version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 167
start: 1 12 117 7 23 41
data:
$ID,573
$MISSION,15
$DIVE,167
$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,-31807.762
$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,22
$R_STBD_OVSHOOT,47
$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
$GPS1,120117,071534,-4538.035,543.543,33,1.0,33,-24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-53.7
$GPS2,120117,072316,-4537.979,543.614,19,0.9,19,-24.0
$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,232.9,88904,-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,-150.8,180,1879,616,416,0.0,0.0,0,155,0.00,0.00,-137.23,0.000,16386,0.000,0.000,177,1878,3462,3478,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,157,-0.77,-150.8,177,1878,3480,3446,3.1,-1.1,22,189,10.57,2.30,-12.35,0.000,18692,0.246,0.080,2687,3254,3865,3998,3733,0,0,0,0,0,0,25.17,25.53,26.07
$GC,227,-0.88,-150.8,1712,3253,4003,3729,9.5,-8.8,33,235,0.00,2.25,0.00,0.000,5126,0.000,0.049,2687,1860,3867,4004,3730,0,0,0,0,0,0,28.83,25.68,28.83
$GC,278,-0.99,-150.8,1712,1859,4004,3729,14.6,-8.7,42,286,0.12,2.33,0.00,0.000,4612,0.085,0.063,2617,458,3867,4005,3730,0,0,0,0,0,0,25.89,25.63,28.83
$GC,324,-0.91,-150.8,1664,458,4004,3729,20.3,-12.2,50,332,0.12,2.30,0.00,0.000,3078,0.145,0.047,2649,1861,3867,4005,3730,0,0,0,0,0,0,25.45,25.73,28.83
$GC,455,-0.91,-150.8,1680,1860,4005,3728,33.7,-10.0,75,462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,1861,3867,4006,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,585,-0.91,-150.8,1712,1860,4005,3728,49.1,-12.9,100,592,0.00,2.33,0.00,0.000,2564,0.000,0.064,2650,466,3867,4006,3729,0,0,0,0,0,0,28.83,25.76,28.83
$GC,620,-0.91,-150.8,2649,465,4006,3729,53.8,-14.2,106,627,0.08,2.25,0.00,0.000,3078,0.196,0.047,2656,1872,3868,4007,3729,0,0,0,0,0,0,25.72,25.86,28.83
$GC,941,-0.91,-150.8,2656,1872,4007,3729,98.4,-15.0,151,947,0.00,2.33,0.00,0.000,2564,0.000,0.065,2659,462,3868,4007,3729,0,0,0,0,0,0,28.83,25.84,28.83
$GC,983,-0.91,-150.8,2659,462,4007,3729,104.2,-14.6,153,987,0.00,2.28,0.00,0.000,3078,0.000,0.047,2651,1866,3868,4007,3729,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1302,-0.95,-150.8,2650,1867,4006,3729,142.7,-10.4,169,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1866,3867,4007,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-0.98,-150.8,2651,1866,4008,3729,171.9,-9.3,184,1604,0.00,0.00,0.00,0.000,4102,0.000,0.000,2651,1867,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,-1.02,-150.8,2650,1867,4008,3728,197.8,-8.6,199,1904,0.08,0.00,0.00,0.000,4102,0.118,0.000,2602,1867,3868,4008,3729,0,0,0,0,0,0,26.36,28.83,28.83
$GC,2201,-0.96,-150.8,2602,1867,4008,3729,229.8,-10.9,214,2203,0.15,0.00,0.00,0.000,2054,0.157,0.000,2642,1867,3868,4008,3729,0,0,0,0,0,0,25.99,28.83,28.83
$GC,2501,-0.96,-150.8,2642,1867,4009,3729,259.5,-9.9,229,2507,0.00,2.33,0.00,0.000,2564,0.000,0.066,2644,461,3868,4009,3728,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2555,-0.96,-150.8,2643,461,4009,3729,263.7,-10.4,231,2562,0.00,2.25,0.00,0.000,3078,0.000,0.047,2634,1873,3869,4009,3729,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2861,-0.96,-150.8,2634,1873,4008,3729,298.2,-10.5,247,2863,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1874,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3160,-0.96,-150.8,2634,1874,4009,3729,330.1,-10.8,262,3161,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1874,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-0.96,-150.8,2634,1874,4009,3728,362.8,-11.0,277,3462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1874,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3762,-0.96,-150.8,2634,1874,4009,3728,395.4,-10.5,292,3768,0.00,2.30,0.00,0.000,2564,0.000,0.067,2634,469,3868,4009,3728,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3808,-0.96,-150.8,2634,469,4008,3728,399.8,-10.8,294,3813,0.08,2.25,0.00,0.000,3078,0.194,0.048,2641,1877,3868,4009,3728,0,0,0,0,0,0,26.03,26.17,28.83
