version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 206
start: 1 21 117 15 50 57
data:
$ID,573
$MISSION,15
$DIVE,206
$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,-31856.957
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,210117,154257,-4559.931,513.956,47,0.8,47,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-54.7
$GPS2,210117,155033,-4559.902,514.074,20,1.0,20,-23.8
$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,211.8,37585,-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,-150.8,180,1868,605,410,0.0,0.0,0,149,0.00,0.00,-131.15,0.000,16386,0.000,0.000,178,1867,3238,3246,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,152,-0.77,-150.8,177,1867,3247,3231,3.1,-2.7,21,193,11.00,2.38,-22.75,0.000,18692,0.256,0.076,2690,3271,3866,4001,3732,0,0,0,0,0,0,25.10,25.51,26.10
$GC,267,-0.92,-150.8,1704,3269,4006,3729,11.5,-9.7,41,275,0.05,2.28,0.00,0.000,5126,0.071,0.049,2644,1864,3868,4007,3730,0,0,0,0,0,0,25.60,25.66,28.83
$GC,318,-0.92,-150.8,1680,1862,4006,3729,15.2,-6.5,50,325,0.00,0.00,0.00,0.000,2054,0.000,0.000,2644,1864,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,369,-0.92,-150.8,1680,1862,4006,3729,19.5,-10.0,59,375,0.00,0.00,0.00,0.000,2054,0.000,0.000,2644,1864,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,418,-0.92,-150.8,1680,1862,4006,3729,25.5,-11.9,68,425,0.00,2.33,0.00,0.000,2564,0.000,0.064,2644,473,3869,4008,3730,0,0,0,0,0,0,28.83,25.60,28.83
$GC,449,-0.92,-150.8,1680,472,4007,3729,29.5,-14.3,73,457,0.05,2.28,0.00,0.000,3078,0.159,0.046,2652,1873,3869,4008,3730,0,0,0,0,0,0,25.57,25.77,28.83
$GC,580,-0.92,-150.8,1704,1872,4007,3729,43.6,-11.1,98,586,0.00,2.28,0.00,0.000,2308,0.000,0.063,2642,3269,3869,4008,3730,0,0,0,0,0,0,28.83,25.63,28.83
$GC,612,-0.92,-150.8,2642,3269,4009,3730,46.9,-10.0,104,620,0.05,2.22,0.00,0.000,3078,0.207,0.047,2653,1865,3869,4009,3729,0,0,0,0,0,0,25.72,25.81,28.83
$GC,923,-0.95,-150.8,2652,1865,4009,3729,80.5,-11.5,165,929,0.00,2.28,0.00,0.000,516,0.000,0.063,2655,467,3869,4009,3729,0,0,0,0,0,0,28.83,25.73,28.83
$GC,983,-0.95,-150.8,2655,467,4009,3730,87.7,-11.7,168,988,0.00,2.25,0.00,0.000,3078,0.000,0.045,2647,1877,3869,4009,3730,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1300,-0.98,-150.8,2647,1877,4009,3729,122.4,-10.9,184,1306,0.00,2.25,0.00,0.000,4356,0.000,0.063,2636,3267,3869,4010,3729,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1388,-1.02,-150.8,2636,3268,4011,3729,130.8,-10.5,188,1392,0.00,2.20,0.00,0.000,5126,0.000,0.047,2636,1866,3869,4010,3729,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1698,-1.02,-150.8,2636,1866,4010,3729,162.6,-9.8,203,1699,0.00,0.00,0.00,0.000,4102,0.000,0.000,2636,1867,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1996,-1.02,-150.8,2636,1867,4011,3729,192.9,-10.2,218,2002,0.00,2.25,0.00,0.000,4612,0.000,0.063,2636,468,3869,4010,3729,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2098,-1.02,-150.8,2635,468,4011,3729,204.5,-11.3,223,2104,0.00,2.22,0.00,0.000,1030,0.000,0.045,2626,1874,3870,4011,3729,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2419,-1.02,-150.8,2626,1875,4011,3729,241.3,-11.9,239,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1875,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2718,-1.02,-150.8,2626,1875,4011,3729,276.9,-11.9,254,2724,0.00,2.25,0.00,0.000,260,0.000,0.062,2615,3270,3870,4011,3729,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2779,-1.02,-150.8,2615,3270,4011,3729,283.9,-11.8,257,2784,0.00,2.20,0.00,0.000,3078,0.000,0.048,2616,1867,3870,4011,3729,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3098,-1.02,-150.8,2616,1867,4011,3729,321.1,-11.4,273,3104,0.00,2.28,0.00,0.000,2564,0.000,0.064,2617,466,3870,4011,3729,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3161,-0.98,-150.8,2616,465,4011,3730,328.1,-11.7,276,3166,0.10,2.22,0.00,0.000,3078,0.177,0.046,2631,1878,3870,4011,3729,0,0,0,0,0,0,25.83,26.05,28.83
