version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 207
start: 1 21 117 21 38 59
data:
$ID,573
$MISSION,15
$DIVE,207
$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,-31858.211
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,210117,213019,-4601.140,513.729,58,1.8,73,-23.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-52.3
$GPS2,210117,213834,-4601.097,513.875,18,0.9,18,-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,211.9,35357,-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,-150.8,175,1877,612,420,0.0,0.0,0,148,0.00,0.00,-130.62,0.000,16386,0.000,0.000,173,1876,3267,3275,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,151,-0.77,-150.8,173,1875,3276,3259,3.1,-2.3,21,187,10.38,2.38,-18.65,0.000,18692,0.236,0.078,2695,3274,3867,4001,3733,0,0,0,0,0,0,25.28,25.51,26.07
$GC,371,-0.91,-150.8,1700,3272,4008,3729,21.7,-6.7,62,378,0.08,2.28,0.00,0.000,5126,0.061,0.049,2629,1858,3870,4009,3731,0,0,0,0,0,0,25.75,25.77,28.83
$GC,503,-0.88,-150.8,1664,1856,4008,3729,39.7,-12.7,87,510,0.12,0.00,0.00,0.000,2054,0.178,0.000,2664,1858,3869,4009,3730,0,0,0,0,0,0,25.66,28.83,28.83
$GC,636,-0.93,-150.8,2663,1858,4009,3731,56.1,-9.3,112,643,0.00,2.28,0.00,0.000,4612,0.000,0.067,2669,471,3870,4009,3731,0,0,0,0,0,0,28.83,25.72,28.83
$GC,671,-0.96,-150.8,2669,471,4009,3731,59.9,-11.1,118,678,0.00,2.25,0.00,0.000,5126,0.000,0.046,2660,1875,3870,4009,3731,0,0,0,0,0,0,28.83,25.86,28.83
$GC,991,-1.01,-150.8,2660,1874,4009,3731,90.2,-9.8,166,993,0.10,0.00,0.00,0.000,4102,0.099,0.000,2606,1875,3869,4009,3730,0,0,0,0,0,0,26.20,28.83,28.83
$GC,1293,-0.95,-150.8,2606,1874,4010,3731,127.3,-11.1,181,1294,0.15,0.00,0.00,0.000,2054,0.161,0.000,2646,1875,3870,4010,3731,0,0,0,0,0,0,25.86,28.83,28.83
$GC,1592,-0.98,-150.8,2645,1875,4010,3731,157.4,-10.1,196,1593,0.00,0.00,0.00,0.000,4102,0.000,0.000,2646,1875,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1892,-1.02,-150.8,2645,1875,4010,3731,188.0,-10.5,211,1894,0.05,0.00,0.00,0.000,4102,0.158,0.000,2609,1875,3870,4010,3731,0,0,0,0,0,0,26.38,28.83,28.83
$GC,2192,-0.98,-150.8,2609,1875,4010,3731,223.6,-11.9,226,2194,0.10,0.00,0.00,0.000,2054,0.176,0.000,2633,1875,3870,4010,3730,0,0,0,0,0,0,26.14,28.83,28.83
$GC,2493,-0.98,-150.8,2633,1874,4011,3731,255.1,-10.2,241,2494,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1875,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2791,-0.98,-150.8,2633,1875,4010,3731,285.1,-10.0,256,2792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1875,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3091,-0.98,-150.8,2633,1875,4010,3731,313.9,-9.2,271,3092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1875,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3391,-0.98,-150.8,2632,1875,4010,3730,340.8,-9.0,286,3392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1875,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3691,-0.98,-150.8,2633,1875,4010,3730,368.9,-9.6,301,3692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1875,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3990,-0.98,-150.8,2632,1875,4010,3729,398.2,-10.1,316,3991,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1875,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4291,-0.98,-150.8,2632,1875,4011,3729,428.0,-10.2,331,4292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1875,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4590,-0.98,-150.8,2632,1875,4011,3728,459.3,-10.4,346,4592