version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 196
start: 1 19 117 5 48 34
data:
$ID,573
$MISSION,15
$DIVE,196
$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,-31844.322
$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,25
$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
$GPS1,190117,053950,-4550.936,521.966,41,0.9,41,-23.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-51.6
$GPS2,190117,054809,-4550.871,522.109,18,1.1,18,-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,219.9,56125,-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,-150.8,187,1877,598,417,0.0,0.0,0,162,0.00,0.00,-144.00,0.000,16386,0.000,0.000,185,1878,3566,3605,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,165,-0.77,-150.8,185,1878,3612,3524,3.4,-1.7,23,193,10.82,2.38,-8.07,0.000,18692,0.252,0.081,2688,3272,3867,4001,3734,0,0,0,0,0,0,25.08,25.50,26.08
$GC,232,-0.90,-150.8,1712,3270,4005,3731,10.5,-6.0,34,240,0.05,2.28,0.00,0.000,5126,0.069,0.048,2640,1865,3869,4006,3732,0,0,0,0,0,0,25.58,25.65,28.83
$GC,283,-0.90,-150.8,1680,1863,4005,3731,15.8,-14.7,43,291,0.10,2.33,0.00,0.000,2564,0.175,0.061,2663,461,3870,4007,3733,0,0,0,0,0,0,25.70,25.54,28.83
$GC,324,-0.90,-150.8,2663,461,4007,3732,19.5,-8.8,50,331,0.00,2.33,0.00,0.000,3078,0.000,0.047,2654,1880,3869,4007,3732,0,0,0,0,0,0,28.83,25.67,28.83
$GC,375,-0.90,-150.8,1680,1878,4006,3731,23.7,-9.2,59,382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2655,1880,3869,4007,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,508,-0.93,-150.8,1664,1878,4006,3731,35.2,-10.7,84,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1880,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,639,-0.93,-150.8,2654,1880,4008,3732,45.9,-8.5,109,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1881,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,947,-0.97,-150.8,1712,1879,4007,3731,78.2,-10.5,170,953,0.00,0.00,0.00,0.000,4102,0.000,0.000,2654,1881,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1272,-1.01,-150.8,2654,1881,4009,3732,108.0,-9.2,189,1278,0.10,2.30,0.00,0.000,4612,0.095,0.061,2599,471,3870,4009,3732,0,0,0,0,0,0,26.25,25.80,28.83
$GC,1360,-0.95,-150.8,2599,471,4009,3732,118.2,-12.6,193,1365,0.20,2.22,0.00,0.000,3078,0.160,0.045,2645,1880,3870,4009,3732,0,0,0,0,0,0,25.56,25.97,28.83
$GC,1667,-0.98,-150.8,2645,1880,4009,3732,151.6,-10.6,208,1673,0.00,2.25,0.00,0.000,4356,0.000,0.062,2634,3271,3871,4010,3732,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1707,-1.02,-150.8,2634,3271,4011,3731,155.8,-10.7,210,1713,0.00,2.20,0.00,0.000,5126,0.000,0.047,2635,1859,3870,4010,3731,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2027,-1.02,-150.8,2634,1859,4010,3731,190.2,-10.7,226,2032,0.00,2.25,0.00,0.000,4612,0.000,0.063,2634,469,3870,4010,3731,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2089,-1.02,-150.8,2634,468,4010,3731,197.1,-11.2,229,2094,0.00,2.20,0.00,0.000,3078,0.000,0.046,2625,1865,3871,4011,3732,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2408,-1.02,-150.8,2625,1866,4010,3731,233.8,-11.5,245,2409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2625,1865,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2706,-1.02,-150.8,2625,1865,4011,3731,267.5,-10.9,260,2708,0.00,0.00,0.00,0.000,2054,0.000,0.000,2625,1866,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-1.02,-150.8,2625,1866,4011,3731,300.3,-11.1,275,3014,0.00,2.28,0.00,0.000,2564,0.000,0.063,2625,471,3871,4011,3731,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