version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 236
start: 1 28 117 0 43 51
data:
$ID,573
$MISSION,15
$DIVE,236
$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,-31894.576
$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,28
$R_STBD_OVSHOOT,38
$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
$GPS1,280117,003632,-4601.633,509.409,45,0.9,45,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-54.2
$GPS2,280117,004327,-4601.631,509.474,19,1.0,19,-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,202.7,34026,-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,-150.8,188,1893,597,417,0.0,0.0,0,161,0.00,0.00,-142.88,0.000,16386,0.000,0.000,185,1893,3563,3606,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,163,-0.77,-150.8,184,1893,3608,3521,3.3,-1.8,19,192,10.70,2.35,-8.00,0.000,18692,0.245,0.079,2682,3269,3866,3999,3734,0,0,0,0,0,0,24.93,25.46,26.10
$GC,399,-0.88,-150.8,2682,3269,4008,3732,28.5,-11.8,56,408,0.00,2.28,0.00,0.000,5126,0.000,0.049,2687,1864,3870,4008,3732,0,0,0,0,0,0,28.83,25.65,28.83
$GC,550,-0.97,-150.8,2686,1863,4008,3732,42.1,-7.5,81,559,0.12,2.35,0.00,0.000,4612,0.086,0.061,2618,461,3870,4008,3732,0,0,0,0,0,0,26.06,25.56,28.83
$GC,583,-0.92,-150.8,2618,461,4008,3732,45.3,-10.4,86,590,0.17,2.28,0.00,0.000,3078,0.163,0.047,2654,1871,3870,4008,3732,0,0,0,0,0,0,25.32,25.72,28.83
$GC,924,-0.96,-150.8,2654,1871,4008,3732,78.1,-9.9,147,932,0.00,0.00,0.00,0.000,4102,0.000,0.000,2654,1871,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1249,-1.01,-150.8,2654,1871,4009,3732,106.4,-7.5,165,1255,0.08,2.30,0.00,0.000,4612,0.121,0.062,2613,467,3870,4009,3732,0,0,0,0,0,0,26.25,25.66,28.83
$GC,1277,-1.01,-150.8,2613,467,4009,3732,108.7,-8.1,166,1282,0.10,2.25,0.00,0.000,3078,0.177,0.045,2628,1871,3870,4009,3732,0,0,0,0,0,0,25.62,25.84,28.83
$GC,1586,-1.01,-150.8,2627,1872,4010,3732,141.6,-10.7,181,1592,0.00,2.25,0.00,0.000,2308,0.000,0.063,2618,3269,3871,4010,3732,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1679,-1.01,-150.8,2617,3269,4011,3732,151.4,-11.4,185,1683,0.00,2.20,0.00,0.000,3078,0.000,0.047,2618,1860,3871,4010,3732,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1994,-1.01,-150.8,2617,1861,4010,3732,189.1,-11.6,201,1999,0.00,2.25,0.00,0.000,2564,0.000,0.063,2617,471,3871,4011,3732,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2069,-0.97,-150.8,2618,471,4010,3732,197.0,-12.2,204,2079,0.08,2.28,0.00,0.000,3078,0.151,0.047,2633,1872,3871,4011,3732,0,0,0,0,0,0,25.60,25.88,28.83
$GC,2380,-0.97,-150.8,2633,1873,4010,3732,231.0,-10.4,220,2382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1873,3871,4011,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2679,-0.97,-150.8,2633,1873,4011,3732,262.3,-10.7,235,2680,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1873,3871,4011,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-0.97,-150.8,2633,1873,4011,3732,294.0,-10.6,250,2979,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1873,3871,4011,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.97,-150.8,2633,1873,4011,3732,323.7,-9.5,265,3281,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1873,3871,4011,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3576,-0.97,-150.8,2633,1872,4011,3732,352.8,-9.7,280,3577,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1872,3871,4011,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3879,-0.97,-150.8,2634,1873,4011,3732,381.5,-9.3,295,3880,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1873,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