version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 13
start: 12 5 116 18 49 54
data:
$ID,573
$MISSION,15
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$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,355
$T_ABORT,345
$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,200
$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,733.68036
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-31611.797
$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,1967
$C_ROLL_CLIMB,1759
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,3200
$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
$GPS1,051216,183834,-4525.059,613.535,28,0.9,28,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-61.0
$GPS2,051216,184929,-4525.004,613.562,19,1.1,19,-24.3
$SPEED_LIMITS,0.170,0.294
$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,242.9,130307,-15.4,-9.804,-18.46,3035
$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,14,-0.71,-194.6,213,1980,489,321,0.0,0.0,0,174,0.00,0.00,-156.90,0.000,16386,0.000,0.000,214,1977,3626,3683,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,177,-0.71,-194.6,213,1977,3685,3570,3.1,-2.7,25,206,11.00,2.42,-8.75,0.000,18692,0.272,0.093,2705,3373,3962,4009,3916,0,0,0,0,0,0,25.33,25.48,25.84
$GC,304,-0.84,-194.6,1712,3372,4007,3920,15.3,-7.7,48,312,0.03,2.30,0.00,0.000,5126,0.131,0.054,2684,1965,3964,4008,3921,0,0,0,0,0,0,25.59,25.67,28.83
$GC,355,-0.88,-194.6,2683,1966,4007,3921,19.6,-9.1,57,362,0.00,2.33,0.00,0.000,4612,0.000,0.064,2684,570,3964,4008,3921,0,0,0,0,0,0,28.83,25.66,28.83
$GC,405,-0.88,-194.6,1704,570,4006,3921,24.5,-10.7,66,413,0.00,2.33,0.00,0.000,5126,0.000,0.055,2675,1967,3964,4008,3921,0,0,0,0,0,0,28.83,25.70,28.83
$GC,537,-0.88,-194.6,1664,1965,4007,3921,37.4,-9.4,91,545,0.00,2.35,0.00,0.000,516,0.000,0.063,2675,568,3965,4008,3922,0,0,0,0,0,0,28.83,25.77,28.83
$GC,572,-0.88,-194.6,2675,568,4008,3922,41.3,-11.6,97,578,0.00,2.30,0.00,0.000,3078,0.000,0.054,2666,1973,3965,4008,3922,0,0,0,0,0,0,28.83,25.79,28.83
$GC,881,-0.88,-194.6,1728,1971,4007,3921,74.5,-10.2,158,890,0.00,0.00,0.00,0.000,2054,0.000,0.000,2666,1973,3965,4008,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1200,-0.88,-194.6,2666,1973,4008,3924,106.3,-9.9,181,1205,0.00,2.25,0.00,0.000,2564,0.000,0.062,2666,571,3965,4008,3923,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1307,-0.88,-194.6,2666,571,4007,3924,117.0,-10.7,186,1311,0.00,2.28,0.00,0.000,3078,0.000,0.052,2657,1980,3966,4008,3924,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1614,-0.88,-194.6,2657,1981,4007,3924,149.4,-10.3,201,1615,0.00,0.00,0.00,0.000,2054,0.000,0.000,2658,1981,3966,4008,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,-0.88,-194.6,2657,1981,4008,3924,179.4,-9.7,216,1915,0.00,0.00,0.00,0.000,2054,0.000,0.000,2658,1981,3966,4008,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2215,-0.88,-194.6,2657,1981,4008,3924,208.1,-9.5,231,2220,0.00,2.28,0.00,0.000,2564,0.000,0.063,2658,557,3966,4008,3925,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2261,-0.88,-194.6,2658,557,4008,3924,212.0,-9.7,233,2266,0.08,2.28,0.00,0.000,3078,0.199,0.053,2665,1968,3966,4008,3924,0,0,0,0,0,0,26.11,26.19,28.83
