version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 184
start: 1 16 117 7 59 47
data:
$ID,573
$MISSION,15
$DIVE,184
$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,-31829.279
$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,30
$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
$GPS1,160117,075150,-4542.661,529.005,39,0.8,39,-23.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-56.0
$GPS2,160117,075922,-4542.635,529.130,16,1.5,16,-23.9
$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,223.4,73396,-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,-150.8,200,1876,597,417,0.0,0.0,0,143,0.00,0.00,-125.50,0.000,16386,0.000,0.000,197,1877,3186,3186,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,146,-0.77,-150.8,196,1877,3190,3186,3.1,-2.6,20,193,10.68,2.38,-28.00,0.000,19204,0.251,0.077,2697,456,3865,3999,3732,0,0,0,0,0,0,25.10,25.57,26.10
$GC,422,-0.84,-150.8,1696,456,4005,3729,25.4,-11.0,72,429,0.00,2.33,0.00,0.000,1030,0.000,0.048,2688,1874,3868,4006,3731,0,0,0,0,0,0,28.83,25.76,28.83
$GC,553,-0.94,-150.8,1696,1872,4006,3729,37.3,-8.6,97,561,0.12,2.40,0.00,0.000,4612,0.083,0.063,2616,455,3868,4007,3730,0,0,0,0,0,0,26.04,25.72,28.83
$GC,638,-0.85,-150.8,1680,455,4006,3729,47.6,-12.5,113,646,0.25,2.28,0.00,0.000,3078,0.153,0.046,2676,1874,3868,4007,3730,0,0,0,0,0,0,25.46,25.86,28.83
$GC,952,-0.92,-150.8,2675,1875,4008,3730,79.9,-10.6,174,960,0.05,2.25,0.00,0.000,4356,0.161,0.061,2626,3269,3869,4009,3730,0,0,0,0,0,0,26.23,25.77,28.83
$GC,1019,-0.92,-150.8,2625,3269,4009,3729,88.1,-12.0,178,1024,0.10,2.22,0.00,0.000,3078,0.164,0.047,2652,1858,3868,4009,3728,0,0,0,0,0,0,25.77,25.95,28.83
$GC,1337,-0.96,-150.8,2652,1858,4009,3728,121.1,-9.2,194,1342,0.00,2.28,0.00,0.000,4612,0.000,0.064,2656,462,3869,4009,3729,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1385,-0.96,-150.8,2656,461,4009,3728,125.0,-9.7,196,1389,0.00,2.25,0.00,0.000,1030,0.000,0.045,2647,1876,3868,4009,3728,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1693,-0.99,-150.8,2647,1876,4009,3728,152.1,-7.5,211,1695,0.00,0.00,0.00,0.000,4102,0.000,0.000,2647,1876,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1992,-0.99,-150.8,2647,1876,4010,3729,172.9,-7.1,226,1997,0.00,2.25,0.00,0.000,4356,0.000,0.063,2637,3269,3869,4010,3728,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2041,-1.02,-150.8,2636,3269,4010,3728,176.0,-7.5,228,2046,0.00,2.20,0.00,0.000,5126,0.000,0.047,2636,1867,3869,4010,3728,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2350,-1.02,-150.8,2636,1867,4010,3728,204.7,-9.3,243,2355,0.00,2.25,0.00,0.000,4612,0.000,0.064,2637,471,3869,4010,3728,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2429,-1.02,-150.8,2636,471,4011,3728,213.0,-10.3,247,2434,0.00,2.25,0.00,0.000,1030,0.000,0.046,2627,1871,3869,4010,3728,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2749,-1.02,-150.8,2627,1871,4010,3728,247.4,-10.9,263,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1871,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3047,-1.02,-150.8,2627,1871,4011,3728,279.8,-10.7,278,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1871,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3347,-1.02,-150.8,2627,1871,4010,3728,310.5,-9.8,293,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1871,3870,4012,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3649,-1.02,-150.8,2627,1871,4011,3728,339.0,-9.3,308,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1871,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3948,-1.02,-150.8,2627,1871,4010