version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 148
start: 1 7 117 16 28 34
data:
$ID,573
$MISSION,15
$DIVE,148
$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,-31783.268
$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,37
$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
$GPS1,070117,162032,-4533.958,555.977,37,0.9,37,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-57.9
$GPS2,070117,162809,-4533.944,556.197,19,0.9,19,-24.1
$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,238.8,103754,-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,-150.8,200,1873,606,409,0.0,0.0,0,156,0.00,0.00,-138.00,0.000,16386,0.000,0.000,193,1876,3377,3392,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,158,-0.77,-150.8,193,1877,3392,3362,3.0,-1.8,22,190,10.57,2.38,-15.32,0.000,18692,0.252,0.081,2685,3264,3866,3999,3733,0,0,0,0,0,0,25.17,25.58,26.06
$GC,298,-0.87,-150.8,1696,3263,4007,3731,16.3,-9.4,47,306,0.00,2.28,0.00,0.000,5126,0.000,0.050,2687,1860,3870,4008,3732,0,0,0,0,0,0,28.83,25.76,28.83
$GC,350,-0.97,-150.8,1700,1858,4007,3731,21.6,-12.3,56,357,0.12,0.00,0.00,0.000,4102,0.086,0.000,2618,1859,3870,4008,3732,0,0,0,0,0,0,25.92,28.83,28.83
$GC,482,-0.92,-150.8,1640,1858,4007,3730,36.8,-12.5,81,489,0.12,0.00,0.00,0.000,2054,0.172,0.000,2654,1859,3870,4009,3732,0,0,0,0,0,0,25.70,28.83,28.83
$GC,613,-0.95,-150.8,1696,1858,4008,3730,51.7,-11.2,106,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1859,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,922,-0.95,-150.8,2653,1859,4009,3732,84.6,-10.4,161,928,0.00,2.28,0.00,0.000,516,0.000,0.067,2659,464,3870,4009,3732,0,0,0,0,0,0,28.83,25.94,28.83
$GC,970,-0.95,-150.8,2659,464,4009,3732,89.0,-10.5,163,974,0.00,2.25,0.00,0.000,1030,0.000,0.047,2650,1871,3870,4009,3732,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1284,-0.99,-150.8,2650,1872,4009,3732,127.2,-11.7,179,1285,0.00,0.00,0.00,0.000,4102,0.000,0.000,2650,1871,3871,4010,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1582,-1.02,-150.8,2650,1871,4010,3732,160.8,-10.6,194,1584,0.08,0.00,0.00,0.000,4102,0.121,0.000,2605,1872,3871,4010,3732,0,0,0,0,0,0,26.32,28.83,28.83
$GC,1884,-0.96,-150.8,2605,1871,4010,3731,194.8,-10.4,209,1885,0.15,0.00,0.00,0.000,2054,0.159,0.000,2645,1871,3871,4011,3732,0,0,0,0,0,0,26.01,28.83,28.83
$GC,2183,-0.96,-150.8,2645,1871,4011,3732,219.6,-7.8,224,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1871,3871,4011,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2483,-0.96,-150.8,2645,1871,4011,3732,242.2,-7.8,239,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1871,3871,4011,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2783,-0.96,-150.8,2645,1871,4011,3732,266.0,-7.9,254,2788,0.00,2.22,0.00,0.000,260,0.000,0.066,2635,3268,3871,4011,3732,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2831,-0.99,-150.8,2634,3268,4011,3731,269.4,-8.2,256,2835,0.00,2.20,0.00,0.000,1030,0.000,0.049,2635,1858,3871,4011,3732,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3141,-0.99,-150.8,2635,1858,4011,3732,296.0,-8.3,271,3146,0.00,2.22,0.00,0.000,516,0.000,0.067,2635,472,3871,4011,3732,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3213,-0.99,-150.8,2635,473,4011,3732,301.6,-9.0,274,3220,0.00,2.22,0.00,0.000,3078,0.000,0.049,2626,1874,3870,4010,3731,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3519,-0.99,-150.8,2626,1874,4011,3732,331.2,-9.4,290,3520,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1874,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3819,-0.99,-150.8,2625,1874,4011,3731,359.0,-9.1,305,3824,0.00,2.30,0.00,0.000,2564,0.000,0.066,2626,465,3870,4010,3731,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3858,-0.99,-150.8,2625,465,4011,3731,362.9,-9.3,307,3865,0.08,2.20,0.00,0.000,3078,0.190,0.047,2633,1873,3870,4010,3731,0,0,0,0,0,0,26.13,26.27,28.83