$GC,3473,-0.98,-150.8,2630,1878,4011,3730,359.6,-9.5,292,3474,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1878,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3773,-0.98,-150.8,2630,1879,4011,3729,386.9,-8.7,307,3774,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1878,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-0.98,-150.8,2630,1878,4011,3728,412.1,-8.2,322,4075,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1878,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4373,-0.98,-150.8,2631,1878,4011,3728,436.7,-8.4,337,4379,0.00,2.33,0.00,0.000,2564,0.000,0.067,2631,470,3869,4011,3728,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4416,-0.98,-150.8,2631,470,4011,3728,440.3,-8.6,339,4421,0.00,2.22,0.00,0.000,3078,0.000,0.047,2622,1874,3869,4011,3728,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4729,-0.98,-150.8,2621,1875,4011,3727,467.5,-8.7,355,4730,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1875,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5028,-0.98,-150.8,2622,1875,4011,3726,494.4,-9.0,370,5029,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1875,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5328,-0.98,-150.8,2622,1875,4011,3726,523.0,-10.2,385,5332,0.00,2.30,0.00,0.000,2564,0.000,0.065,2622,473,3868,4011,3726,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5385,-0.98,-150.8,2622,472,4011,3726,529.2,-10.8,388,5391,0.10,2.25,0.00,0.000,3078,0.174,0.048,2636,1880,3868,4010,3726,0,0,0,0,0,0,25.84,26.05,28.83
$GC,5704,-1.02,-150.8,2636,1880,4011,3725,560.9,-10.0,404,5705,0.00,0.00,0.00,0.000,4102,0.000,0.000,2637,1880,3868,4011,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6004,-1.06,-150.8,2636,1882,4011,3723,590.6,-9.9,419,6006,0.08,0.00,0.00,0.000,4102,0.119,0.000,2594,1882,3866,4011,3722,0,0,0,0,0,0,26.47,28.83,28.83
$GC,6306,-1.02,-150.8,2594,1883,4011,3723,625.3,-11.8,434,6308,0.10,0.00,0.00,0.000,2054,0.175,0.000,2619,1882,3866,4011,3722,0,0,0,0,0,0,26.20,28.83,28.83
$GC,6605,-1.02,-150.8,2618,1883,4011,3722,657.4,-10.6,449,6606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1883,3866,4011,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6904,-1.02,-150.8,2618,1883,4011,3722,687.8,-9.8,464,6905,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1883,3866,4011,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7205,-1.02,-150.8,2618,1883,4011,3722,715.9,-8.9,479,7206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1883,3866,4011,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7504,-1.02,-150.8,2618,1883,4010,3721,742.4,-8.7,494,7505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1883,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7804,-1.02,-150.8,2618,1883,4011,3721,767.5,-8.4,509,7810,0.00,2.35,0.00,0.000,2564,0.000,0.067,2619,470,3865,4010,3721,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7867,-1.02,-150.8,2618,470,4010,3721,773.0,-8.8,512,7871,0.00,2.25,0.00,0.000,3078,0.000,0.049,2610,1868,3865,4010,3720,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8179,-1.02,-150.8,2610,1869,4010,3721,800.0,-8.5,528,8185,0.00,2.30,0.00,0.000,2564,0.000,0.066,2610,471,3865,4010,3721,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8227,-1.02,-150.8,2610,472,4010,3721,803.9,-8.9,530,8232,0.10,2.25,0.00,0.000,3078,0.177,0.049,2624,1868,3865,4010,3720,0,0,0,0,0,0,25.79,26.01,28.83