$GC,4121,-0.99,-150.8,2641,1877,4009,3727,431.8,-9.3,310,4127,0.00,2.33,0.00,0.000,516,0.000,0.066,2641,468,3867,4008,3727,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4169,-0.99,-150.8,2640,468,4009,3727,435.7,-9.5,312,4173,0.00,2.22,0.00,0.000,3078,0.000,0.048,2632,1869,3868,4009,3727,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4481,-0.99,-150.8,2631,1869,4009,3726,464.8,-8.9,328,4485,0.00,2.33,0.00,0.000,2564,0.000,0.067,2632,464,3868,4009,3727,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4520,-0.99,-150.8,2631,464,4008,3726,468.0,-8.9,330,4524,0.00,2.25,0.00,0.000,3078,0.000,0.048,2622,1878,3867,4008,3726,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4833,-0.99,-150.8,2622,1878,4009,3726,495.7,-8.8,346,4838,0.00,2.33,0.00,0.000,2564,0.000,0.066,2622,464,3867,4009,3725,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4880,-0.99,-150.8,2622,464,4009,3726,499.6,-9.0,348,4885,0.08,2.25,0.00,0.000,3078,0.194,0.048,2629,1877,3867,4008,3726,0,0,0,0,0,0,26.02,26.17,28.83
$GC,5188,-0.99,-150.8,2629,1877,4008,3726,526.4,-8.7,363,5194,0.00,2.30,0.00,0.000,2564,0.000,0.066,2629,465,3867,4009,3726,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5235,-0.99,-150.8,2629,465,4008,3725,530.0,-8.8,365,5239,0.00,2.25,0.00,0.000,3078,0.000,0.048,2620,1878,3867,4009,3725,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5542,-0.99,-150.8,2620,1878,4008,3725,558.9,-9.2,380,5548,0.00,2.35,0.00,0.000,2564,0.000,0.066,2620,464,3867,4009,3725,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5581,-0.99,-150.8,2620,464,4008,3725,562.6,-9.2,382,5586,0.10,2.25,0.00,0.000,3078,0.181,0.049,2634,1874,3866,4008,3725,0,0,0,0,0,0,25.96,26.16,28.83
$GC,5898,-0.99,-150.8,2634,1874,4008,3723,587.9,-8.0,398,5902,0.00,2.25,0.00,0.000,2308,0.000,0.067,2624,3272,3865,4008,3723,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5938,-1.02,-150.8,2623,3272,4009,3723,591.0,-8.3,400,5942,0.00,2.20,0.00,0.000,1030,0.000,0.050,2624,1860,3866,4009,3723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6251,-1.02,-150.8,2624,1860,4009,3723,619.2,-9.1,416,6256,0.00,2.28,0.00,0.000,516,0.000,0.067,2624,464,3866,4009,3723,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6332,-1.02,-150.8,2624,464,4008,3723,627.1,-9.9,420,6336,0.00,2.25,0.00,0.000,3078,0.000,0.050,2615,1868,3866,4009,3723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6649,-1.02,-150.8,2614,1869,4009,3722,659.0,-10.3,436,6650,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,1869,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6951,-1.02,-150.8,2614,1868,4009,3722,690.0,-10.4,451,6952,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,1868,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7249,-1.02,-150.8,2614,1869,4010,3720,721.0,-10.0,466,7250,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,1869,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7549,-1.02,-150.8,2614,1869,4010,3720,751.1,-9.8,481,7550,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,1869,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7849,-1.02,-150.8,2614,1869,4010,3720,780.9,-9.6,496,7850,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,1869,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8150,-1.02,-150.8,2614,1869,4010,3720,808.9,-9.0,511,8155,0.00,2.33,0.00,0.000,2564,0.000,0.068,2615,468,3865,4010,3720,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8192,-1.02,-150.8,2614,468,4009,3720,812.8,-9.2,513,8197,0.08,2.25,0.00,0.000,3078,0.194,0.050,2621,1868,3865,4010,3720,0,0,0,0,0,0,26.02,26.15,28.83
