version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 186
start: 1 16 117 19 52 47
data:
$ID,573
$MISSION,15
$DIVE,186
$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,-31831.783
$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,30
$R_STBD_OVSHOOT,37
$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
$GPS1,160117,194503,-4543.418,528.227,40,1.0,40,-23.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-60.3
$GPS2,160117,195222,-4543.406,528.285,18,1.1,19,-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,222.9,71692,-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,-150.8,195,1892,604,416,0.0,0.0,0,150,0.00,0.00,-131.95,0.000,16386,0.000,0.000,190,1893,3341,3353,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,152,-0.77,-150.8,189,1893,3354,3331,3.1,-1.9,21,187,10.60,2.28,-17.85,0.000,19204,0.249,0.080,2685,3268,3866,3999,3733,0,0,0,0,0,0,25.15,25.55,26.08
$GC,382,-0.90,-150.8,1704,3267,4008,3730,23.5,-6.9,64,390,0.03,2.25,0.00,0.000,5126,0.111,0.049,2650,1868,3869,4008,3731,0,0,0,0,0,0,25.70,25.78,28.83
$GC,514,-0.90,-150.8,1664,1866,4008,3730,35.9,-11.3,89,521,0.03,0.00,0.00,0.000,2054,0.260,0.000,2659,1868,3870,4009,3731,0,0,0,0,0,0,26.06,28.83,28.83
$GC,644,-0.93,-150.8,2659,1868,4009,3731,49.0,-9.0,114,652,0.00,2.35,0.00,0.000,516,0.000,0.067,2659,467,3870,4009,3731,0,0,0,0,0,0,28.83,25.76,28.83
$GC,704,-0.93,-150.8,1704,467,4008,3730,55.1,-9.5,125,710,0.00,2.25,0.00,0.000,3078,0.000,0.046,2650,1874,3870,4009,3731,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1021,-0.93,-150.8,2650,1875,4009,3731,89.4,-11.5,175,1027,0.00,2.30,0.00,0.000,2564,0.000,0.063,2651,469,3870,4009,3731,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1073,-0.93,-150.8,2650,470,4009,3731,94.2,-11.7,177,1081,0.00,2.25,0.00,0.000,3078,0.000,0.045,2641,1876,3870,4009,3731,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1381,-0.93,-150.8,2641,1876,4010,3731,130.6,-11.1,193,1387,0.00,2.25,0.00,0.000,2308,0.000,0.062,2630,3270,3870,4010,3731,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1429,-0.93,-150.8,2630,3271,4010,3731,135.1,-11.1,195,1434,0.10,2.22,0.00,0.000,3078,0.164,0.047,2655,1860,3870,4011,3730,0,0,0,0,0,0,25.84,26.03,28.83
$GC,1739,-0.98,-150.8,2655,1861,4011,3731,168.3,-10.3,210,1744,0.00,2.25,0.00,0.000,4612,0.000,0.064,2657,467,3871,4011,3731,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1790,-1.02,-150.8,2657,467,4011,3731,172.7,-10.5,212,1798,0.05,2.25,0.00,0.000,5126,0.071,0.046,2601,1871,3871,4011,3731,0,0,0,0,0,0,26.01,26.07,28.83
$GC,2097,-0.97,-150.8,2601,1871,4011,3731,213.5,-12.7,228,2104,0.12,2.28,0.00,0.000,2308,0.166,0.062,2628,3277,3871,4011,3731,0,0,0,0,0,0,25.98,25.92,28.83
$GC,2165,-0.97,-150.8,2628,3276,4011,3731,220.3,-11.5,231,2169,0.00,2.22,0.00,0.000,3078,0.000,0.047,2630,1863,3871,4011,3731,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2478,-0.97,-150.8,2629,1864,4011,3731,254.0,-10.2,247,2484,0.00,2.25,0.00,0.000,2564,0.000,0.064,2630,471,3871,4011,3731,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2537,-0.97,-150.8,2629,471,4011,3731,260.5,-10.7,250,2542,0.08,2.20,0.00,0.000,3078,0.195,0.047,2636,1872,3870,4011,3730,0,0,0,0,0,0,25.96,26.10,28.83