$GC,2568,-0.88,-194.6,2665,1968,4007,3924,240.1,-8.8,248,2569,0.00,0.00,0.00,0.000,2054,0.000,0.000,2665,1968,3966,4008,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-0.88,-194.6,2665,1968,4008,3925,266.3,-8.7,263,2870,0.00,0.00,0.00,0.000,2054,0.000,0.000,2665,1968,3966,4008,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3168,-0.88,-194.6,2665,1969,4007,3924,292.4,-9.0,278,3172,0.00,2.28,0.00,0.000,2564,0.000,0.064,2666,562,3966,4008,3924,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3205,-0.88,-194.6,2665,562,4008,3924,295.8,-9.0,280,3210,0.00,2.25,0.00,0.000,3078,0.000,0.054,2657,1982,3966,4008,3924,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3524,-0.88,-194.6,2657,1982,4008,3924,324.3,-8.5,296,3528,0.00,2.28,0.00,0.000,2564,0.000,0.063,2657,562,3966,4008,3924,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3563,-0.88,-194.6,2657,562,4007,3924,327.6,-8.7,298,3567,0.08,2.25,0.00,0.000,3078,0.198,0.054,2664,1966,3965,4007,3924,0,0,0,0,0,0,26.22,26.29,28.83
$GC,3880,-0.92,-194.6,2664,1967,4007,3924,353.6,-7.9,314,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1967,3965,4007,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4181,-0.95,-194.6,2664,1967,4007,3925,376.2,-7.4,329,4182,0.00,0.00,0.00,0.000,4102,0.000,0.000,2664,1967,3965,4007,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4480,-0.99,-194.6,2664,1967,4007,3924,399.1,-7.8,344,4487,0.10,2.28,0.00,0.000,4612,0.112,0.061,2621,562,3965,4007,3924,0,0,0,0,0,0,26.41,26.33,28.83
$GC,4513,-0.99,-194.6,2620,562,4007,3924,400.9,-8.1,345,4520,0.10,2.25,0.00,0.000,3078,0.181,0.053,2635,1968,3965,4007,3924,0,0,0,0,0,0,26.25,26.34,28.83
$GC,4820,-0.99,-194.6,2635,1968,4007,3925,430.7,-9.4,361,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1968,3965,4007,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,-0.99,-194.6,2635,1968,4007,3924,458.3,-9.3,376,5124,0.00,2.28,0.00,0.000,516,0.000,0.064,2636,562,3965,4007,3924,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5158,-0.99,-194.6,2636,562,4006,3924,462.0,-9.9,378,5162,0.00,2.28,0.00,0.000,3078,0.000,0.054,2627,1964,3965,4007,3924,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5476,-0.96,-194.6,2627,1964,4006,3924,493.8,-10.0,394,5478,0.08,0.00,0.00,0.000,2054,0.204,0.000,2643,1964,3965,4007,3924,0,0,0,0,0,0,26.37,28.83,28.83
$GC,5776,-0.96,-194.6,2642,1964,4007,3924,521.8,-9.2,409,5777,0.00,0.00,0.00,0.000,2054,0.000,0.000,2643,1964,3965,4006,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6075,-0.96,-194.6,2642,1964,4007,3924,548.7,-8.9,424,6079,0.00,2.28,0.00,0.000,2564,0.000,0.064,2643,561,3965,4007,3923,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6114,-0.96,-194.6,2642,561,4007,3923,552.1,-9.2,426,6118,0.00,2.25,0.00,0.000,3078,0.000,0.054,2635,1967,3964,4006,3923,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6431,-0.96,-194.6,2634,1967,4006,3923,582.8,-9.6,442,6432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1967,3964,4006,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6731,-0.96,-194.6,2634,1967,4007,3922,611.8,-9.6,457,6732,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1966,3964,4006,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7031,-0.96,-194.6,2634,1967,4007,3922,640.4,-9.4,472,7035,0.00,2.28,0.00,0.000,2564,0.000,0.063,2635,562,3964,4006,3922,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7070,-0.96,-194.6,2635,562,4006,3922,643.9,-9.4,474,7075,0.08,2.25,0.00,0.000,3078,0.190,0.054,2641,1968,3964,4006,3922,0,0,0,0,0,0,26.33,26.41,28.83
$GC,7382,-0.96,-194.6,2641,1968,4006,3922,672.4,-8.9,490,7383,0.00,0.00,0.00,0.000,2054,0.000,0.000,2641,1968,3964,4006,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7682,-0.96,-194.6,2641,1968,4006,3921,697.2,-8.2,505,7686,0.00,2.28,0.00,0.000,2564,0.000,0.063,2641,561,3963,4006,3921,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7711,-0.96,-194.6,2641,561,4006,3921,698.6,-8.2,506,7718,0.00,2.25,0.00,0.000,3078,0.000,0.054,2633,1968,3963,4006,3921,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8019,-0.96,-194.6,2633,1968,4006,3921,725.7,-8.4,522,