version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 240
start: 1 29 117 0 12 27
data:
$ID,573
$MISSION,15
$DIVE,240
$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,-31899.592
$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,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
$GPS1,290117,000450,-4609.210,508.754,38,1.0,38,-23.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-57.6
$GPS2,290117,001203,-4609.166,508.847,20,1.0,20,-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,199.6,20118,-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,-150.8,191,1882,601,417,0.0,0.0,0,152,0.00,0.00,-134.65,0.000,16386,0.000,0.000,185,1881,3382,3402,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,155,-0.77,-150.8,185,1881,3402,3363,3.0,-1.5,18,188,10.68,2.33,-15.10,0.000,18692,0.244,0.078,2684,3276,3866,4000,3732,0,0,0,0,0,0,24.97,25.46,26.11
$GC,306,-0.89,-150.8,2684,3276,4007,3730,18.6,-11.8,41,315,0.03,2.28,0.00,0.000,5126,0.108,0.049,2651,1869,3868,4007,3730,0,0,0,0,0,0,25.54,25.62,28.83
$GC,365,-0.89,-150.8,2651,1869,4007,3730,25.2,-11.9,50,374,0.05,2.38,0.00,0.000,2564,0.217,0.064,2663,465,3868,4007,3730,0,0,0,0,0,0,25.96,25.51,28.83
$GC,418,-0.89,-150.8,2662,465,4007,3730,31.8,-10.2,58,427,0.00,2.28,0.00,0.000,3078,0.000,0.045,2653,1867,3868,4007,3730,0,0,0,0,0,0,28.83,25.72,28.83
$GC,565,-0.89,-150.8,1696,1865,4006,3729,45.5,-9.5,83,572,0.00,2.33,0.00,0.000,2308,0.000,0.066,2644,3276,3869,4008,3730,0,0,0,0,0,0,28.83,25.50,28.83
$GC,597,-0.89,-150.8,2643,3276,4008,3730,48.6,-9.6,88,605,0.10,2.22,0.00,0.000,3078,0.172,0.047,2667,1861,3869,4008,3730,0,0,0,0,0,0,25.53,25.74,28.83
$GC,934,-0.95,-150.8,1696,1859,4007,3729,78.9,-7.6,149,942,0.05,2.28,0.00,0.000,4612,0.159,0.061,2635,471,3869,4008,3730,0,0,0,0,0,0,26.25,25.62,28.83
$GC,1006,-0.95,-150.8,2634,471,4008,3729,85.1,-9.2,154,1012,0.05,2.22,0.00,0.000,3078,0.151,0.045,2642,1874,3869,4008,3730,0,0,0,0,0,0,25.63,25.83,28.83
$GC,1328,-0.95,-150.8,2642,1874,4009,3730,110.7,-8.4,170,1334,0.00,2.22,0.00,0.000,2308,0.000,0.063,2633,3259,3869,4009,3730,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1422,-0.95,-150.8,2632,3260,4010,3729,118.8,-9.1,174,1426,0.00,2.17,0.00,0.000,3078,0.000,0.046,2633,1863,3870,4010,3730,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1733,-0.95,-150.8,2633,1864,4010,3730,148.5,-10.0,189,1739,0.00,2.25,0.00,0.000,2564,0.000,0.063,2633,470,3870,4010,3730,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1800,-0.95,-150.8,2633,470,4010,3730,155.3,-10.6,192,1805,0.05,2.25,0.00,0.000,3078,0.152,0.044,2642,1865,3870,4010,3730,0,0,0,0,0,0,25.71,25.93,28.83
$GC,2122,-0.99,-150.8,2642,1866,4010,3730,188.5,-10.2,208,2123,0.00,0.00,0.00,0.000,4102,0.000,0.000,2642,1866,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2422,-1.02,-150.8,2642,1866,4010,3730,217.9,-9.2,223,2423,0.00,0.00,0.00,0.000,4102,0.000,0.000,2642,1866,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-1.06,-150.8,2642,1866,4010,3730,244.0,-8.3,238,2722,0.10,0.00,0.00,0.000,4102,0.096,0.000,2590,1866,3870,4010,3730,0,0,0,0,0,0,26.39,28.83,28.83
$GC,3021,-0.99,-150.8,2590,1866,4010,3730,273.7,-9.7,253,3023,0.15,0.00,0.00,0.000,2054,0.161,0.000,2629,1866,3870,4010,3730,0,0,0,0,0,0,25.94,28.83,28.83
