version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 48
start: 12 14 116 9 49 29
data:
$ID,573
$MISSION,15
$DIVE,48
$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,-31656.994
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,141216,094203,-4527.355,615.531,36,0.8,36,-24.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-55.5
$GPS2,141216,094905,-4527.293,615.627,13,0.9,14,-24.3
$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,245.0,128727,-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,-150.8,229,1867,589,426,0.0,0.0,0,162,0.00,0.00,-144.15,0.000,16386,0.000,0.000,230,1863,3487,3505,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-0.77,-150.8,230,1863,3506,3469,3.2,-2.3,23,193,10.52,2.35,-11.48,0.000,18692,0.264,0.079,2687,3280,3866,3997,3735,0,0,0,0,0,0,25.43,25.63,25.96
$GC,281,-0.89,-150.8,1704,3278,4005,3731,13.2,-8.1,44,289,0.03,2.30,0.00,0.000,5126,0.116,0.052,2656,1865,3869,4006,3732,0,0,0,0,0,0,25.69,25.75,28.83
$GC,333,-0.93,-150.8,1680,1865,4005,3731,18.4,-11.0,53,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1866,3869,4006,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,382,-0.96,-150.8,1680,1865,4005,3731,23.8,-10.3,62,389,0.00,2.35,0.00,0.000,4612,0.000,0.067,2656,468,3869,4006,3732,0,0,0,0,0,0,28.83,25.79,28.83
$GC,428,-0.96,-150.8,1680,468,4005,3731,27.9,-8.2,70,435,0.00,2.33,0.00,0.000,1030,0.000,0.051,2647,1885,3869,4006,3732,0,0,0,0,0,0,28.83,25.84,28.83
$GC,559,-0.96,-150.8,1696,1884,4005,3730,41.2,-11.2,95,565,0.00,2.35,0.00,0.000,516,0.000,0.066,2646,462,3869,4006,3732,0,0,0,0,0,0,28.83,25.87,28.83
$GC,607,-0.96,-150.8,2647,462,4006,3732,47.2,-13.4,104,614,0.00,2.28,0.00,0.000,3078,0.000,0.050,2637,1868,3869,4006,3732,0,0,0,0,0,0,28.83,25.91,28.83
$GC,934,-0.96,-150.8,2637,1869,4006,3732,84.9,-11.2,162,938,0.00,2.28,0.00,0.000,2308,0.000,0.070,2627,3274,3869,4007,3732,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1019,-0.96,-150.8,2626,3275,4008,3732,94.2,-12.1,166,1023,0.00,2.25,0.00,0.000,3078,0.000,0.052,2626,1873,3869,4007,3731,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1333,-0.96,-150.8,2626,1873,4008,3731,133.2,-11.9,182,1339,0.05,2.30,0.00,0.000,2564,0.226,0.066,2638,459,3869,4007,3731,0,0,0,0,0,0,26.15,26.10,28.83
$GC,1376,-0.96,-150.8,1792,459,4006,3730,138.3,-12.0,184,1380,0.00,2.28,0.00,0.000,3078,0.000,0.050,2630,1865,3869,4007,3732,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1696,-0.96,-150.8,2629,1865,4007,3732,176.0,-11.8,200,1697,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1865,3869,4008,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1996,-0.96,-150.8,2629,1865,4007,3732,212.4,-12.3,215,2001,0.00,2.25,0.00,0.000,2564,0.000,0.066,2629,471,3870,4008,3732,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2035,-0.96,-150.8,2629,471,4008,3732,217.4,-12.4,217,2041,0.10,2.22,0.00,0.000,3078,0.183,0.050,2644,1868,3869,4008,3731,0,0,0,0,0,0,26.12,26.22,28.83
$GC,2356,-0.96,-150.8,2643,1868,4008,3732,252.8,-10.9,233,2361,0.00,2.22,0.00,0.000,260,0.000,0.071,2634,3263,3869,4007,3731,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2416,-0.99,-150.8,1768,3261,4008,3730,259.4,-10.9,236,2421,0.00,2.22,0.00,0.000,1030,0.000,0.051,2634,1869,3870,4009,3731,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2733,-0.99,-150.8,2634,1869,4009,3731,293.3,-10.3,252,2737,0.00,2.28,0.00,0.000,516,0.000,0.067,2634,462,3870,4009,3731,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2829,-0.99,-150.8,2634,462,4008,3731,303