version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 79
start: 12 21 116 22 42 54
data:
$ID,573
$MISSION,15
$DIVE,79
$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,-31696.141
$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,32
$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
$GPS1,211216,223533,-4534.261,548.614,28,1.0,28,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-58.6
$GPS2,211216,224229,-4534.206,548.633,15,0.9,17,-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,234.3,98149,-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,14,-0.77,-150.8,213,1879,595,417,0.0,0.0,0,162,0.00,0.00,-144.25,0.000,16386,0.000,0.000,213,1879,3454,3471,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-0.77,-150.8,213,1879,3473,3438,3.1,-1.9,23,194,10.73,2.38,-12.50,0.000,18692,0.266,0.083,2686,3272,3866,3997,3736,0,0,0,0,0,0,25.41,25.64,26.00
$GC,287,-0.90,-150.8,1704,3271,4005,3732,15.3,-10.0,45,295,0.03,2.28,0.00,0.000,5126,0.116,0.050,2658,1864,3869,4006,3733,0,0,0,0,0,0,25.71,25.79,28.83
$GC,339,-0.93,-150.8,1672,1863,4005,3732,19.9,-8.7,54,347,0.00,2.35,0.00,0.000,516,0.000,0.067,2660,463,3869,4006,3733,0,0,0,0,0,0,28.83,25.78,28.83
$GC,374,-0.93,-150.8,1712,464,4005,3732,24.1,-12.2,60,381,0.00,2.30,0.00,0.000,3078,0.000,0.050,2651,1869,3869,4006,3733,0,0,0,0,0,0,28.83,25.84,28.83
$GC,505,-0.93,-150.8,2651,1869,4007,3733,37.6,-11.2,85,512,0.00,2.35,0.00,0.000,2564,0.000,0.065,2651,470,3869,4006,3732,0,0,0,0,0,0,28.83,25.86,28.83
$GC,574,-0.93,-150.8,1728,469,4005,3732,45.8,-11.8,98,580,0.00,2.25,0.00,0.000,3078,0.000,0.049,2642,1871,3870,4007,3733,0,0,0,0,0,0,28.83,25.94,28.83
$GC,886,-0.93,-150.8,2641,1871,4007,3733,80.3,-10.9,159,887,0.00,0.00,0.00,0.000,2054,0.000,0.000,2642,1871,3870,4007,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1186,-0.93,-150.8,2641,1871,4008,3733,112.9,-10.4,174,1190,0.00,2.33,0.00,0.000,2564,0.000,0.065,2642,462,3870,4007,3733,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1215,-0.93,-150.8,2642,462,4007,3732,114.6,-10.6,175,1223,0.08,2.28,0.00,0.000,3078,0.197,0.049,2648,1869,3870,4007,3733,0,0,0,0,0,0,26.02,26.13,28.83
$GC,1524,-0.93,-150.8,2647,1869,4008,3733,146.0,-9.5,191,1529,0.00,2.22,0.00,0.000,2308,0.000,0.066,2638,3263,3870,4008,3733,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1563,-0.93,-150.8,2638,3262,4009,3733,149.7,-9.3,193,1569,0.00,2.20,0.00,0.000,3078,0.000,0.050,2638,1863,3871,4009,3733,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1885,-0.93,-150.8,2637,1863,4009,3733,180.6,-10.0,209,1890,0.00,2.25,0.00,0.000,2564,0.000,0.067,2638,470,3871,4009,3733,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1964,-0.93,-150.8,2638,470,4009,3733,189.4,-11.1,213,1970,0.05,2.25,0.00,0.000,3078,0.164,0.049,2645,1864,3870,4009,3732,0,0,0,0,0,0,26.10,26.23,28.83
$GC,2283,-0.93,-150.8,2645,1865,4009,3733,223.8,-10.9,229,2284,0.00,0.00,0.00,0.000,2054,0.000,0.000,2645,1864,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2582,-0.93,-150.8,2645,1866,4009,3733,257.6,-11.1,244,2586,0.00,2.30,0.00,0.000,2564,0.000,0.066,2645,465,3871,4009,3733,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2626,-0.93,-150.8,2645,465,4009,3733,261.8,-11.4,246,2630,0.00,2.25,0.00,0.000,3078,0.000,0.050,2637,1873,3870,4008,3733,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2940,-0.93,-150.8,2637,1874,4009,3733,297.5,-11.0,262,2942,0.05,0.00,0.00,0.000,2054,0.236,0.000,2647,1874,3870,4009,3732,0,0,0,0,0,0,26.36,28.83,28.83
