version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 242
start: 1 29 117 11 56 3
data:
$ID,573
$MISSION,15
$DIVE,242
$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,-31902.102
$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,34
$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
$GPS1,290117,114803,-4613.408,509.517,38,0.9,38,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-58.6
$GPS2,290117,115539,-4613.404,509.627,15,1.1,15,-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,201.6,12225,-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,-150.8,199,1884,604,424,0.0,0.0,0,152,0.00,0.00,-134.45,0.000,16386,0.000,0.000,198,1883,3385,3398,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,155,-0.77,-150.8,197,1883,3401,3372,3.1,-1.7,18,188,10.62,2.33,-16.17,0.000,18692,0.243,0.078,2686,3278,3868,4001,3735,0,0,0,0,0,0,25.06,25.47,26.11
$GC,404,-0.90,-150.8,2686,3277,4009,3732,25.0,-9.0,58,414,0.03,2.28,0.00,0.000,5126,0.111,0.049,2653,1868,3871,4010,3732,0,0,0,0,0,0,25.60,25.69,28.83
$GC,561,-0.90,-150.8,2653,1868,4010,3732,40.3,-9.0,83,567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2653,1868,3871,4010,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.93,-150.8,2653,1868,4010,3732,72.6,-8.8,144,903,0.00,2.35,0.00,0.000,2564,0.000,0.064,2656,463,3871,4010,3732,0,0,0,0,0,0,28.83,25.71,28.83
$GC,957,-0.93,-150.8,2656,463,4010,3732,78.7,-9.8,154,964,0.00,2.25,0.00,0.000,3078,0.000,0.046,2648,1869,3871,4010,3732,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1275,-0.97,-150.8,2647,1870,4010,3732,106.2,-8.8,171,1281,0.00,2.28,0.00,0.000,4356,0.000,0.064,2637,3275,3871,4011,3732,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1372,-1.01,-150.8,2637,3275,4011,3732,114.4,-9.4,175,1384,0.00,2.25,0.00,0.000,5126,0.000,0.047,2637,1869,3871,4011,3732,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1681,-1.01,-150.8,2637,1869,4011,3732,148.7,-10.5,191,1686,0.00,2.28,0.00,0.000,4612,0.000,0.063,2637,465,3871,4011,3732,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1769,-1.01,-150.8,2637,465,4011,3732,157.4,-10.0,195,1774,0.00,2.25,0.00,0.000,1030,0.000,0.045,2628,1864,3871,4011,3732,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2090,-1.01,-150.8,2628,1864,4012,3732,188.3,-9.6,211,2091,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1864,3872,4012,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2389,-1.01,-150.8,2628,1864,4012,3732,218.1,-10.4,226,2390,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1864,3872,4012,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-1.01,-150.8,2627,1864,4012,3732,248.3,-10.0,241,2694,0.00,2.25,0.00,0.000,2308,0.000,0.063,2616,3261,3872,4012,3732,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2743,-1.01,-150.8,2617,3261,4012,3732,252.4,-9.9,243,2751,0.00,2.22,0.00,0.000,3078,0.000,0.048,2618,1866,3872,4012,3732,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3052,-1.01,-150.8,2617,1866,4012,3732,284.7,-10.0,259,3053,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1867,3872,4012,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3350,-1.01,-150.8,2617,1867,4012,3732,314.3,-9.7,274,3354,0.00,2.28,0.00,0.000,2564,0.000,0.064,2617,467,3872,4012,3732,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3412,-1.01,-150.8,2617,467,4012,3732,320.4,-10.1,277,3417,0.05,2.28,0.00,0.000,3078,0.160,0.047,2626,1869,3872,4012,3732,0,0,0,0,0,0,25.72,25.94,28.83
