version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 217
start: 1 24 117 6 43 45
data:
$ID,573
$MISSION,15
$DIVE,217
$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,-31870.746
$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,25
$R_STBD_OVSHOOT,53
$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
$GPS1,240117,063557,-4616.651,509.201,39,0.9,39,-23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-59.7
$GPS2,240117,064321,-4616.661,509.293,16,1.1,16,-23.7
$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,195.4,6250,-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,-150.8,202,1879,600,418,0.0,0.0,0,145,0.00,0.00,-127.90,0.000,16386,0.000,0.000,202,1880,3277,3283,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,148,-0.77,-150.8,202,1880,3287,3272,3.0,-1.9,17,188,10.62,2.35,-21.95,0.000,18948,0.245,0.073,2700,460,3864,3997,3732,0,0,0,0,0,0,25.06,25.50,26.11
$GC,459,-0.88,-150.8,2699,460,4004,3731,29.5,-10.1,67,468,0.03,2.28,0.00,0.000,5126,0.106,0.046,2655,1854,3867,4005,3730,0,0,0,0,0,0,25.64,25.72,28.83
$GC,611,-0.91,-150.8,2655,1854,4007,3730,45.6,-11.0,92,618,0.00,2.30,0.00,0.000,2564,0.000,0.062,2655,461,3868,4006,3730,0,0,0,0,0,0,28.83,25.61,28.83
$GC,662,-0.91,-150.8,2655,461,4006,3730,51.3,-11.5,101,669,0.00,2.25,0.00,0.000,3078,0.000,0.045,2646,1874,3868,4007,3730,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1006,-0.91,-150.8,2646,1875,4007,3730,86.8,-10.4,155,1012,0.00,2.25,0.00,0.000,2308,0.000,0.063,2636,3266,3868,4007,3730,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1051,-0.91,-150.8,2635,3266,4008,3728,91.2,-10.4,157,1056,0.10,2.20,0.00,0.000,3078,0.166,0.047,2659,1858,3868,4008,3728,0,0,0,0,0,0,25.65,25.85,28.83
$GC,1366,-0.97,-150.8,2659,1858,4009,3728,122.3,-9.8,173,1372,0.00,2.25,0.00,0.000,4612,0.000,0.063,2660,467,3868,4008,3728,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1460,-1.01,-150.8,2659,467,4008,3728,131.3,-10.2,177,1465,0.08,2.22,0.00,0.000,5126,0.111,0.045,2604,1878,3868,4008,3729,0,0,0,0,0,0,25.89,25.91,28.83
$GC,1769,-0.96,-150.8,2604,1878,4009,3728,167.8,-11.9,192,1775,0.12,2.22,0.00,0.000,2308,0.163,0.061,2632,3270,3868,4009,3728,0,0,0,0,0,0,25.93,25.72,28.83
$GC,1823,-0.96,-150.8,2631,3271,4010,3728,172.2,-11.4,194,1832,0.00,2.22,0.00,0.000,3078,0.000,0.047,2632,1871,3868,4010,3727,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2134,-0.96,-150.8,2631,1871,4010,3728,205.2,-9.7,210,2135,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1871,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2432,-0.96,-150.8,2632,1871,4010,3728,234.5,-9.9,225,2434,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1871,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,-0.96,-150.8,2631,1871,4010,3728,264.5,-10.0,240,2738,0.00,2.25,0.00,0.000,2564,0.000,0.063,2632,477,3869,4010,3728,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2796,-0.96,-150.8,2631,477,4010,3728,271.0,-10.2,243,2802,0.05,2.17,0.00,0.000,3078,0.158,0.047,2640,1869,3869,4010,3728,0,0,0,0,0,0,25.77,25.98,28.83
$GC,3118,-0.99,-150.8,2640,1870,4010,3728,301.4,-9.6,259,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1869,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3414,-1.03,-150.8,2639,1870,4010,3728,330.1,-9.7,274,3415,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1869,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3717,-1.06,-150.8,2640,1869,4010,3728,357.8,-9.1,289,3719,0.10,0.00,0.00,0.000,4102,0.096,0.000,2586,1870,3869,4010,3728,0,0,0,0,0,0,26.41,28.83,28.83
