version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 199
start: 1 19 117 23 15 53
data:
$ID,573
$MISSION,15
$DIVE,199
$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,-31848.178
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,190117,230351,-4553.454,520.046,40,0.8,40,-23.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-60.4
$GPS2,190117,231529,-4553.414,520.185,21,0.7,22,-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,218.7,50930,-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,-150.8,193,1877,600,418,0.0,0.0,0,162,0.00,0.00,-143.57,0.000,16386,0.000,0.000,192,1878,3564,3603,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,165,-0.77,-150.8,192,1878,3610,3522,3.3,-1.6,23,193,10.57,2.42,-8.82,0.000,19204,0.246,0.078,2699,458,3866,3999,3734,0,0,0,0,0,0,25.06,25.53,26.06
$GC,422,-0.87,-150.8,2700,458,4005,3733,26.8,-10.2,72,430,0.00,2.33,0.00,0.000,5126,0.000,0.047,2691,1876,3869,4006,3733,0,0,0,0,0,0,28.83,25.73,28.83
$GC,554,-0.98,-150.8,2691,1876,4007,3733,38.1,-8.4,97,562,0.12,2.38,0.00,0.000,4612,0.085,0.063,2615,457,3870,4007,3733,0,0,0,0,0,0,26.03,25.67,28.83
$GC,770,-0.90,-150.8,2615,457,4007,3733,67.1,-13.8,139,778,0.20,2.28,0.00,0.000,3078,0.157,0.047,2660,1870,3870,4007,3733,0,0,0,0,0,0,25.48,25.84,28.83
$GC,1091,-0.95,-150.8,2660,1871,4008,3733,102.2,-10.6,172,1097,0.00,2.35,0.00,0.000,4612,0.000,0.064,2660,461,3870,4008,3733,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1132,-0.98,-150.8,2660,461,4007,3732,106.5,-10.6,174,1137,0.00,2.28,0.00,0.000,5126,0.000,0.046,2651,1878,3870,4008,3733,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1453,-1.03,-150.8,2651,1880,4008,3732,143.2,-11.4,190,1459,0.10,2.25,0.00,0.000,4356,0.096,0.064,2586,3265,3869,4007,3732,0,0,0,0,0,0,26.27,25.77,28.83
$GC,1516,-1.03,-150.8,2586,3265,4010,3731,151.6,-12.9,193,1521,0.08,2.25,0.00,0.000,3078,0.149,0.048,2615,1864,3871,4010,3732,0,0,0,0,0,0,25.70,25.96,28.83
$GC,1834,-1.03,-150.8,2615,1864,4010,3732,194.5,-13.3,209,1840,0.00,2.28,0.00,0.000,2564,0.000,0.065,2617,467,3871,4010,3732,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1894,-0.98,-150.8,2617,467,4009,3732,203.0,-13.9,212,1900,0.10,2.22,0.00,0.000,3078,0.179,0.046,2632,1874,3870,4010,3731,0,0,0,0,0,0,25.78,25.98,28.83
$GC,2214,-0.98,-150.8,2632,1875,4011,3732,244.3,-12.7,228,2218,0.00,2.28,0.00,0.000,2308,0.000,0.067,2622,3280,3870,4010,3731,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2271,-0.98,-150.8,2621,3280,4010,3731,251.5,-12.5,231,2277,0.00,2.22,0.00,0.000,3078,0.000,0.047,2622,1866,3871,4011,3731,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2592,-0.98,-150.8,2622,1866,4011,3731,293.3,-13.4,247,2594,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1867,3871,4010,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2890,-0.98,-150.8,2621,1866,4010,3731,331.7,-12.1,262,2895,0.00,2.28,0.00,0.000,2564,0.000,0.067,2622,470,3871,4011,3731,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2988,-0.95,-150.8,2621,470,4010,3732,344.4,-13.3,267,2994,0.12,2.25,0.00,0.000,3078,0.169,0.047,2644,1872,3870,4010,3731,0,0,0,0,0,0,25.77,26.03,28.83
$GC,3307,-0.99,-150.8,2644,1873,4010,3731,378.5,-10.4,283,3308,0.00,0.00,0.00,0.000,4102,0.000,0.000,2644,1873,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3607,-1.04,-150.8,2644,1873,4011,3731,408.6,-9.9,298,3608,0.08,0.00,0.00,0.000,4102,0.119,0.000,2600,1872,3870,4010,3731,0,0,0,0,0,0,26.44,28.83,28.83
