version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 210
start: 1 22 117 14 38 28
data:
$ID,573
$MISSION,15
$DIVE,210
$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,-31861.967
$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,27
$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
$GPS1,220117,143031,-4604.878,511.740,36,1.0,39,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-55.8
$GPS2,220117,143804,-4604.833,511.732,19,1.0,19,-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,208.3,28177,-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,-150.8,187,1869,605,414,0.0,0.0,0,143,0.00,0.00,-124.93,0.000,16386,0.000,0.000,184,1868,3200,3198,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,146,-0.77,-150.8,184,1868,3201,3201,3.1,-1.7,20,187,10.65,2.40,-24.27,0.000,18692,0.246,0.079,2685,3275,3867,4001,3733,0,0,0,0,0,0,25.08,25.48,26.09
$GC,343,-0.89,-150.8,1696,3273,4008,3730,17.5,-7.9,56,350,0.00,2.28,0.00,0.000,5126,0.000,0.048,2686,1861,3870,4009,3731,0,0,0,0,0,0,28.83,25.73,28.83
$GC,393,-0.99,-150.8,1728,1860,4008,3730,21.7,-8.3,65,401,0.12,2.30,0.00,0.000,4612,0.084,0.063,2613,470,3869,4008,3731,0,0,0,0,0,0,25.96,25.60,28.83
$GC,436,-0.89,-150.8,2613,470,4009,3731,26.9,-13.5,72,444,0.15,2.28,0.00,0.000,3078,0.146,0.046,2661,1871,3869,4008,3731,0,0,0,0,0,0,25.35,25.75,28.83
$GC,567,-0.93,-150.8,1680,1869,4008,3730,40.3,-10.8,97,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1871,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,879,-0.98,-150.8,1728,1869,4008,3730,71.1,-10.6,158,886,0.08,2.25,0.00,0.000,4356,0.123,0.063,2605,3266,3870,4010,3731,0,0,0,0,0,0,26.19,25.68,28.83
$GC,919,-0.94,-150.8,2605,3266,4010,3730,75.6,-11.9,165,928,0.12,2.22,0.00,0.000,3078,0.138,0.047,2648,1870,3870,4010,3731,0,0,0,0,0,0,25.56,25.89,28.83
$GC,1240,-0.98,-150.8,2647,1871,4010,3731,112.0,-10.8,186,1241,0.00,0.00,0.00,0.000,4102,0.000,0.000,2647,1871,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1541,-1.03,-150.8,2647,1871,4011,3730,139.2,-9.0,201,1547,0.08,2.25,0.00,0.000,4612,0.125,0.063,2610,475,3870,4010,3730,0,0,0,0,0,0,26.30,25.80,28.83
$GC,1654,-0.96,-150.8,2610,476,4011,3731,150.4,-11.4,206,1662,0.10,2.25,0.00,0.000,3078,0.148,0.047,2642,1866,3870,4010,3731,0,0,0,0,0,0,25.61,25.96,28.83
$GC,1961,-1.00,-150.8,2642,1867,4011,3731,180.0,-8.9,222,1967,0.00,2.28,0.00,0.000,4356,0.000,0.067,2632,3266,3870,4011,3730,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2022,-1.04,-150.8,2632,3266,4011,3730,185.4,-8.9,225,2027,0.00,2.17,0.00,0.000,5126,0.000,0.047,2633,1872,3871,4012,3730,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2342,-1.04,-150.8,2632,1872,4011,3731,215.0,-9.3,241,2348,0.00,2.28,0.00,0.000,4612,0.000,0.067,2633,470,3870,4011,3730,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2401,-1.04,-150.8,2633,470,4011,3731,220.9,-9.6,244,2407,0.00,2.25,0.00,0.000,1030,0.000,0.047,2624,1881,3870,4011,3730,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2723,-1.04,-150.8,2623,1881,4011,3730,253.3,-10.4,260,2728,0.00,2.25,0.00,0.000,260,0.000,0.067,2613,3266,3870,4011,3730,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2785,-1.04,-150.8,2613,3266,4011,3730,260.2,-11.0,263,2790,0.00,2.20,0.00,0.000,3078,0.000,0.049,2615,1865,3871,4012,3730,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3105,-1.04,-150.8,2614,1865,4011,3730,295.8,-10.9,279,3110,0.00,2.25,0.00,0.000,2564,0.000,0.065,2614,470,3871,4011,3731,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3171,-1.04,-150.8,2615,470,4011,3730,302.9,-11.5,282,3175,0.00,2.25,0.00,0.000,3078,0.000,0.047,2606,1873,3870,4011,3730,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3484,-1.00,-150.8,2605,1873,4011,3730,339.6,-11.6,298,3486,0.10,0.00,0.00,0.000,2054,0.181,0.000,2629,1873,3870,4011,3730,0,0,0,0,0,0,26.17,28.83,28.83