,3728,366.8,-9.3,323,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1871,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4248,-1.02,-150.8,2627,1870,4010,3727,395.6,-9.6,338,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1871,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4547,-1.02,-150.8,2627,1871,4011,3727,424.4,-9.7,353,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1871,3868,4010,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4847,-1.02,-150.8,2627,1871,4010,3726,453.5,-9.8,368,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1871,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5147,-1.02,-150.8,2627,1871,4011,3725,482.3,-9.3,383,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1871,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5447,-1.02,-150.8,2626,1871,4010,3725,508.7,-8.6,398,5451,0.00,2.30,0.00,0.000,516,0.000,0.065,2627,471,3867,4010,3725,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5524,-1.02,-150.8,2627,471,4010,3725,515.5,-9.0,402,5529,0.00,2.22,0.00,0.000,3078,0.000,0.048,2618,1868,3867,4010,3725,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5844,-1.02,-150.8,2618,1869,4010,3724,543.4,-8.8,418,5845,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1869,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6144,-1.02,-150.8,2618,1869,4010,3723,570.1,-8.8,433,6149,0.00,2.33,0.00,0.000,2564,0.000,0.066,2618,469,3867,4010,3724,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6183,-1.02,-150.8,2618,469,4010,3723,574.1,-9.5,435,6189,0.00,2.25,0.00,0.000,3078,0.000,0.049,2609,1880,3866,4010,3723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6506,-1.02,-150.8,2608,1880,4010,3723,605.3,-10.3,451,6507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,1880,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6803,-1.02,-150.8,2608,1880,4010,3722,634.4,-9.6,466,6807,0.00,2.33,0.00,0.000,2564,0.000,0.066,2609,467,3866,4010,3722,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6854,-1.02,-150.8,2608,467,4009,3722,638.0,-9.7,468,6861,0.10,2.25,0.00,0.000,3078,0.181,0.048,2622,1876,3866,4010,3722,0,0,0,0,0,0,25.90,26.13,28.83
$GC,7160,-1.02,-150.8,2622,1876,4010,3722,667.0,-9.2,484,7161,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1876,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7460,-1.02,-150.8,2622,1876,4010,3721,694.3,-9.2,499,7466,0.00,2.33,0.00,0.000,2564,0.000,0.067,2622,467,3865,4009,3721,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7527,-1.02,-150.8,2622,467,4009,3721,700.1,-9.6,502,7532,0.00,2.22,0.00,0.000,3078,0.000,0.049,2614,1871,3865,4009,3721,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7835,-1.02,-150.8,2614,1871,4009,3721,728.6,-8.9,517,7836,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1871,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8135,-1.02,-150.8,2614,1871,4009,3721,754.3,-8.3,532,8137,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1871,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8434,-1.02,-150.8,2614,1871,4009,3720,779.4,-8.3,547,8436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1871,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8735,-1.02,-150.8,2614,1871,4009,3720,806.2,-9.1,562,8736,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1871,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9034,-1.02,-150.8,2614,1871,4009,3719,834.6,-9.8,577,9035,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1871,3864,4009,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9334,-1.02,-150.8,2614,1871,4009,3719,864.0,-9.8,592,9335,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1871,3864,4009,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9634,-1.02,-150.8,2614,1871,4009,3718,892.8,-9.1,607,9640,0.00,2.28,0.00,0.000,2308,0.000,0.068,2603,3269,3863,4009,3718,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9689,-1.02,-150.8,2603,3269,4009,3718,896.6,-9.3,609,9696,0.08,2.20,0.00,0.000,3078,0.177,0.051,2621,1865,3863,4009,3718,0,0,0,0,0,0,25.97,26.08,28.83