.8,-11.1,257,2834,0.00,2.22,0.00,0.000,3078,0.000,0.051,2624,1872,3869,4008,3731,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3148,-0.99,-150.8,2624,1872,4008,3731,336.2,-9.8,273,3149,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1872,3869,4008,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3447,-0.99,-150.8,2624,1872,4008,3731,366.1,-9.9,288,3448,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1872,3869,4008,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3748,-0.99,-150.8,2624,1872,4008,3730,395.1,-9.5,303,3749,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1872,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4045,-0.99,-150.8,2624,1872,4008,3730,424.1,-9.7,318,4049,0.00,2.28,0.00,0.000,2308,0.000,0.071,2613,3278,3869,4008,3730,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4101,-0.99,-150.8,2613,3278,4009,3729,429.8,-10.0,321,4106,0.08,2.22,0.00,0.000,3078,0.183,0.053,2630,1861,3869,4009,3729,0,0,0,0,0,0,26.28,26.37,28.83
$GC,4418,-0.99,-150.8,2630,1860,4009,3729,460.3,-9.6,337,4424,0.00,2.25,0.00,0.000,2564,0.000,0.069,2630,464,3869,4009,3729,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4506,-0.99,-150.8,2630,464,4008,3729,468.6,-10.2,341,4511,0.00,2.28,0.00,0.000,3078,0.000,0.053,2621,1870,3868,4008,3729,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4818,-0.99,-150.8,2621,1871,4008,3729,500.4,-9.9,357,4822,0.00,2.28,0.00,0.000,2308,0.000,0.071,2610,3278,3868,4008,3728,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4862,-0.99,-150.8,2610,3278,4009,3728,504.1,-10.0,359,4867,0.10,2.25,0.00,0.000,3078,0.172,0.052,2634,1862,3868,4009,3728,0,0,0,0,0,0,26.29,26.39,28.83
$GC,5175,-1.03,-150.8,2634,1862,4009,3728,533.6,-9.1,375,5181,0.00,2.25,0.00,0.000,4612,0.000,0.069,2634,464,3868,4009,3728,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5222,-1.03,-150.8,2634,464,4008,3728,537.5,-9.4,377,5227,0.00,2.25,0.00,0.000,1030,0.000,0.052,2625,1890,3868,4008,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5535,-1.03,-150.8,2625,1890,4009,3727,567.9,-9.6,393,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1890,3867,4008,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5836,-1.03,-150.8,2625,1890,4008,3727,596.3,-9.3,408,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1890,3867,4008,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6134,-1.03,-150.8,2625,1890,4008,3726,624.0,-9.0,423,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1890,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6434,-1.03,-150.8,2625,1890,4008,3726,651.2,-9.1,438,6438,0.00,2.33,0.00,0.000,516,0.000,0.067,2626,467,3867,4008,3726,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6473,-1.03,-150.8,2625,466,4008,3726,654.7,-9.5,440,6477,0.00,2.25,0.00,0.000,3078,0.000,0.053,2616,1877,3867,4008,3726,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6792,-1.03,-150.8,2616,1877,4008,3726,685.4,-9.4,456,6794,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1877,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7090,-1.03,-150.8,2616,1877,4007,3725,713.3,-9.3,471,7091,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1877,3866,4008,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7389,-1.03,-150.8,2616,1877,4008,3724,742.0,-9.8,486,7394,0.00,2.30,0.00,0.000,2564,0.000,0.068,2616,467,3866,4008,3724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7428,-1.03,-150.8,1792,467,4007,3723,745.6,-10.0,488,7432,0.00,2.25,0.00,0.000,3078,0.000,0.052,2607,1866,3866,4008,3724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7745,-1.03,-150.8,2606,1867,4008,3724,778.2,-10.1,504,7747,0.05,0.00,0.00,0.000,2054,0.235,0.000,2618,1867,3866,4008,3724,0,0,0,0,0,0,26.48,28.83,28.83