4176,-1.00,-150.8,2633,1873,4011,3731,407.8,-8.6,310,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1873,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,-1.03,-150.8,2633,1873,4011,3731,432.8,-8.5,325,4484,0.00,2.30,0.00,0.000,4612,0.000,0.064,2633,467,3870,4011,3730,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4561,-1.03,-150.8,2633,467,4011,3730,440.5,-9.3,329,4566,0.00,2.22,0.00,0.000,1030,0.000,0.047,2625,1868,3870,4010,3731,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4882,-1.03,-150.8,2625,1868,4011,3730,468.9,-8.7,345,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1868,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5179,-1.03,-150.8,2624,1868,4010,3729,495.2,-8.9,360,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1868,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5481,-1.03,-150.8,2625,1868,4011,3728,523.2,-9.6,375,5487,0.00,2.30,0.00,0.000,516,0.000,0.064,2625,471,3869,4011,3728,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5529,-1.03,-150.8,2624,471,4010,3728,527.5,-10.0,377,5533,0.00,2.28,0.00,0.000,3078,0.000,0.048,2616,1878,3869,4010,3728,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5836,-1.03,-150.8,2615,1879,4010,3728,559.9,-10.2,392,5837,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1879,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6138,-1.03,-150.8,2615,1880,4011,3724,590.3,-10.2,407,6140,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,1880,3867,4011,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6436,-1.03,-150.8,2615,1880,4011,3724,620.6,-9.9,422,6440,0.00,2.35,0.00,0.000,2564,0.000,0.066,2615,471,3867,4011,3724,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6509,-1.03,-150.8,2615,471,4011,3724,626.8,-10.8,425,6515,0.00,2.28,0.00,0.000,3078,0.000,0.049,2607,1862,3867,4011,3724,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6818,-1.03,-150.8,2607,1862,4011,3724,660.0,-10.1,441,6819,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1862,3867,4011,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7116,-1.03,-150.8,2606,1863,4011,3723,689.1,-9.4,456,7121,0.00,2.33,0.00,0.000,2564,0.000,0.066,2607,470,3867,4011,3723,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7150,-1.03,-150.8,2606,470,4011,3723,690.9,-9.3,457,7157,0.10,2.25,0.00,0.000,3078,0.174,0.048,2620,1870,3867,4011,3723,0,0,0,0,0,0,25.64,25.86,28.83
$GC,7460,-1.03,-150.8,2620,1869,4011,3723,718.8,-8.6,473,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1870,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7758,-1.03,-150.8,2620,1870,4011,3722,745.9,-9.3,488,7759,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1870,3866,4011,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8060,-1.06,-150.8,2620,1870,4011,3722,772.2,-8.5,503,8061,0.00,0.00,0.00,0.000,4102,0.000,0.000,2620,1870,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8357,-1.10,-150.8,2620,1870,4011,3721,797.8,-8.5,518,8359,0.05,0.00,0.00,0.000,4102,0.161,0.000,2588,1870,3865,4010,3721,0,0,0,0,0,0,26.49,28.83,28.83
$GC,8663,-1.06,-150.8,2588,1870,4011,3721,826.4,-9.7,533,8669,0.10,2.33,0.00,0.000,2564,0.177,0.066,2613,472,3865,4010,3721,0,0,0,0,0,0,26.19,25.53,28.83
