version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 64
start: 12 18 116 7 11 16
data:
$ID,573
$MISSION,15
$DIVE,64
$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,-31677.242
$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,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
$GPS1,181216,070333,-4531.934,605.548,31,0.9,31,-24.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-60.3
$GPS2,181216,071052,-4532.002,605.575,19,1.0,19,-24.2
$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,242.8,113807,-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,-150.8,215,1879,586,430,0.0,0.0,0,162,0.00,0.00,-143.85,0.000,16386,0.000,0.000,215,1878,3506,3521,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-0.77,-150.8,214,1878,3523,3493,3.2,-2.1,23,193,10.68,2.33,-10.68,0.000,18692,0.265,0.079,2688,3276,3865,3996,3735,0,0,0,0,0,0,25.37,25.60,25.94
$GC,285,-0.89,-150.8,1704,3275,4005,3731,14.9,-9.9,45,296,0.03,2.30,0.00,0.000,5126,0.114,0.050,2657,1860,3869,4006,3733,0,0,0,0,0,0,25.68,25.75,28.83
$GC,338,-0.89,-150.8,1696,1859,4005,3731,20.2,-10.6,54,345,0.00,0.00,0.00,0.000,2054,0.000,0.000,2658,1860,3869,4006,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,469,-0.89,-150.8,1680,1859,4005,3731,33.8,-10.9,79,477,0.00,2.33,0.00,0.000,2564,0.000,0.067,2660,471,3869,4006,3733,0,0,0,0,0,0,28.83,25.83,28.83
$GC,510,-0.89,-150.8,1696,471,4005,3731,38.5,-11.3,86,518,0.03,2.30,0.00,0.000,3078,0.216,0.050,2659,1878,3869,4006,3732,0,0,0,0,0,0,25.77,25.88,28.83
$GC,641,-0.89,-150.8,1712,1877,4006,3731,53.0,-11.7,111,647,0.00,0.00,0.00,0.000,2054,0.000,0.000,2660,1878,3869,4006,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,968,-0.92,-150.8,2660,1877,4006,3733,89.7,-11.6,163,973,0.00,2.22,0.00,0.000,260,0.000,0.066,2649,3278,3869,4007,3732,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1168,-0.98,-150.8,2649,3278,4008,3732,111.6,-10.5,173,1173,0.00,2.22,0.00,0.000,5126,0.000,0.050,2650,1865,3870,4008,3732,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1488,-0.98,-150.8,2649,1865,4008,3732,144.3,-9.9,189,1489,0.00,0.00,0.00,0.000,4102,0.000,0.000,2649,1865,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1787,-0.98,-150.8,2649,1865,4008,3732,172.5,-9.2,204,1793,0.00,2.25,0.00,0.000,4612,0.000,0.067,2650,468,3870,4008,3732,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1867,-0.98,-150.8,2649,468,4008,3732,180.4,-10.0,208,1871,0.00,2.22,0.00,0.000,1030,0.000,0.050,2641,1882,3870,4008,3732,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2185,-0.98,-150.8,2640,1883,4008,3732,209.9,-9.1,224,2190,0.00,2.17,0.00,0.000,260,0.000,0.064,2630,3264,3870,4009,3732,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2252,-0.98,-150.8,2630,3264,4009,3732,215.1,-8.8,227,2256,0.00,2.20,0.00,0.000,3078,0.000,0.050,2630,1867,3870,4009,3732,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2559,-0.98,-150.8,2630,1868,4009,3732,244.1,-9.3,242,2564,0.00,2.28,0.00,0.000,2564,0.000,0.067,2630,468,3870,4009,3732,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2640,-0.95,-150.8,2630,468,4009,3732,252.7,-10.7,246,2646,0.10,2.22,0.00,0.000,3078,0.189,0.050,2645,1868,3870,4009,3732,0,0,0,0,0,0,26.16,26.28,28.83