$GC,4178,-0.99,-150.8,2632,1873,4011,3730,392.8,-9.7,323,4180,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1872,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4478,-0.99,-150.8,2632,1873,4011,3730,422.9,-10.4,338,4479,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1872,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4778,-0.99,-150.8,2632,1872,4011,3729,454.3,-10.4,353,4782,0.00,2.25,0.00,0.000,2308,0.000,0.067,2622,3265,3870,4011,3729,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4807,-0.99,-150.8,2622,3266,4011,3729,456.0,-10.3,354,4814,0.00,2.20,0.00,0.000,3078,0.000,0.049,2624,1861,3870,4011,3729,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5114,-0.99,-150.8,2624,1861,4011,3728,488.9,-10.0,370,5115,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1861,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5414,-0.99,-150.8,2624,1861,4011,3727,518.2,-9.7,385,5420,0.00,2.28,0.00,0.000,2564,0.000,0.067,2624,468,3869,4011,3727,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5482,-0.99,-150.8,2624,467,4011,3727,524.4,-10.4,388,5487,0.08,2.22,0.00,0.000,3078,0.192,0.049,2631,1869,3869,4011,3727,0,0,0,0,0,0,26.14,26.27,28.83
$GC,5795,-0.99,-150.8,2631,1869,4011,3726,553.7,-8.9,404,5796,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1870,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6094,-0.99,-150.8,2631,1870,4011,3726,579.5,-8.5,419,6096,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1869,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6396,-0.99,-150.8,2631,1869,4011,3726,604.2,-8.7,434,6397,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1869,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6695,-0.99,-150.8,2631,1870,4010,3725,630.9,-8.9,449,6696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1869,3868,4011,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6994,-0.99,-150.8,2631,1869,4011,3725,658.7,-9.3,464,6995,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1870,3867,4011,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7295,-0.99,-150.8,2631,1869,4011,3723,687.3,-9.4,479,7296,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1869,3867,4011,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7596,-0.99,-150.8,2631,1869,4010,3723,715.1,-9.0,494,7597,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1869,3867,4011,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7894,-0.99,-150.8,2630,1871,4011,3722,741.1,-8.5,509,7896,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1871,3866,4011,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8194,-0.99,-150.8,2631,1871,4011,3722,764.6,-7.7,524,8195,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1871,3866,4011,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8496,-0.99,-150.8,2631,1871,4011,3722,787.0,-7.4,539,8501,0.00,2.25,0.00,0.000,2308,0.000,0.069,2621,3266,3866,4011,3721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8523,-1.02,-150.8,2620,3266,4011,3721,788.3,-7.2,540,8527,0.00,2.20,0.00,0.000,3078,0.000,0.051,2621,1863,3866,4011,3721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8830,-1.02,-150.8,2621,1863,4011,3721,812.6,-7.8,555,8836,0.00,2.28,0.00,0.000,2564