8020,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1968,3963,4005,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8318,-0.96,-194.6,2632,1968,4006,3921,751.3,-8.7,537,8319,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1968,3963,4006,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8618,-0.96,-194.6,2632,1968,4005,3921,776.2,-8.3,552,8619,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1968,3963,4006,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8918,-0.96,-194.6,2632,1969,4005,3921,801.0,-8.1,567,8919,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1968,3963,4005,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9218,-0.96,-194.6,2633,1968,4005,3921,826.8,-8.6,582,9219,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1968,3963,4005,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9518,-0.96,-194.6,2632,1969,4005,3921,852.9,-8.6,597,9522,0.00,2.28,0.00,0.000,2564,0.000,0.063,2633,562,3963,4005,3921,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9569,-0.96,-194.6,2633,562,4004,3921,856.1,-8.7,599,9575,0.08,2.22,0.00,0.000,3078,0.194,0.054,2641,1968,3963,4005,3921,0,0,0,0,0,0,26.36,26.44,28.83
$GC,9876,-0.96,-194.6,2640,1968,4005,3921,882.3,-8.1,615,9877,0.00,0.00,0.00,0.000,2054,0.000,0.000,2640,1968,3963,4005,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10174,-0.96,-194.6,2640,1968,4005,3921,905.2,-7.3,630,10180,0.00,2.25,0.00,0.000,2564,0.000,0.063,2641,563,3962,4004,3921,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10234,-0.96,-194.6,2641,563,4004,3921,910.0,-7.7,633,10238,0.00,2.25,0.00,0.000,3078,0.000,0.052,2632,1971,3962,4004,3921,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10551,-0.96,-194.6,2632,1972,4004,3921,933.1,-7.0,649,10556,0.00,2.28,0.00,0.000,2564,0.000,0.062,2632,559,3962,4004,3921,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10591,-0.96,-194.6,2632,560,4004,3921,936.1,-7.4,651,10597,0.10,2.25,0.00,0.000,3078,0.179,0.053,2647,1976,3962,4004,3921,0,0,0,0,0,0,26.36,26.44,28.83
$STATE,10669,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10669,begin apogee
$GC,10672,-0.19,0.0,2646,1762,4004,3921,941.4,-6.6,655,10833,0.75,0.00,157.12,1.266,10246,0.138,0.000,2884,1762,3200,3296,3104,0,0,0,0,0,0,26.33,28.83,23.18
$STATE,10834,end apogee,CONTROL_FINISHED_OK
$STATE,10834,begin climb
$GC,10836,0.71,194.6,2884,1762,3296,3104,943.7,0.0,663,11019,0.90,2.65,175.10,1.218,11012,0.074,0.068,3191,351,2405,2475,2336,0,0,0,0,0,0,24.11,23.42,22.61
$GC,11049,0.49,194.6,3191,351,2472,2336,919.2,15.2,674,11055,0.30,2.53,0.00,0.000,5126,0.159,0.050,3116,1763,2403,2471,2336,0,0,0,0,0,0,23.86,23.96,28.83
$GC,11362,0.43,194.6,3116,1764,2463,2336,880.9,11.3,690,11368,0.10,2.42,0.00,0.000,4612,0.177,0.066,3104,355,2400,2463,2337,0,0,0,0,0,0,25.06,25.08,28.83
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$STATE,19723,end climb,SURFACE_DEPTH_REACHED
$STATE,19723,begin surface coast
$FINISH,1.3,1.023212
$STATE,19744,end surface coast,CONTROL_FINISHED_OK
$STATE,19745,begin surface
$SM_CCo,19758,172.10,0.054,0,0,407,684.62
$SM_CCo,19933,-0.43,0.000,0,0,410,684.62
$SM_CCo,19936,0.60,0.071,0,0,409,684.62
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$IRIDIUM_FIX,-4508.77,611.94,021009,020233
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.42
$INTERNAL_PRESSURE,8.84489
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.6,3.676
$10V_AH,10.3,2.047
$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,353692
$DATA_FILE_SIZE,70433,1213
$CAP_FILE_SIZE,206999,0
$CFSIZE,2097086464,2089877504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061216,002321,-4524.546,613.056,36,1.0,36,-24.3