version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 238
start: 1 28 117 12 29 28
data:
$ID,573
$MISSION,15
$DIVE,238
$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,-31897.088
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,280117,122120,-4605.148,509.228,40,0.8,40,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-52.3
$GPS2,280117,122903,-4605.117,509.303,17,1.7,17,-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,201.9,27578,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.77,-150.8,186,1870,600,418,0.0,0.0,0,152,0.00,0.00,-134.93,0.000,16386,0.000,0.000,182,1869,3358,3374,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,155,-0.77,-150.8,182,1868,3375,3343,3.0,-2.2,18,195,10.82,2.35,-19.48,0.000,19204,0.248,0.073,2687,3271,3867,4002,3732,0,0,0,0,0,0,24.99,25.45,26.12
$GC,406,-0.89,-150.8,2687,3272,4008,3729,23.4,-11.6,58,415,0.03,2.28,0.00,0.000,5126,0.111,0.048,2656,1864,3868,4008,3729,0,0,0,0,0,0,25.60,25.68,28.83
$GC,562,-0.94,-150.8,2656,1863,4009,3729,40.5,-9.6,83,568,0.00,2.33,0.00,0.000,516,0.000,0.067,2660,458,3868,4008,3729,0,0,0,0,0,0,28.83,25.55,28.83
$GC,586,-0.94,-150.8,2659,458,4008,3729,42.9,-8.6,87,595,0.00,2.30,0.00,0.000,1030,0.000,0.047,2650,1867,3868,4008,3729,0,0,0,0,0,0,28.83,25.71,28.83
$GC,929,-0.94,-150.8,2650,1867,4009,3729,73.5,-9.2,148,934,0.00,0.00,0.00,0.000,2054,0.000,0.000,2651,1867,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1256,-0.99,-150.8,2650,1868,4009,3729,107.1,-10.1,172,1257,0.00,0.00,0.00,0.000,4102,0.000,0.000,2651,1867,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1555,-1.03,-150.8,2650,1867,4010,3729,137.5,-9.8,187,1557,0.10,0.00,0.00,0.000,4102,0.096,0.000,2597,1867,3869,4010,3729,0,0,0,0,0,0,26.31,28.83,28.83
$GC,1856,-0.97,-150.8,2596,1867,4010,3729,172.9,-12.1,202,1862,0.12,2.30,0.00,0.000,2308,0.166,0.067,2624,3273,3869,4010,3729,0,0,0,0,0,0,25.93,25.63,28.83
$GC,1900,-0.97,-150.8,2624,3273,4011,3729,177.8,-11.7,204,1905,0.00,2.25,0.00,0.000,3078,0.000,0.048,2631,1868,3870,4011,3729,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2221,-0.97,-150.8,2631,1868,4011,3729,211.6,-10.7,220,2226,0.00,2.28,0.00,0.000,2564,0.000,0.067,2634,472,3870,4011,3729,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2276,-0.97,-150.8,2633,472,4011,3729,216.1,-10.7,222,2285,0.00,2.28,0.00,0.000,3078,0.000,0.046,2625,1876,3870,4011,3729,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2586,-0.97,-150.8,2625,1876,4011,3729,251.2,-11.0,238,2587,0.00,0.00,0.00,0.000,2054,0.000,0.000,2625,1876,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2888,-0.97,-150.8,2625,1876,4011,3729,285.3,-11.6,253,2889,0.00,0.00,0.00,0.000,2054,0.000,0.000,2625,1876,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3185,-0.97,-150.8,2625,1876,4011,3729,319.8,-11.4,268,3190,0.00,2.25,0.00,0.000,2308,0.000,0.064,2615,3266,3870,4011,3729,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3248,-0.97,-150.8,2614,3267,4011,3728,326.7,-11.3,271,3254,0.10,2.20,0.00,0.000,3078,0.172,0.049,2647,1865,3869,4010,3729,0,0,0,0,0,0,25.67,25.93,28.83
$GC,3569,-1.04,-150.8,2648,1866,4011,3728,357.7,-9.3,287,3575,0.10,2.28,0.00,0.000,4612,0.106,0.064,2600,468,3869,4010,3729,0,0,0,0,0,0,26.38,25.69,28.83
$GC,3622,-1.04,-150.8,2600,468,4011,3729,362.4,-10.2,289,3628,0.10,2.25,0.00,0.000,3078,0.181,0.047,2614,1876,3870,4011,3729,0,0,0,0,0,0,25.68,25.91,28.83