$GC,3239,-0.97,-150.8,2647,1874,4009,3732,328.2,-9.9,277,3244,0.00,2.25,0.00,0.000,4356,0.000,0.067,2637,3276,3870,4009,3732,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3271,-1.01,-150.8,2637,3276,4009,3732,330.3,-9.9,278,3278,0.00,2.20,0.00,0.000,5126,0.000,0.050,2637,1868,3871,4010,3732,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3578,-1.01,-150.8,2637,1868,4009,3732,360.7,-9.2,294,3582,0.00,2.28,0.00,0.000,4612,0.000,0.067,2637,467,3870,4009,3732,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3663,-1.01,-150.8,2637,466,4009,3732,368.4,-10.0,298,3667,0.00,2.25,0.00,0.000,1030,0.000,0.050,2628,1868,3870,4009,3732,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3976,-1.01,-150.8,2628,1868,4009,3732,399.2,-9.5,314,3977,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1868,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4276,-1.01,-150.8,2628,1868,4009,3732,427.9,-9.7,329,4277,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1868,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4577,-1.01,-150.8,2628,1868,4009,3731,456.3,-9.5,344,4582,0.00,2.22,0.00,0.000,2308,0.000,0.068,2617,3263,3870,4009,3731,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4604,-1.01,-150.8,2617,3263,4010,3731,458.2,-9.6,345,4608,0.00,2.20,0.00,0.000,3078,0.000,0.050,2617,1855,3870,4010,3731,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4917,-1.01,-150.8,2617,1855,4010,3732,491.1,-10.6,361,4922,0.00,2.22,0.00,0.000,2564,0.000,0.068,2617,462,3870,4009,3731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4998,-0.97,-150.8,1760,462,4008,3730,500.2,-11.4,365,5003,0.08,2.25,0.00,0.000,3078,0.161,0.051,2634,1859,3870,4009,3731,0,0,0,0,0,0,26.24,26.39,28.83
$GC,5316,-0.97,-150.8,2633,1860,4009,3731,533.9,-10.7,381,5317,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1860,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5616,-0.97,-150.8,2633,1859,4009,3730,566.2,-10.7,396,5617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1860,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5917,-0.97,-150.8,2633,1860,4010,3730,597.0,-10.2,411,5918,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1860,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6215,-0.97,-150.8,2633,1860,4009,3729,627.0,-9.9,426,6219,0.00,2.28,0.00,0.000,2308,0.000,0.067,2624,3280,3869,4009,3729,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6251,-0.97,-150.8,2623,3280,4009,3728,630.5,-9.8,428,6256,0.08,2.22,0.00,0.000,3078,0.191,0.051,2640,1857,3869,4010,3728,0,0,0,0,0,0,26.30,26.41,28.83
$GC,6568,-1.01,-150.8,2639,1857,4009,3729,658.8,-8.8,444,6574,0.00,2.25,0.00,0.000,4612,0.000,0.068,2641,467,3868,4009,3728,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6648,-1.01,-150.8,2641,467,4009,3728,666.1,-9.1,448,6654,0.00,2.22,0.00,0.000,1030,0.000,0.052,2633,1871,3868,4009,3728,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6968,-1.01,-150.8,2632,1871,4009,3728,692.3,-7.8,464,6974,0.00,2.25,0.00,0.000,260,0.000,0.069,2622,3272,3868,4009,3728,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7011,-1.04,-150.8,2621,3272,4009,3727,695.4,-7.7,466,7015,0.00,2.20,0.00,0.000,1030,0.000,0.051,2622,1868,3868,4009,3727,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7323,-1.04,-150.8,2621,1868,4009,3727,718.2,