version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 91
start: 12 24 116 20 37 44
data:
$ID,573
$MISSION,15
$DIVE,91
$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,-31711.287
$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,31
$R_STBD_OVSHOOT,44
$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
$GPS1,241216,202928,-4533.127,540.003,37,0.9,37,-24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-58.8
$GPS2,241216,203719,-4533.112,540.060,17,1.4,17,-24.0
$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,227.9,94964,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.77,-150.8,213,1864,604,409,0.0,0.0,0,148,0.00,0.00,-131.25,0.000,16386,0.000,0.000,214,1861,3277,3280,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,151,-0.77,-150.8,213,1861,3285,3272,3.1,-2.5,21,191,10.48,2.33,-22.38,0.000,18948,0.258,0.078,2699,467,3865,3997,3733,0,0,0,0,0,0,25.38,25.66,26.03
$GC,419,-0.87,-150.8,1704,466,4004,3731,23.3,-7.6,72,427,0.00,2.28,0.00,0.000,5126,0.000,0.050,2690,1863,3869,4006,3732,0,0,0,0,0,0,28.83,25.88,28.83
$GC,551,-0.97,-150.8,1700,1862,4006,3730,34.0,-7.9,97,559,0.12,2.33,0.00,0.000,4612,0.085,0.063,2619,459,3869,4007,3732,0,0,0,0,0,0,26.02,25.91,28.83
$GC,763,-0.88,-150.8,2618,459,4007,3732,60.7,-13.1,138,771,0.15,2.28,0.00,0.000,3078,0.154,0.048,2667,1867,3869,4007,3732,0,0,0,0,0,0,25.85,26.03,28.83
$GC,1093,-0.95,-150.8,2667,1867,4007,3732,93.7,-9.5,181,1099,0.05,2.22,0.00,0.000,4356,0.159,0.064,2617,3272,3869,4007,3732,0,0,0,0,0,0,26.22,26.05,28.83
$GC,1141,-0.99,-150.8,2617,3272,4008,3731,97.8,-9.7,183,1146,0.05,2.22,0.00,0.000,3078,0.203,0.050,2630,1860,3869,4008,3731,0,0,0,0,0,0,26.03,26.12,28.83
$GC,1448,-0.99,-150.8,2629,1860,4008,3731,131.2,-10.9,198,1454,0.00,2.22,0.00,0.000,2564,0.000,0.066,2630,471,3869,4007,3731,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1514,-0.99,-150.8,2629,471,4008,3731,138.4,-11.7,201,1519,0.00,2.25,0.00,0.000,3078,0.000,0.049,2621,1868,3869,4008,3731,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1828,-0.99,-150.8,2621,1868,4008,3731,175.8,-11.5,217,1830,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1868,3869,4008,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2127,-0.99,-150.8,2621,1868,4008,3731,210.1,-11.3,232,2131,0.00,2.25,0.00,0.000,2308,0.000,0.066,2610,3271,3869,4008,3731,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2170,-0.99,-150.8,2610,3272,4009,3731,214.1,-11.1,234,2175,0.10,2.22,0.00,0.000,3078,0.165,0.049,2635,1869,3870,4009,3731,0,0,0,0,0,0,26.14,26.26,28.83
$GC,2483,-0.99,-150.8,2634,1869,4009,3731,247.4,-10.1,250,2489,0.00,2.28,0.00,0.000,516,0.000,0.067,2636,459,3870,4009,3731,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2556,-0.99,-150.8,2635,459,4009,3731,253.8,-10.6,253,2564,0.00,2.25,0.00,0.000,3078,0.000,0.049,2627,1863,3870,4009,3731,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2865,-0.99,-150.8,2627,1864,4009,3731,285.0,-9.4,269,2866,0.00,0.00,0.00,0.000,2054,0.000,0.000,2627,1864,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3163,-0.99,-150.8,2627,1864,4009,3731,311.6,-8.8,284,3164,0.00,0.00,0.00,0.000,2054,0.000,0.000,2627,1864,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3463,-0.99,-150.8,2627,1864,4009,3731,337.2,-8.5,299,3469,0.00,2.25,0.00,0.000,2308,0.000,0.065,2616,3273,3870,4009,3731,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3503,-0.99,-150.8,2616,3273,4008,3730,340.8,-8.7,301,3509,0.08,2.20,0.00,0.000,3078,0.181,0.050,2633,1863,3870,4010,3731,0,0,0,0,0,0,26.25,26.34,28.83