$GC,8046,-1.03,-150.8,2618,1867,4008,3724,807.0,-9.8,519,8052,0.00,2.28,0.00,0.000,2308,0.000,0.073,2608,3277,3865,4008,3723,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8085,-1.03,-150.8,2608,3276,4008,3723,811.0,-9.7,521,8090,0.00,2.20,0.00,0.000,3078,0.000,0.054,2608,1867,3866,4008,3724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8402,-1.03,-150.8,2608,1868,4008,3723,843.9,-10.4,537,8403,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1868,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8701,-1.03,-150.8,2608,1867,4008,3723,874.3,-10.1,552,8705,0.00,2.28,0.00,0.000,2564,0.000,0.070,2608,465,3865,4008,3723,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8751,-1.03,-150.8,2608,464,4007,3723,878.0,-10.3,554,8758,0.10,2.22,0.00,0.000,3078,0.190,0.053,2622,1868,3864,4007,3722,0,0,0,0,0,0,26.33,26.45,28.83
$GC,9057,-1.06,-150.8,2622,1869,4007,3723,908.4,-9.4,570,9063,0.00,2.30,0.00,0.000,4612,0.000,0.069,2622,467,3865,4008,3722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9085,-1.06,-150.8,2622,467,4007,3723,910.4,-9.6,571,9089,0.00,2.25,0.00,0.000,1030,0.000,0.053,2613,1879,3865,4007,3723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9392,-1.06,-150.8,2613,1879,4007,3722,940.6,-9.4,586,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1880,3865,4008,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9692,-1.06,-150.8,2613,1880,4008,3722,968.8,-9.4,601,9696,0.00,2.33,0.00,0.000,516,0.000,0.067,2613,459,3864,4007,3722,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9728,-1.06,-150.8,2613,459,4007,3722,972.4,-9.7,603,9732,0.00,2.25,0.00,0.000,3078,0.000,0.053,2604,1874,3864,4007,3722,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,10022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10022,begin apogee
$GC,10027,-0.19,0.0,2604,1328,4007,3722,1001.3,-9.7,618,10159,0.90,0.00,127.95,1.300,10246,0.143,0.000,2887,1328,3250,3379,3122,0,0,0,0,0,0,26.32,28.83,23.35
$STATE,10160,end apogee,CONTROL_FINISHED_OK
$STATE,10160,begin climb
$GC,10161,0.77,150.8,2886,1328,3379,3122,1004.9,0.0,624,10305,0.93,2.22,134.48,1.261,10756,0.065,0.074,3217,159,2634,2730,2539,0,0,0,0,0,0,24.30,23.35,22.57
$GC,10431,0.50,150.8,3217,159,2722,2539,975.4,14.9,638,10436,0.38,2.03,0.00,0.000,5126,0.162,0.051,3119,1343,2630,2722,2539,0,0,0,0,0,0,24.48,24.60,28.83
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$STATE,19731,end climb,SURFACE_DEPTH_REACHED
$STATE,19731,begin surface coast
$FINISH,1.4,1.023287
$STATE,19758,end surface coast,CONTROL_FINISHED_OK
$STATE,19758,begin surface
$SM_CCo,19773,203.43,0.054,0,0,516,670.15
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$IRIDIUM_FIX,-4508.77,614.99,101009,171749
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.01
$INTERNAL_PRESSURE,8.85466
$TCM_TEMP,13.40
$XPDR_PINGS,1
$24V_AH,22.6,9.323
$10V_AH,10.3,5.436
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.600,139.850,337.150,203.425,0.000,26.191,26.466,263.177,25.250,0.000,15.381,2962.669,13725.517,731.190,2852.977,125.083,0.000,1964.407,0.000,2422.901,0.000,148.787,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,70313,1211
$CAP_FILE_SIZE,189670,0
$CFSIZE,2097086464,2085322752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141216,152333,-4527.402,615.552,33,0.8,33,-24.3