$GC,3909,-1.00,-150.8,2600,1873,4011,3730,442.9,-11.4,313,3911,0.10,0.00,0.00,0.000,2054,0.171,0.000,2624,1873,3871,4011,3731,0,0,0,0,0,0,26.21,28.83,28.83
$GC,4206,-1.00,-150.8,2624,1873,4010,3730,473.3,-10.1,328,4207,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1872,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4507,-1.00,-150.8,2624,1873,4011,3729,502.2,-9.3,343,4513,0.00,2.33,0.00,0.000,2564,0.000,0.067,2625,465,3869,4010,3729,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4575,-1.00,-150.8,2624,465,4010,3729,508.3,-9.8,346,4579,0.00,2.25,0.00,0.000,3078,0.000,0.048,2616,1880,3869,4010,3729,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4887,-1.00,-150.8,2615,1880,4010,3728,539.2,-9.6,362,4888,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,1880,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5187,-1.00,-150.8,2615,1880,4010,3727,567.4,-9.2,377,5188,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1879,3868,4010,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5489,-1.00,-150.8,2615,1880,4010,3726,596.8,-9.6,392,5490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1880,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5787,-1.00,-150.8,2615,1880,4010,3726,624.6,-8.9,407,5788,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1880,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6087,-1.00,-150.8,2615,1880,4011,3725,652.3,-9.5,422,6091,0.00,2.33,0.00,0.000,2564,0.000,0.068,2616,471,3867,4010,3725,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6143,-1.00,-150.8,2615,471,4010,3725,657.9,-9.9,425,6148,0.10,2.25,0.00,0.000,3078,0.177,0.050,2630,1870,3867,4010,3725,0,0,0,0,0,0,25.83,26.03,28.83
$GC,6461,-1.04,-150.8,2630,1871,4010,3724,686.1,-8.8,441,6463,0.00,0.00,0.00,0.000,4102,0.000,0.000,2630,1871,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6760,-1.08,-150.8,2630,1871,4010,3723,712.0,-8.5,456,6762,0.08,0.00,0.00,0.000,4102,0.118,0.000,2588,1871,3866,4009,3723,0,0,0,0,0,0,26.48,28.83,28.83
$GC,7061,-1.04,-150.8,2588,1871,4010,3722,741.9,-10.0,471,7063,0.12,0.00,0.00,0.000,2054,0.168,0.000,2620,1871,3866,4010,3723,0,0,0,0,0,0,26.11,28.83,28.83
$GC,7360,-1.04,-150.8,2620,1871,4010,3722,768.3,-8.8,486,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1872,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7660,-1.04,-150.8,2620,1871,4011,3722,793.7,-8.2,501,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1871,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7959,-1.04,-150.8,2620,1871,4010,3722,819.0,-8.4,516,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1871,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,-1.04,-150.8,2619,1871,4010,3721,845.4,-9.0,531,8266,0.00,2.35,0.00,0.000,516,0.000,0.069,2620,470,3865,4009,3721,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8308,-1.04,-150.8,2620,469,4009,3721,849.3,-9.5,533,8312,0.00,2.22,0.00,0.000,3078,0.000,0.049,2612,1870,3865,4009,3721,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8614,-1.04,-150.8,2612,1870,4009,3721,880.4,-10.1,548,8615,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1870,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8915,-1.04,-150.8,2611,1870,4009,3720,910.1,-9.7,563,8921,0.00,2.33,0.00,0.000,2564,0.000,0.067,2612,467,3864,4009,3720,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8947,-1.04,-150.8,2611,468,4009,3721,912.2,-9.8,564,8955,0.05,2.28,0.00,0.000,3078,0.221,0.049,2613,1877,3865,4009,3721,0,0,0,0,0,0,25.91,26.00,28.83