$GC,3733,-1.01,-150.8,2625,1869,4012,3732,350.1,-9.0,293,3734,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1870,3872,4012,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4029,-1.01,-150.8,2625,1870,4012,3731,377.3,-9.2,308,4031,0.00,0.00,0.00,0.000,2054,0.000,0.000,2625,1870,3871,4012,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-1.01,-150.8,2625,1869,4012,3731,403.4,-8.3,323,4333,0.00,0.00,0.00,0.000,2054,0.000,0.000,2625,1870,3871,4012,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4629,-1.01,-150.8,2625,1870,4012,3731,428.9,-8.4,338,4631,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1869,3871,4012,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4935,-1.04,-150.8,2625,1870,4011,3730,455.3,-9.0,353,4940,0.00,2.30,0.00,0.000,4612,0.000,0.063,2626,466,3870,4011,3730,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4994,-1.04,-150.8,2626,465,4011,3730,461.3,-9.1,356,4998,0.00,2.25,0.00,0.000,3078,0.000,0.048,2617,1870,3871,4012,3730,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5310,-1.04,-150.8,2616,1870,4012,3729,491.7,-10.3,372,5316,0.00,2.33,0.00,0.000,2564,0.000,0.065,2617,464,3870,4011,3729,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5365,-1.04,-150.8,2617,464,4011,3729,496.0,-10.6,374,5373,0.00,2.28,0.00,0.000,3078,0.000,0.047,2608,1866,3869,4011,3728,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5671,-1.04,-150.8,2607,1867,4012,3726,530.3,-10.6,390,5675,0.00,2.33,0.00,0.000,2564,0.000,0.066,2608,467,3869,4012,3726,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5744,-0.99,-150.8,2607,467,4012,3726,536.7,-11.1,393,5751,0.12,2.25,0.00,0.000,3078,0.164,0.047,2629,1873,3869,4012,3726,0,0,0,0,0,0,25.63,25.91,28.83
$GC,6054,-0.99,-150.8,2629,1874,4012,3726,568.7,-9.7,409,6059,0.00,2.30,0.00,0.000,2564,0.000,0.066,2630,473,3869,4012,3726,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6126,-0.99,-150.8,2629,473,4012,3726,575.1,-10.2,412,6135,0.00,2.28,0.00,0.000,3078,0.000,0.048,2621,1870,3869,4012,3726,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6435,-0.99,-150.8,2620,1870,4012,3726,605.6,-9.2,428,6436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1870,3869,4012,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6736,-0.99,-150.8,2620,1870,4011,3725,631.9,-8.5,443,6741,0.00,2.30,0.00,0.000,2564,0.000,0.066,2620,473,3868,4012,3725,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6809,-0.99,-150.8,2621,473,4012,3725,637.4,-8.8,446,6818,0.05,2.28,0.00,0.000,3078,0.155,0.048,2628,1868,3868,4012,3725,0,0,0,0,0,0,25.69,25.91,28.83
$GC,7118,-1.03,-150.8,2628,1869,4012,3724,661.4,-7.3,462,7123,0.00,2.30,0.00,0.000,516,0.000,0.067,2629,470,3867,4011,3724,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7188,-1.03,-150.8,2629,470,4011,3724,666.1,-7.5,465,7192,0.00,2.22,0.00,0.000,3078,0.000,0.048,2620,1869,3867,4011,3724,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7494,-1.03,-150.8,2619,1870,4011,3723,689.5,-7.4,480,7500,0.00,2.33,0.00,0.000,2564,0.000,0.067,2620,468,3867,4011,3723,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7535,-1.03,-150.8,2620,468,4011,3723,693.0,-7.9,482,7539,0.00,2.22,0.00,0.000,3078,0.000,0.048,2611,1869,3867,4011,3723,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7852,-1.03,-150.8,2610,1869,4011,3723,720.0,-8.8,498,7858,0.00,2.33,0.00,0.000,2564,0.000,0.067,2611,469,3866,4011,3722,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7896,-1.03,-150.8,2611,470,4010,3723,723.9,-9.2,500,7901,0.08,2.25,0.00,0.000,3078,0.188,0.047,2617,1871,3867,4011,3723,0,0,0,0,0,0,25.73,25.87,28.83