3069,-1.02,-150.8,2625,471,4011,3732,307.6,-11.9,278,3074,0.00,2.25,0.00,0.000,3078,0.000,0.047,2616,1878,3871,4011,3731,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3387,-1.02,-150.8,2615,1879,4011,3731,344.2,-11.6,294,3388,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1879,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3686,-1.02,-150.8,2615,1879,4011,3731,379.2,-11.7,309,3688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1879,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3986,-1.02,-150.8,2615,1879,4011,3731,414.5,-12.1,324,3990,0.00,2.33,0.00,0.000,2564,0.000,0.063,2616,469,3871,4011,3731,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4035,-1.02,-150.8,2615,469,4011,3731,418.9,-12.2,326,4043,0.08,2.25,0.00,0.000,3078,0.190,0.047,2622,1876,3871,4011,3731,0,0,0,0,0,0,25.93,26.08,28.83
$GC,4345,-1.02,-150.8,2622,1876,4011,3730,456.2,-11.5,342,4346,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1876,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4642,-1.02,-150.8,2622,1876,4011,3730,489.6,-10.8,357,4643,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1876,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4942,-1.02,-150.8,2622,1876,4011,3729,521.4,-10.6,372,4943,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1876,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5243,-1.02,-150.8,2622,1877,4011,3728,550.6,-9.4,387,5244,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1877,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5542,-1.02,-150.8,2622,1877,4011,3728,578.9,-9.4,402,5543,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1877,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5842,-1.02,-150.8,2622,1877,4011,3727,607.7,-9.6,417,5848,0.00,2.33,0.00,0.000,2564,0.000,0.067,2622,468,3869,4011,3727,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6015,-1.02,-150.8,2622,468,4010,3727,623.9,-10.1,425,6022,0.00,2.25,0.00,0.000,3078,0.000,0.048,2613,1869,3868,4010,3726,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6323,-1.02,-150.8,2613,1869,4011,3726,653.6,-9.3,441,6328,0.00,2.30,0.00,0.000,2564,0.000,0.066,2613,471,3868,4010,3726,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6427,-0.98,-150.8,2613,470,4010,3726,663.6,-10.1,446,6432,0.12,2.25,0.00,0.000,3078,0.168,0.048,2636,1874,3868,4010,3726,0,0,0,0,0,0,25.78,26.06,28.83
$GC,6740,-1.03,-150.8,2636,1875,4010,3725,689.5,-7.9,462,6746,0.00,2.35,0.00,0.000,4612,0.000,0.067,2637,460,3867,4010,3725,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6783,-1.07,-150.8,2637,460,4010,3725,692.7,-7.9,464,6787,0.00,2.28,0.00,0.000,5126,0.000,0.049,2627,1881,3867,4010,3725,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7097,-1.10,-150.8,2627,1881,4010,3724,717.8,-7.8,480,7099,0.08,0.00,0.00,0.000,4102,0.118,0.000,2585,1881,3867,4010,3724,0,0,0,0,0,0,26.48,28.83,28.83
$GC,7398,-1.05,-150.8,2585,1881,4010,3723,745.1,-9.5,495,7404,0.10,2.30,0.00,0.000,2564,0.180,0.064,2613,475,3866,4010,3723,0,0,0,0,0,0,26.19,25.84,28.83
$GC,7484,-1.05,-150.8,2613,475,4010,3723,752.7,-9.3,499,7489,0.00,2.25,0.00,0.000,3078,0.000,0.049,2604,1872,3866,4010,3723,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7792,-1.05,-150.8,2604,1872,4010,3723,781.4,-9.2,514,7793,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1873,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8091,-1.05,-150.8,2604,1873,4010,3722,808.3,-8.8,529,8097,0.00,2.28,0.00,0.000,2308,0.000,0.067,2593,3277,3866,4010,3722,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8135,-1.05,-150.8,2593,3277,4010,3722,811.9,-8.9,531,8140,0.08,2.22,0.00,0.000,3078,0.179,0.051,2611,1862,3866,4010,3722,0,0,0,0,0,0,25.89,26.01,28.83