-6.9,482,7329,0.00,2.28,0.00,0.000,516,0.000,0.070,2621,468,3868,4009,3727,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7402,-1.04,-150.8,2621,468,4009,3727,724.4,-7.8,486,7406,0.00,2.22,0.00,0.000,3078,0.000,0.052,2612,1870,3868,4009,3727,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7719,-1.04,-150.8,2612,1871,4009,3727,748.3,-7.3,502,7720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1871,3868,4009,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8019,-1.04,-150.8,2612,1871,4009,3726,770.4,-7.6,517,8024,0.00,2.30,0.00,0.000,2564,0.000,0.068,2613,465,3868,4009,3727,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8058,-1.04,-150.8,2612,465,4009,3726,773.7,-8.0,519,8062,0.00,2.25,0.00,0.000,3078,0.000,0.052,2603,1874,3867,4009,3726,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8375,-1.04,-150.8,2603,1874,4009,3726,799.2,-8.0,535,8376,0.00,0.00,0.00,0.000,2054,0.000,0.000,2603,1874,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8676,-1.04,-150.8,2603,1874,4009,3726,824.7,-8.9,550,8677,0.00,0.00,0.00,0.000,2054,0.000,0.000,2603,1874,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8975,-1.04,-150.8,2603,1876,4009,3724,852.4,-9.4,565,8976,0.00,0.00,0.00,0.000,2054,0.000,0.000,2602,1876,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9274,-1.04,-150.8,2603,1876,4010,3724,882.5,-10.2,580,9275,0.00,0.00,0.00,0.000,2054,0.000,0.000,2603,1876,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9574,-1.04,-150.8,2603,1876,4010,3723,913.6,-10.5,595,9578,0.00,2.30,0.00,0.000,2564,0.000,0.067,2603,468,3867,4010,3724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9611,-1.01,-150.8,2603,468,4009,3724,917.6,-10.6,597,9618,0.12,2.22,0.00,0.000,3078,0.182,0.053,2625,1869,3866,4009,3723,0,0,0,0,0,0,26.28,26.43,28.83
$GC,9932,-1.04,-150.8,2625,1869,4009,3724,948.3,-9.6,613,9933,0.00,0.00,0.00,0.000,4102,0.000,0.000,2625,1869,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10232,-1.07,-150.8,2625,1869,4010,3723,975.7,-8.8,628,10233,0.00,0.00,0.00,0.000,4102,0.000,0.000,2625,1869,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10511,begin apogee
$GC,10515,-0.19,0.0,2625,1327,4009,3723,1000.2,-8.7,642,10652,0.82,0.00,129.40,1.300,10246,0.136,0.000,2888,1327,3252,3379,3125,0,0,0,0,0,0,26.28,28.83,23.36
$STATE,10653,end apogee,CONTROL_FINISHED_OK
$STATE,10653,begin climb
$GC,10654,0.77,150.8,2887,1326,3379,3125,1003.9,0.0,649,10799,0.90,2.28,134.98,1.254,10756,0.066,0.075,3209,165,2634,2730,2539,0,0,0,0,0,0,24.36,23.22,22.43
$GC,10879,0.51,150.8,3209,165,2722,2539,981.4,14.6,660,10885,0.32,2.03,0.00,0.000,5126,0.161,0.050,3126,1342,2631,2723,2539,0,0,0,0,0,0,24.25,24.39,28.83
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$STATE,19764,end climb,SURFACE_DEPTH_REACHED
$STATE,19764,begin surface coast
$FINISH,1.5,1.007671
$STATE,19786,end surface coast,CONTROL_FINISHED_OK
$STATE,19786,begin surface
$SM_CCo,19801,186.88,0.054,0,0,516,670.15
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$TT8_MAMPS,0.026964,0.026964
$HUMID,48.89
$INTERNAL_PRESSURE,8.86442
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.4,13.965
$10V_AH,10.3,8.314
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353640
$DATA_FILE_SIZE,70225,1208
$CAP_FILE_SIZE,197144,0
$CFSIZE,2097086464,2081226752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221216,041721,-4534.246,547.160,44,0.8,44,-24.1