version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 151
start: 1 8 117 10 1 51
data:
$ID,573
$MISSION,15
$DIVE,151
$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,-31787.221
$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,28
$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
$GPS1,080117,095131,-4534.674,554.973,53,1.3,56,-24.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-56.9
$GPS2,080117,100127,-4534.547,555.237,19,1.1,20,-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,238.6,102138,-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,-150.8,166,1866,616,411,0.0,0.0,0,162,0.00,0.00,-143.60,0.000,16386,0.000,0.000,163,1862,3488,3506,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-0.77,-150.8,163,1862,3508,3471,3.1,-1.7,23,193,10.70,2.33,-10.73,0.000,18948,0.252,0.069,2700,454,3865,3996,3735,0,0,0,0,0,0,25.25,25.60,26.04
$GC,258,-0.88,-150.8,1712,454,4001,3733,11.9,-9.5,39,266,0.03,2.33,0.00,0.000,5126,0.034,0.047,2641,1874,3868,4004,3733,0,0,0,0,0,0,25.69,25.73,28.83
$GC,309,-0.91,-150.8,1680,1873,4004,3731,17.8,-10.6,48,317,0.08,0.00,0.00,0.000,2054,0.204,0.000,2656,1874,3868,4005,3732,0,0,0,0,0,0,25.79,28.83,28.83
$GC,359,-0.91,-150.8,1684,1873,4005,3731,24.9,-17.3,57,367,0.00,2.30,0.00,0.000,2308,0.000,0.065,2645,3263,3869,4006,3732,0,0,0,0,0,0,28.83,25.70,28.83
$GC,399,-0.91,-150.8,1680,3261,4006,3730,30.8,-13.9,64,406,0.00,2.28,0.00,0.000,3078,0.000,0.050,2646,1853,3869,4007,3732,0,0,0,0,0,0,28.83,25.82,28.83
$GC,529,-0.91,-150.8,2646,1853,4007,3732,48.2,-13.4,89,535,0.00,2.28,0.00,0.000,2564,0.000,0.064,2646,470,3869,4007,3731,0,0,0,0,0,0,28.83,25.81,28.83
$GC,574,-0.83,-150.8,2646,470,4007,3732,55.0,-16.7,97,581,0.17,2.25,0.00,0.000,3078,0.164,0.047,2683,1870,3869,4007,3732,0,0,0,0,0,0,25.62,25.89,28.83
$GC,888,-0.89,-150.8,2683,1871,4007,3731,87.8,-7.5,143,893,0.00,2.30,0.00,0.000,4612,0.000,0.063,2683,467,3869,4007,3731,0,0,0,0,0,0,28.83,25.92,28.83
$GC,921,-0.94,-150.8,2683,467,4007,3732,89.1,-6.7,144,928,0.05,2.28,0.00,0.000,5126,0.071,0.048,2629,1871,3870,4008,3732,0,0,0,0,0,0,25.94,25.99,28.83
$GC,1226,-0.94,-150.8,2629,1871,4008,3732,124.4,-9.7,160,1233,0.08,2.33,0.00,0.000,2564,0.190,0.063,2646,463,3869,4008,3731,0,0,0,0,0,0,26.14,25.99,28.83
$GC,1268,-0.94,-150.8,2646,463,4008,3731,128.7,-10.1,162,1272,0.00,2.25,0.00,0.000,3078,0.000,0.047,2637,1878,3869,4008,3731,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1584,-0.94,-150.8,2637,1877,4008,3731,161.1,-10.3,178,1586,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1877,3869,4008,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1885,-0.94,-150.8,2637,1877,4009,3731,195.7,-11.5,193,1886,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1877,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,-0.94,-150.8,2637,1877,4009,3732,228.5,-10.6,208,2188,0.00,2.33,0.00,0.000,2564,0.000,0.063,2636,463,3870,4009,3731,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2261,-0.94,-150.8,2637,463,4009,3731,237.3,-11.4,212,2267,0.10,2.22,0.00,0.000,3078,0.182,0.047,2652,1868,3870,4009,3732,0,0,0,0,0,0,26.00,26.19,28.83
$GC,2583,-0.99,-150.8,2651,1868,4009,3731,267.6,-9.2,228,2584,0.00,0.00,0.00,0.000,4102,0.000,0.000,2651,1868,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2882,-1.03,-150.8,2651,1869,4009,3731,294.0,-8.6,243,2888,0.10,2.25,0.00,0.000,4612,0.099,0.063,2600,471,3869,4008,3731,0,0,0,0,0,0,26.39,26.15,28.83