$GC,8447,-1.05,-150.8,2610,1862,4011,3722,839.2,-9.0,547,8453,0.00,2.28,0.00,0.000,2564,0.000,0.067,2610,468,3866,4010,3722,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8540,-1.05,-150.8,2610,468,4009,3722,847.0,-9.8,551,8546,0.00,2.28,0.00,0.000,3078,0.000,0.050,2602,1879,3866,4010,3722,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8846,-1.05,-150.8,2601,1880,4009,3721,878.8,-10.2,567,8848,0.00,0.00,0.00,0.000,2054,0.000,0.000,2602,1880,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9146,-1.05,-150.8,2601,1880,4009,3721,910.2,-10.6,582,9147,0.00,0.00,0.00,0.000,2054,0.000,0.000,2602,1880,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9446,-1.05,-150.8,2601,1880,4009,3720,941.5,-10.1,597,9448,0.00,0.00,0.00,0.000,2054,0.000,0.000,2602,1880,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9748,-1.05,-150.8,2601,1880,4009,3720,971.8,-9.8,612,9749,0.00,0.00,0.00,0.000,2054,0.000,0.000,2601,1880,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10045,begin apogee
$GC,10050,-0.19,0.0,2601,1326,4009,3720,1000.9,-9.7,627,10187,0.93,0.00,130.57,1.285,10246,0.135,0.000,2884,1326,3250,3378,3122,0,0,0,0,0,0,25.39,28.83,23.18
$STATE,10188,end apogee,CONTROL_FINISHED_OK
$STATE,10188,begin climb
$GC,10189,0.77,150.8,2884,1326,3378,3122,1004.4,0.0,634,10333,0.93,2.15,134.82,1.243,10756,0.064,0.073,3212,165,2634,2730,2539,0,0,0,0,0,0,24.24,23.58,22.73
$GC,10469,0.53,150.8,3212,165,2721,2540,971.2,16.1,648,10474,0.30,1.92,0.00,0.000,5126,0.157,0.050,3131,1340,2631,2722,2540,0,0,0,0,0,0,24.82,25.13,28.83
$GC,10781,0.48,150.8,3131,1340,2717,2539,934.7,11.3,664,10788,0.10,2.30,0.00,0.000,4356,0.173,0.056,3106,2735,2627,2717,2538,0,0,0,0,0,0,25.66,25.58,28.83
$GC,10809,0.44,150.8,3106,2735,2717,2538,932.4,11.2,665,10814,0.08,2.30,0.00,0.000,5126,0.191,0.055,3100,1331,2627,2717,2538,0,0,0,0,0,0,25.51,25.60,28.83
$GC,11115,0.44,150.8,3100,1331,2711,2541,899.9,10.4,680,11119,0.00,1.98,0.00,0.000,4612,0.000,0.076,3109,159,2626,2711,2541,0,0,0,0,0,0,28.83,25.64,28.83
$GC,11164,0.44,150.8,3109,159,2710,2541,896.1,10.5,682,11171,0.00,1.90,0.00,0.000,5126,0.000,0.051,3108,1322,2626,2711,2541,0,0,0,0,0,0,28.83,25.87,28.83
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$STATE,19521,end climb,SURFACE_DEPTH_REACHED
$STATE,19521,begin surface coast
$FINISH,1.8,1.023268
$STATE,19538,end surface coast,CONTROL_FINISHED_OK
$STATE,19538,begin surface
$SM_CCo,19554,172.70,0.051,0,0,517,670.15
$SM_GC,2.38,7.75,0.90,172.70,0.036,0.050,0.051,233,1868,517,-8.41,-1.05,670.15,0,0,0,0,0,0,25.88,25.77,25.64
$IRIDIUM_FIX,-4530.24,524.81,151109,131348
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.07
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.7,31.697
$10V_AH,10.2,19.206
$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
$DEVICE_SECS,22.875,151.350,379.575,172.700,0.000,27.613,52.140,297.916,25.000,0.000,19.378,2930.698,13349.523,729.334,3040.027,174.456,0.000,2043.437,0.000,2539.394,0.000,148.410,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.093,557.570,665.988,108.261,0.000,0.000,0.000,0.000,0.000,0.000
$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,70182,1199
$CAP_FILE_SIZE,198726,0
$CFSIZE,2097086464,2065891328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190117,111833,-4551.857,521.316,36,1.0,36,-23.9