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1875,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4891,-0.98,-150.8,2632,1876,4011,3726,491.0,-10.8,361,4892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1876,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5190,-0.98,-150.8,2632,1876,4011,3726,522.8,-10.6,376,5191,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1876,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5491,-1.01,-150.8,2633,1876,4011,3725,554.4,-10.8,391,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1876,3868,4011,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5793,-1.04,-150.8,2632,1876,4011,3725,586.0,-10.5,406,5794,0.00,0.00,0.00,0.000,4102,0.000,0.000,2633,1876,3868,4011,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6092,-1.08,-150.8,2633,1876,4011,3724,617.9,-10.7,421,6098,0.08,2.30,0.00,0.000,4612,0.120,0.067,2593,474,3867,4011,3723,0,0,0,0,0,0,26.48,25.87,28.83
$GC,6171,-1.02,-150.8,2592,474,4010,3723,628.2,-12.9,425,6178,0.15,2.25,0.00,0.000,3078,0.171,0.050,2622,1873,3867,4011,3723,0,0,0,0,0,0,25.70,26.05,28.83
$GC,6490,-1.02,-150.8,2621,1873,4011,3723,663.8,-10.8,441,6495,0.00,2.30,0.00,0.000,2308,0.000,0.070,2611,3274,3867,4011,3723,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6521,-1.02,-150.8,2611,3275,4011,3722,665.6,-10.9,442,6528,0.00,2.22,0.00,0.000,3078,0.000,0.050,2613,1868,3867,4011,3723,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6827,-1.02,-150.8,2613,1868,4011,3722,699.4,-10.2,458,6831,0.00,2.28,0.00,0.000,2564,0.000,0.068,2613,470,3866,4011,3722,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6892,-1.02,-150.8,2613,470,4010,3722,705.4,-10.8,461,6897,0.08,2.25,0.00,0.000,3078,0.200,0.049,2619,1870,3866,4010,3723,0,0,0,0,0,0,25.91,26.06,28.83
$GC,7201,-1.02,-150.8,2619,1871,4010,3722,736.9,-9.7,476,7202,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1871,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7499,-1.02,-150.8,2619,1871,4010,3721,764.0,-8.7,491,7500,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1871,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7798,-1.02,-150.8,2619,1871,4010,3721,788.9,-8.0,506,7802,0.00,2.30,0.00,0.000,2308,0.000,0.069,2609,3273,3865,4010,3720,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7848,-1.02,-150.8,2609,3273,4010,3721,791.5,-7.8,508,7854,0.00,2.22,0.00,0.000,3078,0.000,0.050,2610,1865,3865,4010,3721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8155,-1.02,-150.8,2609,1865,4010,3720,816.0,-7.4,524,8161,0.03,2.30,0.00,0.000,2564,0.265,0.067,2619,464,3865,4010,3721,0,0,0,0,0,0,26.45,25.83,28.83
$GC,8223,-1.02,-150.8,2619,464,4010,3720,820.7,-7.9,527,8227,0.00,2.28,0.00,0.000,3078,0.000,0.050,2610,1876,3865,4010,3720,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8530,-1.02,-150.8,2610,1876,4010,3720,844.8,-7.9,542,8531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1876,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8830,-1.02,-150.8,2610,1876,4010,3720,869.5,-8.6,557,8832,0.03,0.00,0.00,0.000,2054,0.282,0.000,2619,1876,3864,4009,3720,0,0,0,0,0,0,26.47,28.83,28.83