$GC,2854,-0.97,-150.8,2636,1872,4011,3731,291.2,-9.4,266,2860,0.00,2.28,0.00,0.000,2308,0.000,0.063,2627,3278,3871,4011,3731,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2898,-0.97,-150.8,2627,3278,4011,3731,294.7,-9.3,268,2902,0.00,2.22,0.00,0.000,3078,0.000,0.047,2630,1866,3870,4011,3730,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3211,-0.97,-150.8,2629,1866,4011,3730,324.0,-8.9,284,3217,0.00,2.22,0.00,0.000,2564,0.000,0.064,2630,476,3871,4011,3731,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3303,-0.97,-150.8,2629,476,4011,3731,331.8,-9.7,288,3310,0.08,2.22,0.00,0.000,3078,0.193,0.047,2637,1874,3871,4011,3731,0,0,0,0,0,0,25.98,26.13,28.83
$GC,3610,-0.97,-150.8,2635,1874,4011,3731,358.0,-7.7,304,3611,0.00,0.00,0.00,0.000,2054,0.000,0.000,2636,1875,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3911,-0.97,-150.8,2636,1875,4011,3730,380.3,-7.4,319,3912,0.00,0.00,0.00,0.000,2054,0.000,0.000,2636,1875,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4210,-1.00,-150.8,2636,1875,4011,3730,402.2,-7.1,334,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1874,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4510,-1.00,-150.8,2636,1875,4011,3729,423.7,-7.5,349,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1875,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4810,-1.03,-150.8,2636,1875,4011,3728,448.8,-8.7,364,4811,0.00,0.00,0.00,0.000,4102,0.000,0.000,2636,1875,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5112,-1.07,-150.8,2636,1875,4011,3728,476.8,-9.6,379,5114,0.08,0.00,0.00,0.000,4102,0.119,0.000,2592,1874,3869,4011,3728,0,0,0,0,0,0,26.46,28.83,28.83
$GC,5410,-1.01,-150.8,2592,1875,4011,3727,513.0,-12.3,394,5417,0.12,2.33,0.00,0.000,2564,0.168,0.064,2630,470,3869,4011,3727,0,0,0,0,0,0,26.07,25.97,28.83
$GC,5453,-0.97,-150.8,2630,470,4011,3727,517.8,-12.1,396,5457,0.08,2.25,0.00,0.000,3078,0.191,0.049,2637,1878,3869,4011,3727,0,0,0,0,0,0,26.00,26.15,28.83
$GC,5765,-1.00,-150.8,2636,1879,4011,3726,550.7,-10.2,412,5771,0.00,2.33,0.00,0.000,4612,0.000,0.066,2637,465,3868,4011,3726,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5817,-1.00,-150.8,2637,465,4011,3726,555.1,-10.5,414,5824,0.00,2.25,0.00,0.000,3078,0.000,0.047,2628,1871,3869,4012,3726,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6124,-1.00,-150.8,2628,1871,4011,3726,589.6,-10.7,430,6125,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1871,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6425,-1.00,-150.8,2628,1871,4011,3725,619.4,-9.6,445,6430,0.00,2.25,0.00,0.000,2308,0.000,0.066,2617,3269,3868,4011,3725,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6513,-1.04,-150.8,2617,3269,4011,3724,627.1,-9.6,449,6518,0.00,2.20,0.00,0.000,3078,0.000,0.050,2618,1874,3867,4011,3724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6822,-1.04,-150.8,2618,1874,4011,3724,655.1,-8.7,464,6827,0.00,2.30,0.00,0.000,2564,0.000,0.067,2618,471,3867,4010,3724,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6880,-1.04,-150.8,2618,471,4011,3724,660.5,-9.0,467,6885,0.00,2.22,0.00,0.000,3078,0.000,0.050,2609,1869,3867,4011,3724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7200,-1.04,-150.8,2609,1869,4011,3723,687.7,-8.3,483,7206,0.00,2.33,0.00,0.000,2564,0.000,0.067,2610,466,3867,4011,3723,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7240,-1.04,-150.8,2609,467,4010,3723,691.5,-8.7,485,7246,0.08,2.22,0.00,0.000,3078,0.197,0.050,2615,1867,3867,4011,3723,0,0,0,0,0,0,25.96,26.11,28.83