$GC,8505,-1.02,-150.8,2620,1869,4009,3720,839.4,-8.1,529,8507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1869,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8805,-1.02,-150.8,2621,1869,4009,3719,862.9,-7.5,544,8810,0.00,2.33,0.00,0.000,2564,0.000,0.068,2621,469,3864,4009,3719,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8858,-1.02,-150.8,2621,470,4009,3719,866.3,-7.8,546,8864,0.00,2.22,0.00,0.000,3078,0.000,0.050,2612,1871,3864,4009,3719,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9164,-1.02,-150.8,2612,1871,4009,3719,892.2,-8.4,562,9165,0.00,0.00,0.00,0.000,2054,0.000,0.000,2611,1871,3864,4009,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9465,-1.02,-150.8,2612,1871,4009,3718,917.2,-8.5,577,9470,0.00,2.33,0.00,0.000,2564,0.000,0.068,2612,470,3863,4009,3718,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9538,-1.02,-150.8,2612,469,4009,3718,922.9,-9.2,580,9545,0.10,2.25,0.00,0.000,3078,0.179,0.050,2627,1871,3863,4009,3718,0,0,0,0,0,0,25.94,26.14,28.83
$GC,9847,-1.06,-150.8,2626,1871,4009,3718,949.3,-8.3,596,9848,0.00,0.00,0.00,0.000,4102,0.000,0.000,2627,1871,3863,4009,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10145,-1.10,-150.8,2626,1871,4008,3717,973.9,-8.2,611,10147,0.08,0.00,0.00,0.000,4102,0.117,0.000,2583,1871,3863,4009,3718,0,0,0,0,0,0,26.51,28.83,28.83
$STATE,10423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10423,begin apogee
$GC,10428,-0.19,0.0,2583,1332,4009,3716,1000.6,-9.6,625,10558,1.00,0.00,125.90,1.288,10246,0.140,0.000,2889,1332,3250,3378,3122,0,0,0,0,0,0,25.65,28.83,23.32
$STATE,10559,end apogee,CONTROL_FINISHED_OK
$STATE,10559,begin climb
$GC,10560,0.77,150.8,2889,1332,3379,3124,1003.0,0.0,631,10706,0.90,2.20,134.62,1.247,10756,0.063,0.076,3211,164,2635,2730,2541,0,0,0,0,0,0,24.30,23.56,22.74
$GC,10768,0.53,150.8,3211,163,2727,2541,981.7,14.2,642,10773,0.32,2.00,0.00,0.000,5126,0.158,0.048,3126,1349,2633,2726,2541,0,0,0,0,0,0,24.50,24.68,28.83
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$STATE,19763,end climb,SURFACE_DEPTH_REACHED
$STATE,19763,begin surface coast
$FINISH,1.9,1.023298
$STATE,19785,end surface coast,CONTROL_FINISHED_OK
$STATE,19785,begin surface
$SM_CCo,19800,171.57,0.052,0,0,516,670.15
$SM_GC,2.37,7.78,0.85,171.57,0.041,0.054,0.052,230,1858,516,-8.42,-1.53,670.15,0,0,0,0,0,0,26.08,26.01,25.84
$IRIDIUM_FIX,-4521.02,545.70,081109,141420
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.48
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.7,27.319
$10V_AH,10.2,16.545
$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
$DEVICE_SECS,22.750,129.350,402.975,171.575,0.000,28.009,40.413,273.084,25.000,0.000,19.929,2845.636,13940.082,748.596,2744.515,153.376,0.000,1931.527,0.000,2285.773,0.000,149.692,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.568,551.653,607.790,94.333,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353636
$DATA_FILE_SIZE,66964,1176
$CAP_FILE_SIZE,188144,0
$CFSIZE,2097086464,2069725184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120117,125751,-4538.254,543.135,42,1.1,42,-24.0