$GC,8535,-1.06,-150.8,2623,1869,4010,3720,831.0,-8.7,545,8536,0.00,0.00,0.00,0.000,4102,0.000,0.000,2624,1869,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8834,-1.09,-150.8,2624,1869,4010,3720,858.9,-9.4,560,8841,0.05,2.30,0.00,0.000,4612,0.159,0.064,2590,473,3865,4010,3720,0,0,0,0,0,0,26.51,25.77,28.83
$GC,8873,-1.09,-150.8,2590,473,4010,3720,863.4,-10.2,562,8878,0.10,2.25,0.00,0.000,3078,0.192,0.050,2604,1872,3865,4010,3720,0,0,0,0,0,0,25.73,25.98,28.83
$GC,9192,-1.09,-150.8,2604,1872,4010,3720,895.2,-9.9,578,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1873,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9491,-1.09,-150.8,2603,1873,4010,3720,923.2,-8.9,593,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1873,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9790,-1.09,-150.8,2603,1872,4010,3719,950.8,-9.2,608,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1872,3864,4010,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10091,-1.09,-150.8,2603,1873,4010,3718,978.0,-9.0,623,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1872,3864,4010,3718,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10348,begin apogee
$GC,10353,-0.19,0.0,2603,1331,4010,3717,1001.4,-8.9,636,10491,0.93,0.00,129.55,1.310,10246,0.132,0.000,2888,1330,3250,3379,3122,0,0,0,0,0,0,25.34,28.83,23.10
$STATE,10492,end apogee,CONTROL_FINISHED_OK
$STATE,10492,begin climb
$GC,10493,0.77,150.8,2888,1330,3378,3122,1004.0,0.0,643,10638,0.90,2.25,134.85,1.261,10756,0.060,0.074,3212,162,2634,2729,2540,0,0,0,0,0,0,24.21,23.56,22.70
$GC,10733,0.52,150.8,2368,162,2688,2535,976.1,16.1,655,10738,0.25,2.00,0.00,0.000,5126,0.149,0.049,3126,1345,2631,2722,2540,0,0,0,0,0,0,24.65,24.94,28.83
$GC,11051,0.47,150.8,3125,1345,2712,2542,936.9,12.6,671,11053,0.08,0.00,0.00,0.000,4102,0.187,0.000,3109,1345,2627,2712,2542,0,0,0,0,0,0,25.75,28.83,28.83
$GC,11350,0.47,150.8,3109,1345,2710,2542,901.5,11.5,686,11351,0.00,0.00,0.00,0.000,4102,0.000,0.000,3109,1345,2626,2710,2542,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20013,end climb,SURFACE_DEPTH_REACHED
$STATE,20013,begin surface coast
$FINISH,1.9,1.023308
$STATE,20029,end surface coast,CONTROL_FINISHED_OK
$STATE,20030,begin surface
$SM_CCo,20046,201.02,0.088,1,0,516,670.15
$SM_GC,2.21,8.30,0.88,201.02,0.071,0.048,0.088,227,1863,516,-8.41,-1.10,670.15,0,0,0,0,1,0,26.10,26.03,24.92
$IRIDIUM_FIX,-4536.40,516.15,171109,171736
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.97
$INTERNAL_PRESSURE,8.90349
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.7,33.187
$10V_AH,10.2,20.131
$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
$DEVICE_SECS,22.600,119.325,390.800,201.025,0.000,32.655,19.105,283.216,25.000,0.000,20.750,2968.478,13964.155,751.589,2848.926,173.142,0.000,1973.464,0.000,2399.097,0.000,148.424,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.944,566.763,664.071,111.224,0.000,0.000,0.000,0.000,0.000,0.000
$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,70203,1221
$CAP_FILE_SIZE,189532,0
$CFSIZE,2097086464,2064613376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,210117,213019,-4601.140,513.729,58,1.8,73,-23.8