$GC,2934,-1.03,-150.8,2600,471,4009,3731,298.2,-9.5,245,2942,0.12,2.22,0.00,0.000,3078,0.181,0.048,2622,1867,3870,4009,3731,0,0,0,0,0,0,25.97,26.22,28.83
$GC,3241,-1.03,-150.8,2621,1867,4009,3731,330.6,-9.9,261,3242,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1867,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3541,-1.03,-150.8,2621,1867,4009,3731,360.1,-9.4,276,3542,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1867,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3841,-1.03,-150.8,2621,1867,4009,3730,388.1,-9.6,291,3847,0.00,2.28,0.00,0.000,2564,0.000,0.065,2621,469,3869,4009,3730,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3955,-0.99,-150.8,2621,469,4009,3730,398.5,-10.3,296,3962,0.08,2.20,0.00,0.000,3078,0.190,0.049,2629,1869,3869,4009,3730,0,0,0,0,0,0,26.12,26.25,28.83
$GC,4263,-0.99,-150.8,2629,1869,4009,3729,428.4,-9.1,312,4264,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1869,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4561,-0.99,-150.8,2628,1868,4009,3729,454.6,-8.4,327,4562,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1869,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4861,-0.99,-150.8,2629,1869,4009,3728,479.6,-8.1,342,4862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1869,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5161,-0.99,-150.8,2629,1869,4009,3728,504.2,-8.5,357,5162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1869,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5461,-0.99,-150.8,2629,1869,4009,3727,531.3,-9.3,372,5462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1869,3868,4009,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5761,-0.99,-150.8,2629,1869,4009,3727,559.5,-9.6,387,5767,0.00,2.30,0.00,0.000,2564,0.000,0.067,2629,470,3867,4009,3726,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5830,-0.99,-150.8,2629,470,4009,3727,565.7,-10.1,390,5834,0.00,2.25,0.00,0.000,3078,0.000,0.050,2620,1875,3867,4009,3726,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6142,-0.99,-150.8,2620,1876,4009,3726,597.2,-9.8,406,6144,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1876,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6444,-0.99,-150.8,2620,1876,4009,3725,626.3,-9.8,421,6445,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1876,3867,4009,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6744,-0.99,-150.8,2620,1876,4009,3725,656.3,-9.9,436,6749,0.00,2.28,0.00,0.000,2564,0.000,0.066,2621,470,3867,4009,3725,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6815,-0.99,-150.8,2620,470,4009,3724,662.3,-10.1,439,6822,0.10,2.25,0.00,0.000,3078,0.175,0.050,2635,1877,3867,4009,3725,0,0,0,0,0,0,26.09,26.27,28.83
$GC,7123,-1.03,-150.8,2634,1877,4008,3724,691.6,-9.0,455,7129,0.00,2.30,0.00,0.000,4612,0.000,0.068,2635,474,3866,4009,3724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7163,-1.03,-150.8,2635,474,4009,3724,695.3,-9.2,457,7168,0.00,2.20,0.00,0.000,1030,0.000,0.050,2627,1870,3866,4009,3724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7483,-1.03,-150.8,2626,1869,4008,3723,723.1,-8.4,473,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1870,3866,4009,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7782,-1.03,-150.8,2626,1869,4009,3723,748.2,-8.3,488,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1869,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8084