$GC,7560,-1.04,-150.8,2615,1868,4010,3723,720.1,-9.2,501,7561,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,1868,3867,4011,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7859,-1.04,-150.8,2615,1868,4011,3722,748.3,-9.6,516,7863,0.00,2.35,0.00,0.000,2564,0.000,0.069,2615,461,3866,4011,3722,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7923,-1.04,-150.8,2615,461,4010,3722,754.0,-10.0,519,7927,0.00,2.28,0.00,0.000,3078,0.000,0.050,2607,1871,3866,4010,3722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8237,-1.04,-150.8,2606,1871,4009,3722,786.2,-10.1,535,8238,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1871,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8537,-1.04,-150.8,2606,1871,4010,3721,816.8,-10.3,550,8538,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1871,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8837,-1.04,-150.8,2606,1871,4010,3721,846.7,-9.7,565,8838,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1871,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9136,-1.04,-150.8,2606,1871,4010,3720,875.4,-9.7,580,9137,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1871,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9436,-1.04,-150.8,2606,1871,4010,3720,903.9,-9.4,595,9441,0.00,2.35,0.00,0.000,2564,0.000,0.067,2606,463,3865,4010,3720,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9495,-1.04,-150.8,2607,463,4009,3721,910.3,-10.3,598,9500,0.10,2.28,0.00,0.000,3078,0.180,0.050,2620,1871,3865,4010,3721,0,0,0,0,0,0,25.88,26.10,28.83
$GC,9812,-1.07,-150.8,2620,1871,4010,3720,939.6,-9.0,614,9813,0.00,0.00,0.00,0.000,4102,0.000,0.000,2621,1871,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10113,-1.10,-150.8,2620,1871,4010,3720,964.8,-8.3,629,10119,0.08,2.33,0.00,0.000,4612,0.119,0.065,2582,463,3865,4010,3720,0,0,0,0,0,0,26.49,25.91,28.83
$GC,10186,-1.07,-150.8,2582,463,4009,3720,970.7,-9.3,632,10194,0.12,2.28,0.00,0.000,3078,0.185,0.050,2604,1880,3864,4009,3720,0,0,0,0,0,0,25.75,26.08,28.83
$GC,10492,-1.07,-150.8,2604,1880,4009,3720,998.8,-8.4,648,10494,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1880,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10510,begin apogee
$GC,10515,-0.19,0.0,2604,1341,4009,3720,1000.5,-8.4,649,10652,0.93,0.00,129.12,1.286,10246,0.133,0.000,2889,1340,3250,3378,3122,0,0,0,0,0,0,25.53,28.83,23.22
$STATE,10653,end apogee,CONTROL_FINISHED_OK
$STATE,10653,begin climb
$GC,10655,0.77,150.8,2889,1340,3378,3123,1002.6,0.0,656,10798,0.90,2.20,134.55,1.244,10756,0.062,0.074,3213,159,2634,2729,2540,0,0,0,0,0,0,24.30,23.58,22.75
$GC,10910,0.52,150.8,3212,159,2723,2541,972.1,15.6,669,10917,0.32,1.98,0.00,0.000,5126,0.157,0.050,3126,1342,2632,2723,2541,0,0,0,0,0,0,24.77,25.03,28.83
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$STATE,20179,end climb,SURFACE_DEPTH_REACHED
$STATE,20179,begin surface coast
$FINISH,1.7,1.011792
$STATE,20200,end surface coast,CONTROL_FINISHED_OK
$STATE,20200,begin surface
$SM_CCo,20216,200.18,0.051,0,0,516,670.15
$SM_GC,2.30,7.57,0.88,200.18,0.031,0.050,0.051,230,1859,516,-8.41,-0.99,670.15,0,0,0,0,0,0,26.26,26.14,25.92
$IRIDIUM_FIX,-4527.17,527.59,131109,030337
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.81
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.8,30.209
$10V_AH,10.2,18.294
$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
$DEVICE_SECS,22.950,134.550,346.500,200.175,0.000,24.824,20.285,273.064,25.000,0.000,19.871,3002.016,14056.558,736.834,2891.121,166.895,0.000,1981.319,0.000,2450.456,0.000,149.008,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.417,575.022,666.384,111.250,0.000,0.000,0.000,0.000,0.000,0.000
$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,70257,1236
$CAP_FILE_SIZE,196742,0
$CFSIZE,2097086464,2067202048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170117,013420,-4544.632,527.427,41,0.9,41,-23.9