,0.000,0.068,2621,463,3866,4011,3721,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8924,-1.02,-150.8,2621,463,4011,3721,819.7,-8.8,559,8930,0.00,2.25,0.00,0.000,3078,0.000,0.050,2611,1877,3866,4011,3721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9231,-1.02,-150.8,2611,1877,4011,3721,847.5,-8.6,575,9232,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1878,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9530,-1.02,-150.8,2611,1877,4010,3721,874.1,-9.0,590,9535,0.00,2.25,0.00,0.000,2308,0.000,0.068,2601,3269,3866,4011,3721,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9560,-1.02,-150.8,2601,3269,4011,3720,875.5,-8.9,591,9566,0.08,2.20,0.00,0.000,3078,0.175,0.051,2620,1868,3866,4011,3721,0,0,0,0,0,0,26.15,26.26,28.83
$GC,9867,-1.02,-150.8,2620,1868,4011,3720,902.9,-8.5,607,9873,0.00,2.30,0.00,0.000,2564,0.000,0.070,2621,461,3865,4010,3720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9947,-1.02,-150.8,2620,461,4010,3721,910.2,-9.2,611,9951,0.00,2.22,0.00,0.000,3078,0.000,0.050,2612,1875,3865,4010,3720,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10263,-1.02,-150.8,2612,1875,4010,3720,938.5,-8.9,627,10265,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1875,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10563,-1.02,-150.8,2612,1875,4010,3720,964.3,-8.5,642,10568,0.00,2.25,0.00,0.000,2308,0.000,0.067,2601,3269,3865,4010,3720,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10623,-1.02,-150.8,2601,3269,4010,3720,969.5,-8.6,645,10629,0.08,2.20,0.00,0.000,3078,0.177,0.052,2620,1868,3865,4010,3720,0,0,0,0,0,0,26.15,26.25,28.83
$GC,10943,-1.02,-150.8,2620,1868,4010,3720,993.6,-7.7,661,10949,0.00,2.28,0.00,0.000,2564,0.000,0.069,2621,468,3865,4010,3720,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,11021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11021,begin apogee
$GC,11027,-0.19,0.0,2614,1343,4010,3720,1000.4,-8.5,665,11163,0.88,0.00,129.75,1.297,10246,0.138,0.000,2885,1344,3250,3378,3122,0,0,0,0,0,0,25.86,28.83,23.33
$STATE,11164,end apogee,CONTROL_FINISHED_OK
$STATE,11164,begin climb
$GC,11165,0.77,150.8,2885,1344,3378,3122,1002.8,0.0,672,11308,0.93,2.22,134.80,1.252,10756,0.069,0.074,3209,167,2634,2730,2538,0,0,0,0,0,0,24.32,23.49,22.70
$GC,11445,0.53,150.8,3209,167,2722,2538,969.0,16.1,686,11449,0.30,1.92,0.00,0.000,5126,0.158,0.050,3129,1329,2629,2721,2538,0,0,0,0,0,0,24.86,25.06,28.83
$GC,11757,0.49,150.8,3129,1329,2718,2538,933.4,10.9,702,11759,0.08,0.00,0.00,0.000,4102,0.193,0.000,3113,1329,2628,2718,2538,0,0,0,0,0,0,25.70,28.83,28.83
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$STATE,19752,end climb,SURFACE_DEPTH_REACHED
$STATE,19752,begin surface coast
$FINISH,1.6,1.012077
$STATE,19778,end surface coast,CONTROL_FINISHED_OK
$STATE,19778,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,49.60
$INTERNAL_PRESSURE,8.88396
$TCM_TEMP,14.00
$XPDR_PINGS,0
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$10V_AH,10.3,14.787
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.850,132.250,374.250,185.200,0.000,27.861,19.082,292.806,25.000,0.000,20.170,2915.288,13712.463,718.410,2941.483,147.919,0.000,1992.035,0.000,2475.465,0.000,148.421,0.000
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$SENSOR_SECS,594.347,557.120,635.810,101.104,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353648
$DATA_FILE_SIZE,70266,1198
$CAP_FILE_SIZE,192554,0
$CFSIZE,2097086464,2072215552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070117,220249,-4533.783,555.466,25,1.3,40,-24.1