$GC,4015,-1.00,-150.8,2585,1870,4010,3727,390.0,-10.6,304,4017,0.17,0.00,0.00,0.000,2054,0.161,0.000,2633,1870,3868,4010,3727,0,0,0,0,0,0,25.87,28.83,28.83
$GC,4316,-1.00,-150.8,2632,1870,4010,3727,415.0,-8.2,319,4322,0.00,2.25,0.00,0.000,2308,0.000,0.065,2623,3258,3868,4010,3727,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4360,-1.03,-150.8,2623,3258,4010,3726,418.3,-8.2,321,4364,0.00,2.17,0.00,0.000,1030,0.000,0.047,2628,1867,3867,4009,3726,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4675,-1.03,-150.8,2627,1867,4010,3726,444.1,-8.1,337,4680,0.00,2.28,0.00,0.000,516,0.000,0.065,2628,469,3868,4010,3726,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4738,-1.03,-150.8,2627,468,4010,3726,449.8,-8.9,340,4742,0.00,2.22,0.00,0.000,3078,0.000,0.047,2619,1874,3868,4010,3726,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5050,-1.03,-150.8,2619,1875,4010,3725,477.6,-9.1,356,5056,0.00,2.28,0.00,0.000,2308,0.000,0.063,2608,3269,3867,4010,3725,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5091,-1.03,-150.8,2608,3269,4010,3724,481.5,-9.3,358,5097,0.00,2.20,0.00,0.000,3078,0.000,0.048,2610,1863,3867,4010,3724,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5413,-1.03,-150.8,2609,1863,4010,3724,512.7,-10.0,374,5414,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1863,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5713,-1.03,-150.8,2609,1863,4011,3722,543.7,-10.5,389,5718,0.00,2.25,0.00,0.000,2564,0.000,0.065,2610,477,3866,4011,3722,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5785,-1.03,-150.8,2609,477,4010,3722,550.5,-11.0,392,5795,0.05,2.25,0.00,0.000,3078,0.164,0.048,2618,1867,3865,4010,3721,0,0,0,0,0,0,25.75,25.97,28.83
$GC,6093,-1.03,-150.8,2617,1867,4011,3722,582.2,-9.6,408,6094,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1867,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6395,-1.03,-150.8,2617,1867,4010,3721,611.3,-9.9,423,6396,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1867,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6692,-1.03,-150.8,2617,1867,4010,3721,640.8,-9.6,438,6693,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1867,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6995,-1.03,-150.8,2617,1867,4010,3721,667.8,-8.8,453,6996,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1867,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7292,-1.03,-150.8,2617,1867,4010,3720,694.6,-9.4,468,7296,0.00,2.30,0.00,0.000,2308,0.000,0.067,2607,3269,3865,4010,3720,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7330,-1.03,-150.8,2607,3269,4010,3720,698.3,-9.5,470,7335,0.00,2.20,0.00,0.000,3078,0.000,0.050,2607,1868,3865,4010,3720,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7647,-1.03,-150.8,2607,1868,4010,3720,729.4,-10.2,486,7649,0.03,0.00,0.00,0.000,2054,0.266,0.000,2616,1868,3865,4010,3720,0,0,0,0,0,0,26.48,28.83,28.83
$GC,7950,-1.03,-150.8,2617,1868,4010,3719,757.4,-9.2,501,7955,0.00,2.28,0.00,0.000,2564,0.000,0.067,2617,474,3864,4010,3719,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7990,-1.03,-150.8,2617,474,4009,3719,761.4,-9.5,503,7995,0.00,2.20,0.00,0.000,3078,0.000,0.049,2608,1865,3864,4010,3719,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8311,-1.03,-150.8,2608,1865,4010,3719,792.4,-9.5,519,8312,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1866,3864,4010,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8607,-1.03,-150.8,2607,1865,4010,3718,820.6,-9.3,534,8608,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1865,3864,4010,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8910,-1.03,-