$GC,8209,-1.03,-150.8,2617,1871,4011,3722,752.8,-9.4,516,8210,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1871,3866,4011,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8511,-1.03,-150.8,2617,1871,4011,3722,781.1,-9.3,531,8516,0.00,2.33,0.00,0.000,2564,0.000,0.067,2618,468,3866,4011,3722,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8559,-1.03,-150.8,2617,468,4011,3722,785.1,-9.7,533,8563,0.00,2.28,0.00,0.000,3078,0.000,0.048,2608,1875,3866,4011,3722,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8868,-1.03,-150.8,2608,1875,4011,3721,815.3,-9.2,548,8869,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,1874,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9168,-1.03,-150.8,2608,1875,4010,3721,842.4,-8.9,563,9174,0.00,2.33,0.00,0.000,2564,0.000,0.067,2609,470,3866,4011,3721,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9236,-1.03,-150.8,2608,470,4010,3721,848.3,-9.2,566,9241,0.10,2.25,0.00,0.000,3078,0.174,0.048,2623,1875,3866,4011,3721,0,0,0,0,0,0,25.63,25.84,28.83
$GC,9548,-1.06,-150.8,2622,1876,4011,3721,874.1,-7.9,581,9550,0.00,0.00,0.00,0.000,4102,0.000,0.000,2622,1876,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9844,-1.09,-150.8,2622,1876,4010,3720,896.4,-7.2,596,9846,0.05,0.00,0.00,0.000,4102,0.159,0.000,2587,1876,3866,4011,3721,0,0,0,0,0,0,26.46,28.83,28.83
$GC,10147,-1.06,-150.8,2587,1876,4010,3720,923.5,-9.5,611,10149,0.10,0.00,0.00,0.000,2054,0.175,0.000,2611,1876,3865,4011,3719,0,0,0,0,0,0,26.21,28.83,28.83
$GC,10444,-1.06,-150.8,2610,1876,4010,3720,951.1,-9.3,626,10445,0.00,0.00,0.00,0.000,2054,0.000,0.000,2611,1876,3865,4011,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10746,-1.06,-150.8,2611,1876,4010,3720,978.7,-9.3,641,10747,0.00,0.00,0.00,0.000,2054,0.000,0.000,2611,1876,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10984,begin apogee
$GC,10989,-0.19,0.0,2611,1328,4010,3720,1001.0,-9.4,653,11123,0.90,0.00,127.80,1.283,10246,0.133,0.000,2885,1328,3249,3377,3122,0,0,0,0,0,0,25.08,28.83,23.03
$STATE,11124,end apogee,CONTROL_FINISHED_OK
$STATE,11124,begin climb
$GC,11126,0.77,150.8,2885,1328,3378,3125,1004.8,0.0,660,11272,0.93,2.17,136.32,1.245,10756,0.063,0.074,3212,161,2635,2730,2541,0,0,0,0,0,0,24.19,23.53,22.59
$GC,11432,0.52,150.8,3212,161,2724,2541,970.5,15.0,675,11438,0.28,1.92,0.00,0.000,5126,0.151,0.047,3130,1351,2632,2724,2541,0,0,0,0,0,0,24.84,25.24,28.83
$GC,11755,0.48,150.8,3130,1352,2721,2541,936.0,10.7,691,11761,0.10,2.05,0.00,0.000,4612,0.173,0.076,3115,157,2631,2721,2541,0,0,0,0,0,0,25.72,25.47,28.83
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$STATE,20385,end climb,SURFACE_DEPTH_REACHED
$STATE,20385,begin surface coast
$FINISH,1.7,1.011961
$STATE,20422,end surface coast,CONTROL_FINISHED_OK
$STATE,20422,begin surface
$SM_CCo,20438,181.95,0.050,0,0,517,670.15
$SM_GC,2.37,7.65,0.88,181.95,0.034,0.054,0.050,220,1872,517,-8.40,-1.19,670.15,0,0,0,0,0,0,26.12,25.90,25.72
$IRIDIUM_FIX,-4551.85,508.01,251109,191935
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.33
$INTERNAL_PRESSURE,8.90349
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.6,38.110
$10V_AH,10.0,23.614
$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
$DEVICE_SECS,21.875,153.625,371.375,181.950,0.000,25.802,51.067,260.159,25.000,0.000,16.631,2941.221,12879.943,701.285,4352.353,198.911,0.000,2068.030,0.000,2484.635,0.000,148.421,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.913,2727.670,620.800,98.311,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353720
$DATA_FILE_SIZE,66888,1210
$CAP_FILE_SIZE,199062,0
$CFSIZE,2097086464,2059862016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,753
$GPS,290117,174056,-4615.228,509.422,35,0.8,35,-23.7