$GC,9997,-1.02,-150.8,2620,1865,4009,3718,923.6,-8.3,625,10002,0.00,2.28,0.00,0.000,2564,0.000,0.067,2621,467,3863,4008,3718,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10074,-1.02,-150.8,2621,467,4008,3718,930.4,-8.6,629,10080,0.00,2.25,0.00,0.000,3078,0.000,0.049,2612,1874,3863,4008,3718,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10395,-1.02,-150.8,2612,1875,4008,3717,954.3,-6.9,645,10401,0.00,2.28,0.00,0.000,2308,0.000,0.067,2601,3272,3862,4008,3717,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10444,-1.02,-150.8,2601,3272,4009,3717,957.3,-7.1,647,10448,0.08,2.20,0.00,0.000,3078,0.181,0.050,2619,1869,3862,4008,3717,0,0,0,0,0,0,25.95,26.06,28.83
$GC,10751,-1.07,-150.8,2619,1869,4008,3717,979.9,-7.6,662,10757,0.00,2.30,0.00,0.000,4612,0.000,0.069,2621,465,3862,4008,3717,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10856,-1.07,-150.8,2620,465,4008,3717,988.0,-8.4,667,10861,0.00,2.25,0.00,0.000,1030,0.000,0.049,2611,1870,3862,4008,3717,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,11009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11009,begin apogee
$GC,11014,-0.19,0.0,2611,1329,4008,3717,1001.1,-8.1,675,11150,0.90,0.00,130.07,1.285,10246,0.131,0.000,2889,1329,3250,3378,3122,0,0,0,0,0,0,25.54,28.83,23.22
$STATE,11151,end apogee,CONTROL_FINISHED_OK
$STATE,11151,begin climb
$GC,11153,0.77,150.8,2889,1329,3378,3122,1003.2,0.0,682,11296,0.90,2.17,134.75,1.241,10756,0.061,0.075,3213,164,2635,2729,2541,0,0,0,0,0,0,24.28,23.58,22.74
$GC,11442,0.52,150.8,3213,164,2720,2541,970.1,15.6,696,11450,0.32,1.92,0.00,0.000,5126,0.158,0.050,3126,1343,2630,2719,2541,0,0,0,0,0,0,24.87,25.17,28.83
$GC,11749,0.47,150.8,3126,1343,2717,2539,935.7,10.6,712,11755,0.08,2.00,0.00,0.000,4612,0.187,0.076,3119,165,2628,2717,2539,0,0,0,0,0,0,25.75,25.51,28.83
$GC,11852,0.42,150.8,2224,165,2682,2534,925.1,10.5,717,11856,0.10,1.90,0.00,0.000,5126,0.173,0.050,3094,1332,2628,2717,2539,0,0,0,0,0,0,25.56,25.78,28.83
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$STATE,20868,end climb,SURFACE_DEPTH_REACHED
$STATE,20868,begin surface coast
$FINISH,1.6,1.010487
$STATE,20890,end surface coast,CONTROL_FINISHED_OK
$STATE,20891,begin surface
$SM_CCo,20906,180.73,0.050,0,0,516,670.15
$SM_GC,2.20,7.68,0.88,180.73,0.034,0.053,0.050,236,1869,516,-8.40,-1.02,670.15,0,0,0,0,0,0,25.91,25.85,25.71
$IRIDIUM_FIX,-4524.09,530.37,121109,151558
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.97
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.7,29.918
$10V_AH,10.2,18.106
$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
$DEVICE_SECS,22.050,139.325,385.150,180.725,0.000,27.553,39.061,268.421,25.000,0.000,16.598,3085.121,14516.204,724.673,3042.874,169.561,0.000,2044.703,0.000,2585.235,0.000,148.435,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.370,595.133,698.383,112.290,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353588
$DATA_FILE_SIZE,73577,1269
$CAP_FILE_SIZE,201090,0
$CFSIZE,2097086464,2067464192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160117,135226,-4543.465,528.813,36,1.3,36,-23.9