$GC,9255,-1.04,-150.8,2613,1877,4008,3720,943.2,-9.9,580,9256,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1877,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9554,-1.04,-150.8,2613,1877,4009,3720,973.6,-10.1,595,9556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1877,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9833,begin apogee
$GC,9838,-0.19,0.0,2613,1341,4009,3720,1001.7,-10.1,609,9975,0.90,0.00,129.95,1.289,10246,0.134,0.000,2890,1341,3252,3380,3124,0,0,0,0,0,0,25.39,28.83,23.17
$STATE,9975,end apogee,CONTROL_FINISHED_OK
$STATE,9976,begin climb
$GC,9977,0.77,150.8,2889,1340,3380,3124,1006.5,0.0,616,10123,0.90,2.28,135.57,1.249,10756,0.060,0.076,3214,163,2634,2729,2540,0,0,0,0,0,0,24.25,23.57,22.71
$GC,10175,0.54,150.8,3214,162,2725,2540,988.4,13.1,626,10180,0.32,1.98,0.00,0.000,5126,0.155,0.050,3129,1338,2632,2724,2540,0,0,0,0,0,0,24.41,24.60,28.83
$GC,10493,0.49,159.0,3128,1339,2714,2541,957.5,9.4,642,10503,0.05,0.00,7.65,0.973,12294,0.218,0.000,3117,1339,2601,2687,2515,0,0,0,0,0,0,25.75,28.83,24.37
$GC,10792,0.50,174.4,3117,1339,2685,2515,930.7,9.1,657,10811,0.00,0.00,15.02,1.124,8198,0.000,0.000,3117,1339,2539,2623,2455,0,0,0,0,0,0,28.83,28.83,24.39
$GC,11112,0.50,174.4,3116,1339,2619,2455,900.1,10.0,673,11116,0.00,2.30,0.00,0.000,260,0.000,0.060,3117,2735,2537,2619,2455,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11148,0.50,174.4,3116,2735,2617,2455,896.3,10.3,675,11152,0.00,2.30,0.00,0.000,5126,0.000,0.057,3125,1332,2536,2617,2455,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11464,0.50,174.4,3125,1332,2617,2455,861.1,11.2,691,11468,0.00,2.00,0.00,0.000,4612,0.000,0.078,3134,156,2536,2617,2456,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11520,0.46,174.4,3134,156,2617,2455,854.7,11.6,694,11524,0.12,1.88,0.00,0.000,5126,0.168,0.050,3102,1332,2536,2617,2455,0,0,0,0,0,0,25.65,25.92,28.83
$GC,11842,0.49,174.4,3102,1336,2616,2455,821.2,10.5,710,11843,0.00,0.00,0.00,0.000,2054,0.000,0.000,3102,1336,2535,2617,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12143,0.53,174.4,3102,1336,2616,2455,790.4,10.1,725,12149,0.05,2.00,0.00,0.000,2564,0.162,0.077,3144,156,2536,2616,2456,0,0,0,0,0,0,26.29,25.77,28.83
$GC,12194,0.53,174.4,3144,156,2616,2455,785.7,11.0,727,12201,0.05,1.90,0.00,0.000,5126,0.149,0.050,3126,1325,2536,2616,2456,0,0,0,0,0,0,25.82,26.03,28.83
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$STATE,19610,end climb,SURFACE_DEPTH_REACHED
$STATE,19610,begin surface coast
$FINISH,1.6,1.007262
$STATE,19631,end surface coast,CONTROL_FINISHED_OK
$STATE,19631,begin surface
$SM_CCo,19649,179.02,0.051,0,0,517,670.15
$SM_GC,2.23,7.88,2.85,179.02,0.041,0.050,0.051,229,1866,517,-8.41,-0.88,670.15,0,0,0,0,0,0,25.85,25.71,25.65
$IRIDIUM_FIX,-4533.32,518.94,161109,060654
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.85
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.7,32.136
$10V_AH,10.1,19.480
$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
$DEVICE_SECS,22.575,118.300,376.025,179.025,0.000,60.471,79.243,339.150,25.000,0.000,23.102,2901.223,13803.488,712.023,2942.409,167.566,0.000,1878.996,0.000,2313.385,0.000,149.087,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.620,555.074,653.253,110.364,0.000,0.000,0.000,0.000,0.000,0.000
$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,70188,1201
$CAP_FILE_SIZE,184046,0
$CFSIZE,2097086464,2065530880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200117,044732,-4554.183,519.511,34,0.9,34,-23.8