$GC,2960,-0.95,-150.8,2645,1869,4009,3732,283.9,-10.2,262,2961,0.00,0.00,0.00,0.000,2054,0.000,0.000,2645,1869,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3261,-0.95,-150.8,2645,1869,4009,3732,314.1,-10.1,277,3262,0.00,0.00,0.00,0.000,2054,0.000,0.000,2644,1869,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3559,-0.95,-150.8,2645,1869,4009,3732,344.9,-10.0,292,3560,0.00,0.00,0.00,0.000,2054,0.000,0.000,2645,1869,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3859,-0.95,-150.8,2645,1869,4009,3731,374.7,-9.8,307,3863,0.00,2.25,0.00,0.000,2308,0.000,0.067,2635,3272,3869,4008,3731,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3924,-0.98,-150.8,2634,3272,4009,3731,380.4,-10.2,310,3928,0.00,2.17,0.00,0.000,3078,0.000,0.051,2635,1869,3870,4009,3731,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4231,-0.98,-150.8,2634,1869,4009,3731,411.5,-9.7,325,4237,0.00,2.28,0.00,0.000,2564,0.000,0.068,2634,467,3870,4009,3731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4278,-0.98,-150.8,2634,467,4009,3731,415.7,-10.0,327,4283,0.00,2.25,0.00,0.000,3078,0.000,0.050,2625,1868,3870,4009,3731,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4591,-0.98,-150.8,2625,1868,4009,3730,447.3,-9.6,343,4597,0.00,2.25,0.00,0.000,2308,0.000,0.067,2615,3274,3870,4009,3731,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4633,-0.98,-150.8,1760,3272,4008,3729,451.0,-9.2,345,4638,0.05,2.22,0.00,0.000,3078,0.153,0.050,2632,1869,3869,4009,3730,0,0,0,0,0,0,26.27,26.40,28.83
$GC,4951,-0.98,-150.8,2632,1869,4009,3730,478.4,-8.2,361,4957,0.00,2.25,0.00,0.000,2564,0.000,0.069,2633,468,3869,4009,3730,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5003,-0.98,-150.8,2633,468,4009,3730,481.8,-8.3,363,5010,0.00,2.20,0.00,0.000,3078,0.000,0.050,2624,1869,3869,4009,3730,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5311,-0.98,-150.8,2624,1869,4009,3730,508.9,-8.5,379,5316,0.00,2.25,0.00,0.000,2308,0.000,0.068,2613,3273,3869,4009,3730,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5363,-0.98,-150.8,2613,3273,4009,3729,512.4,-8.6,381,5370,0.10,2.20,0.00,0.000,3078,0.167,0.050,2638,1867,3869,4009,3729,0,0,0,0,0,0,26.28,26.39,28.83
$GC,5671,-1.02,-150.8,2638,1866,4009,3729,538.9,-8.2,397,5677,0.00,2.25,0.00,0.000,4612,0.000,0.069,2639,467,3869,4009,3729,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5758,-1.02,-150.8,2638,467,4009,3729,546.2,-9.2,401,5763,0.00,2.22,0.00,0.000,1030,0.000,0.050,2630,1869,3869,4009,3729,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6065,-1.02,-150.8,2630,1870,4009,3728,574.6,-9.1,416,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1870,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6366,-1.02,-150.8,2630,1871,4009,3728,602.1,-9.3,431,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1871,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6665,-1.02,-150.8,2630,1871,4009,3728,629.4,-9.0,446,6669,0.00,2.25,0.00,0.000,260,0.000,0.068,2619,3272,3868,4009,3727,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6701,-1.02,-150.8,2619,3272,4009,3727,632.8,-9.2,448,6705,0.00,2.20,0.00,0.000,3078,0.000,0.052,2619,1865,3868,4009,3727,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7017,-1.02,-150.8,2619,1865,4009,3727,662.8,-9.6,464,7023,0.00,2.25,0.00,0.000,2564,0.000,0.069,2619,467,3867,4009,3726,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7045,-1.02,-150.8,2619,467,4008,3726,664.9,-9.8,465,7050,0.05,2.25,0.00,0.000,3078,0.232,0.051,2621,1868,3868,4009,3727,0,0,0,0,0,0,26.33,26.42,28.83