$GC,3932,-1.04,-150.8,2613,1877,4011,3728,396.8,-10.5,305,3934,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1877,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4228,-1.04,-150.8,2613,1877,4011,3728,427.8,-9.9,320,4229,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1876,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4532,-1.04,-150.8,2613,1877,4011,3726,456.1,-9.3,335,4538,0.00,2.28,0.00,0.000,2308,0.000,0.067,2604,3273,3869,4011,3727,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4600,-1.04,-150.8,2603,3273,4011,3726,462.0,-9.4,338,4604,0.00,2.20,0.00,0.000,3078,0.000,0.050,2606,1872,3869,4011,3727,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4910,-1.04,-150.8,2605,1872,4011,3726,489.9,-8.8,353,4915,0.00,2.30,0.00,0.000,2564,0.000,0.068,2606,470,3868,4011,3726,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4979,-1.00,-150.8,2606,470,4011,3726,495.8,-9.2,356,4984,0.12,2.22,0.00,0.000,3078,0.172,0.048,2627,1871,3868,4011,3726,0,0,0,0,0,0,25.61,25.91,28.83
$GC,5288,-1.00,-150.8,2627,1872,4010,3725,521.5,-7.9,371,5294,0.00,2.28,0.00,0.000,2308,0.000,0.066,2618,3273,3868,4011,3725,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5351,-1.03,-150.8,1728,3272,4010,3723,526.6,-8.2,374,5355,0.00,2.20,0.00,0.000,3078,0.000,0.050,2618,1868,3867,4010,3725,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5663,-1.03,-150.8,2618,1868,4011,3724,552.4,-8.0,390,5669,0.00,2.30,0.00,0.000,2564,0.000,0.067,2618,470,3866,4009,3724,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5759,-1.03,-150.8,2618,470,4010,3724,559.8,-8.8,394,5767,0.00,2.28,0.00,0.000,3078,0.000,0.050,2609,1868,3867,4011,3724,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6065,-1.03,-150.8,2609,1869,4010,3724,587.9,-9.0,410,6067,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,1869,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,-1.03,-150.8,2609,1869,4010,3723,615.2,-9.3,425,6375,0.00,2.30,0.00,0.000,2308,0.000,0.071,2598,3265,3866,4010,3723,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6417,-1.03,-150.8,2598,3265,4011,3723,619.2,-9.4,427,6422,0.08,2.20,0.00,0.000,3078,0.175,0.050,2616,1868,3866,4011,3722,0,0,0,0,0,0,25.74,25.84,28.83
$GC,6725,-1.03,-150.8,2616,1868,4011,3722,649.1,-9.6,442,6726,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1868,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7027,-1.03,-150.8,2615,1868,4011,3721,677.8,-9.3,457,7032,0.00,2.30,0.00,0.000,2564,0.000,0.070,2616,467,3865,4010,3721,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7094,-1.03,-150.8,2616,466,4010,3721,683.9,-9.7,460,7098,0.00,2.25,0.00,0.000,3078,0.000,0.050,2608,1874,3865,4010,3721,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7405,-1.03,-150.8,2608,1876,4011,3720,715.1,-10.2,475,7406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1876,3865,4011,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7701,-1.03,-150.8,2607,1876,4012,3720,745.5,-9.9,490,7707,0.00,2.30,0.00,0.000,2308,0.000,0.067,2597,3270,3865,4011,3720,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7783,-1.03,-150.8,2597,3270,4011,3720,753.8,-10.0,494,7788,0.08,2.22,0.00,0.000,3078,0.177,0.051,2616,1862,3866,4012,3720,0,0,0,0,0,0,25.72,25.82,28.83