$GC,3824,-0.99,-150.8,2633,1863,4009,3730,367.6,-8.3,317,3825,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1863,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4123,-0.99,-150.8,2633,1863,4009,3730,392.8,-8.5,332,4127,0.00,2.25,0.00,0.000,2564,0.000,0.067,2633,461,3869,4009,3730,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4192,-0.99,-150.8,2633,461,4009,3730,397.9,-9.0,335,4198,0.00,2.22,0.00,0.000,3078,0.000,0.050,2624,1868,3869,4009,3730,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4501,-0.99,-150.8,2625,1868,4009,3730,426.5,-8.6,351,4506,0.00,2.28,0.00,0.000,2564,0.000,0.066,2625,465,3869,4009,3730,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4542,-0.99,-150.8,2624,465,4009,3730,430.3,-9.1,353,4547,0.08,2.22,0.00,0.000,3078,0.192,0.050,2631,1868,3869,4009,3729,0,0,0,0,0,0,26.26,26.37,28.83
$GC,4855,-0.99,-150.8,2631,1869,4009,3729,456.5,-8.1,369,4856,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1869,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5153,-0.99,-150.8,2631,1869,4009,3728,481.3,-8.5,384,5158,0.00,2.30,0.00,0.000,2564,0.000,0.067,2632,464,3869,4009,3729,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5203,-0.99,-150.8,2632,464,4009,3729,484.6,-8.7,386,5213,0.00,2.22,0.00,0.000,3078,0.000,0.050,2623,1869,3869,4009,3729,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5509,-0.99,-150.8,2622,1869,4009,3728,513.3,-9.1,402,5513,0.00,2.25,0.00,0.000,2308,0.000,0.068,2612,3273,3868,4009,3728,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5578,-0.99,-150.8,2612,3274,4009,3727,518.7,-9.8,405,5585,0.08,2.22,0.00,0.000,3078,0.175,0.051,2629,1854,3868,4009,3727,0,0,0,0,0,0,26.29,26.40,28.83
$GC,5886,-0.99,-150.8,2629,1854,4009,3727,549.0,-9.6,421,5892,0.00,2.25,0.00,0.000,2564,0.000,0.068,2630,467,3868,4009,3727,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5928,-0.99,-150.8,1764,466,4008,3726,553.1,-9.8,423,5932,0.00,2.25,0.00,0.000,3078,0.000,0.050,2621,1866,3868,4009,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6248,-0.99,-150.8,2621,1867,4009,3727,586.6,-10.7,439,6253,0.00,2.22,0.00,0.000,2308,0.000,0.067,2611,3269,3867,4009,3726,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6298,-0.99,-150.8,2610,3269,4009,3726,591.1,-11.0,441,6305,0.10,2.22,0.00,0.000,3078,0.163,0.051,2635,1867,3867,4009,3726,0,0,0,0,0,0,26.28,26.40,28.83
$GC,6606,-1.03,-150.8,2635,1867,4009,3726,624.6,-10.4,457,6612,0.00,2.25,0.00,0.000,4612,0.000,0.069,2637,468,3867,4008,3726,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6648,-1.03,-150.8,1792,468,4008,3725,629.0,-10.8,459,6652,0.00,2.25,0.00,0.000,5126,0.000,0.051,2628,1868,3867,4009,3726,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6966,-1.03,-150.8,2627,1869,4009,3726,663.5,-10.6,475,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1868,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7265,-1.03,-150.8,2628,1869,4008,3725,695.3,-10.5,490,7267,0.00,0.00,0.00,0.000,4102,0.000,0.000,2627,1868,3867,4009,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7566,-1.03,-150.8,2627,1869,4009,3724,726.2,-10.3,505,7567,0.00,0.00,0.00,0.000,4102,0.000,0.000,2628,1868,3866,4009,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,-1.03,-150.8,2627,1868,4009,3723,756.8,-9.8,520,7867,0.00,0.00,0.00,0.