,-1.03,-150.8,2626,1869,4009,3722,772.0,-8.0,503,8089,0.00,2.28,0.00,0.000,516,0.000,0.067,2627,465,3865,4009,3722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8130,-1.03,-150.8,2626,465,4008,3722,775.5,-8.3,505,8134,0.00,2.25,0.00,0.000,3078,0.000,0.050,2617,1874,3865,4008,3722,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8437,-1.03,-150.8,2617,1875,4008,3722,803.0,-8.7,520,8441,0.00,2.33,0.00,0.000,2564,0.000,0.066,2617,464,3865,4008,3722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8493,-1.03,-150.8,2617,464,4008,3722,808.4,-9.3,523,8499,0.00,2.25,0.00,0.000,3078,0.000,0.051,2608,1871,3865,4008,3722,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8814,-1.03,-150.8,2608,1872,4008,3722,838.0,-9.3,539,8815,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1872,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9113,-1.03,-150.8,2608,1872,4008,3721,867.1,-9.8,554,9117,0.00,2.33,0.00,0.000,2564,0.000,0.067,2608,463,3864,4008,3721,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9190,-1.03,-150.8,2608,463,4007,3721,875.4,-11.0,558,9196,0.05,2.22,0.00,0.000,3078,0.165,0.051,2615,1866,3864,4008,3721,0,0,0,0,0,0,26.06,26.26,28.83
$GC,9510,-1.03,-150.8,2615,1866,4008,3720,906.8,-9.7,574,9516,0.00,2.30,0.00,0.000,2564,0.000,0.067,2616,470,3864,4008,3720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9542,-1.03,-150.8,2615,470,4008,3721,908.8,-9.8,575,9548,0.00,2.25,0.00,0.000,3078,0.000,0.051,2607,1878,3864,4008,3721,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9849,-1.03,-150.8,2607,1878,4008,3721,940.0,-9.6,591,9850,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1878,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10149,-1.03,-150.8,2607,1878,4008,3721,969.4,-9.6,606,10150,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1878,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10449,-1.03,-150.8,2607,1879,4009,3719,996.7,-8.9,621,10455,0.00,2.33,0.00,0.000,2564,0.000,0.067,2607,471,3864,4010,3718,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,10487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10487,begin apogee
$GC,10493,-0.19,0.0,2600,1342,4009,3718,1000.5,-9.1,623,10624,0.93,0.00,127.12,1.297,10246,0.138,0.000,2887,1342,3250,3378,3122,0,0,0,0,0,0,25.86,28.83,23.36
$STATE,10625,end apogee,CONTROL_FINISHED_OK
$STATE,10625,begin climb
$GC,10626,0.77,150.8,2886,1343,3378,3124,1004.0,0.0,629,10771,0.90,2.20,134.23,1.253,10756,0.067,0.073,3207,166,2635,2730,2541,0,0,0,0,0,0,24.30,23.51,22.72
$GC,10873,0.54,150.8,3207,166,2725,2541,977.6,15.0,642,10878,0.28,1.95,0.00,0.000,5126,0.161,0.050,3135,1332,2633,2725,2541,0,0,0,0,0,0,24.73,24.91,28.83
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$STATE,20195,end climb,SURFACE_DEPTH_REACHED
$STATE,20195,begin surface coast
$FINISH,1.7,1.023126
$STATE,20217,end surface coast,CONTROL_FINISHED_OK
$STATE,20217,begin surface
$SM_CCo,20232,188.07,0.052,0,0,517,670.15
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$TT8_MAMPS,0.026964,0.026964
$HUMID,48.70
$INTERNAL_PRESSURE,8.88396
$TCM_TEMP,14.10
$XPDR_PINGS,1
$24V_AH,22.7,24.927
$10V_AH,10.2,15.063
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$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,70196,1210
$CAP_FILE_SIZE,190311,0
$CFSIZE,2097086464,2071822336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080117,154356,-4535.043,554.603,69,0.9,69,-24.1