$GC,8752,-1.06,-150.8,2612,471,4010,3721,834.8,-10.0,537,8757,0.00,2.28,0.00,0.000,3078,0.000,0.050,2604,1870,3865,4010,3721,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9060,-1.06,-150.8,2604,1871,4010,3721,864.3,-9.2,552,9062,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1871,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9362,-1.06,-150.8,2604,1871,4010,3721,890.5,-8.5,567,9363,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1871,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9659,-1.06,-150.8,2604,1871,4010,3720,914.6,-8.0,582,9661,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1871,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9962,-1.06,-150.8,2604,1871,4010,3720,938.4,-8.1,597,9963,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1871,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10259,-1.06,-150.8,2604,1871,4010,3720,963.5,-8.5,612,10260,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1871,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10562,-1.06,-150.8,2604,1871,4010,3720,989.1,-8.8,627,10563,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1871,3864,4010,3719,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10697,begin apogee
$GC,10703,-0.19,0.0,2604,1335,4010,3719,1001.2,-8.7,634,10842,0.95,0.00,131.25,1.287,10246,0.136,0.000,2890,1334,3250,3377,3123,0,0,0,0,0,0,25.00,28.83,23.01
$STATE,10843,end apogee,CONTROL_FINISHED_OK
$STATE,10843,begin climb
$GC,10845,0.77,150.8,2890,1334,3377,3123,1003.9,0.0,641,10989,0.90,2.20,136.35,1.242,10756,0.060,0.074,3212,158,2635,2731,2540,0,0,0,0,0,0,24.20,23.53,22.60
$GC,11072,0.53,150.8,3211,158,2724,2540,981.3,14.6,652,11082,0.28,2.00,0.00,0.000,5126,0.151,0.049,3133,1334,2632,2724,2540,0,0,0,0,0,0,24.48,24.82,28.83
$GC,11380,0.46,150.8,3132,1333,2719,2539,946.5,10.3,668,11386,0.10,2.03,0.00,0.000,4612,0.176,0.074,3117,155,2629,2719,2539,0,0,0,0,0,0,25.63,25.40,28.83
$GC,11420,0.41,150.8,3117,155,2719,2539,942.5,10.2,670,11425,0.12,1.90,0.00,0.000,5126,0.158,0.050,3086,1340,2629,2719,2539,0,0,0,0,0,0,25.40,25.67,28.83
$GC,11743,0.47,185.9,3086,1340,2717,2538,915.5,8.3,686,11776,0.05,0.00,31.08,1.188,10246,0.156,0.000,3116,1339,2491,2578,2404,0,0,0,0,0,0,26.11,28.83,24.11
$GC,12063,0.47,185.9,3115,1338,2570,2404,883.0,10.5,702,12067,0.00,2.03,0.00,0.000,4612,0.000,0.079,3125,161,2486,2569,2404,0,0,0,0,0,0,28.83,25.48,28.83
$GC,12123,0.47,185.9,3124,161,2570,2404,876.7,11.0,705,12129,0.05,1.88,0.00,0.000,5126,0.133,0.052,3107,1338,2487,2570,2404,0,0,0,0,0,0,25.60,25.74,28.83
$GC,12444,0.48,193.4,3106,1338,2568,2404,844.7,9.5,721,12460,0.00,2.05,7.10,0.932,8708,0.000,0.077,3116,162,2461,2546,2377,0,0,0,0,0,0,28.83,25.74,24.58
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$STATE,20435,end climb,SURFACE_DEPTH_REACHED
$STATE,20435,begin surface coast
$FINISH,1.6,1.023255
$STATE,20461,end surface coast,CONTROL_FINISHED_OK
$STATE,20461,begin surface
$SM_CCo,20477,194.12,0.050,0,0,517,670.15
$SM_GC,2.22,7.88,0.90,194.12,0.043,0.061,0.050,223,1869,517,-8.42,-0.99,670.15,0,0,0,0,0,0,25.98,25.75,25.67
$IRIDIUM_FIX,-4539.49,510.26,241109,080836
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.92
$INTERNAL_PRESSURE,8.91325
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.6,37.232
$10V_AH,10.0,22.953
$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
$DEVICE_SECS,22.475,142.225,375.175,194.125,0.000,24.409,18.272,251.811,25.000,0.000,20.748,2932.628,12985.142,699.911,4275.350,192.464,0.000,2037.536,0.000,2452.937,0.000,148.452,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.433,2706.352,603.665,94.506,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353616
$DATA_FILE_SIZE,66884,1208
$CAP_FILE_SIZE,193949,0
$CFSIZE,2097086464,2060681216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,747
$GPS,280117,062932,-4603.454,509.039,32,0.9,32,-23.8