$GC,3320,-0.99,-150.8,2629,1866,4011,3730,298.3,-8.6,268,3326,0.00,2.28,0.00,0.000,2308,0.000,0.065,2619,3269,3870,4011,3729,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3362,-0.99,-150.8,2619,3269,4011,3730,301.8,-8.6,270,3368,0.00,2.17,0.00,0.000,3078,0.000,0.047,2620,1864,3870,4011,3729,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3680,-0.99,-150.8,2620,1864,4009,3729,330.7,-9.2,286,3682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1864,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3982,-0.99,-150.8,2619,1864,4011,3729,359.5,-9.9,301,3987,0.00,2.25,0.00,0.000,2564,0.000,0.063,2620,474,3870,4011,3729,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4029,-0.99,-150.8,2620,474,4011,3729,363.8,-10.3,303,4034,0.10,2.22,0.00,0.000,3078,0.172,0.047,2634,1877,3869,4011,3728,0,0,0,0,0,0,25.73,25.96,28.83
$GC,4338,-1.02,-150.8,2634,1878,4011,3728,395.3,-10.1,318,4339,0.00,0.00,0.00,0.000,4102,0.000,0.000,2634,1878,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4640,-1.06,-150.8,2634,1878,4011,3728,426.5,-10.6,333,4642,0.08,0.00,0.00,0.000,4102,0.120,0.000,2594,1879,3869,4011,3728,0,0,0,0,0,0,26.42,28.83,28.83
$GC,4937,-1.01,-150.8,2593,1878,4010,3727,461.3,-11.4,348,4939,0.12,0.00,0.00,0.000,2054,0.166,0.000,2625,1878,3869,4011,3727,0,0,0,0,0,0,26.09,28.83,28.83
$GC,5240,-1.01,-150.8,2625,1878,4010,3727,490.2,-9.3,363,5245,0.00,2.33,0.00,0.000,2564,0.000,0.065,2626,468,3868,4010,3726,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5282,-1.01,-150.8,2625,469,4010,3727,494.3,-9.6,365,5286,0.00,2.22,0.00,0.000,3078,0.000,0.047,2617,1870,3868,4010,3726,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5597,-1.01,-150.8,2617,1870,4010,3726,523.4,-9.1,381,5603,0.00,2.28,0.00,0.000,2308,0.000,0.065,2606,3266,3868,4010,3726,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5639,-1.01,-150.8,2606,3267,4011,3726,527.2,-9.3,383,5644,0.08,2.22,0.00,0.000,3078,0.175,0.050,2622,1854,3868,4011,3725,0,0,0,0,0,0,25.78,25.89,28.83
$GC,5962,-1.01,-150.8,2622,1855,4010,3725,555.3,-8.6,399,5967,0.00,2.25,0.00,0.000,2564,0.000,0.065,2623,470,3867,4010,3725,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6014,-1.01,-150.8,2623,470,4010,3725,559.2,-8.8,401,6020,0.00,2.22,0.00,0.000,3078,0.000,0.047,2615,1868,3867,4010,3725,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6324,-1.01,-150.8,2614,1869,4010,3724,587.8,-8.8,417,6325,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1869,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6621,-1.01,-150.8,2614,1869,4010,3724,614.7,-9.0,432,6622,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1869,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6924,-1.01,-150.8,2614,1870,4011,3722,642.5,-9.5,447,6929,0.00,2.30,0.00,0.000,2308,0.000,0.067,2604,3278,3866,4011,3722,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7014,-1.01,-150.8,2604,3278,4011,3722,650.8,-9.9,451,7019,0.10,2.22,0.00,0.000,3078,0.160,0.050,2628,1866,3866,4011,3721,0,0,0,0,0,0,25.68,25.86,28.83
$GC,7323,-1.05,-150.8,2628,1866,4011,3721,678.8,-8.6,466,7328,0.00,2.30,0.00,0.000,4612,0.000,0.067,2628,471,3865,4010,3721,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7366,-1.05,-150.8,2628,471,4010,3721,682.5,-8.6,468,7370,0.00,2.25,0.00,0.000,1030,0.000,0.049,2620,1877,3865,4010,3721,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7680,-1.05,-150.8,2619,1878,4010,3721,708.8,-8.2,484,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1878,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7980,-1.05,-150.8,2619,1878,4010,3721,734.1,-8.9,499,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1878,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8278,-1.05,-150.8,2619,1877,4011,3720,760.0,-8.7,514,