$GC,3783,-1.00,-150.8,2629,1873,4011,3730,371.0,-10.4,313,3784,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1873,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4083,-1.00,-150.8,2629,1873,4011,3730,402.5,-10.1,328,4084,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1873,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4385,-1.00,-150.8,2629,1873,4011,3729,432.6,-9.9,343,4386,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1873,3870,4012,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4683,-1.00,-150.8,2629,1873,4011,3729,462.2,-9.8,358,4684,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1873,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4983,-1.00,-150.8,2629,1873,4011,3728,491.7,-9.7,373,4989,0.00,2.28,0.00,0.000,2308,0.000,0.067,2619,3269,3870,4012,3728,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5024,-1.00,-150.8,2619,3269,4012,3727,495.5,-9.6,375,5030,0.00,2.22,0.00,0.000,3078,0.000,0.051,2619,1866,3869,4011,3727,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5346,-1.00,-150.8,2619,1866,4011,3727,525.4,-9.3,391,5352,0.00,2.28,0.00,0.000,2564,0.000,0.068,2619,469,3869,4011,3727,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5384,-1.00,-150.8,2619,469,4011,3727,529.4,-9.5,393,5390,0.08,2.25,0.00,0.000,3078,0.193,0.050,2626,1871,3869,4011,3727,0,0,0,0,0,0,25.88,26.01,28.83
$GC,5705,-1.00,-150.8,2626,1872,4011,3726,560.2,-9.6,409,5706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1872,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6003,-1.00,-150.8,2626,1873,4012,3724,588.9,-9.8,424,6004,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1873,3868,4012,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6304,-1.00,-150.8,2626,1873,4012,3724,619.1,-10.5,439,6305,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1873,3867,4012,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6605,-1.00,-150.8,2626,1873,4012,3723,651.4,-10.9,454,6606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1873,3867,4012,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6904,-1.04,-150.8,2626,1872,4012,3723,683.2,-10.6,469,6910,0.00,2.35,0.00,0.000,4612,0.000,0.069,2626,464,3867,4011,3723,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6947,-1.04,-150.8,2626,464,4011,3723,687.4,-10.6,471,6951,0.00,2.28,0.00,0.000,3078,0.000,0.049,2617,1871,3867,4011,3723,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7265,-1.04,-150.8,2617,1872,4011,3723,719.3,-9.5,487,7266,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1872,3867,4011,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7564,-1.04,-150.8,2617,1872,4011,3723,748.4,-9.8,502,7568,0.00,2.33,0.00,0.000,2564,0.000,0.067,2617,470,3866,4011,3722,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7613,-1.04,-150.8,2617,470,4011,3722,752.2,-10.2,504,7620,0.00,2.28,0.00,0.000,3078,0.000,0.049,2608,1876,3867,4011,3723,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7920,-1.04,-150.8,2608,1876,4011,3722,783.1,-9.3,520,7926,0.00,2.30,0.00,0.000,2308,0.000,0.070,2597,3271,3866,4011,3722,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7960,-1.04,-150.8,2597,3271,4011,3722,786.7,-9.1,522,7967,0.05,2.22,0.00,0.000,3078,0.202,0.050,2615,1869,3866,4011,3722,0,0,0,0,0,0,25.90,25.95,28.83