$GC,8101,-1.03,-150.8,2616,1862,4011,3720,783.7,-9.5,510,8102,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1862,3865,4011,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8403,-1.03,-150.8,2615,1862,4011,3719,810.8,-8.8,525,8408,0.00,2.28,0.00,0.000,2564,0.000,0.068,2616,474,3864,4010,3719,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8462,-1.03,-150.8,2616,474,4010,3719,816.7,-9.3,528,8468,0.00,2.25,0.00,0.000,3078,0.000,0.050,2608,1867,3864,4010,3719,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8783,-1.03,-150.8,2607,1868,4010,3719,845.9,-8.9,544,8784,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1868,3864,4010,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9084,-1.03,-150.8,2608,1868,4010,3718,872.9,-9.3,559,9089,0.00,2.33,0.00,0.000,2564,0.000,0.068,2608,468,3864,4010,3718,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9137,-1.03,-150.8,2608,468,4010,3718,876.7,-9.4,561,9144,0.10,2.28,0.00,0.000,3078,0.178,0.050,2621,1868,3864,4010,3718,0,0,0,0,0,0,25.60,25.82,28.83
$GC,9448,-1.06,-150.8,2621,1869,4010,3718,904.3,-8.2,577,9449,0.00,0.00,0.00,0.000,4102,0.000,0.000,2621,1869,3864,4010,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9744,-1.10,-150.8,2621,1869,4010,3717,927.6,-7.2,592,9751,0.08,2.33,0.00,0.000,4356,0.122,0.068,2574,3271,3863,4010,3717,0,0,0,0,0,0,26.46,25.50,28.83
$GC,9789,-1.10,-150.8,2573,3271,4010,3717,931.2,-7.7,594,9794,0.10,2.22,0.00,0.000,3078,0.177,0.051,2600,1865,3863,4010,3717,0,0,0,0,0,0,25.58,25.78,28.83
$GC,10103,-1.10,-150.8,2599,1865,4009,3717,955.5,-7.3,610,10108,0.00,2.33,0.00,0.000,2564,0.000,0.070,2603,467,3863,4009,3717,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10151,-1.10,-150.8,2602,467,4009,3717,959.0,-7.8,612,10155,0.00,2.30,0.00,0.000,3078,0.000,0.050,2594,1880,3863,4009,3717,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10463,-1.10,-150.8,2593,1881,4009,3717,983.7,-8.0,627,10464,0.00,0.00,0.00,0.000,2054,0.000,0.000,2594,1881,3862,4009,3716,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10676,begin apogee
$GC,10681,-0.19,0.0,2594,1332,4009,3716,1000.7,-7.7,638,10820,0.98,0.00,131.20,1.282,10246,0.139,0.000,2886,1332,3250,3378,3122,0,0,0,0,0,0,25.03,28.83,22.99
$STATE,10821,end apogee,CONTROL_FINISHED_OK
$STATE,10821,begin climb
$GC,10823,0.77,150.8,2885,1332,3377,3123,1001.8,0.0,645,10968,0.93,2.20,136.18,1.239,10756,0.063,0.075,3209,157,2635,2730,2541,0,0,0,0,0,0,24.18,23.53,22.58
$GC,11082,0.53,150.8,3210,158,2723,2541,969.3,16.6,658,11087,0.30,1.95,0.00,0.000,5126,0.155,0.049,3131,1343,2631,2723,2540,0,0,0,0,0,0,24.63,25.01,28.83
$GC,11395,0.47,150.8,3131,1344,2718,2540,931.2,11.7,674,11401,0.10,2.03,0.00,0.000,4612,0.178,0.076,3116,162,2629,2718,2541,0,0,0,0,0,0,25.66,25.41,28.83
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$STATE,20439,end climb,SURFACE_DEPTH_REACHED
$STATE,20439,begin surface coast
$FINISH,1.7,1.023253
$STATE,20470,end surface coast,CONTROL_FINISHED_OK
$STATE,20470,begin surface
$SM_CCo,20486,200.60,0.050,0,0,516,670.15
$SM_GC,2.26,7.57,0.85,200.60,0.028,0.058,0.050,218,1860,516,-8.41,-1.24,670.15,0,0,0,0,0,0,26.18,25.84,25.75
$IRIDIUM_FIX,-4545.66,510.54,241109,191931
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.60
$INTERNAL_PRESSURE,8.91325
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.6,37.522
$10V_AH,10.0,23.178
$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,22.600,161.500,344.625,200.600,0.000,27.012,43.836,270.474,25.000,0.000,18.215,2974.105,12791.045,684.077,4498.667,200.708,0.000,2100.548,0.000,2620.211,0.000,150.049,0.000
$DEVICE_MAMPS,247.860,79.560,1282.140,50.490,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.432,2717.695,612.158,97.710,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353672
$DATA_FILE_SIZE,66980,1212
$CAP_FILE_SIZE,202674,0
$CFSIZE,2097086464,2060386304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,750
$GPS,280117,181550,-4606.950,508.669,58,0.8,58,-23.8