,0.122,0.000,2625,1887,3870,4008,3732,0,0,0,0,0,0,26.10,28.83,28.83
$GC,964,-0.94,-150.8,2625,1887,4008,3732,87.8,-12.0,165,966,0.10,0.00,0.00,0.000,2054,0.174,0.000,2648,1887,3870,4008,3732,0,0,0,0,0,0,25.99,28.83,28.83
$GC,1263,-0.94,-150.8,2648,1887,4009,3732,118.3,-9.3,180,1269,0.00,2.33,0.00,0.000,2564,0.000,0.064,2650,464,3870,4009,3732,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1336,-0.94,-150.8,2650,464,4009,3732,123.5,-8.9,183,1344,0.00,2.25,0.00,0.000,3078,0.000,0.046,2641,1877,3870,4009,3731,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1644,-0.94,-150.8,2641,1877,4010,3732,153.3,-9.4,199,1645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1877,3871,4010,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,-0.94,-150.8,2641,1877,4011,3732,181.5,-9.5,214,1946,0.00,0.00,0.00,0.000,2054,0.000,0.000,2641,1877,3871,4010,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2245,-0.94,-150.8,2641,1877,4010,3732,210.8,-9.8,229,2246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2641,1877,3871,4010,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2543,-0.94,-150.8,2641,1877,4010,3732,240.0,-9.8,244,2549,0.00,2.33,0.00,0.000,2564,0.000,0.065,2642,458,3871,4011,3732,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2591,-0.94,-150.8,2641,458,4010,3732,244.3,-10.2,246,2595,0.08,2.25,0.00,0.000,3078,0.190,0.048,2648,1871,3871,4011,3732,0,0,0,0,0,0,26.05,26.19,28.83
$GC,2905,-0.98,-150.8,2647,1871,4010,3732,275.3,-9.5,262,2910,0.00,2.28,0.00,0.000,4612,0.000,0.066,2648,468,3871,4011,3732,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2926,-1.01,-150.8,2647,468,4010,3732,277.3,-9.5,263,2930,0.00,2.22,0.00,0.000,5126,0.000,0.048,2639,1869,3871,4010,3732,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3238,-1.01,-150.8,2639,1869,4010,3732,309.0,-10.0,279,3244,0.00,2.28,0.00,0.000,4612,0.000,0.065,2639,467,3871,4011,3732,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3307,-1.01,-150.8,2639,467,4010,3732,315.5,-10.7,282,3311,0.00,2.22,0.00,0.000,1030,0.000,0.048,2630,1868,3871,4010,3732,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3619,-1.01,-150.8,2629,1868,4010,3732,350.1,-10.7,298,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1868,3871,4010,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3919,-1.01,-150.8,2630,1869,4011,3731,381.5,-10.6,313,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1869,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4220,-1.01,-150.8,2629,1869,4010,3731,412.3,-10.2,328,4226,0.00,2.28,0.00,0.000,516,0.000,0.065,2630,468,3871,4011,3731,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4267,-1.01,-150.8,2630,467,4010,3731,416.6,-10.5,330,4271,0.00,2.25,0.00,0.000,3078,0.000,0.049,2621,1878,3870,4010,3731,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4578,-1.01,-150.8,2620,1878,4011,3730,451.5,-11.0,346,4580,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1878,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4879,-1.01,-150.8,2620,1878,4011,3730,483.0,-10.2,361,4880,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1879,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5179,-1.01,-150.8,2620,1878,4010,3729,513.0,-10.1,376,5180,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1878,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5479,-1.01,-150.8,2620,1878,4011,3729,543.1,-9.9,391,5480,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1878,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5780,-1.01,-150.8,2620,1878,4010,3728,571.9,-9.7,406,5781,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1878,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6079,-1.01,-150.8,2620,1878,4010,3727,600.7,-9.7,421,6080,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1878,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6379,-1.01,-150.8,2620,1878,4010,3727,629.3,-9.2,436,6383,0.00,2.30,0.00,0.000,2564,0.000,0.067,2621,467,3868,4010,3727,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6408,-1.01,-150.8,2620,467,4010,3727,630.8,-9.2,437,6415,0.05,2.25,0.00,0.000,3078,0.220,0.050,2622,1877,3868,4010,3727,0,0,0,0,0,0,26.16,26.25,28.83