150.8,2608,1865,4010,3717,848.2,-9.1,549,8911,0.00,0.00,0.00,0.000,2054,0.000,0.000,2607,1865,3863,4010,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9208,-1.03,-150.8,2608,1865,4009,3717,876.7,-9.4,564,9209,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1865,3863,4010,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9510,-1.03,-150.8,2607,1865,4009,3717,904.7,-9.5,579,9511,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1866,3863,4009,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9807,-1.03,-150.8,2608,1866,4009,3716,932.5,-9.3,594,9808,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1866,3863,4009,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10110,-1.03,-150.8,2608,1866,4009,3717,960.0,-9.2,609,10111,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1866,3862,4009,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10408,-1.03,-150.8,2607,1866,4009,3716,986.3,-8.6,624,10415,0.03,2.33,0.00,0.000,2564,0.285,0.065,2617,471,3862,4009,3716,0,0,0,0,0,0,26.42,25.62,28.83
$GC,10484,-1.03,-150.8,2617,471,4008,3716,991.8,-8.9,627,10490,0.00,2.25,0.00,0.000,3078,0.000,0.050,2608,1871,3862,4009,3716,0,0,0,0,0,0,28.83,25.90,28.83
$STATE,10568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10568,begin apogee
$GC,10574,-0.19,0.0,2608,1333,4008,3716,1000.7,-8.7,632,10713,0.90,0.00,130.93,1.286,10246,0.129,0.000,2886,1333,3250,3379,3122,0,0,0,0,0,0,25.25,28.83,23.06
$STATE,10714,end apogee,CONTROL_FINISHED_OK
$STATE,10714,begin climb
$GC,10715,0.77,150.8,2886,1333,3379,3122,1003.4,0.0,639,10860,0.93,2.17,135.98,1.246,10756,0.058,0.073,3216,162,2635,2730,2541,0,0,0,0,0,0,24.23,23.56,22.65
$GC,10996,0.52,150.8,3216,162,2722,2541,970.5,15.8,653,11001,0.35,1.95,0.00,0.000,5126,0.157,0.050,3123,1342,2631,2721,2541,0,0,0,0,0,0,24.72,25.12,28.83
$GC,11311,0.48,150.8,3122,1342,2717,2539,937.0,10.5,669,11317,0.00,2.00,0.00,0.000,4612,0.000,0.076,3132,170,2628,2717,2539,0,0,0,0,0,0,28.83,25.45,28.83
$GC,11342,0.43,150.8,3131,170,2717,2539,934.8,10.6,670,11351,0.10,1.90,0.00,0.000,5126,0.137,0.050,3098,1327,2628,2717,2539,0,0,0,0,0,0,25.42,25.70,28.83
$GC,11648,0.44,162.9,3098,1327,2716,2538,904.2,9.3,686,11671,0.00,2.05,10.77,1.060,12804,0.000,0.077,3108,159,2586,2673,2499,0,0,0,0,0,0,28.83,25.62,24.56
$GC,11692,0.44,172.0,3107,159,2673,2499,900.0,9.4,688,11707,0.00,1.90,9.80,1.060,13318,0.000,0.050,3107,1340,2547,2634,2461,0,0,0,0,0,0,28.83,25.70,24.37
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$STATE,20115,end climb,SURFACE_DEPTH_REACHED
$STATE,20115,begin surface coast
$FINISH,1.7,1.007523
$STATE,20153,end surface coast,CONTROL_FINISHED_OK
$STATE,20153,begin surface
$SM_CCo,20169,204.85,0.051,0,0,517,670.15
$SM_GC,2.30,7.82,0.88,204.85,0.047,0.050,0.051,225,1877,517,-8.43,-1.13,670.15,0,0,0,0,0,0,26.16,26.04,25.81
$IRIDIUM_FIX,-4554.95,511.67,201109,141400
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.60
$INTERNAL_PRESSURE,8.90349
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.6,34.805
$10V_AH,10.0,21.176
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,127.150,342.225,204.850,0.000,27.337,48.422,252.518,25.000,0.000,17.662,2897.733,12818.935,679.326,4234.130,187.309,0.000,1960.670,0.000,2387.521,0.000,148.443,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.749,2717.628,622.848,97.911,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353656
$DATA_FILE_SIZE,66868,1193
$CAP_FILE_SIZE,189690,0
$CFSIZE,2097086464,2063171584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,750
$GPS,240117,122432,-4618.509,510.068,36,0.8,36,-23.7