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1877,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8583,-1.08,-150.8,2619,1878,4010,3720,785.6,-8.4,529,8584,0.00,0.00,0.00,0.000,4102,0.000,0.000,2619,1878,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8878,-1.08,-150.8,2619,1878,4010,3720,809.5,-7.9,544,8879,0.00,0.00,0.00,0.000,4102,0.000,0.000,2619,1878,3864,4010,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9180,-1.08,-150.8,2620,1879,4010,3719,832.8,-7.9,559,9182,0.00,0.00,0.00,0.000,4102,0.000,0.000,2620,1878,3864,4010,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9478,-1.08,-150.8,2619,1878,4010,3719,857.3,-8.4,574,9479,0.00,0.00,0.00,0.000,4102,0.000,0.000,2619,1878,3864,4010,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9781,-1.11,-150.8,2619,1879,4010,3718,881.8,-8.2,589,9783,0.08,0.00,0.00,0.000,4102,0.116,0.000,2580,1879,3864,4010,3718,0,0,0,0,0,0,26.48,28.83,28.83
$GC,10079,-1.07,-150.8,2580,1878,4010,3718,910.0,-9.4,604,10081,0.12,0.00,0.00,0.000,2054,0.173,0.000,2611,1879,3863,4010,3717,0,0,0,0,0,0,26.06,28.83,28.83
$GC,10382,-1.07,-150.8,2611,1878,4009,3717,933.7,-7.9,619,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1879,3863,4010,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10678,-1.07,-150.8,2610,1879,4010,3717,957.0,-7.9,634,10682,0.00,2.35,0.00,0.000,516,0.000,0.067,2613,471,3863,4010,3717,0,0,0,0,0,0,28.83,25.50,28.83
$GC,10745,-1.07,-150.8,2613,471,4009,3717,961.9,-8.5,637,10749,0.00,2.25,0.00,0.000,3078,0.000,0.049,2604,1869,3863,4009,3717,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11053,-1.07,-150.8,2603,1869,4009,3717,988.1,-8.2,652,11054,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1870,3863,4009,3717,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11210,begin apogee
$GC,11215,-0.19,0.0,2604,1334,4009,3717,1001.1,-8.2,660,11354,0.95,0.00,131.15,1.285,10246,0.135,0.000,2890,1333,3249,3377,3122,0,0,0,0,0,0,25.02,28.83,23.00
$STATE,11355,end apogee,CONTROL_FINISHED_OK
$STATE,11356,begin climb
$GC,11357,0.77,150.8,2890,1333,3377,3122,1003.0,0.0,667,11502,0.90,2.20,135.95,1.239,10756,0.060,0.073,3214,164,2635,2730,2541,0,0,0,0,0,0,24.20,23.53,22.58
$GC,11585,0.53,150.8,3213,164,2723,2541,978.0,15.9,678,11594,0.28,2.00,0.00,0.000,5126,0.149,0.048,3133,1340,2632,2723,2541,0,0,0,0,0,0,24.49,24.82,28.83
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$STATE,20702,end climb,SURFACE_DEPTH_REACHED
$STATE,20702,begin surface coast
$FINISH,1.7,1.014833
$STATE,20727,end surface coast,CONTROL_FINISHED_OK
$STATE,20727,begin surface
$SM_CCo,20743,181.93,0.051,0,0,517,670.15
$SM_GC,2.17,7.68,0.88,181.93,0.029,0.055,0.051,221,1866,517,-8.41,-1.16,670.15,0,0,0,0,0,0,25.90,25.69,25.59
$IRIDIUM_FIX,-4530.24,-145.08,251109,070756
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.44
$INTERNAL_PRESSURE,8.90349
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.6,37.812
$10V_AH,10.0,23.393
$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
$DEVICE_SECS,23.025,119.950,383.550,181.925,0.000,27.994,40.768,239.747,25.000,0.000,21.642,2933.150,13348.026,685.205,4204.446,187.645,0.000,1956.043,0.000,2343.489,0.000,150.250,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.131,2753.263,610.039,90.061,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353620
$DATA_FILE_SIZE,66867,1216
$CAP_FILE_SIZE,191430,0
$CFSIZE,2097086464,2060156928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,760
$GPS,290117,060232,-4611.140,508.551,42,0.9,42,-23.7