$GC,6716,-1.01,-150.8,2622,1877,4010,3726,661.7,-9.8,453,6717,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1877,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7014,-1.01,-150.8,2622,1877,4011,3725,691.6,-10.1,468,7016,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1877,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-1.01,-150.8,2622,1878,4010,3725,719.3,-9.1,483,7321,0.00,2.33,0.00,0.000,2564,0.000,0.067,2623,468,3867,4010,3725,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7404,-1.01,-150.8,2622,468,4010,3725,727.2,-9.8,487,7408,0.00,2.22,0.00,0.000,3078,0.000,0.050,2613,1870,3867,4010,3725,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7717,-1.01,-150.8,2613,1871,4010,3724,757.6,-9.6,503,7723,0.00,2.33,0.00,0.000,2564,0.000,0.067,2614,461,3867,4010,3724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7759,-1.01,-150.8,2613,461,4010,3724,761.6,-9.9,505,7764,0.10,2.25,0.00,0.000,3078,0.181,0.050,2628,1870,3867,4010,3724,0,0,0,0,0,0,26.03,26.23,28.83
$GC,8077,-1.01,-150.8,2628,1869,4010,3723,789.2,-8.2,521,8083,0.00,2.25,0.00,0.000,260,0.000,0.070,2618,3271,3866,4010,3723,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8110,-1.04,-150.8,2617,3270,4010,3723,790.7,-8.1,522,8116,0.00,2.20,0.00,0.000,1030,0.000,0.051,2618,1858,3866,4009,3723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8416,-1.04,-150.8,2618,1858,4010,3723,817.9,-8.6,538,8420,0.00,2.25,0.00,0.000,516,0.000,0.068,2618,468,3866,4010,3723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8472,-1.04,-150.8,2618,468,4010,3723,822.7,-8.6,541,8478,0.00,2.22,0.00,0.000,3078,0.000,0.052,2609,1869,3866,4010,3723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8793,-1.04,-150.8,2608,1869,4010,3723,850.4,-8.6,557,8794,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,1869,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9092,-1.04,-150.8,2609,1869,4010,3722,876.1,-8.9,572,9098,0.00,2.33,0.00,0.000,2564,0.000,0.067,2609,461,3866,4010,3722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9125,-1.04,-150.8,2609,461,4010,3722,878.0,-9.1,573,9132,0.08,2.25,0.00,0.000,3078,0.197,0.051,2615,1870,3866,4010,3722,0,0,0,0,0,0,26.08,26.22,28.83
$GC,9434,-1.04,-150.8,2615,1869,4009,3722,905.8,-8.7,589,9439,0.00,2.25,0.00,0.000,2308,0.000,0.070,2605,3269,3866,4010,3722,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9465,-1.04,-150.8,2605,3269,4010,3722,907.6,-8.7,590,9472,0.00,2.20,0.00,0.000,3078,0.000,0.052,2606,1868,3866,4010,3722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9772,-1.04,-150.8,2606,1867,4010,3722,937.4,-9.7,606,9776,0.00,2.28,0.00,0.000,2564,0.000,0.068,2606,467,3865,4009,3721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9902,-1.01,-150.8,2606,467,4009,3722,949.2,-10.1,612,9909,0.12,2.25,0.00,0.000,3078,0.173,0.051,2629,1876,3865,4009,3722,0,0,0,0,0,0,25.95,26.21,28.83
$GC,10210,-1.05,-150.8,2629,1876,4009,3721,975.9,-8.2,628,10211,0.00,0.00,0.00,0.000,4102,0.000,0.000,2629,1876,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10508,begin apogee
$GC,10513,-0.19,0.0,2628,1335,4009,3721,1001.0,-8.1,643,10648,0.82,0.00,129.70,1.293,10246,0.133,0.000,2886,1335,3250,3378,3122,0,0,0,0,0,0,25.81,28.83,23.30
$STATE,10649,end apogee,CONTROL_FINISHED_OK
$STATE,10649,begin climb
$GC,10650,0.77,150.8,2886,1335,3378,3122,1004.0,0.0,650,10794,0.93,2.17,134.93,1.252,10756,0.066,0.073,3214,165,2634,2729,2539,0,0,0,0,0,0,24.29,23.51,22.71
$GC,10979,0.51,150.8,3213,165,2719,2539,965.2,15.6,666,10987,0.32,1.95,0.00,0.000,5126,0.161,0.050,3126,1349,2629,2719,2539,0,0,0,0,0,0,25.01,25.26,28.83
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$STATE,20321,end climb,SURFACE_DEPTH_REACHED
$STATE,20321,begin surface coast
$FINISH,1.7,1.023327
$STATE,20352,end surface coast,CONTROL_FINISHED_OK
$STATE,20352,begin surface
$SM_CCo,20368,183.82,0.052,0,0,516,670.15
$SM_GC,2.32,7.75,0.85,183.82,0.042,0.051,0.052,224,1868,516,-8.42,-1.19,670.15,0,0,0,0,0,0,26.06,25.97,25.79
$IRIDIUM_FIX,-4521.02,548.46,061109,040449
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.70
$INTERNAL_PRESSURE,8.88396
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.7,25.830
$10V_AH,10.2,15.615
$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
$DEVICE_SECS,21.750,144.300,366.550,183.825,0.000,28.674,17.675,274.975,25.000,0.000,21.930,3026.454,14076.720,745.676,2988.540,153.355,0.000,2041.113,0.000,2544.389,0.000,149.589,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.166,586.884,700.316,113.155,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353612
$DATA_FILE_SIZE,73523,1249
$CAP_FILE_SIZE,198906,0
$CFSIZE,2097086464,2071003136
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100117,023152,-4536.479,550.947,39,0.8,39,-24.1