000,4102,0.000,0.000,2628,1868,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8168,-1.03,-150.8,2628,1868,4009,3723,785.2,-9.2,535,8173,0.00,2.22,0.00,0.000,4356,0.000,0.069,2617,3266,3865,4008,3723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8213,-1.03,-150.8,2617,3266,4009,3722,789.1,-9.5,537,8218,0.00,2.20,0.00,0.000,3078,0.000,0.052,2617,1861,3865,4009,3722,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8520,-1.03,-150.8,2617,1862,4009,3722,820.7,-10.1,552,8521,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1862,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8820,-1.03,-150.8,2617,1862,4009,3722,849.9,-9.6,567,8822,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1862,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9120,-1.03,-150.8,2617,1862,4008,3722,878.1,-9.1,582,9124,0.00,2.25,0.00,0.000,2564,0.000,0.069,2617,462,3865,4009,3721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9159,-1.03,-150.8,2617,462,4008,3722,881.5,-9.2,584,9163,0.00,2.22,0.00,0.000,3078,0.000,0.051,2608,1868,3864,4008,3721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9471,-1.03,-150.8,2608,1868,4008,3721,908.7,-8.3,600,9473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1868,3865,4008,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9773,-1.03,-150.8,2608,1868,4008,3721,931.4,-7.3,615,9774,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,1868,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10071,-1.03,-150.8,2608,1868,4008,3721,953.3,-7.0,630,10075,0.00,2.25,0.00,0.000,2308,0.000,0.069,2598,3270,3864,4008,3721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10147,-1.03,-150.8,2597,3270,4008,3721,958.8,-7.3,634,10151,0.10,2.20,0.00,0.000,3078,0.168,0.053,2622,1865,3864,4008,3720,0,0,0,0,0,0,26.29,26.43,28.83
$GC,10464,-1.06,-150.8,2622,1864,4008,3720,978.5,-6.2,650,10470,0.00,2.28,0.00,0.000,4612,0.000,0.068,2623,465,3864,4008,3721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10503,-1.06,-150.8,2623,465,4008,3721,981.4,-6.6,652,10507,0.00,2.22,0.00,0.000,1030,0.000,0.050,2614,1870,3864,4008,3721,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,10797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10798,begin apogee
$GC,10802,-0.19,0.0,2614,1338,4008,3721,1000.6,-6.5,667,10939,0.88,0.00,128.95,1.294,10246,0.140,0.000,2889,1338,3249,3377,3122,0,0,0,0,0,0,26.24,28.83,23.39
$STATE,10940,end apogee,CONTROL_FINISHED_OK
$STATE,10940,begin climb
$GC,10941,0.77,150.8,2889,1338,3377,3122,1000.6,0.0,674,11084,0.90,2.22,134.95,1.245,10756,0.063,0.073,3214,166,2634,2729,2540,0,0,0,0,0,0,24.40,23.27,22.50
$GC,11290,0.50,150.8,3214,166,2719,2540,953.6,16.4,691,11297,0.35,1.95,0.00,0.000,5126,0.164,0.051,3121,1339,2629,2719,2540,0,0,0,0,0,0,24.91,25.07,28.83
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$STATE,19757,end climb,SURFACE_DEPTH_REACHED
$STATE,19757,begin surface coast
$FINISH,1.5,1.023329
$STATE,19773,end surface coast,CONTROL_FINISHED_OK
$STATE,19773,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,48.93
$INTERNAL_PRESSURE,8.86442
$TCM_TEMP,13.60
$XPDR_PINGS,0
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$10V_AH,10.3,9.426
$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,353640
$DATA_FILE_SIZE,70195,1213
$CAP_FILE_SIZE,195365,0
$CFSIZE,2097086464,2079686656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251216,021204,-4533.085,539.697,39,1.0,39,-24.0