$GC,7360,-1.02,-150.8,2621,1868,4008,3726,696.2,-9.8,481,7361,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1868,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7659,-1.02,-150.8,2621,1867,4009,3726,727.1,-10.3,496,7660,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1868,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7957,-1.02,-150.8,2621,1868,4009,3726,757.2,-10.0,511,7958,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1868,3867,4009,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8257,-1.02,-150.8,2621,1867,4009,3725,786.6,-9.7,526,8263,0.00,2.25,0.00,0.000,2308,0.000,0.069,2611,3270,3867,4009,3725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8317,-1.02,-150.8,2611,3271,4009,3725,792.6,-9.9,529,8321,0.00,2.17,0.00,0.000,3078,0.000,0.053,2612,1868,3867,4009,3725,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8635,-1.02,-150.8,2611,1868,4009,3724,823.1,-9.4,545,8637,0.03,0.00,0.00,0.000,2054,0.271,0.000,2621,1868,3866,4009,3724,0,0,0,0,0,0,26.51,28.83,28.83
$GC,8933,-1.02,-150.8,2621,1868,4009,3724,850.8,-9.1,560,8939,0.00,2.28,0.00,0.000,2564,0.000,0.069,2621,468,3866,4008,3724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9006,-1.02,-150.8,2621,468,4008,3724,856.8,-9.7,563,9012,0.00,2.22,0.00,0.000,3078,0.000,0.051,2612,1869,3866,4008,3724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9313,-1.02,-150.8,2612,1869,4008,3724,887.6,-9.6,579,9314,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1869,3866,4008,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9614,-1.02,-150.8,2612,1869,4008,3723,916.2,-9.5,594,9615,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3866,4008,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,-1.02,-150.8,2612,1869,4008,3724,944.6,-9.4,609,9914,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1869,3866,4008,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10213,-1.02,-150.8,2612,1869,4008,3723,973.6,-9.3,624,10217,0.00,2.28,0.00,0.000,2564,0.000,0.067,2612,464,3865,4008,3723,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10252,-1.02,-150.8,2612,464,4008,3723,977.2,-9.7,626,10257,0.10,2.22,0.00,0.000,3078,0.188,0.053,2626,1868,3865,4008,3723,0,0,0,0,0,0,26.32,26.45,28.83
$STATE,10522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10522,begin apogee
$GC,10527,-0.19,0.0,2626,1337,4008,3723,1001.0,-8.4,640,10659,0.82,0.00,128.02,1.295,10246,0.144,0.000,2884,1338,3250,3378,3122,0,0,0,0,0,0,26.29,28.83,23.36
$STATE,10660,end apogee,CONTROL_FINISHED_OK
$STATE,10660,begin climb
$GC,10661,0.77,150.8,2884,1338,3378,3123,1004.0,0.0,646,10805,0.95,2.25,133.65,1.252,10756,0.075,0.074,3211,161,2634,2730,2539,0,0,0,0,0,0,24.30,23.27,22.49
$GC,10967,0.51,150.8,3211,160,2722,2539,967.1,15.6,662,10972,0.35,2.00,0.00,0.000,5126,0.166,0.051,3120,1345,2630,2722,2539,0,0,0,0,0,0,24.65,24.79,28.83
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$STATE,19810,end climb,SURFACE_DEPTH_REACHED
$STATE,19810,begin surface coast
$FINISH,1.6,1.023340
$STATE,19841,end surface coast,CONTROL_FINISHED_OK
$STATE,19841,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,48.93
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$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.5,11.699
$10V_AH,10.3,6.916
$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,353612
$DATA_FILE_SIZE,70249,1203
$CAP_FILE_SIZE,191758,0
$CFSIZE,2097086464,2083225600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181216,124633,-4532.682,604.823,32,1.0,32,-24.2