$GC,9131,-1.02,-150.8,2619,1876,4010,3720,895.0,-8.7,572,9132,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1876,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9430,-1.02,-150.8,2618,1876,4010,3719,922.0,-9.1,587,9431,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1876,3864,4010,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9730,-1.05,-150.8,2618,1876,4010,3718,950.1,-9.3,602,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1876,3864,4010,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10030,-1.05,-150.8,2619,1877,4010,3718,978.3,-9.4,617,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1876,3864,4010,3718,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10268,begin apogee
$GC,10273,-0.19,0.0,2618,1339,4010,3717,1000.5,-9.0,629,10404,0.88,0.00,127.07,1.287,10246,0.127,0.000,2892,1339,3250,3378,3122,0,0,0,0,0,0,25.46,28.83,23.19
$STATE,10405,end apogee,CONTROL_FINISHED_OK
$STATE,10405,begin climb
$GC,10406,0.77,150.8,2891,1340,3378,3123,1003.6,0.0,635,10552,0.90,2.20,135.05,1.244,10756,0.057,0.076,3218,161,2636,2730,2542,0,0,0,0,0,0,24.23,23.58,22.72
$GC,10594,0.52,150.8,3218,161,2726,2542,985.6,13.6,645,10601,0.35,1.98,0.00,0.000,5126,0.158,0.049,3126,1341,2632,2724,2541,0,0,0,0,0,0,24.32,24.51,28.83
$GC,10915,0.46,150.8,3126,1341,2718,2541,951.8,10.3,661,10917,0.10,0.00,0.00,0.000,4102,0.173,0.000,3102,1341,2629,2718,2541,0,0,0,0,0,0,25.60,28.83,28.83
$GC,11213,0.46,154.5,3102,1341,2717,2541,923.0,9.6,676,11222,0.00,2.03,3.55,0.689,8708,0.000,0.080,3112,160,2620,2706,2534,0,0,0,0,0,0,28.83,25.73,24.48
$GC,11257,0.46,154.5,3111,159,2706,2536,919.5,9.9,678,11261,0.00,1.90,0.00,0.000,5126,0.000,0.051,3111,1319,2621,2706,2536,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11568,0.47,171.9,3111,1322,2705,2536,889.5,9.0,694,11592,0.00,2.05,17.02,1.128,12804,0.000,0.078,3120,161,2548,2634,2463,0,0,0,0,0,0,28.83,25.47,24.49
$GC,11632,0.48,183.9,3120,161,2633,2463,883.8,9.3,697,11649,0.00,1.92,11.90,1.056,13318,0.000,0.050,3120,1337,2499,2584,2415,0,0,0,0,0,0,28.83,25.60,24.30
$GC,11950,0.49,202.9,3120,1337,2580,2415,854.5,9.0,713,11970,0.00,0.00,17.75,1.108,12294,0.000,0.000,3120,1337,2422,2506,2338,0,0,0,0,0,0,28.83,28.83,24.34
$GC,12269,0.50,225.9,3120,1337,2502,2338,826.3,8.8,729,12297,0.00,2.08,21.48,1.115,12804,0.000,0.077,3129,168,2328,2411,2245,0,0,0,0,0,0,28.83,25.21,24.28
$GC,12322,0.51,243.9,3128,168,2410,2245,822.6,9.0,731,12349,0.00,1.92,17.77,1.094,13318,0.000,0.051,3129,1338,2254,2334,2175,0,0,0,0,0,0,28.83,25.40,24.06
$GC,12650,0.51,243.9,3129,1338,2325,2175,787.8,10.7,748,12655,0.00,2.03,0.00,0.000,4612,0.000,0.078,3138,161,2249,2324,2174,0,0,0,0,0,0,28.83,25.56,28.83
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$STATE,19444,end climb,SURFACE_DEPTH_REACHED
$STATE,19444,begin surface coast
$FINISH,1.9,1.023313
$STATE,19465,end surface coast,CONTROL_FINISHED_OK
$STATE,19465,begin surface
$SM_CCo,19481,201.98,0.050,0,0,517,670.15
$SM_GC,2.14,7.65,0.85,201.98,0.038,0.048,0.050,237,1868,517,-8.41,-1.07,670.15,0,0,0,0,0,0,26.14,26.14,25.89
$IRIDIUM_FIX,-4542.57,513.35,181109,050500
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.68
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.7,33.336
$10V_AH,10.2,20.219
$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
$DEVICE_SECS,21.500,100.000,351.600,201.975,0.000,27.782,43.945,297.630,25.000,0.000,19.009,2848.027,13708.170,714.922,2743.562,163.198,0.000,1848.870,0.000,2258.011,0.000,148.413,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.311,550.029,640.507,107.861,0.000,0.000,0.000,0.000,0.000,0.000
$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,70216,1194
$CAP_FILE_SIZE,176713,0
$CFSIZE,2097086464,2064482304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220117,030820,-4602.292,513.105,41,0.9,41,-23.8