$GC,8283,-1.04,-150.8,2614,1869,4011,3722,815.0,-8.9,538,8288,0.00,2.30,0.00,0.000,2564,0.000,0.070,2615,468,3866,4011,3722,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8323,-1.04,-150.8,2615,468,4011,3722,818.9,-9.3,540,8327,0.00,2.28,0.00,0.000,3078,0.000,0.049,2606,1878,3866,4011,3722,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8636,-1.04,-150.8,2606,1879,4011,3722,847.9,-9.1,556,8637,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1879,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8937,-1.04,-150.8,2606,1879,4011,3721,875.9,-9.4,571,8939,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1879,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9235,-1.04,-150.8,2606,1879,4011,3721,904.4,-9.5,586,9236,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1879,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9535,-1.04,-150.8,2606,1879,4011,3720,931.8,-8.9,601,9536,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1879,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9835,-1.04,-150.8,2606,1879,4011,3721,957.8,-8.6,616,9836,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1879,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10135,-1.04,-150.8,2606,1879,4010,3720,983.8,-8.9,631,10137,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1879,3865,4011,3720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10333,begin apogee
$GC,10339,-0.19,0.0,2606,1326,4011,3720,1001.6,-9.0,641,10475,0.93,0.00,130.30,1.283,10246,0.131,0.000,2890,1326,3250,3378,3122,0,0,0,0,0,0,25.33,28.83,23.13
$STATE,10476,end apogee,CONTROL_FINISHED_OK
$STATE,10476,begin climb
$GC,10478,0.77,150.8,2890,1326,3377,3123,1005.0,0.0,648,10621,0.90,2.20,134.80,1.243,10756,0.057,0.075,3214,159,2635,2729,2541,0,0,0,0,0,0,24.24,23.57,22.70
$GC,10754,0.51,150.8,3214,159,2722,2541,973.9,15.4,662,10760,0.35,1.95,0.00,0.000,5126,0.156,0.049,3120,1343,2631,2722,2541,0,0,0,0,0,0,24.79,25.13,28.83
$GC,11074,0.47,150.8,3120,1343,2717,2541,941.5,9.9,678,11079,0.00,2.03,0.00,0.000,4612,0.000,0.079,3128,164,2629,2718,2541,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11137,0.41,150.8,3128,163,2718,2542,935.1,10.4,681,11142,0.15,1.90,0.00,0.000,5126,0.153,0.051,3089,1339,2629,2717,2541,0,0,0,0,0,0,25.45,25.74,28.83
$GC,11450,0.44,198.4,3089,1339,2717,2541,909.8,7.7,697,11496,0.00,2.12,41.08,1.197,10756,0.000,0.079,3098,167,2440,2527,2353,0,0,0,0,0,0,28.83,24.87,23.98
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$GC,19212,0.62,261.8,2176,1340,2200,2105,10.5,12.0,1178,19220,0.00,2.00,0.00,0.000,516,0.000,0.073,3160,166,2177,2244,2110,0,0,0,0,0,0,28.83,25.78,28.83
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$STATE,19275,end climb,SURFACE_DEPTH_REACHED
$STATE,19275,begin surface coast
$FINISH,1.9,1.001867
$STATE,19297,end surface coast,CONTROL_FINISHED_OK
$STATE,19297,begin surface
$SM_CCo,19313,191.85,0.051,0,0,516,670.15
$SM_GC,2.32,7.80,0.85,191.85,0.044,0.053,0.051,223,1882,516,-8.41,-1.30,670.15,0,0,0,0,0,0,26.22,26.09,25.81
$IRIDIUM_FIX,-4545.66,510.82,181109,222214
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.85
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.7,33.790
$10V_AH,10.2,20.491
$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
$DEVICE_SECS,22.575,139.450,364.450,191.850,0.000,24.997,21.329,284.770,25.000,0.000,19.841,2931.785,13221.103,710.456,2917.433,175.330,0.000,1974.158,0.000,2461.552,0.000,149.233,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.348,556.747,678.842,112.738,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353612
$DATA_FILE_SIZE,70260,1193
$CAP_FILE_SIZE,190732,0
$CFSIZE,2097086464,2064089088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220117,200450,-4606.435,510.888,40,0.8,40,-23.8